JP7294052B2 - 歩行訓練システム、及び作動方法 - Google Patents
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- 238000012549 training Methods 0.000 title claims description 68
- 230000005021 gait Effects 0.000 title claims description 22
- 238000000034 method Methods 0.000 title claims description 7
- 230000007246 mechanism Effects 0.000 claims description 58
- 238000004804 winding Methods 0.000 claims description 45
- 210000001696 pelvic girdle Anatomy 0.000 description 9
- 210000004197 pelvis Anatomy 0.000 description 5
- 210000001217 buttock Anatomy 0.000 description 4
- 210000001624 hip Anatomy 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B2022/0092—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for training agility or co-ordination of movements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/15—Arrangements for force transmissions
- A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
- A63B21/154—Using flexible elements for reciprocating movements, e.g. ropes or chains using special pulley-assemblies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4009—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the waist
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/0057—Means for physically limiting movements of body parts
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Description
110 第1引張部
111 第1ワイヤ
112 第1巻取機構
113 第1プーリ
120 第2引張部
121 第2ワイヤ
122 第2巻取機構
123 第2プーリ
130 第3引張部
131 第3ワイヤ
132 第3巻取機構
133 第3プーリ
140 第4引張部
141 第4ワイヤ
142 第4巻取機構
143 第4プーリ
150 トレッドミル
151 ベルト
160 制御部
170 手摺り
180 支持ロッド
200 装具
201 フレーム
203 ガイド機構
210 取付部材
Claims (11)
- 訓練者の胴体部に装着される装具と、
前記装具への取付位置が前記胴体部の周方向に沿う位置となるように前記装具に取り付けられた少なくとも3つの引張部と、
水平面内における前記装具の位置が目標位置となるように前記少なくとも3つの引張部を制御する制御部と、を備え、
前記少なくとも3つの引張部のそれぞれが、前記取付位置において前記装具を仰俯角が±30°の範囲の方向から引っ張り、
前記少なくとも3つの引張部の一つは前記訓練者の前方から前記装具に引張力を与える第1引張部であり、
前記少なくとも3つの引張部の他の一つは前記訓練者の後方から前記装具に引張力を与える第2引張部であり、
前記少なくとも3つの引張部の他の一つは前記第1及び第2引張部と異なる方向から前記装具に引張力を与える第3引張部であり、
前記装具はフレームと、ガイド機構と、取付部材とを備え、
前記フレームは前記訓練者の胴体部に固定され、前記取付部材には前記第1引張部、前記第2引張部及び前記第3引張部が取り付けられており、
前記ガイド機構は前記取付部材と前記フレームとの間の上下移動をガイドし、
前記ガイド機構は、上下方向に沿って設けられたガイドレールを有する歩行訓練システム。 - 前記第1~第3引張部のそれぞれが、
前記装具に連結されたワイヤと、
前記装具に前記引張力を与えるように、前記ワイヤを巻き取る巻取機構と、を備える請求項1に記載の歩行訓練システム。 - 前記第1~第3引張部のそれぞれが、
前記ワイヤの向きを変える変換器を備えている請求項2に記載の歩行訓練システム。 - 歩行方向に沿って設けられ、前記訓練者の左右にそれぞれ配置された手摺りをさらに備え、
前記第1~第3引張部が、前記手摺りに取り付けられている請求項1~3のいずれか1項に記載の歩行訓練システム。 - 前記第1~第3引張部の引張方向が同一平面内にある請求項1~4のいずれか1項に記載の歩行訓練システム。
- 前記装具に引張力を与える第4引張部をさらに備え、
前記第1引張部が、前記訓練者の左前方に配置され、
前記第2引張部が、前記訓練者の左後方に配置され、
前記第3引張部が、前記訓練者の右前方に配置され、
前記第4引張部が、前記訓練者の右後方に配置されている請求項1~5のいずれか1項に記載の歩行訓練システム。 - 前記目標位置が動的に変化するように、前記制御部が前記引張部を制御している請求項1~6のいずれか1項に記載の歩行訓練システム。
- 前後方向及び左右方向にそれぞれ独立して、前記目標位置が動的に変化する請求項7に記載の歩行訓練システム。
- 前記胴体部の左右方向の搖動、及び、前記胴体部の前後方向の動き、にそれぞれ独立して、目標位置が動的に変化する請求項8に記載の歩行訓練システム。
- 前記装具に対する前記引張部の取付位置が、前記胴体部の周方向において、調整可能である請求項1~9のいずれか1項に記載の歩行訓練システム。
- 訓練者の胴体部に装着される装具と、
前記訓練者の前方から前記装具に引張力を与える第1引張部と、
前記訓練者の後方から前記装具に引張力を与える第2引張部と、
前記第1及び第2引張部と異なる方向から前記装具に引張力を与える第3引張部と、
前記第1~第3引張部を制御する制御部と、を備えた歩行訓練システムの作動方法であって、
前記制御部が、水平面内における前記装具の目標位置を取得するステップと、
前記制御部が、前記装具の位置が前記目標位置になるように、前記第1~第3引張部を制御するステップと、を備え、
前記第1~第3引張部の前記装具への取付位置が前記胴体部の周方向に沿う位置となるように前記第1~第3引張部が前記装具に取り付けられており、
前記第1~第3引張部のそれぞれが、前記取付位置において前記装具を仰俯角が±30°の範囲の方向から引っ張り、
前記装具はフレームと、ガイド機構と、取付部材とを備え、
前記フレームは前記訓練者の胴体部に固定され、前記取付部材には前記第1引張部、前記第2引張部及び前記第3引張部が取り付けられており、
前記ガイド機構は前記取付部材と前記フレームとの間の上下移動をガイドし、
前記ガイド機構は、上下方向に沿って設けられたガイドレールを有する歩行訓練システムの作動方法。
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JP2019189213A JP7294052B2 (ja) | 2019-10-16 | 2019-10-16 | 歩行訓練システム、及び作動方法 |
US17/003,368 US11696866B2 (en) | 2019-10-16 | 2020-08-26 | Walking training system and operation method |
EP20201511.1A EP3809398A1 (en) | 2019-10-16 | 2020-10-13 | Walking training system and operation method |
CN202011095467.0A CN112657124B (zh) | 2019-10-16 | 2020-10-14 | 步行训练系统及工作方法 |
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CN113546383B (zh) * | 2021-07-21 | 2022-09-16 | 周文龙 | 一种具有辅助功能的儿童平衡能力训练装置 |
SI26428A (sl) * | 2022-11-14 | 2024-05-31 | medica - Medizintechnik GmbH | Mehanizem in metoda za izvajanje sunkov sile pri tetivnih sistemih |
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- 2020-10-13 EP EP20201511.1A patent/EP3809398A1/en not_active Withdrawn
- 2020-10-14 CN CN202011095467.0A patent/CN112657124B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102068363A (zh) | 2011-01-25 | 2011-05-25 | 南京航空航天大学 | 绳驱动腰部康复机器人 |
US20190143172A1 (en) | 2012-08-31 | 2019-05-16 | Blue Goji Llc. | System and method for range of motion analysis and balance training while exercising |
US20170027803A1 (en) | 2014-04-21 | 2017-02-02 | The Trustees Of Columbia University In The City Of New York | Human Movement Research, Therapeutic, and Diagnostic Devices, Methods, and Systems |
WO2016186182A1 (ja) | 2015-05-19 | 2016-11-24 | Cyberdyne株式会社 | 歩行支援装置 |
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JP2021062102A (ja) | 2021-04-22 |
CN112657124B (zh) | 2022-06-21 |
US20210113419A1 (en) | 2021-04-22 |
CN112657124A (zh) | 2021-04-16 |
EP3809398A1 (en) | 2021-04-21 |
US11696866B2 (en) | 2023-07-11 |
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