JP6597275B2 - Walking training device - Google Patents

Description

  The present invention relates to a walking training apparatus.

  Conventionally, as a technology in such a field, there is JP 2012-095793 A. The foot orthosis used in the walking assist device described in this publication is a thigh link that is mounted along the trainee's thigh, and is swingably connected to the thigh link and is mounted along the lower thigh. A leg link to be attached to the foot, and a motor disposed in the vicinity of a portion where the thigh link and the leg link are connected. In this foot orthosis, the trainer's walking is assisted by swinging the lower leg link so as to match the walking motion by the power generated by the motor.

JP 2012-095793 A

However, the foot orthosis used in the above-described conventional walking assistance device is heavy, and thus is a burden on the trainee. For this reason, the affected foot with the foot brace cannot be lifted, the clearance between the affected foot and the floor surface may not be sufficient, and a whip may occur, making it impossible to continue walking exercise. . For this reason, it is conceivable to suspend the leg orthosis in the vertical direction by using a wire, etc., but it is difficult to apply weight to the affected leg in the early stage of rehabilitation. It may lean against a handrail provided on the leg side and may deviate from the initial walking start position. As a result, a lateral force is generated in the affected leg due to a shift of the suspended position and the position of the trainee, and a natural gait state is not achieved, and rehabilitation by walking with a heel may be executed.
The present invention provides a walking training apparatus that can perform walking training in a natural gait state.

A walking training apparatus according to the present invention includes a leg brace that is attached to a leg of a trainee, a plurality of wires that are connected to the leg brace and suspend the leg brace from above and from the front, and from above and from the back, and the wire A tensile means for generating a tensile force against the weight of the leg brace, a detecting means for detecting a force applied to a trainee's leg or the leg brace, and the pull means together with the wire. Control means for controlling the operation of the moving means so that the pulling means moves in a direction opposite to the direction of the force detected by the detecting means in the left-right direction of the trainee. Means.
Thereby, according to a trainee's gait, a tension | tensile_strength means can be slid to an appropriate position so that the pull direction and intensity | strength of the left-right direction of the wire connected to a leg brace may become appropriate.

  Thereby, walking training can be performed in a natural gait state.

It is a figure which shows the structure of a gait training apparatus. It is a figure which shows the flow of data and a signal. It is a figure which shows the flow of the position adjustment operation | movement of a wire in a walking training apparatus. It is a figure which shows the state which changes the quantity which moves the 1st and 2nd leg load motor to the left direction according to the lateral force to the right direction. It is a figure which shows the state which changes the quantity which moves the 1st and 2nd leg load motor to the right direction according to the lateral force to the left direction.

  Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the walking training apparatus 1 includes a leg brace 2 that is attached to a leg of a trainee, and a treadmill 3 on which the trainee is boarded.

  The leg brace 2 is an assist device that is attached to a trainee's affected leg and assists walking exercise. FIG. 1 shows an example in which a leg brace 2 is attached to the right leg of the trainee. For example, the leg brace 2 is attached to a leg, a thigh link that is attached along the thigh of the trainee, a lower leg link that is swingably connected to the thigh link, and that is attached along the lower thigh. A leg link, a motor which is disposed in the vicinity of a place where the thigh link and the lower leg link are connected, and which swings the lower leg link so as to match the walking motion, and a lateral force measurement sensor 11.

  The lateral force measurement sensor (detection means) 11 detects the force applied in the lateral direction of the trainee with respect to the leg or leg brace 2 of the trainee. For example, an acceleration sensor is used as the lateral force measurement sensor 11 and detects the direction in which the force is applied and its strength. The lateral force measurement sensor 11 outputs information on the detected lateral force to the controller 32 described later.

  The leg brace 2 includes an end portion of the first wire 12 connected to a first leg-unloading motor (first pulling means) 28 described later, and a second leg-unloading motor (second The end portion of the second wire 13 connected to the tension means 30 is connected.

  The treadmill 3 includes a main body part 21, a belt part 22 provided on the upper surface of the main body part 21, a handrail 23 that can be gripped by a trainee's hand on the belt part 22, and 2 on the right side of the upper surface of the main body part 21. A first frame 24 whose end is connected to the place, a second frame 25 whose end is connected to two places on the left side of the upper surface of the main body 21, and the first frame 24 and the second The first connecting frame 26 that connects the two frames 25, the second connecting frame 27 that connects the first frame 24 and the second frame 25 in the upper rear portion, and the first connecting frame 26 are slidable. The first leg load motor 28 that generates power for lifting the first wire, the first slide motor 29 that moves the first leg load motor 28, and the second connecting frame 27 A second leg-free motor 30 that is slidable and lifts the second wire; a second slide motor 31 that moves the second leg-free motor 30; a controller 32; And a display 33 provided in the front. Hereinafter, the direction in which the display 33 is formed in the treadmill 3 will be described as the front.

  The main body portion 21 includes a belt portion operation motor (not shown) for operating the belt portion 22 and a belt control portion (not shown) for controlling the operation of the belt portion operation motor.

  The belt unit 22 is driven so that the upper surface of the belt on which the trainee rides flows from the front to the rear by the power given from the belt unit operating motor provided in the main body unit 21. For example, the belt control unit provided in the main body unit 21 controls the operation speed of the belt unit 22 based on an input from a controller (not shown) operated by a trainee or the like.

  The handrail 23 is provided along the belt portion 22 so that the trainee can hold the handrail 23 at the height of the waist. The trainee can grab the handrail 23 to balance during walking during the initial walking rehabilitation. As shown in FIG. 1, the handrail 23 is provided on the affected leg side where the leg brace 2 is worn. Note that the handrail 23 may be provided on both the left and right sides of the belt portion 22.

  The first frame 24 is a substantially arcuate frame in which one end is connected to the front right side front of the main body 21 and the other end is connected to the rear right side of the main body 21. The height of the top of the first frame 24 is formed to be higher than the head of the trainee.

  The second frame 25 is a substantially arched frame having one end connected to the front left side front of the main body 21 and the other end connected to the left rear side of the main body 21. The height of the top of the second frame 25 is formed to be higher than the head of the trainee. The second frame 25 has the same shape as the first frame 24 and is arranged in parallel with the first frame 24.

  The first connection frame 26 connects the first frame 24 and the second frame 25 in front of the trainee. That is, the first connecting frame 26 is a rod-like frame that extends in the lateral direction at the upper front from the trainee, and has one end connected to the first frame 24 and the other end connected to the second frame 25. It is connected.

  The second connection frame 27 connects the first frame 24 and the second frame 25 behind the trainee. That is, the second connecting frame 27 is a rod-like frame extending in the lateral direction in the upper rear part from the trainee, one end is connected to the first frame 24, and the other end is connected to the second frame 25. It is connected.

  The first leg-unloading motor (first pulling means) 28 is arranged so as to be slidable with respect to the first connecting frame 26. Here, the first leg-unloading motor 28 is disposed at a position sufficiently higher than the leg brace 2 attached to the trainee. Typically, the position where the first leg-free motor 28 is provided is above the trainee's head. The first wire 12 is connected to the first leg-unloading motor 28. The first wire 12 is lifted by generating a tensile force on the first leg 12 with respect to the first leg 12 by the power generated by the first leg-free motor 28.

  The first slide motor (first moving means) 29 is disposed on the first connecting frame 26 and is connected to the first leg-unloading motor 28. The first slide motor 29 generates power based on a control signal from the controller 32 to move the first leg load motor 28 in the left-right direction on the first connection frame 26. In addition, the tensile strength of the horizontal direction with respect to the leg orthosis 2 by the 1st wire 12 is changed by moving the 1st wire 12 connected with the movement of the 1st leg load-free motor 28. FIG.

  The second leg-unloading motor (second pulling means) 30 is disposed so as to be slidable with respect to the second connection frame 27. Here, the 2nd leg load motor 30 is arrange | positioned in the position sufficiently higher than the leg brace 2 with which the trainee was mounted | worn. Typically, the position where the second leg-unloading motor 30 is provided is above the trainee's head. A second wire 13 is connected to the second leg-unloading motor 30. The second wire 13 is lifted by generating a tensile force on the second leg 13 motor 30 side with respect to the second wire 13 by the power generated by the second leg load motor 30. When the leg brace 2 is pulled in cooperation by the first wire 12 lifted by the first leg-unloading motor 28 and the second wire 13 lifted by the second leg-unloading motor 30, the tensile force Due to the upward component, the weight of the leg brace 2 can be waived.

  The second slide motor (second moving means) 31 is disposed on the second coupling frame 27 and connected to the second leg-unloading motor 30. The second slide motor 31 moves the second leg load motor 30 in the left-right direction on the second connection frame 27 by generating power based on the control signal of the controller 32. In addition, the tensile strength of the horizontal direction with respect to the leg orthosis 2 by the 2nd wire 13 is changed by moving the 2nd wire 13 connected with the movement of the 2nd leg load-free motor 30. FIG.

  The control controller (control means) 32 is connected to the lateral force measurement sensor 11, the first slide motor 29, and the second slide motor 31. As shown in FIG. 2, the controller 32 receives information on the direction and strength of the force applied to the trainee's foot or foot brace 2 detected by the lateral force measurement sensor 11. Further, the controller 32 determines the detection value of the lateral force F by the received lateral force measurement sensor 11, and moves the first leg-unloading motor 28 and the second leg-unloading motor 30 in accordance with the detection values. Calculate the amount to move in the direction. Further, the controller 32 controls the first slide motor 29 and the second slide motor 31 to be driven based on the amount of movement of the first leg load motor 28 and the second leg load motor 30. Output a signal.

  The display 33 is provided in front of the trainee walking on the belt portion 22. For example, the display 33 displays instructions to the trainee.

  Next, referring to FIG. 3, in the walking training apparatus 1, an operation for adjusting the positions of the first slide motor 29 and the second slide motor 31 when the lateral force F is applied to the leg brace 2 is performed. explain.

  The trainee wearing the foot brace 2 starts walking on the belt portion 22 (step S1). At this time, the belt portion 22 operates in accordance with the walking of the trainee. Therefore, the trainee performs the walking motion on the treadmill 3 with almost no movement from the position on the belt portion 22 where the walking motion has started.

  The lateral force measurement sensor 11 detects the lateral force F applied to the foot orthosis 2 (step S2). Here, the lateral force measurement sensor 11 outputs information on the direction and strength of the lateral force applied to the leg or foot brace 2 of the trainee to the control controller 32.

  The controller 32 determines whether or not the lateral force F detected by the lateral force measurement sensor 11 is 0 (step S3). If the lateral force F is 0 (Yes in step S3), the process returns to S2, and the lateral force measurement sensor 11 repeatedly detects the lateral force F by the lateral force measurement sensor 11. If the lateral force F is greater than 0, the process proceeds to step S4.

  Based on the lateral force F detected by the lateral force measurement sensor 11, the control controller 32 calculates the amount to drive the first slide motor 29 and the second slide motor 31 (step S4). That is, the controller 32 calculates the amount by which the first leg-unloading motor 28 and the second leg-unloading motor 30 are moved in the left-right direction.

  Here, as shown in FIG. 4, when the force F is generated in the right direction in the foot orthosis 2, the controller 32 is proportional to the lateral force F and the first leg-unloading motor 28 and the second leg-loading motor 28. A control signal for driving the first slide motor 29 and the second slide motor 31 is output so that the leg-free motor 30 moves in the left direction. Further, as shown in FIG. 5, when a force F is generated in the left direction on the foot orthosis 2, the controller 32 is proportional to the force F and the first leg-unloading motor 28 and the second leg-unloading motor 28. A control signal for driving the first slide motor 29 and the second slide motor 31 is output so that the leg-free motor 30 moves in the right direction.

  The first slide motor 29 and the second slide motor 31 are driven based on a control signal input from the controller 32. Thus, the first slide motor 29 moves the first leg-unloading motor 28 in the left-right direction, and the second slide motor 31 moves the second leg-unloading motor 30 in the left-right direction (step S5). ). Here, the direction in which the first leg-unloading motor 28 and the second leg-unloading motor 30 move is the same direction, and the movement amount is almost the same. Accordingly, the first wire 12 and the second wire 13 generate a force that moves in the lateral direction along with the movement of the first leg-free motor 28 and the second leg-free motor 30, and the lateral force measurement sensor. The leg brace 2 is pulled in the direction opposite to the direction of the lateral force F detected by 11, and the adduction and abduction of the training leg are prevented. Then, it returns to step S2 and repeats a process.

  Thereby, when the gait state of the training leg is abducted during walking by the trainee, the lateral force F is detected, and the first leg-unloading motor 28 and the second leg-unloading motor 30 are The training leg can be moved inward. Thereby, the inward force with respect to a training leg among the tensile force components by the 1st wire 12 and the 2nd wire 13 increases, and the abduction of a training leg can be suppressed. In other words, when the lateral force measurement sensor 11 detects that a right lateral force is generated in the right foot, which is the affected leg of the trainee, the first leg-unloading motor 28 and the second leg-free motor are detected. By moving the load motor 30 in the left direction, a force for moving the first wire 12 and the second wire 13 to the left can be generated, and the tensile force in the left direction with respect to the foot orthosis 2 can be increased. .

  Similarly, when the gait state of the training leg is inversion, the first leg load motor 28 and the second leg load motor 30 are moved in the outward direction of the training leg, and the first wire The force in the outward direction among the force components of the 12 and the second wire 13 can be increased, and the adduction of the training leg can be suppressed.

  In this way, the first leg load motor 28 and the second leg load motor 30 are moved in the opposite direction to the direction of the force detected by the lateral force measurement sensor 11. The operations of the motor 29 and the second slide motor 31 are controlled. That is, the weight of the leg brace 2 is unloaded by the upward pulling force of the wires 12 and 13, and the right and left tensile force directions and strengths of the wires 12 and 13 are appropriate by the control of the controller 32. The positions of the leg-free motor 28 and the second leg-free motor 30 are adjusted so as to be in the state. Thereby, the trainer can perform training in a natural gait state.

Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, in step S3, it is described that it is determined whether or not the lateral force F is 0. However, when a predetermined threshold is provided for the lateral force F and the threshold is exceeded, steps S4 and S5 are shown. In addition, the first leg load motor 28 and the second leg load motor 30 may be moved. In step S <b> 3, the determination by the controller 32 may be performed by using an added value, an average value, or the like for a plurality of values of the lateral force F input from the lateral force measurement sensor 11.
In FIG. 4 and FIG. 5, the movement amount of the first leg load motor 28 and the second leg load motor 30 is changed in proportion to the lateral force F in step S <b> 4. Not limited to this. For example, with respect to the lateral force F, the movement amount may change according to a quadratic function.

DESCRIPTION OF SYMBOLS 1 Walking training apparatus 2 Leg orthosis 3 Treadmill 11 Lateral force measurement sensor 12 1st wire 13 2nd wire 21 Main body part 22 Belt part 23 Handrail 24 1st frame 25 2nd frame 26 1st connection frame 27 Second connecting frame 28 First leg-unloading motor 29 First slide motor 30 Second leg-unloading motor 31 Second slide motor 32 Controller 33 Display

Claims (1)

Leg braces attached to the legs of the trainee;
A plurality of wires coupled to the leg brace and suspending the leg brace from above and forward and from above and behind;
A tensioning means for generating a tensile force on the wire and for releasing the weight of the leg brace;
Detection means for detecting a force applied to a trainee's leg or the leg brace;
Moving means for moving the pulling means in the left-right direction together with the wire;
Control means for controlling the operation of the moving means so that the pulling means moves in a direction opposite to the direction of the force detected by the detecting means in the left-right direction of the trainee.
Walking training device.

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