JP6323419B2 - 歩行訓練装置 - Google Patents
歩行訓練装置 Download PDFInfo
- Publication number
- JP6323419B2 JP6323419B2 JP2015177790A JP2015177790A JP6323419B2 JP 6323419 B2 JP6323419 B2 JP 6323419B2 JP 2015177790 A JP2015177790 A JP 2015177790A JP 2015177790 A JP2015177790 A JP 2015177790A JP 6323419 B2 JP6323419 B2 JP 6323419B2
- Authority
- JP
- Japan
- Prior art keywords
- walking
- training
- control unit
- unit
- trainer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000033001 locomotion Effects 0.000 claims description 51
- 230000001429 stepping effect Effects 0.000 claims description 42
- 238000001514 detection method Methods 0.000 claims description 27
- 230000005021 gait Effects 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 description 24
- 210000002683 foot Anatomy 0.000 description 8
- 210000001699 lower leg Anatomy 0.000 description 8
- 210000000689 upper leg Anatomy 0.000 description 8
- 208000019901 Anxiety disease Diseases 0.000 description 6
- 230000036506 anxiety Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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Description
周回動作するベルト上で歩行訓練者が歩行訓練を行うトレッドミルと、
前記ベルトの周回動作を制御する制御部と、
前記歩行訓練者の脚部に装着され、前記歩行訓練者の歩行動作を補助する歩行補助装置と、
を備える歩行訓練装置であって、
前記ベルト上での前記歩行訓練者における前記歩行補助装置が装着された側の脚部の歩行又は足踏み動作の有無を検出する検出部を更に備え、
前記制御部は、前記検出部が前記歩行又は足踏み動作を予め設定された回数検出するまでは、前記ベルトの周回動作を開始させない動作禁止状態を維持し、前記検出部が前記歩行又は足踏み動作を予め設定された回数検出した後に、前記動作禁止状態を解除する。
前記操作部は、前記検出部が前記歩行又は足踏み動作を予め設定された回数検出するまで前記制御部が前記動作禁止状態を維持している間は、前記操作信号を前記制御部に出力しないことが好ましい。
前記操作部から前記制御部に前記操作信号が出力された場合であっても、前記制御部は、前記検出部が前記歩行又は足踏み動作を予め設定された回数検出するまで前記動作禁止状態を維持することが好ましい。
以下、図面を参照して本発明の実施の形態に係る歩行訓練装置ついて説明する。図1は、本実施の形態に係る歩行訓練装置の構成を模式的に示す斜視図である。図2は、本実施の形態に係る歩行訓練装置の歩行補助装置を模式的に示す斜視図である。図3は、本実施の形態に係る歩行訓練装置のシステム構成を模式的に示すブロック図である。
実施の形態1では、歩行訓練者の歩行又は足踏み動作を予め設定された回数検出するまで、訓練装置3の訓練開始ボタン42を操作者に選択不可能な状態で操作部4に表示したが、これに限らない。歩行訓練者の歩行又は足踏み動作の回数を問わず、訓練装置3の訓練開始ボタン42を操作者に選択可能な状態で操作部4に表示してもよい。このとき、歩行訓練者の歩行又は足踏み動作が予め設定された回数未満の状態で、操作者がトレッドミル31の訓練開始ボタン42を選択した場合、制御部5が操作部4から入力される操作信号を無効にすることで、検出部314が歩行訓練者の歩行又は足踏み動作を予め設定された回数検出するまでトレッドミル31の動作禁止状態を維持する構成とすればよい。このように、歩行訓練者が歩行又は足踏み動作を設定回数実施するまでは、操作者が操作部4を操作して操作信号が制御部5に出力されても当該操作信号が無効化されて動作禁止状態が維持される。そのため、歩行訓練者が歩行補助装置2の補助動作に慣れていない段階で、操作者の操作によってベルト311が周回動作し始めて歩行訓練者に不安感を与えることを抑制することができる。
実施の形態1では、ベルト311の内周面と支持部312の上面との間に配置された荷重センサを備える検出部314が歩行訓練者の歩行又は足踏み動作の回数を検出しているが、これに限られない。歩行補助装置2における足平フレーム23の上面に検出部として複数の荷重センサを設け、当該荷重センサの検出結果に基づいて制御部5が歩行訓練者の歩行又は足踏み動作の回数を導き出してもよい。
2 歩行補助装置
21 上腿フレーム、211 固定手段、212 第1フレーム
22 下腿フレーム、221 第2フレーム
23 足平フレーム
24 膝関節
25 モータ
26 足首関節
3 訓練装置
31 トレッドミル、311 ベルト、312 支持部、313 モータ、314 検出部
32 フレーム本体、321 柱フレーム、322 前後フレーム、323 左右フレーム
33 表示部
34 第1ワイヤ
35 第1引張部
36 第2ワイヤ
37 第2引張部
38、39 モータ
4 操作部、41 歩行補助装置の補助開始ボタン、42 訓練装置の訓練開始ボタン
5 制御部
Claims (3)
- 周回動作するベルト上で歩行訓練者が歩行訓練を行うトレッドミルと、
前記ベルトの周回動作を制御する制御部と、
前記歩行訓練者の脚部に装着され、前記歩行訓練者の歩行動作を補助する歩行補助装置と、
を備える歩行訓練装置であって、
前記ベルト上での前記歩行訓練者における前記歩行補助装置が装着された側の脚部の歩行又は足踏み動作の有無を検出する検出部を更に備え、
前記制御部は、前記検出部が前記歩行又は足踏み動作を予め設定された複数の回数検出するまでは、前記ベルトの周回動作を開始させない動作禁止状態を維持し、前記検出部が前記歩行又は足踏み動作を予め設定された複数の回数検出した後に、前記動作禁止状態を解除する、歩行訓練装置。 - 操作者による操作に応じて、前記制御部に対して前記ベルトの周回動作の開始を指示する操作信号を出力する操作部を備え、
前記操作部は、前記検出部が前記歩行又は足踏み動作を予め設定された複数の回数検出するまで前記制御部が前記動作禁止状態を維持している間は、前記操作信号を前記制御部に出力しない、請求項1に記載の歩行訓練装置。 - 操作者による操作に応じて、前記制御部に対して前記ベルトの周回動作の開始を指示する操作信号を出力する操作部を備え、
前記操作部から前記制御部に前記操作信号が出力された場合であっても、前記制御部は、前記検出部が前記歩行又は足踏み動作を予め設定された複数の回数検出するまで前記動作禁止状態を維持する、請求項1に記載の歩行訓練装置。
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EP16181607.9A EP3141232B1 (en) | 2015-09-09 | 2016-07-28 | Walking training system |
CN201610615439.4A CN106511036B (zh) | 2015-09-09 | 2016-07-29 | 步行训练系统及对步行训练系统的起动进行控制的方法 |
US15/236,058 US10045904B2 (en) | 2015-09-09 | 2016-08-12 | Walking training system |
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WO2017024201A1 (en) * | 2015-08-06 | 2017-02-09 | The Trustees Of The University Of Pennsylvania | Gait rehabilitation systems, methods, and apparatuses thereof |
JP6777943B2 (ja) * | 2017-09-04 | 2020-10-28 | アニマ株式会社 | 歩行訓練装置 |
JP2019055034A (ja) * | 2017-09-21 | 2019-04-11 | トヨタ自動車株式会社 | 免荷装置 |
JP6926914B2 (ja) * | 2017-10-05 | 2021-08-25 | トヨタ自動車株式会社 | 歩行訓練システム及びその制御方法 |
CN108014447A (zh) * | 2017-11-15 | 2018-05-11 | 常州信息职业技术学院 | 一种具有锻炼背部力量的跑步机 |
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DE102018102210B4 (de) * | 2018-02-01 | 2021-12-16 | Michael Utech | Vorrichtung für das Gehtraining eines Individuums |
JPWO2020080462A1 (ja) * | 2018-10-18 | 2021-10-07 | 株式会社カーブスジャパン | ストレッチ用運動器具 |
JP7326926B2 (ja) * | 2019-06-27 | 2023-08-16 | トヨタ自動車株式会社 | 学習装置、リハビリ支援システム、方法、プログラム、及び学習済みモデル |
JP7314829B2 (ja) * | 2020-02-12 | 2023-07-26 | トヨタ自動車株式会社 | 歩行訓練装置及びその制御方法、プログラム |
JP7428159B2 (ja) * | 2021-04-15 | 2024-02-06 | トヨタ自動車株式会社 | 歩行訓練システム、その制御方法、及び、制御プログラム |
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WO2022271105A1 (en) * | 2021-06-21 | 2022-12-29 | Univerzitetni Rehabilitacijski Inštitut Republike Slovenije – Soča | Modular tendon-actuated exoskeleton for gait training |
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US6821233B1 (en) * | 1998-11-13 | 2004-11-23 | Hocoma Ag | Device and method for automating treadmill therapy |
JP2002345994A (ja) * | 2001-05-30 | 2002-12-03 | Hitachi Ltd | 歩行訓練装置 |
JP2005124966A (ja) | 2003-10-27 | 2005-05-19 | Matsushita Electric Ind Co Ltd | 餅つき機 |
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US8480541B1 (en) * | 2009-06-23 | 2013-07-09 | Randall Thomas Brunts | User footfall sensing control system for treadmill exercise machines |
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