JPS61181463A - Suspension type walking exercise apparatus - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION A1 Field of Application This invention relates to a suspended gait training device for use in gait training for patients.

Summary of the B1 Invention This invention is a suspended gait training device that performs gait training while being suspended above a patient.

Patient's interlocking status # Equipped with a detector to detect all conditions.

This allows walking training to be performed while monitoring the patient's condition.

C0 conventional technology When disease or injury causes damage to the lower extremities.

Walking may become difficult. In such a case, in order to return to vomiting, the patient will undergo 11 walking exercises at a rehabilitation facility under the guidance of a doctor or physical therapist.

, Step 701 to help people recover quickly
One stone requires some c/) anion.

(b) The load on the patient's lower limbs can be freely adjusted. That is, by lifting the patient, a load on the lower limbs of the patient can be applied, and the load on the lower limbs can be gradually increased.

(b) Guidance from a doctor or physical therapist for walking d1 g,
This should be done with supervision, but the patient should be able to do it on their own as much as possible.

(c) There are few cases that can place a significant burden on not only the patient but also the doctor, physical therapist, etc.

b) In situations where the patient has progressed to a certain level of walking training, the patient should be able to walk at the target walking speed determined by the doctor or physical therapist.

(e) The patient himself/herself can easily grasp the walking speed of the patient who is practicing walking.

(f) Doctors or physical therapists can freely set increases or decreases in target walking speed within a certain range.

(G) When a patient who is practicing walking becomes unable to walk for some reason, the patient should have a health care function to ensure that no harm is caused to the patient's body.

H Load on the patient's lower limbs during gait training (also buoyancy)
0 Walking speed 1 Walking distance, heart rate, etc. can be understood as numerical values, and the above-mentioned values can be monitored by priests and physical therapists.

Open: Be able to record the above values.

1. A number of patients can be trained to walk at the same time.

As a suspension type gait training device that allows a patient to practice walking while being lifted up, there has been a device shown in Fig. 47 (see Utility Model Publication No. 137638/1983).
.

In the figure, 1 is a guide rail, 2 is a movable prize vehicle that is movable along the guide rail 1, and 3 is a buoyancy generator that lifts up a patient 5 via a rope 47 as a system member. walking ll
When performing 1ll exercises, patient 5.

The car enters the walking support frame 6 where the car is raised, opens the hook 7, hangs it from the lobe 4, and attaches it to the nfC suspension frame 8, which is movable up and down relative to the walking support frame 6. Apply Kei Band 9 to secure your body.

After a while, the patient 5 is lifted by operating the buoyancy generator 3, and the load on the patient's 5 lower limbs is reduced. After that, patient 5 walked using only his own strength.

The mobile trolley 2 follows the patient 5 by pulling it.

In addition to this, transfer! The J-prize car is equipped with a drive means for running.

A doctor or physical therapist operates an infrared controller or the like to make the mobile device move in accordance with the patient's walking, thereby assisting the patient's walking.

The suspension-type gait training device has two of the above-mentioned support ropes necessary for gait training:
fc, which is an innovative outfit.

D. While @Akira is trying to solve the problem, the main point is to understand the load that is applied to the lower limbs when the patient walks (as well as the patient's movement status such as walking speed, walking distance, heart rate, etc.) and the original condition g'. In other words, the above-mentioned circle has not been added to a 亦), (to), 11-), and the group t-. In order to carry out gait training, it is effective to numerically understand and record the patient's movement status, formulate and implement a rehabilitation plan, and by understanding the movement status, it is possible to know the patient's recovery status. A significant improvement in training efficiency can be expected.

Therefore, the present invention solves this problem and provides a nine-suspension walking system.
The purpose of this invention is to provide a kneading device.

Ninth Means for Solving Problem E6 The present invention is a system in which a movable trolley is attached to a guide rail, and a buoyancy generator for hoisting a patient by means of a cable member on the Enoki transport vehicle is provided. Suspended walking training #e
A patient's movement during one-step walking training in person! It is equipped with a detection means for detecting a4.

Since the patient's movement state during walking (ω11), that is, walking speed, pulse rate, etc., can be detected by a doctor, physical therapist, or practitioner, it is possible to make a rehabilitation plan for effective walking training. can be done.

G. Embodiments The present invention will be explained in detail below based on embodiments shown in the drawings. Note that this embodiment is an improved version of the teeth of the conventional suspension type walking training device, so the same parts are denoted by the same reference numerals r.
The explanation will be omitted and only the different parts will be explained.

As shown in FIG. 1, a moving carriage 11 is attached to a guide rail 1, and a buoyancy generator 12 is attached below the moving carriage 11. Transfer Ig! 18 11 and buoyancy generator 12
The structure of is shown in Figure 2.

In this embodiment, the movable trolley 11 is equipped with a variable speed motor 13 as a driving means, and the variable speed motor 13 is equipped with a speed reducer 1.
4 are connected to each other, and a tooth JIL 15 attached to the output shaft of the reducer 14 meshes with a gear 17 integral with the wheel 16. A tachometer dynamo 1B is connected to the variable speed motor 13. Note that 19 is a free wheel.

The buoyancy generator 12 includes a motor 20, an affi powder clutch 21, a drum 22 around which one end of the rope 4 is wound,
The tllll end of the rope 4 is connected to the buoyancy detector (detector 23) and the 7q of the rope 4 hanging from the buoyancy detector 23.
The angle detector (detection means) 24 detects degrees.

The buoyancy detector 23 is conveniently of a strain gauge type.
The strain in the strain gauge caused by the weight of the patient 5 is converted into an electrical quantity. 1. A potentiometer is used as the angle detector 24. The target walking speed is set in advance according to the condition of the person walking 5.
The difference between 0 running speed and patient 5's movement speed is 1!
With Iwao as the reference zero, it is produced with a plus or minus value, and it is expressed as a 1-ki signal depending on the angle.

The detection generation for detecting the 4N state of the patient 5 includes the buoyancy detector 23. In addition to the angle detector 24, the pressure sensor 25
and a pulse wave sensor 26. A pressure sensor 25 is attached to the inside or back of the patient's 5 object and detects the load applied to the soles of the left and right feet during one walk. The pulse wave sensor 26 is for detecting negative fi applied to the heart when walking.
The heart rate is detected by a phonocardiograph, a microphone, etc., or the pulse rate is detected by a pulse meter. In Figure 1, the pulse # is attached to the patient's wristff7'll - Example? It shows.

These buoyancy generators 23. Angle detector 24. Pressure sensor 25. Each signal detected by the pulse sensor 26 is introduced into an interface (IF) 27 in a control box 29 attached to the buoyancy generator 12, and subjected to signal modulation such as FS modulation. Later, as shown in Figure 5)!3, it is sent out through the transmission I &28'i.The control box 29 includes an upper interface 27 as well as a variable speed motor 131.
A flat motor 200, a flat motor 200, a rotational force, and a control means for controlling the excitation and breaking force of the magnetic powder clutch 21 (i.e., the buoyancy of the patient 5) transmitted to the drum 2z. There is. The power supplied to these drive sources is omitted in the figure. : Performed via the conduit section. Transmission between the t1 interface 27 and the interface 27, K 27 and the alrL nine places, and the next-mentioned control line 30, can be carried out using the electric power II'1Ii1 transfer method, the unconnected transfer method, or the cable-combined transfer method. Although there are various considerations, in this embodiment, reliability, proximity, etc. are important! In view of this, the guided radio system is conveniently used. Therefore, one guide wire is used as the transmission line 2B, and the interface 27 is Ktd F Bf return 1.
It is equipped with 16 transmitting and receiving functions. Control unit 113
0 is the interface 38. CPTJ39゜ROM4
0. RAM 41 as a storage means. Control unit 33. It consists of a monitoring section 36. The control unit 33 includes, for example, a route switching switch 31 and a variable speed motor 13 . Motor 20. The monitor unit 36 is composed of a CRT 34 as a display means and a printer 35 as a printing means. There is.

In this embodiment, a guide rail 1 is constructed as shown in FIG. 5 so that a plurality of patients can perform walking lessons S at the same time. That is, the guide rail 1 is formed into a track shape, and has branch guide rails 1a, 1b and branch points) lc so that the patient 5 who walks faster can overtake the patient 5 who is slower.
~1f are provided. In addition, Igl! This is an entry guide rail. - 10,000, each moving port wheel 11 or buoyancy generator 12 is equipped with a distance 41 detection 037, and as shown in FIG. Dynamically operating *d, one person 5 moves onto the branch guide noll 1a or lb and the preceding patient 5
tX1iL can be exceeded by programming in ROM4Q.
ing. Note that the output of this distance detector 37 is also input to the interface 27.

The action of such a defined gait training device will now be explained.

First, tell the doctor or physical therapist the patient's unique number.

The moving speed of the next moving trolley 11 is determined according to the patient's condition.

The buoyant force for the buoyant force generator 12 (Wt+a excitation current of the disguise clutch 21, etc.) is set through the split a section 33. It goes without saying that the speed and buoyancy may also be set on the me vehicle 11 side. Based on this set value, the buoyancy generator 12 lifts the patient 5 by lifting the powder main clutch 2.
1's excitation current is y4 node n, and the speed of the moving vehicle 11 is (δ) in FIG.

+bl. For example, if the setting value is set to tal and nfc is set, move! 112I trolley 111j (a
The speed increases or decreases according to l, and becomes constant at the setting 111 V O, and the walking speed W0 of the patient 50 at that time is the training standard speed f' given by the doctor. The walking speed of the patient 50 WD is introduced into the interface 27 as the output voltage value of the tacho dynamometer 18, where signal conversion for transmission of FBK tone etc. is performed. The fish were sent out on the 38th. Interface 38iF8I, 3
3. The signal is subjected to processing such as 11, converted into a signal that can be processed by a computer, and stored in the RAM 41. Based on the command of cpσ39, table reference data editing is performed by referring to f'L7t data previously stored in ROM40n, CRT34
The walking speed is displayed as a numerical value of In/min and printed on the printer 35. If you want to express the walking distance, you can easily obtain it by integrating the velocity t'. When the patient 5 is performing the walking lesson 41' at the standard speed Wo of 111 gravels, for some reason the walking speed W and the traveling speed V of the mobile trolley 110 are different.
There may be differences between the two. In this case, when W>V, there is no point in running the mobile rental vehicle 11 for educational assistance, and when W<V, the set value v0 is greater than the walking ability of the patient 5, or the patient 5 is fatigued. This can lead to a decline in walking ability, and there is a risk of falling into a dangerous situation no matter what. In order to prevent this, the present invention is provided with angle detection: A24, which detects the speed difference between W and V by detecting the angle of the rope 40 with respect to the vertical edge, and responds to the slowness of the patient 5. variable speed motor 131
e control. That is, the speed setting value of the n-dimensional motor vehicle 11 (variable speed motor 13), which is preset by a doctor or physical therapist, and the n sense detection value detected by the angle detector 24 are added to perform n speed control. variable speed motor 13
vf: Because it is configured to control.

Acts like an arrow.

■ If the detected value by the angle detector 24 is zero, then W==
This means that you are balancing at V and walking at the standard training speed set by your doctor.

■ W>V, and the first detection shift is positive 1v7L.
If the movable cart 11 is set at a speed V corresponding to that amount. However, the speed control means of the variable speed motor 13 has a set speed of 70 or higher, so that the set speed remains constant at the same value. In this case, the patient 5 is informed to reduce his or her walking speed by means of a display means or a device (not shown). Here, it is easy to remove the limiter of the set speed LVo and increase the speed of the mobile trolley 11 to correspond to the walking speed of the patient 5.Although it is easy to set the speed to 0, it is set as a constant speed based on the purpose of ``discipline and training'' based on the doctor's instructions. There is.

■ When W<V and the detection IN becomes negative one shift, the fg signal input to the speed control means is input with the negative value calculated more than the set value, so the 1
The speed of 1 is also a little bit along fal, for example, the walking speed is W
-, if it is Natsuko, it will be 61 it J e The moving speed of car 11 will be automatically lowered to V-1n, and eventually it will not be stopped.
Ru. Note that V-2 in Figure 8g4 is the speed of the mobile cart 11 when the set value is tei, and this speed is v
This is the set speed of the head wheel 11 at the training standard speed Wo of the patient 5, which is the same as o.

As described above, when the walking speed W of the patient 50 is significantly lower than the traveling speed V of the moving carriage 11 set by the doctor or physical therapist, the moving carriage 11 is not stopped. As a result, patient safety is ensured. And these n~
The phenomenon of (2) is sometimes transmitted by the transmission means to the device 30 and displayed on the CRT 34 and the printer 35.
It is printed at . On the other hand, the heart rate and arrhythmia of the patient 5 while walking are detected by the pulse wave sensor 26,
The foot pressure sensor 25 detects #heaviness on the lower limbs.
Inter 7A, x 27, 38'fl: Via C
It is displayed and recorded as a numerical value on the RT 34° printer 35. In the event of an abnormality, an alarm may be generated depending on the case. Note that the load applied to the lower limbs may be detected by the buoyancy generator 23. That is, the buoyancy force tf that hangs up the patient 5 on the buoyancy detector 23
The signal is detected as fl, converted into a distorted t-'lt air signal, and sent to the interface 27, connected to the transmission line 28, and displayed on the CRT 34 of the control device 30. This 4h@-,
, the difference between the body weight of person 5 and the detected value is displayed and recorded as a numerical value (accurate) of the load on the lower limb. In addition,! ! Sometimes @
Picture frame 84! Q Judo also tastes like 7JO.

65 about a 4-hour meeting where Arrow trains multiple patients 5 at the same time? , FIA. When a plurality of patients 5 use the suspended walking training device once or twice at the same time, the slow moving trolleys 11, which have different walking speeds depending on the patients 5, approach each other. @6
In the figure, for example, when A = 3 m is set, if the distance between the movable carts 11 is less than 3 mDA, the distance detector 37 detects this and transmits it to the controller V&[30. At this time, the ROM 40 may be programmed in advance to stop the moving table at a true speed of 11 tons.
As shown in Figure 5, there is a branch point) lc~1f 4@
- Since the branch points IC to lfg are activated based on the data tm in the programmed ROM4o, the patient 5 who is walking faster can move to the branch guide rail la or lb and overtake the patient 5 who is walking slower. can. As a branching point, although not shown in the figure, a turntable-shaped rail tV is used.

In this way, the suspended walking 1ull training device can be used for multiple patients.
You can practice walking-11 during llffj. A computer is introduced to store various data displayed on a CRT, and a printer is used to record the data, and a doctor or physical therapist creates a computer based on the data kit.
L9 individual rehabilitation IRT drawings can be used to walk 11 buildings. I would like to emphasize that, unlike conventional gait training sessions that rely on the "kan" of doctors or physical therapists, we understand the patient's interlocking state and health condition numerically, and scientifically conduct gait training based on this (AK). III M meetings can be held.

In addition, in the m1-carrying example, a self-propelled type using a variable speed motor is explained as a mobile cart, and 9 is 1. Of course, it may not be self-propelled depending on the state of recovery of @person.

DETAILED DESCRIPTION OF THE H6 INVENTION According to the present invention, the suspension type gait III device is equipped with a detection means for detecting the patient's movement state during gait training, so that a doctor or physical therapist can monitor the patient's movement. It can be grasped as a numerical value at the position 'Ryu1rL7'c'. In particular, there are few cases where patients are in a condition where they can bear the weight of the cart equally on both lower limbs, and in general, only a few liters of lower limbs are affected. In the present invention, the patient's condition can be grasped in detail by attaching pressure sensors to the soles of the patient's feet and detecting the load. Therefore, not only is the efficient walking fJII Rfi heavy,
Since it is possible to judge the effectiveness of Reno-Bili, it is possible to formulate an efficient and scientific rehabilitation plan. As a result, the patient recovers in a short period of time, and the mobile trolley can follow the patient's walking speed due to physical fatigue, making it safe, even when the patient is in a dangerous state. Able to respond quickly.

[Brief explanation of drawings]

Figures 1 to 6 show the 11th exercise f2 of suspended walking according to the present invention.
! Regarding the second example of 1, Fig. 1 is an external view of the insulating training platform during summer use, Fig. 2 is a cross-sectional view of the moving cart and buoyancy generator, and Fig. 3 is the stile! 2I schematic diagram, Figure 4 is a graph showing the relationship between the walking speed of the patient and the speed of the moving trolley, Figure 5 is a plan view of the guide rail, and Figure 6 is an explanatory diagram showing the relationship between the two. , Figure 7 shows the conventional suspension type gait.
FIG. 1... Guide rail, 4... Rope, 11... Moving trolley, 12... Buoyancy generator, 18... Tachometer dynamo, 23... Buoyancy detector, 24... 7Q degree detection device, 25...pressure sensor, 26...pulse wave sensor,
30...control device t, 34...CRT, 35...
Printer, 37... Distance detector. Figure 1 Beard, expression nd line (I11#LM-Oki no outside ◆ R・ku Figure 4 OW-+ W. BAHI-, 4/) Walk I 1 sentence Takashi Yako (W) Figure 7 I , part of the vassal meeting 11 Genrapuguchi was also damaged.

Claims (6)

[Claims] (1) A suspended walking training device in which a movable trolley is movably attached to guide rails disposed in the horizontal direction, and a buoyancy generator for hoisting the patient via a cable member is attached to the movable trolley. A suspended gait training device, comprising a detection means for detecting the exercise state of a patient during training, and a control device for expressing a detection value detected by the detection means as a numerical value. (2) The suspended walking training device according to claim 1, further comprising a buoyancy detector for detecting the buoyancy with which the buoyancy generator lifts the patient as a detection means. (3) The suspended walking training device according to claim 1 or 2, further comprising a speed detector for detecting the patient's walking speed as the detection means. (4) The suspended gait training device according to claim 1, 2, or 3, comprising a load detector to be attached to the sole of the patient's foot as a detection means. (5) The suspended gait training device according to claim 1 or 2 or $3 or 4, comprising a pulse wave sensor for detecting a patient's pulse wave as a detection means. (6) Claims 1 or 2 or 2, wherein the control device is provided with a storage means for storing the detected value, a display means for displaying the detected value, and a printing means for printing the detected value on paper. The suspended walking training device according to item 3, item 4, or item 5.