WO2016186182A1 - 歩行支援装置 - Google Patents
歩行支援装置 Download PDFInfo
- Publication number
- WO2016186182A1 WO2016186182A1 PCT/JP2016/064939 JP2016064939W WO2016186182A1 WO 2016186182 A1 WO2016186182 A1 WO 2016186182A1 JP 2016064939 W JP2016064939 W JP 2016064939W WO 2016186182 A1 WO2016186182 A1 WO 2016186182A1
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- WIPO (PCT)
- Prior art keywords
- walking
- user
- unit
- waist
- support device
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- 230000033001 locomotion Effects 0.000 claims abstract description 72
- 210000001624 hip Anatomy 0.000 claims abstract description 28
- 230000005021 gait Effects 0.000 claims abstract description 26
- 210000004197 pelvis Anatomy 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims 2
- 238000004804 winding Methods 0.000 description 21
- 210000002414 leg Anatomy 0.000 description 19
- 230000005484 gravity Effects 0.000 description 14
- 210000003141 lower extremity Anatomy 0.000 description 7
- 210000004705 lumbosacral region Anatomy 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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Classifications
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- 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
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Definitions
- the present invention relates to a walking support device that supports walking of a user.
- Patent Document 1 a subject is lifted with a wire on a walking board having an annular walking surface, and the tension of the wire is changed in accordance with the excess or deficiency of the surface load of the walking board.
- a gait training device is disclosed which is designed to keep the trunk holding force constant.
- the trainer is suspended from the load-free belt, and the length of the load-free belt is adjusted according to the change in the height of the trainee's waist to support the upper body even if the trainee's posture collapses.
- a walking assist system designed to maintain a normal posture is also disclosed (see Patent Document 2).
- the present invention has been made in consideration of the above points, and an object of the present invention is to provide a walking support device that can easily perform walking training by assisting a user's swinging of the pelvis.
- the walking support device supports at least two or more parts of the user's lower back, respectively, and a driving unit that applies an external force to each of the supported parts independently. Based on the gait recognition unit that recognizes the gait and the recognition result of the gait recognition unit, an ideal walking motion pattern of the user is set, and the pelvis position in the waist swings according to the walking motion pattern. As described above, there is provided a walking support device including a control unit that controls an external force applied by the driving unit to each part of the waist.
- a walking support device that can easily perform walking training by assisting the swing of the user's pelvis.
- FIGS. 1 to 3 show an external configuration of a walking support device 1 according to this embodiment.
- FIG. 1 to FIG. 3 in the state where the user uses the walking support device 1, vertical, left and right, and front and rear are defined based on the user.
- FIG. 1 is a perspective view showing a state seen from the right rear side
- FIG. 2 is a rear view seen from the rear side
- FIG. 3 is a side view seen from the right side.
- the walking support device 1 includes a left frame 3L and a right frame 3R that are paired on both sides with respect to the treadmill 2, and are planted from the four corners of the treadmill 2, and the treadmill is between the frames 3L and 3R. 2 A frame that surrounds the user walking on the top from all directions is formed.
- the treadmill 2 has a walking belt 4 that moves so as to circulate by the rotation of a roller.
- the circulation speed of the walking belt 4 can be changed by changing the rotation speed of the roller according to the motor drive.
- Both the left frame 3L and the right frame 3R have a frame shape in which the U-shape is inverted, and are configured symmetrically.
- the height of the upper part of the left frame 3L and the right frame 3R is set based on the treadmill 2 so as to be higher than the heights of users of various physiques.
- Both the left frame 3L and the right frame 3R are fixed so that a biaxial drive device (drive unit) 5 bridges between the upper portions, and two subframes 6 and 7 are provided at the front position of the user. It is fixed to pass in the left-right direction.
- the handrails 8L and 8R are fixed to the left frame 3L and the right frame 3R in a state where the left frame 3L and the right frame 3R are passed in the front-rear direction at height positions corresponding to the user's waist.
- the biaxial drive device 5 is a biaxial shaft to which winding units (first tension adjusting unit and second tension adjusting unit) 5L and 5R having drive motors each having a pair of rotating shafts having coaxial centers as output shafts are attached.
- An axial cylindrical body portion 5A that is an actuator and has both winding portions 5L and 5R connected coaxially and having a control board (not shown) built-in, has a substantially semicircular cross section. Together with the portions 5L and 5R, they are integrally connected in a rod shape and modularized.
- each of the wire (first wire and second wire) 10L and 10R is fixed to each of the pair of winding portions 5L and 5R constituting the biaxial driving portion 5, and by winding the wires 10L and 10R, The tension of the wires 10L and 10R is adjusted by rewinding.
- the other ends of both the wires 10L and 10R are fixed to the left and right ends of the mounting harness 11 to be mounted on the user's waist.
- the left winding portion (first tension adjusting portion) 5L is a wire having one end fixed to a portion corresponding to the left side of the mounting harness 11. The other end of 10L is connected, and the tension of the wire 10L is adjusted by winding or rewinding the wire 10L.
- the right winding portion (second tension adjusting portion) 5R has one end connected to the other end of the wire 10R fixed to a portion corresponding to the right side of the mounting harness 11, and winds the wire 10R. By adjusting or rewinding, the tension of the wire 10R is adjusted.
- the sub-frame 7 that bridges between the left frame 3L and the right frame 3R is provided with an operation unit 12 having an operation panel for inputting all measurement function systems and drive system settings of the walking support device 1. Yes.
- the user uses this operation unit 12 to adjust the tension of the wires 10L and 10R by the left and right winding units 5L and 5R of the biaxial drive device 5, and the speed adjustment of the walking belt 4 of the treadmill 2, for example. Can be done.
- the sub-frame 6 that bridges between the left frame 3L and the right frame 3R is provided with a monitor 13 made of, for example, a liquid crystal display, and displays the operation results by the operation unit 12 and various information necessary for the user's walking support. It is designed to display video.
- a motion recognition sensor (gait recognition unit) 14 composed of an RGB-D sensor is attached.
- the motion recognition sensor 14 is composed of a depth sensor that can measure the distance to the object viewed from the camera in addition to the RGB color camera function, and the target is in a state where a single pattern of structured light is projected onto the object. And the depth of each point on the image is calculated by triangulation using the parameters.
- the Kinect (Microsoft Corporation, registered trademark) IV is applied as an RGB-D sensor as the motion recognition sensor 14, for example, the horizontal field of view is 57 degrees, the vertical field of view is 43 degrees, and the sensor range is from 1.2 m to 3.5 m.
- the RGB image is 640 ⁇ 480, and the depth image is 320 ⁇ 240 pixels, both of which can be acquired at 30 frames / second.
- the motion recognition sensor 14 is installed at a position that is several centimeters to several tens of centimeters higher than the walking belt 4 of the treadmill 2. As a result, the motion recognition sensor 14 can three-dimensionally scan the movement of the user's left lower limb and right lower limb to recognize the user's gait (walking posture and movement form of both lower limbs).
- the wearing harness 11 is attached over the circumference
- the mounting harness 11 In order to swing the user's pelvis, it is most preferable to attach the mounting harness 11 to the lumbar region. However, if the pelvis can be oscillated even in a region other than the lumbar region, the trunk, shoulder, etc. other than the lumbar region. You may attach to.
- the other end of the wire 10L one end of which is connected to the winding part 5L, is fixed to a part corresponding to the left side of the waist part in the mounting harness 11, and one end is wound to the part corresponding to the right side of the waist part.
- the other end of the wire 10R connected to 5R is fixed.
- an RGB-D camera is applied as the motion recognition sensor 14 to three-dimensionally scan the movement of the left leg and right leg of the user walking on the walking belt 4 of the treadmill 2.
- FIGS. ) And (D) are applied to various center-of-gravity position measuring units (not shown) to detect the user's center-of-gravity position, and based on the detection result, the user's walking state is real-time. You may make it recognize with.
- a plurality of load sensors force detection sensors such as strain gauges
- 15AL, 15AR, 15BL, 15BR including at least four corners are provided in the treadmill 2, and the load sensors 15AL, Based on the change of the load detected by 15AR, 15BL, and 15BR, you may make it obtain
- force detection sensors such as strain gauges
- dedicated shoes 16L and 16R each having a center of gravity sensor (a reaction force sensor such as a pressure sensor) and a position sensor are attached to the left and right feet, and the user's walking motion is determined.
- the center of gravity position may be obtained.
- a load acting on the back surfaces of the left and right feet accompanying the user's walking motion is detected, and the position of the center of gravity is obtained from the change in both the left and right loads.
- a wearing type movement assisting device 17 for assisting the movement of the lower limb joint of the user is worn, and a partial function (floor reaction force detection function) of the wearing type movement assisting device 17 is performed.
- the wearable movement assisting device 17 generates a motive power according to the user's intention using a biological signal resulting from a walking movement, and each user's movement pattern is a task consisting of a series of phases (minimum movement units).
- the phase of the user's task is estimated using physical quantities such as the rotation angle of the user's lower limb joint and the floor reaction force, and power corresponding to this phase is generated.
- the shoes 16L and 16R of the wearing type movement assisting device are also equipped with a center of gravity sensor and a position sensor.
- FIG. 6 is a block diagram showing the configuration of the control system of the walking support device 1 according to this embodiment.
- the walking support device 1 includes a control unit 20 that supervises and controls the entire device.
- a control unit 20 that supervises and controls the entire device.
- a computer unit including a CPU (Central Processing Unit) core and a memory can be used.
- CPU Central Processing Unit
- control unit 20 When the control unit 20 receives the detection signal from the motion recognition sensor 14 that recognizes the user's gait, the control unit 20 sets an ideal walking motion pattern of the user.
- control unit 20 measures the stride, the walking cycle, and the walking speed during the walking motion of the user based on the detection signal from the motion recognition sensor 14, and then uses the measurement result as a reference for the user.
- the pattern data of the ideal walking motion pattern is generated.
- the control unit 20 stores pattern data representing an ideal walking motion pattern in the storage unit 21 and reads out the pattern data as necessary.
- the storage unit 21 stores and stores optimum pattern data for each of a plurality of users. When the user is designated using the operation unit 12 and the monitor 13, the control unit 20 uses the pattern corresponding to the user. Data is read out.
- the control unit 20 controls the left and right winding units 5L and 5R constituting the biaxial drive device 5 based on an ideal walking motion pattern, and the wires 10L and 10R drawn from the winding units 5L and 5R. By adjusting the winding degree or the unwinding degree, the increase / decrease degree of the tension of each of the wires 10L, 10R is adjusted.
- control unit 20 can swing the pelvis position in the user's lumbar region via the left and right wire fixing portions of the mounting harness 11 in synchronization with an ideal walking motion pattern.
- control unit 20 swings the pelvis position in the lumbar region in real time based on the recognition result of the user's gait by the motion recognition sensor 14, and at the same time, walks on the treadmill 2 according to the walking speed of the user.
- the speed of the belt 4 is controlled.
- the control unit 20 sets an ideal walking motion pattern based on the recognition result of the user's gait.
- This ideal walking motion pattern is set by three-dimensionally scanning the gait state according to the actual user's walking motion. Specifically, the step length, the walking cycle, and the walking speed during the walking motion of the user are measured, and the tilt of the user's pelvis with respect to the support state by the wearing harness 11 of the user as a reference, based on the measurement result. The rotation angles and their speeds are set to optimum values (values with the best time-series trunk balance).
- the user's lower back swings alternately with the left and right legs based on the walking direction as the user walks, and the pelvis itself swings left and right alternately based on the walking direction. Tilt and swivel three-dimensionally based on the trunk.
- FIGS. 7 (A1), (B1), and (C1) show the movement of the right leg in the walking motion of the user (the stance phase when the right leg is on the ground), and FIG. 7 (A2), (B2 ), (C2), (B3), and (A3) show changes in the position of the center of gravity accompanying the movement of the right leg.
- the pelvis itself in the user's waist also swings three-dimensionally with the trunk as a reference. That is, with the user's walking motion, the pelvis alternately tilts to the left and right sides with a predetermined angle (for example, 7 degrees) with reference to the trunk (FIG. 8A), and the predetermined angle with respect to the trunk. It tilts forward (for example, 4 degrees) (FIG. 8B), and further rotates by a predetermined angle (for example, 5 degrees) alternately left and right with the trunk as a reference (FIG. 8C).
- a predetermined angle for example, 7 degrees
- FIG. 8B the predetermined angle with respect to the trunk
- a predetermined angle for example, 5 degrees
- the biaxial drive device 5 having a pair of left and right winding parts 5L, 5R is used as a drive part, and is placed on each upper part of the left frame 3L and the right frame 3R.
- the present invention is not limited to this, and each front upper portion of the left frame 3L and the right frame 3R is based on the support position of the user as in the walking support device 30 shown in FIG. And you may make it fix the two biaxial drive devices 31 and 32 so that each rear upper part may be bridged, respectively.
- the mounting harness 11 that is mounted on the user's waist also has a left-right paired relationship on the front and rear sides in the walking direction with the waist as a reference.
- the left winding parts 31L and 32L and the right winding parts 31R and 32R may be assigned and supported for every two parts.
- two biaxial The driving devices 31 and 32 can swing the user's pelvis three-dimensionally in the directions of the upper left front direction, the upper right front direction, the upper left rear direction, and the upper right rear direction with reference to the support position of the user.
- the pelvis in the user's waist is further increased in a three-dimensional three-dimensional manner. It can be swung, and it is possible to further match an ideal walking motion pattern.
- the present invention is not limited to this, and may be applied to a walking training device that can move along with the user's walking.
- FIG. 10 shows a walking support device 40 as a walking training device according to another embodiment.
- the walking support device 40 is configured such that a left frame 42L and a right frame 42R having a pair of left and right relations having a rotatable wheel 41 attached to the lower end surround the user from all directions, and the left frame 42L and the right frame 42R can be moved together.
- the walking support device 40 has substantially the same configuration except that it does not have a treadmill and the left frame 42L and the right frame 42R can move together.
- a user wearing the mounting harness 11 uses a pair of winding portions 5L and 5R of the biaxial driving device (driving portion) 5 that bridges between the upper portions of the left frame 42L and the right frame 42R, respectively, to wire 10L and 10R. It is made to be supported so as to be able to adjust the tension via the.
- the left frame 42L and the right frame 42R move together in the same direction. Walking training that can be expected to improve daily life can be performed.
- the mobile walking support device 40 may be given an assisting force by automatic driving. That is, it is engaged with at least a pair of left and right wheels 41 among the plurality of wheels 41 attached to the lower ends of the left frame 42L and the right frame 42R, and each wheel 41 can be driven independently according to the control of the control unit 20.
- a wheel drive unit (not shown) is provided, and the control unit 20 determines each of the user's walking motions based on the recognition result of a motion recognition sensor (gait recognition unit) not shown in FIG.
- the wheel drive unit is controlled so as to adjust the rotation speed and rotation direction of the wheel 41.
- the present invention is not limited to this, and the walking shown in FIGS. 11 (A) and (B).
- the four corners of the treadmill 2 may be independently supported by the ground contact end of the frame so that the height can be adjusted.
- adjustment mechanism portions 51 are provided in the vicinity of the respective grounding ends of the left frame 3L and the right frame 3R, and the treadmill 2 can be moved while the walking belt 4 is circulated and movable.
- the four corners (supporting portions) 2LA, 2LB, 2RA, and 2RB are supported.
- Each of these adjustment mechanisms 51A to 51D has an actuator 52 and a ball screw 53 in support portions 2LA, 2LB, 2RA, and 2RB that support the corners of the treadmill 2, and the ball screw 53 rotates according to the driving of the actuator 52.
- the support portions 2LA, 2LB, 2RA, and 2RB are moved up and down while converting into a linear motion.
- the plurality of support portions 2LA, 2LB, 2RA, and 2RB are in a frontal relationship with respect to the traveling direction of the treadmill 2.
- the supporting parts 2LA and 2RA or the supporting parts 2LB and 2RB in the rear side are adjusted to the height around the pitch axis. Tilt to the floor at an appropriate angle.
- 2LA, 2LB, or the support parts 2RA, 2RB that are in the paired relationship on the right side are respectively adjusted by a predetermined height, so that the walking surface of the walking belt 4 corresponds to the height around the roll axis. Tilt to the floor at an angle.
- the control unit 20 of the walking support device 50 receives each support part 2LA, The corresponding actuators 52 are driven so that 2LB, 2RA, and 2RB are at height positions corresponding to the inclination angles.
- the walking support device 50 as an effect of tilting the treadmill 2 forward, backward, left, or right, there are a walking motion pattern that matches a user's symptoms, a remarkable appearance of a gait improvement effect, and the like. .
- the treadmill 2 is tilted back and forth so that the walking surface of the walking belt 4 forms an uphill or downhill with respect to the traveling direction, so that the walking surface is compared with a flat surface.
- a load can be given to the walking motion.
- physical data for example, bioelectric potential, center of gravity, gait, heart rate, body surface temperature, stride, etc.
- the gait can be improved by the load.
- the lift mechanism that moves the support portions up and down according to the drive of the actuator
- various mechanisms for converting the rotational motion of the actuator into a linear motion such as a trapezoidal screw, may be applied.
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Abstract
Description
(1)本実施の形態による歩行支援装置の構成
図1乃至図3において、本実施の形態の歩行支援装置1の外観構成を示す。以下では、図1乃至図3に示すように利用者が歩行支援装置1を利用する状態で、利用者を基準にして上下、左右、前後を定義する。このため、図1は、右斜め後方から見た状態を示す斜視図であり、図2は、後方から見た背面図であり、図3は、右側方から見た側面図である。
装着ハーネス11は、図4(A)及び(B)に示すように、利用者の腰部の周囲にわたって取り付けられる。その際、装着ハーネス11は、利用者の腰部を支持すると同時に、当該腰部内の骨盤と一体化される程度の締め付け度合いで巻き付けられている。
図6に本実施形態に係る歩行支援装置1の制御系統の構成を示すブロック図を示す。歩行支援装置1は、装置全体の制御を統括して司る制御部20を有し、例えば、CPU(Central Processing Unit)コア及びメモリを有するコンピュータユニットを用いることができる。
図7及び図8を用いて、利用者の歩行動作に伴う腰部内の骨盤の動きについて説明する。歩行支援装置1において、制御部20(図6)は、利用者の歩容の認識結果に基づいて、理想的な歩行動作パターンを設定する。
なお本実施の形態においては、左右一対の巻取り部5L、5Rを有する二軸駆動装置5を駆動部として、左フレーム3L及び右フレーム3Rの各上方部に一箇所のみ固定する場合について述べたが、本発明はこれに限らず、図9に示す歩行支援装置30のように、利用者の支持位置を基準に左フレーム3L及び右フレーム3Rの各前上方部及び各後上方部をそれぞれ橋架するように2個の二軸駆動装置31、32を固定するようにしても良い。
Claims (11)
- 利用者の歩行支援を行う歩行支援装置において、
前記利用者の腰部の少なくとも二箇所以上の部位をそれぞれ支持し、当該支持された各部位にそれぞれ独立して外力を与える駆動部と、
前記利用者の歩容を認識する歩容認識部と、
前記歩容認識部の認識結果に基づいて、前記利用者の理想的な歩行動作パターンを設定し、当該歩行動作パターンに合わせて前記腰部内の骨盤位置が揺動するように、当該腰部の前記各部位に対して前記駆動部が与える外力をそれぞれ制御する制御部と
を備えることを特徴とする歩行支援装置。 - 前記制御部は、
前記歩容認識部の認識結果に基づいて、前記利用者の歩行動作中の歩幅、歩行周期及び歩行速度を計測し、当該計測結果を基準にして、前記利用者の支持状態を基準とする当該利用者の骨盤の傾斜及び回旋の角度並びにそれらの速度を、理想的な前記歩行動作パターンとしての最適な値にそれぞれ設定する
ことを特徴とする請求項1に記載の歩行支援装置。 - 前記利用者ごとに予め計測した理想的な歩行動作パターンを表すパターンデータを記憶する記憶部を備え、
前記制御部は、前記歩容認識部による認識結果に代えて、指定された前記利用者に対応する前記パターンデータを前記記憶部から読み出した後、当該パターンデータに基づく理想的な歩行動作パターンに合わせて前記駆動部を制御する
ことを特徴とする請求項1または2に記載の歩行支援装置。 - 前記駆動部は、
一端が前記腰部の左側に相当する前記部位に固定された第1ワイヤの張力を調整する第1張力調整部と、
一端が前記腰部の右側に相当する前記部位に固定された第2ワイヤの張力を調整する第2張力調整部と、
歩行面に対して起立し、前記利用者の前記腰部よりも高い位置で互いに左右対の関係となるように、前記第1張力調整部及び前記第2張力調整部を支持するフレームと
を備え、
前記制御部は、
前記利用者の前記腰部内の骨盤位置が理想的な前記歩行動作パターンに同期して揺動するように、前記第1張力調整部及び前記第2張力調整部を駆動して、前記第1ワイヤの張力及び前記第2ワイヤの張力の増減度合いをそれぞれ制御する
ことを特徴とする請求項1乃至3のいずれか一項に記載の歩行支援装置。 - 前記駆動部は、
前記利用者の前記腰部における前記各部位のうち、当該腰部の左側及び右側で互いに対の位置関係となる所定数ずつの部位ごとに、それぞれ前記第1張力調整部及び前記第2張力調整部を、前記腰部を基準とした歩行方向の前側及び後側で互いに左右対の関係となるように割り当てて支持し、
前記制御部は、
前記各第1張力調整部及び前記各第2張力調整部をそれぞれ独立して駆動する
ことを特徴とする請求項4に記載の歩行支援装置。 - 前記利用者の重心位置を計測する重心位置計測部を備え、
前記制御部は、前記重心位置計測部の計測結果に基づいて、前記駆動部を制御する
ことを特徴とする請求項1乃至5のいずれか一項に記載の歩行支援装置。 - 前記駆動部と一体に取り付けられ、ローラの回転に応じて歩行ベルトを循環するように移動するトレッドミル
を備えることを特徴とする請求項1乃至6のいずれか一項に記載の歩行支援装置。 - 前記歩行ベルトが循環して移動可能な状態で前記トレッドミルの四隅を支持し、当該各支持部位において独立して高さ調整が可能な調整機構部をさらに備え、
前記調整機構部は、
複数の前記支持部位のうち前記トレッドミルの進行方向に対する前側若しくは後側のいずれかの対関係又は左側若しくは右側のいずれかの対関係にある前記支持部位同士をそれぞれ所定の高さ分だけ調整することにより、前記歩行ベルトの歩行面をピッチ軸又はロール軸を中心に当該高さ分に応じた角度にて床面に対して傾斜させる
ことを特徴とする請求項7に記載の歩行支援装置。 - 前記調整機構部は、前記トレッドミルの四隅にそれぞれアクチュエータ及び昇降機構を有し、当該アクチュエータの駆動に応じて前記昇降機構が前記支持部位を昇降移動させ、
前記制御部は、前記歩行ベルトの歩行面におけるピッチ軸又はロール軸を中心とする傾斜角度が外部入力されると、前記各支持部位が当該傾斜角度に相当する高さ位置となるように、それぞれ該当する前記アクチュエータを駆動する
ことを特徴とする請求項8に記載の歩行支援装置。 - 前記駆動部、前記歩容認識部及び前記制御部を支持するフレームの接地端にそれぞれ車輪が取り付けられ、
前記駆動部は、支持状態にある前記利用者の歩行動作に応じて、当該利用者と一体に移動する
ことを特徴とする請求項1乃至6のいずれか一項に記載の歩行支援装置。 - 前記駆動部は、複数の前記車輪のうち少なくとも左右一対の前記車輪に係合され、前記制御部の制御に応じて当該各車輪を独立して駆動可能な車輪駆動部
を備え、
前記制御部は、前記歩容認識部の認識結果に基づいて、前記利用者の歩行動作に合わせて、前記各車輪の回転速度及び回転方向を調整するように前記車輪駆動部を制御する
ことを特徴とする請求項10に記載の歩行支援装置。
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EP16796575.5A EP3299002B1 (en) | 2015-05-19 | 2016-05-19 | Walking assistance device |
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