Walking assist device and walking training method

Abstract

To provide a walking assist device capable of adjusting a horizontal position of the center of gravity of a user, and a walking training method using the same.SOLUTION: A walking assist device 10 for assisting walking of a user P includes: a frame body 11 disposed so as to surround the user P in a standing state on which the arm of the user P is placed; N pulling members 13,14,15,16 that pull at least one of the waist portion and the abdominal portion of the user P in directions different from each other in a horizontal component via a mounting tool 12 mounted on the user P; and N winding means 17,18,19,20 that correspond to the N pulling members 13,14,15,16 respectively, and wind the corresponding pulling members 13,14,15,16. In the N pulling members 13,14,15,16. an angle formed by the respective pulling directions of all the adjacent pulling members 13,14,15,16 is less than 180 degrees in a plain view, N being an integer of 3 or more.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a walking assistance device and a walking training method using the same. [Background technology]

[0002] Walking assist devices used by people with walking problems include a harness worn by the user, as described in Patent Documents 1 and 2. By wearing the harness, the user can walk while being prevented from falling, or while walking with the weight supported by their legs reduced. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-34440 [Patent Document 2] Japanese Patent Publication No. 2023-17500 Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional walking assist devices have a problem in that they do not have a function for adjusting the position of the user's center of gravity. In this regard, some people who have problems walking have difficulty shifting their center of gravity appropriately in accordance with their own movements, and it is considered important to provide support for such people to adjust their center of gravity.

[0005] The present invention has been made in view of the above circumstances, and has as its object to provide a walking assistance device that allows adjustment of the horizontal position of the user's center of gravity, and a walking training method using the same. [Means for solving the problem]

[0006] A walking assist device according to a first invention that meets the above-mentioned object is a walking assist device that assists a user in walking, and includes a frame body that is arranged to surround the user in a standing position and on which the user's arms are placed, N pulling members that pull at least one of the user's waist or abdomen in directions with different horizontal components via a harness worn by the user, and N winding means that correspond to the N pulling members and wind up the corresponding pulling members, wherein the angle between the pulling directions of all adjacent pulling members is less than 180 degrees in a plan view, where N is an integer of 3 or more.

[0007] A walking training method according to a second invention that meets the above-mentioned object is a walking training method in which a user uses a walking assist device having N traction members and N winding means corresponding to the N traction members, wherein the angle between the traction directions of all adjacent traction members is less than 180 degrees in a plan view, wherein at least one of the user's waist or abdomen is pulled in directions with different horizontal components via a harness worn by the user, and the winding lengths of the N traction members, each wound by the N winding means, are adjusted to stabilize the user's standing posture, and then the user is made to start walking using the walking assist device, where N is an integer of 3 or more.

[0008] A walking assist device according to a third aspect of the present invention that achieves the above object includes a frame body that is arranged to surround the user in a standing position and on which the user's arms are placed, N pulling members that pull at least one of the user's waist or abdomen in directions with different horizontal components via a harness worn by the user, and N driving means that correspond to the N pulling members and pull or release the corresponding pulling members, wherein the angle between the pulling directions of all adjacent pulling members is less than 180 degrees in a plan view, where N is an integer of 3 or greater. [Effects of the Invention]

[0009] The walking assistance device of the first invention comprises N (N≧3) traction members that traction at least one of the user's waist or abdomen in directions with different horizontal components via a wearing device worn by the user, and N winding means that correspond to the N traction members and wind up the corresponding traction members, and since the angle between the traction directions of all adjacent traction members in a plan view is less than 180 degrees, the waist and abdomen of the user can be moved in any horizontal direction and the horizontal position of the user's center of gravity can be adjusted.

[0010] The walking training method according to the second invention adjusts the winding lengths of N winding means of N traction members that pull at least one of the user's waist or abdomen in different horizontal directions via a wearing device worn by the user, stabilizing the user's standing posture, and then has the user start walking using the walking assistance device.Since the angle between the pulling directions of all adjacent traction members is less than 180 degrees in a plan view, it is possible to adjust the horizontal position of the user's center of gravity and then have the user walk.

[0011] A walking assistance device according to a third invention that meets the above-mentioned objective comprises N (N≧3) traction members that pull at least one of the user's waist or abdomen in directions with different horizontal components via a wearing device worn by the user, and N drive means that correspond to the N traction members and pull or loosen the corresponding traction members, and since the angle between the pulling directions of all adjacent traction members is less than 180 degrees when viewed in a plane, the waist and abdomen of the user can be moved in any horizontal direction, and the horizontal position of the user's center of gravity can be adjusted. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a partially omitted explanatory diagram of a walking assistance device according to an embodiment of the present invention; [Figure 2] FIG. 10 is an explanatory diagram showing the arrangement of the towing member relative to the user. [Figure 3] FIG. 2 is a block diagram showing connections of a control unit. DETAILED DESCRIPTION OF THE INVENTION

[0013] Next, embodiments of the present invention will be described with reference to the accompanying drawings to facilitate understanding of the present invention. 1 and 2, walking assist device 10 according to one embodiment of the present invention is a device for assisting walking of user P, and includes a frame 11 arranged to surround user P in a standing position and on which the user P can place his / her arms, N pulling members 13, 14, 15, 16 that pull at least one of the user P's waist or abdomen with different horizontal components in directions via a wearing device 12 worn by user P, and N reeling means 17, 18, 19, 20 corresponding to N pulling members 13, 14, 15, 16, respectively. These will be described in detail below.

[0014] 1 and 2, the frame 11 has a polygonal shape in this embodiment, but is not limited thereto and may have a circular shape, for example. The frame 11 is arranged horizontally at the height of the chest or abdomen of the user P when the user P using the walking assist device 10 is standing. In this embodiment, the height position of the frame body 11 is fixed, but the height position may be adjustable. The ability to adjust the height position of the frame body 11 is preferable from the viewpoint of being able to accommodate users P of various heights.

[0015] The frame 11 has the role of supporting the body of the user P and preventing the user P from falling in any direction, forward, backward, left or right, while walking using the walking assist device 10. The walking assist device 10 can be used for walking training for people with walking disabilities, such as patients with spinocerebellar degeneration, and from this perspective, it is preferable that the walking assist device can prevent the user P from falling.

[0016] The user P can perform walking training by holding the frame body 11. The frame body 11 can also prevent the user P from falling over because the frame body 11 is held by the user P. 1, a frame-shaped base frame 21 is provided below the frame body 11, and the frame body 11 and the base frame 21 are connected via a plurality of vertical members 22. The frame body 11, the base frame 21, and the vertical members 22 can be formed using metal and resin.

[0017] A plurality of (four in this embodiment) swivel casters 23 that roll on the floor surface are attached to the base frame 21. The base frame 21 is disposed at the height of the lower legs or feet of the user P. It is also possible to attach the swivel casters 23 to a member that has a shape other than a frame shape, without employing the base frame 21.

[0018] 2, in this embodiment, there are four pulling members 13, 14, 15, 16 and four winding means 17, 18, 19, 20. Therefore, in this embodiment, N=4, but N may be any integer equal to or greater than 3. The traction members 13, 14, 15, and 16 are each belt-shaped, with one end connected to the wearing device 12 (the wearing device 12 included in the walking assistance device 10) worn by the user P, and the other end fixed to the corresponding winding means 17, 18, 19, and 20. One end of the traction members 13, 14, 15, and 16 may be fixed to the wearing device 12, or a hook or the like may be provided so that they can be easily attached to and detached from the wearing device 12.

[0019] The wearing tool 12 may be worn on a region of the user P including at least one of the waist and abdomen, and there are no particular limitations on the shape, material, etc. thereof. The user P wears the attachment 12, stands inside the frame body 11 and the base frame 21, and one end of the traction members 13, 14, 15, and 16 is connected to the attachment 12, thereby becoming capable of walking using the walking aid device 10. Unless otherwise specified below, it is assumed that the user P is capable of walking using the walking aid device 10.

[0020] Further, the winding means 17, 18, 19, and 20 are attached to the frame 11. Therefore, the other end portions of the pulling members 13, 14, 15, and 16 are attached to the frame 11 via the winding means 17, 18, 19, and 20, respectively. The winding means 17 (the same applies to winding means 18, 19, 20) can be configured by a motor and a member (e.g., a drum) around which the pulling member 13 is wound, to which rotational force is applied from the motor. The winding means 17, 18, 19, 20 can wind and unwind the corresponding pulling members 13, 14, 15, 16, respectively. The winding means 17, 18, 19, 20 may be configured to pull and release the pulling members 13, 14, 15, 16 using a driving device such as a solenoid, or may be configured to pull and release the pulling members 13, 14, 15, 16 using a shape memory alloy or the like.

[0021] Here, the pulling members 13, 14, 15, and 16 are arranged in clockwise order around the user P in a planar view, and the angle formed by the pulling directions of adjacent pulling members 13 and 14, the angle formed by the pulling directions of adjacent pulling members 14 and 15, the angle formed by the pulling directions of adjacent pulling members 15 and 16, and the angle formed by the pulling directions of adjacent pulling members 16 and 13 are all (respectively) less than 180 degrees in a planar view.

[0022] Therefore, by adjusting the winding lengths of the corresponding traction members 13, 14, 15, and 16 of the winding means 17, 18, 19, and 20, the horizontal position of the waist and abdomen of the user P relative to the frame body 11 can be moved in either direction in a plan view. In this embodiment, the towing members 13, 14, 15, and 16 are arranged so that the towing member 13 can tow the user P to the front left, the towing member 14 can tow the user P to the front right, the towing member 15 can tow the user P to the rear right, and the towing member 16 can tow the user P to the rear left.

[0023] The walking assist device 10 also includes tension detection means 24, 25, 26, and 27 corresponding to the traction members 13, 14, 15, and 16, respectively. The tension detection means 24, 25, 26, and 27 can detect the tension acting on the corresponding traction members 13, 14, 15, and 16, respectively. In this embodiment, the tension detecting means 24 and the winding means 17, the tension detecting means 25 and the winding means 18, the tension detecting means 26 and the winding means 19, and the tension detecting means 27 and the winding means 20 are each configured as an integrated unit, but it goes without saying that they can also be configured independently.

[0024] The magnitude of the tension detected by each of the tension detection means 24, 25, 26, and 27 is affected by the position of the center of gravity of the user P in a planar view. Specifically, if the center of gravity of the user P moves toward the pulling member 13 (to the front left) in a planar view, the tension of the pulling member 13 measured by the tension detection means 24 will decrease, and the tension generated in the pulling member 15 disposed on the substantially opposite side of the pulling member 13 (to the right of the user P) with the user P at the center, i.e., the tension measured by the tension detection means 26, will increase.

[0025] Therefore, based on the tensions detected by the tension detection means 24, 25, 26, and 27, it is possible to estimate the direction in which the center of gravity of the user P moves from the center of the user P in a plan view. 3, in this embodiment, a control unit 28 capable of acquiring the tension values ​​detected by the tension detection means 24, 25, 26, and 27 is connected to the tension detection means 24, 25, 26, and 27. The control unit 28 is also connected to the winding means 17, 18, 19, and 20, and is capable of controlling the winding and feeding of the pulling members 13, 14, 15, and 16 corresponding to the winding means 17, 18, 19, and 20, respectively.

[0026] Next, a walking training method in which the user P uses the walking assist device 10 to perform walking training will be described.

[0027] <First step> A stabilometer is used to detect the position of the center of gravity of the user P in a planar view (horizontal position of the center of gravity), and the winding lengths of the traction members 13, 14, 15, and 16 corresponding to the winding means 17, 18, 19, and 20 are calculated to stabilize the standing posture of the user P. Here, a stable standing posture of the user P means that the user P can stably maintain the standing posture without falling, for example, that the center of gravity of the user P is located at the geometric center of the user P in a planar view.

[0028] In the first step, the user P may or may not be wearing the harness 12. Furthermore, the horizontal position of the center of gravity of the user P can be detected without using a stabilometer, and may be performed by a computer based on an image of the user P captured by a camera, or by a person visually observing the user P.

[0029] <Second step> According to the results obtained in the first step, the winding lengths of the traction members 13, 14, 15, 16 by the winding means 17, 18, 19, 20 are adjusted to adjust the horizontal position of the abdomen and waist of the user P wearing the harness 12, thereby stabilizing the standing posture of the user P. At this time, the user P is kept stationary (not walking).

[0030] In this embodiment, there are three or more pulling members 13, 14, 15, and 16, and in all combinations of adjacent pulling members 13, 14, 15, and 16 when viewed in a plane, the angle between the pulling directions is less than 180 degrees.Therefore, by adjusting the winding length of the pulling members 13, 14, 15, and 16 using the winding means 17, 18, 19, and 20, respectively, the abdomen and waist of user P can be moved in any horizontal direction. From the viewpoint of efficiently adjusting the horizontal position of the abdomen and waist of the user P, it is preferable to have four or more pulling members 13, 14, 15, 16, and it is preferable that in all combinations of adjacent pulling members 13, 14, 15, 16 when viewed in a plane, the angle formed by the pulling directions is less than 150 degrees (more preferably less than 130 degrees).

[0031] <Third Step> After the process of stabilizing the standing posture of the user P is completed, the user P is made to start walking using the walking assist device 10.

[0032] <Fourth step> When the difference between the detected values ​​of the tension detection means 24, 25, 26, 27 becomes equal to or exceeds a predetermined value while the user P is walking, the control unit 28 controls the winding means 17, 18, 19, 20 to change (adjust) the winding length of the pulling members 13, 14, 15, 16 by the winding means 17, 18, 19, 20, respectively, thereby controlling the difference between the detected values ​​of the tension detection means 24, 25, 26, 27 (i.e., the tension acting on each of the pulling members 13, 14, 15, 16) to be reduced.

[0033] In this embodiment, it is possible to change the settings to determine whether or not to perform control to reduce the difference between the detected values ​​of the tension detection means 24, 25, 26, and 27. In other words, the adjustment of the winding lengths of the pulling members 13, 14, 15, and 16 by the winding means 17, 18, 19, and 20 can be performed only when the user P is stationary.

[0034] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions that do not depart from the gist of the present invention are within the scope of application of the present invention. For example, the tension detection means may not be provided. The winding means does not have to be attached to the frame, and may be attached to the attachment, for example. In this case, one end of the pulling member can be fixed to the winding means, and the other end of the pulling member can be fixed to the frame (note that the other end of the pulling member may also be fixed to a member other than the frame). [Explanation of symbols]

[0035] 10: Walking assistance device, 11: Frame, 12: Wearing equipment, 13, 14, 15, 16: Traction member, 17, 18, 19, 20: Winding means, 21: Base frame, 22: Vertical member, 23: Swivel caster, 24, 25, 26, 27: Tension detection means, 28: Control unit, P: User

Claims

1. A walking assist device that assists a user in walking, a frame body arranged to surround the user in a standing position and on which the user's arms can be placed; N pulling members that pull at least one of the waist and the abdomen of the user in directions with different horizontal components via a wearing tool worn by the user; N winding means respectively corresponding to the N pulling members and winding up the corresponding pulling members, The walking assistance device is characterized in that, in a plan view, the angle formed by the pulling directions of all adjacent pulling members is less than 180 degrees. Here, N is an integer of 3 or more.

2. 2. The walking assistance device according to claim 1, further comprising N tension detection means respectively corresponding to the N traction members and detecting tensions acting on the corresponding traction members.

3. 3. The walking assistance device according to claim 2, further comprising a winding control unit that adjusts the winding length of the traction member of each of the N winding means so as to reduce the difference in the magnitude of the tension detected by each of the N tension detection means.

4. A walking training method for a user to perform walking training using a walking assist device having N pulling members and N winding means respectively corresponding to the N pulling members, wherein the angle formed by the pulling directions of all adjacent pulling members is less than 180 degrees in a plan view, the method comprising: The N traction members pull at least one of the waist and the abdomen of the user in directions with different horizontal components via a wearing device worn by the user, and the winding lengths of the N winding means are adjusted to stabilize the standing posture of the user, A walking training method, comprising having the user start walking using the walking assist device. Here, N is an integer of 3 or more.

5. 5. The walking training method according to claim 4, wherein, while the user is walking using the walking assistance device, the winding lengths of the traction members by the N winding means are adjusted to reduce the difference in tension acting on each of the N traction members.

6. A walking assist device that assists a user in walking, a frame body arranged to surround the user in a standing position and on which the user's arms can be placed; N pulling members that pull at least one of the waist and the abdomen of the user in directions with different horizontal components via a wearing tool worn by the user; N driving means respectively corresponding to the N pulling members for pulling or loosening the corresponding pulling members; The walking assistance device is characterized in that, in a plan view, the angle formed by the pulling directions of all adjacent pulling members is less than 180 degrees. Here, N is an integer of 3 or more.

Images