Walking training system, operation method of the system and non-transitory storage medium for the system

Abstract

The present disclosure provides a walking training system, an operating method of the system, and a non-transitory storage medium for the system. The walking training system includes: a leg orthosis mounted on a user's leg; a tension member connected to the leg orthosis; a first driving mechanism configured to apply tension to the tension member according to the walking motion of the user; a holding device that holds the tension member at a holding height at a point between a connection point of the leg orthosis and the first driving mechanism; and a second driving mechanism configured to change the holding height of the tension member held by the holding device according to the walking motion of the user.

Description

Technical Field

[0001] The present disclosure relates to a walking training system, a method of operating the system, and a non-transitory storage medium for the system. Background Art

[0002] An example of a walking training device is disclosed in Japanese Unexamined Patent Application Publication No. 2019-118706 (JP 2019-118706 A). Summary of the invention

[0003] In a walking training device, a leg orthosis can be attached to the leg of a user such as a rehabilitation patient. In the device described in JP 2019-118706 A, the leg orthosis includes a motor that generates a driving force for assisting the extension and flexion movements of the knee joint. As the driving force of the motor increases, the weight of the leg orthosis increases. As a result, the increased load is imposed on the trainee (user), which makes it difficult for the trainee to train properly. In addition, this may make the wearing of the leg orthosis cumbersome and complicated.

[0004] The present disclosure provides a walking training system and an operating method of the walking training system, by which walking training is appropriately performed.

[0005] A walking training system according to a first embodiment of the present disclosure includes: a leg orthosis mounted to a user's leg; at least one pulling member connected to the leg orthosis; a first driving mechanism configured to apply a pulling force to the pulling member according to the walking motion of the user; a holding device that holds the pulling member at a holding height at a point between a connection point of the leg orthosis and the first driving mechanism; and a second driving mechanism configured to change the holding height of the pulling member held by the holding device according to the walking motion of the user.

[0006] The leg orthosis may have a joint mechanism configured to pivot according to the walking motion of the user, and the first driving mechanism may be configured to pivot the joint mechanism by pulling the pulling member.

[0007] In the above-mentioned walking training system, the pulling member may be coupled to the leg orthosis from the front of the user, and the first driving mechanism may be configured to provide the tension by winding the pulling member.

[0008] In the above-mentioned walking training system, the holding device may have a hanging member hung from above the user, and the second driving mechanism may be configured to raise the holding height by winding up the hanging member.

[0009] The holding device may have a support member extending upward, and the second drive mechanism may be configured to change the holding height by extending and contracting the support member.

[0010] In the above walking training system, the at least one pulling member may be a plurality of pulling members, and the plurality of pulling members may be connected to the leg orthosis from different directions.

[0011] In the above-mentioned walking training system, the pulling member may be coupled to the leg orthosis from a side of the user, and the leg orthosis may be provided with a mechanism configured to change a direction of the pulling force of the pulling member.

[0012] The operating method of the walking training system according to the second scheme of the present disclosure is the following operating method of the walking training system: the walking training system includes: a leg orthosis, which is attached to the leg of the user; at least one pulling member, which is connected to the leg orthosis; a first driving mechanism, which is configured to apply a pulling force to the pulling member; a holding device, which holds the pulling member at a holding height at a point between the connection point of the leg orthosis and the first driving mechanism; and a second driving mechanism, which is configured to change the holding height of the pulling member held by the holding device. The operating method includes detecting the walking motion of the user, and controlling the first driving mechanism and the second driving mechanism according to the walking motion of the user.

[0013] In the above-mentioned operating method, the leg orthosis may have a joint mechanism configured to pivot according to the walking motion of the user, and the first driving mechanism may pivot the joint mechanism by pulling the pulling member.

[0014] In the above operation method, the pulling member may be coupled to the leg orthosis from the front of the user, and the first driving mechanism may provide the pulling force by winding the pulling member.

[0015] In the above-mentioned operating method, the holding device may have a hanging member hung from above the user, and the second driving mechanism may raise the holding height by winding up the hanging member.

[0016] In the above operating method, the holding device may have a supporting member extending upward, and the second driving mechanism may change the holding height by extending and contracting the supporting member.

[0017] In the above operation method, the at least one pulling member may be a plurality of pulling members, and the plurality of pulling members may be connected to the leg orthosis from different directions.

[0018] In the above operation method, the pulling member may be coupled to the leg orthosis from a side of the user, and the leg orthosis may be provided with a mechanism configured to change a direction of the pulling force of the pulling member.

[0019] A third scheme of the present disclosure relates to a non-transitory storage medium for a walking training system. The walking training system includes: a leg orthosis, which is mounted on the leg of a user; at least one traction member, which is connected to the leg orthosis; a first drive mechanism, which is configured to apply tension to the traction member; a holding device, which holds the traction member at a holding height at a point between the connection point of the leg orthosis and the first drive mechanism; and a second drive mechanism, which is configured to change the holding height of the traction member held by the holding device. The non-transitory storage medium stores instructions, which can be executed by one or more processors and cause the one or more processors to perform functions, the functions including:

[0020] detecting walking motion of the user; and

[0021] The first driving mechanism and the second driving mechanism are controlled by a controller according to the walking motion of the user.

[0022] According to the present disclosure, a walking training system and an operating method of the system are provided, by which walking training is appropriately performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described hereinafter with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0024] Figure 1 is a schematic perspective view of a walking training system according to one embodiment;

[0025] Figure 2 is a side view showing the construction of a leg orthosis;

[0026] Figure 3 is a front view showing the construction of a leg orthosis;

[0027] Figure 4 A view of the internal structure of the leg orthosis;

[0028] Figure 5 A control block diagram showing a control system of a walking training system;

[0029] Figure 6 is a schematic diagram showing the main arrangement for driving a leg orthosis;

[0030] Figure 7 is a schematic diagram showing the trajectory of the knee joint;

[0031] Figure 8 is a schematic diagram showing the main configuration of a walking training system according to a first modification;

[0032] Fig. 9 is a schematic diagram showing a main configuration of a walking training system according to a second modification; and

[0033] Fig.10 2 is a schematic diagram showing a main configuration of a walking training system according to a third modification. DETAILED DESCRIPTION

[0034] Although the present invention will be described by one embodiment of the present invention, the present invention will not be limited to the following embodiment. Also, not all of the configurations described in the embodiment are essential as means for solving the above-mentioned problems.

[0035] First embodiment

[0036] The first embodiment will be described with reference to the drawings. Figure 1 An example of the construction of the rehabilitation support system according to the first embodiment is shown. The rehabilitation support system (walking training system 1) according to this embodiment is mainly composed of a walking training device 100 and a leg orthosis 120. In the following description, an XYZ three-dimensional Cartesian coordinate system will be used as needed. In the coordinate system, the X direction is the direction in which the trainee 900 walks, and the Y direction is the lateral direction of the trainee 900, and the Z direction is the vertical direction. That is, the +X direction is in front of the trainee 900 undergoing walking training, and the -X direction is behind the trainee 900. Similarly, relative to the trainee 900 in walking training, the +Y direction is the left direction, and the -Y direction is the right direction, and the +Z direction is the upward direction, and the -Z direction is the downward direction.

[0037] The walking training device 100 is a specific example of a rehabilitation support device that assists the rehabilitation of a trainee (user) 900. The walking training device 100 is used by the trainee 900, who is a hemiplegic patient suffering from monoplegia, when he / she performs walking training under the guidance of a trainer 901. Here, the trainer 901 may be a therapist (physical therapist) or a physician, and may also be referred to as a "training guide", "training helper" or "training assistant" because the trainer 901 helps the trainee to train, for example, by guiding or assisting.

[0038] The walking training device 100 mainly includes a control panel 133 mounted to a frame 130 forming an overall skeleton, a treadmill 131 for a trainee 900 to walk on, and a leg orthosis 120 mounted to an impaired leg as a paralyzed leg of the trainee 900. Figure 1 , the leg orthosis 120 is attached to the right leg of the trainee 900.

[0039] The frame 130 is erected on a treadmill 131 installed on the floor. The treadmill 131 rotates an endless belt 132 by a motor (not shown). The treadmill 131 promotes the trainee 900 to walk, and the trainee 900 who performs walking training steps on the belt 132 and tries walking motion according to the movement of the belt 132. Although the trainer 901 uses the example Figure 1 It is shown that the trainee 900 can walk with the trainee 900 while standing on the belt 132 behind the trainee 900, but it is generally preferred that the trainer 901 is in a position where he / she can easily assist the trainee 900, such as standing across the belt 132.

[0040] The frame 130 supports a control panel 133 that houses the overall controller 210 that controls the motor and the sensor, and a training monitor 138 such as a liquid crystal panel, etc. The frame 130 also supports a front retracting portion 135 located in front of the upper portion of the head of the trainee 900, a harness retracting portion 112 located in the upper portion of the head, and a rear retracting portion 137 located in the rear of the upper portion of the head. Furthermore, the frame 130 includes a handrail 130a that allows the trainee 900 to grasp or hold.

[0041] The handrails 130a are arranged on the right and left sides of the trainee 900. Each handrail 130a is arranged in parallel with the walking direction of the trainee 900. The vertical position and the lateral position of the handrail 130a can be adjusted. That is, the handrail 130a can include a mechanism for changing its height and width. In addition, for example, the handrail 130a can be configured to change its inclination angle by adjusting the height so that it changes between the front side and the rear side in the walking direction. For example, the handrail 130a can be formed with an inclination angle that makes the handrail 130a gradually higher along the walking direction.

[0042] Furthermore, the armrest 130a is provided with an armrest sensor 218 that detects the load received from the trainee 900. For example, the armrest sensor 218 may be a resistance change detection type load detection sheet in which electrodes are arranged in a matrix. Furthermore, the armrest sensor 218 may be a six-axis sensor that is a composite of a three-axis acceleration sensor (x, y, z) and a three-axis gyro sensor (roll, pitch, yaw). However, it will be understood that the armrest sensor 218 may be of any type and may be installed at any position.

[0043] The camera 140 is used as an imaging unit for observing the whole body of the trainee 900. The camera 140 is installed near the training monitor 138 so as to face the trainee. The camera 140 captures still images and moving images of the trainee 900 in training. The camera 140 includes a set of lenses and an imaging device that provides a viewing angle sufficient to capture the whole body of the trainee 900. The imaging device may be, for example, a complementary metal oxide semiconductor (CMOS) image sensor that converts an optical image formed on an image plane into an image signal.

[0044] By the coordinated movement of the front traction part 135 and the rear traction part 137 , the load of the leg orthosis 120 is offset so as not to become a burden on the damaged leg, and furthermore, the swinging movement of the damaged leg is assisted according to a set degree.

[0045] The anterior wire 134 is coupled to the winding mechanism of the anterior traction part 135 at one end, and is coupled to the leg orthosis 120 at the other end. The winding mechanism of the anterior traction part 135 has a motor (not shown), and the anterior wire 134 is wound or unwound according to the movement of the damaged leg by turning on / off the motor. Similarly, the posterior wire 136 is coupled to the winding mechanism of the posterior traction part 137 at one end, and is coupled to the leg orthosis 120 at the other end. The winding mechanism of the posterior traction part 137 has a motor (not shown), and the posterior wire 136 is wound or unwound according to the movement of the damaged leg by turning on / off the motor. By the coordinated movement of the anterior traction part 135 and the posterior traction part 137, the load of the leg orthosis 120 is offset so as not to be a burden on the damaged leg, and the swinging motion of the damaged leg is assisted according to a set degree.

[0046] For example, as an operator, the trainer 901 sets the assistance level to a high level for a trainee who suffers from severe paralysis. When the assistance level is set to a high level, the front pulling part 135 rolls up the front wire 134 with a relatively large force according to the swing timing of the damaged leg. As the training progresses and the trainee does not need assistance, the trainer 901 sets the assistance level to the lowest. When the assistance level is set to the lowest, the front pulling part 135 rolls up the front wire 134 with a force that only offsets the self-weight of the leg orthosis 120 according to the swing timing of the damaged leg.

[0047] The walking training device 100 includes a fall prevention harness device as a safety device, which mainly includes an orthosis 110, a harness wire 111, and a harness pulling part 112. The orthosis 110 is a belt wrapped around the abdomen of the trainee 900, and is fixed to the waist by, for example, a hook and loop fastener. The orthosis 110 includes a connecting hook 110a to which one end of the harness wire 111 as a suspension member is connected, and may also be referred to as a "harness belt". The trainee 900 wears the orthosis 110 so that the connecting hook 110a is located in the back area.

[0048] The harness wire 111 is coupled to the connection hook 110a of the orthosis 110 at one end, and is coupled to the winding mechanism of the harness pulling portion 112 at the other end. The winding mechanism of the harness pulling portion 112 has a motor (not shown), and winds or unwinds the harness wire 111 by turning the motor on / off. With this arrangement, when the trainee 900 is about to fall, the fall prevention harness device winds up the harness wire 111 according to the command of the overall controller 210 that detects the movement of the trainee 900, and causes the orthosis 110 to support the upper body of the trainee 900, so as to prevent the trainee 900 from falling.

[0049] The orthosis 110 includes a posture sensor 217 for detecting the posture of the trainee 900. The posture sensor 217 is, for example, a combination of a gyro sensor and an acceleration sensor, and outputs the tilt angle of the abdomen to which the orthosis 110 is attached relative to the gravity direction.

[0050] The management monitor 139 attached to the frame 130 is a display input device mainly used for monitoring and operation by the training personnel 901. For example, the management monitor 139 is a liquid crystal panel, and a touch panel is provided on the surface of the management monitor 139. The management monitor 139 displays various menu items related to training settings, various parameters used in training, training results, etc. Moreover, an emergency stop button 232 is provided near the management monitor 139. When the training personnel 901 pushes the emergency stop button 232, the walking training device 100 performs an emergency stop.

[0051] The leg orthosis 120 is attached to the impaired leg of the trainee 900, and assists the trainee 900 in walking by reducing the load of extension and flexion at the knee joint of the impaired leg. The leg orthosis 120 may include a sensor that measures the load at the sole of the foot, etc., and outputs various data related to the movement of the leg to the overall controller 210. The leg orthosis 120 will be described in detail later.

[0052] The wire 161 is connected to the leg orthosis 120. The wire 161 is connected to the first driving mechanism 162. The first driving mechanism 162 applies tension to the wire 161 according to the walking motion of the trainee 900. The first driving mechanism 162 has a motor for applying tension to the wire 161 and a winding mechanism. That is, the first driving mechanism 162 winds or unwinds the wire 161 by driving the motor. The wire 161 is attached to the leg orthosis 120 at one end, and is attached to the first driving mechanism 162 at the other end. The wire 161 is wound at a height near the knee height of the trainee 900. The wire 161 is wound horizontally.

[0053] The first driving mechanism 162 is located in front of the trainee 900. For example, the first driving mechanism 162 is accommodated in the control panel 133 located in front of the treadmill 131. The wire 161 is connected to the leg orthosis 120 from the front of the trainee 900. In operation, the first driving mechanism 162 can apply tension to the leg orthosis 120 by winding the wire 161. The first driving mechanism 162 can weaken the tension applied to the leg orthosis 120 by unwinding the wire 161. In this way, the joint portion of the leg orthosis 120 is driven. In other words, the first driving mechanism 162 drives the wire 161 so that the angle of the joint portion of the leg orthosis 120 becomes equal to the desired angle.

[0054] The retaining belt 171 is connected to the line 161 at a certain point on the line 161. The retaining belt 171 is positioned so as not to interfere with the trainee 900 in the walking motion. For example, the retaining belt 171 is located in front of the trainee 900. The retaining belt 171 and the line 161 are connected via a connecting portion 173. For example, the retaining belt 171 is wrapped around the line 161 so that the lower end of the retaining belt 171 is attached to the line 161. The connecting portion 173 is a connecting position where the retaining belt 171 and the line 161 are connected to each other. The connecting position of the retaining belt 171 on the line 161 can be fixed. The retaining belt 171 provides a retaining device that keeps the line 161 at a given height. The connecting portion 173 can have a coupling member such as a ring or a hook. That is, the retaining belt 171 keeps the line 161 at a given height.

[0055] In addition, the holding belt 171 is connected to the second driving mechanism 172. The second driving mechanism 172 is fixed to the frame 130 above the trainee 900. The second driving mechanism 172 has a motor and a winding mechanism for applying tension to the holding belt 171. The holding belt 171 is attached to the connecting portion 173 at the lower end, and is attached to the second driving mechanism 172 at the upper end. The holding belt 171 is suspended downward from the upper frame 130 to the connecting portion 173. The holding belt 171 is connected to the wire 161 at the connecting portion 173.

[0056] The second driving mechanism 172 winds or unwinds the retaining belt 171 so that the connecting portion 173 moves up and down. Therefore, the height of the wire 161 changes. The second driving mechanism 172 changes the retaining height of the wire 161. That is, the second driving mechanism 172 drives the retaining belt 171 so that the height of the wire 161 becomes equal to the desired height. In this way, the pulling direction of the wire 161 can be changed.

[0057] The overall controller 210 generates rehabilitation data, which may include configuration parameters related to training settings, various data related to leg movement generated from various sensors as a result of training, etc. The rehabilitation data may include data indicating the training person 901, or his / her years of experience, proficiency, etc., data indicating symptoms, walking ability, degree of recovery, etc. of the trainee 900, and various types of data transmitted from sensors, etc. The overall controller 210 generates a control signal for controlling each drive unit. The overall controller 210 controls each drive unit based on the detection signals from various sensors. Therefore, it is possible to appropriately control the tension and the winding length according to the walking motion of the trainee 900.

[0058] Next, we will use Figures 2 to 4 The leg orthosis 120 will now be described. Figures 2 to 4 One example of a configuration of a leg orthosis 120 is shown. Figure 2 is a side view of the leg orthosis 120, and Figure 3 is a front view of the leg orthosis 120 . Figure 4 It is a cross-sectional view showing the internal structure of the joint mechanism 123.

[0059] The leg orthosis 120 includes a thigh frame 121, a calf frame 122, and a joint mechanism 123. The thigh frame 121 is attached to the thigh of the impaired leg of the trainee 900. For example, the thigh frame 121 is fixed to the thigh using a band, a hook and loop fastener, a belt (not shown), etc. That is, a band or the like extending from the thigh frame 121 is wrapped around the thigh of the trainee 900 so that the thigh frame 121 is placed along the thigh. The thigh frame 121 is provided with an insertion opening 1211 for installing the wire 161 in place. The insertion opening 1211 is a connection point between the wire 161 and the leg orthosis 120.

[0060] The calf frame 122 is attached to the calf of the trainee 900. For example, the calf frame 122 is fixed to the calf using a strap, a hook and loop fastener, a belt (not shown), etc. That is, a strap or the like extending from the calf frame 122 is wrapped around the calf of the trainee 900 so that the calf frame 122 is placed along the calf.

[0061] The calf frame 122 is connected to the thigh frame 121 via a joint mechanism 123. The joint mechanism 123 connects the calf frame 122 with the thigh frame 121 so that the calf frame 122 can freely pivot relative to the thigh frame 121. The joint mechanism 123 corresponds to the knee joint of the injured leg. The joint mechanism 123 pivotally connects the thigh frame 121 with the calf frame 122. The joint mechanism 123 may have a hinge or a bearing.

[0062] The joint mechanism 123 pivots according to the movement of the knee joint of the trainee 900. The joint mechanism 123 changes the angle formed by the thigh frame 121 and the calf frame 122 in the direction of extension or flexion of the knee joint. That is, the calf frame 122 pivots around the joint axis Ha of the joint mechanism 123 relative to the thigh frame 121. The trainee wears the leg orthosis 120 in a state where the leg orthosis 120 is located on one side of the knee joint of the damaged leg. The thigh frame 121 and the calf frame 122 pivot around the joint axis Ha. Therefore, during walking training, the leg orthosis 120 can assist the movement of the knee joint. At this point, for example, the movable range of the thigh frame 121 and the calf frame 122 can be mechanically limited by a stopper.

[0063] like Figure 3 As shown, the joint mechanism 123 is provided with a biasing member 1235. For example, the biasing member 1235 is a torsion spring, and generates a biasing force between the thigh frame 121 and the calf frame 122 so that the knee joint is extended. That is, the biasing member 1235 generates a biasing force so that the thigh frame 121 and the calf frame 122 extend parallel to each other.

[0064] like Figure 2 and Figure 4 As shown, the wire 161 is installed in the joint mechanism 123. For example, the wire 161 is inserted into the joint mechanism 123 through the insertion opening 1211 of the thigh frame 121. The distal end of the wire 161 is fixed to the fixed end 1237 of the joint mechanism 123. Moreover, at the insertion opening 1211, the outer portion 1610 of the wire 161 is fixed to the thigh frame 121.

[0065] The first driving mechanism 162 pulls the wire 161, so that the joint mechanism 123 pivots in the direction of flexing the knee joint. Figure 2 As shown, the wire 161 is pulled in the direction indicated by the straight arrow, so that the length of the wire 161 from the fixed end 1237 to the insertion opening 1211 is reduced. As a result, the fixed end 1237 approaches the insertion opening 1211, so that the joint mechanism 123 pivots in the direction of flexing the knee joint. Moreover, when the pulling of the wire 161 stops, the joint mechanism 123 pivots in the extension direction under the biasing force of the biasing member 1235. The leg orthosis 120 can assist the extension and flexion of the knee joint according to the walking motion of the trainee 900.

[0066] Therefore, by using the wire 161 from the outside of the leg orthosis 120, the joint angle of the joint mechanism 123 can be changed. That is, when the tension of the wire 161 increases, the joint mechanism 123 is driven in the direction of flexing the knee joint. And, when the tension of the wire 161 decreases, the joint mechanism 123 is driven in the direction of extending the knee joint under the action of the biasing force of the biasing member 1235. Therefore, according to the movement of the knee joint of the trainee 900, the overall controller 210 controls the joint mechanism 123 to move from the knee joint 123 to the knee joint 123. Figure 1 The first drive mechanism 162 is shown applying tension to the wire 161 .

[0067] Therefore, the movement of the knee joint can be supported by using the tension of the wire 161 connected to the leg orthosis 120 from the outside. In other words, the motor and actuator for applying a driving force to the leg orthosis 120 can be placed on the outside of the leg orthosis 120. Through this arrangement, an electric device such as a motor can be placed on the outside of the leg orthosis. For example, the leg orthosis 120 does not require a motor and a power supply for driving the motor. Therefore, the weight and size of the leg orthosis 120 can be reduced. The joint mechanism 123 can be provided with an angle sensor that detects the angle formed by the thigh frame 121 and the calf frame 122.

[0068] Next, refer to Figure 5 , an example of the system configuration of the walking training device 100 will be described. Figure 5 1 is a block diagram showing an example of the system configuration of the walking training device 100. Figure 5 As shown, the walking training device 100 may include an overall controller 210, a treadmill driving unit 211, an operation receiving unit 212, a display controller 213, and a pulling driving unit 214. The walking training device 100 may also include a harness driving unit 215, an image processing unit 216, a posture sensor 217, a handrail sensor 218, a communication connection interface (IF), and an input and output unit 231. The walking training device 100 includes a joint driving unit 221, a load sensor 222, an angle sensor 223, and an auxiliary driving unit 224.

[0069] For example, the overall controller 210 is a micro processing unit (MPU) and executes a control program read from a system memory to perform control on the overall device.

[0070] The treadmill drive unit 211 includes a motor that rotates the belt 132 and a drive circuit for the motor. The overall controller 210 sends a drive signal to the treadmill drive unit 211 to control the rotation of the belt 132. For example, according to the walking speed set by the training person 901, the overall controller 210 adjusts the rotation speed of the belt 132.

[0071] The operation accepting unit 212 accepts input operations from the trainee 901 and sends an operation signal to the overall controller 210. The trainee 901 operates the operation buttons provided on the device, the touch panel superimposed on the management monitor 139, the attached remote controller, etc., which constitute the operation accepting unit 212. Through the operations, it is possible to turn on / off the power, give a command to start training, input a numerical value for setting, select a menu item, etc. The operation accepting unit 212 can also accept input operations from the trainee 900.

[0072] The display controller 213 receives a display signal from the overall controller 210, generates a display image, and displays the image on the training monitor 138 or the management monitor 139. The display controller 213 generates an image indicating the progress of the training, or a real-time picture taken by the camera 140, according to the display signal.

[0073] The pulling drive unit 214 includes a motor and a driving circuit thereof for pulling the front line 134 constituting the front pulling part 135, and a motor and a driving circuit thereof for pulling the rear line 136 constituting the rear pulling part 137. The overall controller 210 sends a driving signal to the pulling drive unit 214 to control the winding of the front line 134 and the winding of the rear line 136, respectively. Moreover, the overall controller 210 controls the tension of each line and the winding operation by controlling the driving torque of the motor. For example, the overall controller 210 recognizes the moment of switching of the impaired leg from the standing stage to the swing stage from the detection result of the load sensor 222, and increases or decreases the tension of each line in synchronization with the switching moment, thereby assisting the swinging movement of the impaired leg.

[0074] The harness driving unit 215 includes a motor and a driving circuit thereof for pulling the harness wire 111 constituting the harness pulling portion 112. The overall controller 210 sends a driving signal to the harness driving unit 215 to control the winding of the harness wire 111 and the pulling force of the harness wire 111. For example, when the overall controller 210 predicts that the trainee 900 will fall, the harness 111 is wound up by a certain amount to prevent the trainee from falling.

[0075] The image processing unit 216 is connected to the camera 140 and is capable of receiving an image signal from the camera 140. According to a command from the overall controller 210, the image processing unit 216 receives the image signal from the camera 140, and generates image data by processing the received image signal. Moreover, according to a command from the overall controller 210, the image processing unit 216 performs image processing on the image signal received from the camera 140 to implement a specific image analysis. For example, the image processing unit 216 detects the position (standing position) of the foot of the damaged leg contacting the treadmill 131 through image analysis. More specifically, for example, the image processing unit 216 extracts an image area near the end of the foot or the toes by analyzing an identification mark depicted on the belt 132 overlapping the end portion, and calculates the standing position.

[0076] As described above, the posture sensor 217 detects the tilt angle of the abdominal area of ​​the trainee 900 relative to the gravity direction, and sends the detection signal to the overall controller 210. The overall controller 210 calculates the posture of the trainee 900, more specifically, the tilt angle of the trunk, using the detection signal from the posture sensor 217. The overall controller 210 and the posture sensor 217 may be connected by wire, or may be connected wirelessly via near field communication.

[0077] The armrest sensor 218 detects the load applied to the armrest 130a. That is, a load corresponding to a portion of the trainee's 900 weight that cannot be supported by the trainee's 900 legs is applied to the armrest 130a. The armrest sensor 218 detects the load and sends a detection signal to the overall controller 210.

[0078] The overall controller 210 also functions as a function execution unit that performs various calculations related to control and control. The overall controller 210 controls each driving unit using data obtained from various sensors.

[0079] The joint driving unit 221 includes a first driving mechanism 162 (see Figure 1 ) drive control circuit. The joint drive unit 221 generates a drive signal for the take-up motor according to the control signal from the overall controller 210. The joint drive unit 221 sends the drive signal to the first drive mechanism 162, so that the first drive mechanism 162 winds or unwinds the wire 161. As a result, the thigh frame 121 and the calf frame 122 are forced to open relative to each other around the joint axis Ha, or are forced to close. The extension and flexion movements of the knee are assisted by movement, and the knee is prevented from bending weakly. The joint drive unit 221 drives the first drive mechanism 162 according to the walking movement. It is possible to control the joint mechanism 123 of the leg orthosis 120 according to the knee joint movement of the trainee 900.

[0080] As described above, the load sensor 222 detects the size and distribution of the vertical load received by the sole of the trainee 900, and transmits the detection signal to the overall controller 210. The load sensor 222 may be provided on the treadmill 131. When the leg orthosis 120 has a sole frame attached to the sole of the trainee 900, the load sensor 222 may be provided on the sole frame. Moreover, the load sensor 222 may be attached to the shoe of the trainee 900. The overall controller 210 determines the swing or stance phase based on the detection signal from the load sensor 222, or estimates the switching of the phases.

[0081] As described above, the angle sensor 223 detects the angle formed by the thigh frame 121 and the calf frame 122 around the joint axis Ha, and sends a detection signal to the overall controller 210. The overall controller 210 receives the detection signal and calculates the opening angle of the knee joint. The angle sensor 223 may be provided on the leg orthosis 120, or may be provided at a location other than the leg orthosis 120. For example, a camera that photographs the trainee 900 from one side of the trainee 900 may be used as the angle sensor 223. In this case, for example, the image processing unit 216 is able to perform image analysis and obtain the opening angle of the knee joint.

[0082] The auxiliary drive unit 224 includes a second drive mechanism 172 (see Figure 1 ) of the drive control circuit. The auxiliary drive unit 224 generates a drive signal of the take-up motor according to the control signal from the overall controller 210. The auxiliary drive unit 224 sends the drive signal to the second drive mechanism 172, so that the second drive mechanism 172 winds or unwinds the holding belt 171. In this way, the second drive mechanism 172 can control the height of the wire 161.

[0083] The auxiliary drive unit 224 drives the second drive mechanism 172 according to the walking motion. For example, the knee height of the trainee 900 changes according to the walking motion. The auxiliary drive unit 224 changes the height of the wire 161 so as to follow the change in the knee height. In other words, the auxiliary drive unit 224 increases the maintained height of the wire 161 at the moment when the knee height of the trainee 900 rises. On the contrary, the auxiliary drive unit 224 lowers the maintained height of the wire 161 at the moment when the knee height of the trainee 900 becomes lower. Therefore, the auxiliary drive unit 224 can control the height of the wire 161 according to the trajectory of the knee joint of the trainee 900.

[0084] The whole controller 210 detects the walking motion of the trainee 900. The whole controller 210 detects the walking motion through various sensors such as the angle sensor 223, the load sensor 222, and the posture sensor 217. Then, the whole controller 210 controls the first drive mechanism 162 and the second drive mechanism 172 according to the walking motion of the trainee 900. Based on the detection signals from the various sensors, the whole controller 210 detects the switching timing between the swing phase and the standing phase in the walking motion, the lifting timing, the landing timing, etc. The sensor for detecting the phase and timing of the walking motion is not limited to any specific sensor because a known method can be used.

[0085] The overall controller 210 controls the first drive mechanism 162 and the second drive mechanism 172 according to the walking motion. The overall controller 210 generates a control signal for each drive unit according to the stage of the walking motion. The overall controller 210 outputs a control signal to the auxiliary drive unit 224, the joint drive unit 221, the traction drive unit 214, and the harness drive unit 215. The auxiliary drive unit 224, the joint drive unit 221, the traction drive unit 214, and the harness drive unit 215 drive corresponding motors, etc. For example, the drive mode corresponding to each stage and moment of the walking motion can be registered. Then, the overall controller 210 generates a control signal corresponding to the drive mode. The drive mode can also reflect physical information such as the height, weight, leg length, thigh length, and calf length of the trainee 900.

[0086] Reference Figure 6 , the driving of the leg orthosis 120 will be described. Figure 6 FIG. 2 is a side view schematically showing a walking training system. Figure 6 In the Figure 1 More specifically, Figure 6 Indicates the configuration related to the leg orthosis 120 and its drive. For example, Figure 6 , the harness wire 111, the harness pulling portion 112, the handrail 130a, the front wire 134, the front pulling portion 135, the rear wire 136, the rear pulling portion 137, etc. are not shown.

[0087] The leg orthosis 120 is attached to the right leg of the trainee 900. More specifically, the thigh frame 121 and the calf frame 122 are attached to the thigh and the calf of the right leg, respectively, by means of a belt 128. That is, the belt 128 is wrapped around the thigh so that the thigh frame 121 is fixed along the thigh. Similarly, the belt 128 is wrapped around the calf so that the calf frame 122 is fixed along the calf. The thigh frame 121 and the calf frame 122 are pivotally connected via a joint mechanism 123.

[0088] In addition, a foot sole frame 126 is attached to the lower end of the calf frame 122. The trainee 900 places the right leg on the foot sole frame 126. The foot sole frame 126 is in contact with the belt 132 of the treadmill 131. As described above, the foot sole frame 126 may be provided with a load sensor 222. It goes without saying that when the impaired leg of the trainee 900 is the left leg, the trainee 900 may wear the leg orthosis 120 on the left leg.

[0089] The wire 161 is connected to the joint mechanism 123. The wire 161 connects the first drive mechanism 162 with the joint mechanism 123. The first drive mechanism 162 winds the wire 161 so that tension is applied to the wire 161. As a result, the angle of the joint mechanism 123 changes. Therefore, the leg orthosis 120 can assist the movement of the knee joint according to the walking motion.

[0090] The first drive mechanism 162 is located outside the leg orthosis 120. The first drive mechanism 162 can apply a force for assisting the movement of the knee joint from the outside of the leg orthosis 120. Therefore, the leg orthosis 120 does not need to incorporate a motor, a power source, etc. Therefore, the weight and size of the leg orthosis 120 can be reduced.

[0091] Furthermore, the holding belt 171 can be positioned so as not to interfere with the trainee 900 in walking training. For example, the holding belt 171 is located in front of the trainee 900. The first drive mechanism 162 and the second drive mechanism 172 can also be positioned so as not to interfere with the trainee 900. For example, the second drive mechanism 172 is located above the trainee 900, and the first drive mechanism 162 is located in front of the trainee 900 and the holding belt 171. Therefore, the trainee 900 can perform walking training without interfering with each drive mechanism and the like.

[0092] The wire 161 is made thicker so as to increase the driving torque of the joint mechanism 123. For example, the diameter of the wire 161 is made equal to 15 mm so that sufficient pulling force is applied to the joint mechanism 123. As the weight of the wire 161 increases, the wire 161 becomes less likely to bend. When the knee joint of the trainee 900 moves, the wire 161 may give resistance that hinders the movement of the trainee 900. Since the second driving mechanism 172 changes the holding height of the retaining belt 171, the wire 161 is prevented from hindering the movement of the trainee 900. Moreover, there is a possibility that the wire 161 bends suddenly from the joint mechanism 123 toward the ground. As in the present embodiment, by maintaining the height of the wire 161 by the retaining belt 171, the sudden bending of the wire 161 can be prevented.

[0093] When the first driving mechanism 162 is located in front of the treadmill 131, the length of the wire 161 increases. In this case, because the wire 161 is deflected due to its own weight, the wire 161 may come into contact with the ground. However, since the holding belt 171 maintains the height of the wire 161, it is possible to prevent the wire 161 from coming into contact with the ground.

[0094] It is preferable to maintain a predetermined distance from the connection position of the wire 161 and the leg orthosis 120 to the joint mechanism 123 in order to prevent unnecessary tension from being applied to the joint mechanism 123. It is preferable to pull the wire 161 back and forth at a right angle to the thigh. In this case, it is preferable to design the wire 161 and the connecting portion 173 to have a certain degree of freedom in the lateral direction. That is, a mechanism for moving the wire 161 and the connecting portion 173 in the lateral direction according to the walking movement may be provided.

[0095] It is preferred to connect the wire 161 to the leg orthosis 120 from the front side of the trainee 900. With this arrangement, the wire 161 is prevented from interfering with the trainee 901 and other structures. With this arrangement, the trainee 901 can help the trainee 900 from behind. Moreover, even when there is a handrail 130a on one side of the trainee 900, the wire 161 can be pulled back and forth without interfering with the handrail 130a.

[0096] By pulling the wire 161 back and forth from the front side, the pulling direction of the wire 161 can be made parallel to or close to the horizontal direction. By pulling the wire 161 back and forth horizontally, the wire 161 can be prevented from interfering with the arm of the trainee 900. It is preferable to apply a pulling force in a direction perpendicular to the thigh. The wire 161 is pulled back and forth in the horizontal direction from the front to be connected to the leg orthosis 120. The first drive mechanism 162 is preferably located near the knee height in front of the front of the trainee 900.

[0097] Figure 7 FIG. 9 is a side view schematically showing the result obtained by calculating the trajectory of the knee joint of the trainee 900. Figure 7 In FIG. 1 , it is assumed that the distance from the trainee's hip joint to the knee joint is 50 cm. Therefore, the trajectory T of the knee joint is an arc with a center O and a radius of 50 cm. That is, during walking motion, the position of the knee joint relative to the hip joint changes along an arc-shaped trajectory with a radius of 50 cm.

[0098] It is assumed that the minimum bending radius of the wire 161 is 100 cm, and the remaining part extends horizontally. Therefore, the wire 161 is divided into a straight portion 161a and an arc portion 161b. The arc portion 161b is a portion closer to the distal end of the wire 161 (i.e., closer to the leg orthosis 120). The straight portion 161a is provided on the first drive mechanism 162 side ( Figure 7 ), and extends parallel to the X direction.

[0099] At this time, it is desired that the line 161 is connected to the thigh at a right angle; therefore, the trajectory T of the knee joint is connected to the arc portion 161b of the line 161 through a tangent line. The arc portion 161b and the trajectory T are smoothly connected at the connection portion C of the line 161 and the leg orthosis 120. The trajectory of the optimal height maintenance of the connecting portion 173 in this case is indicated as "trajectory H". Therefore, the second driving mechanism 172 can change the height of the connecting portion 173 so that it follows the trajectory H.

[0100] In the above description, the wire 161 is used as a pulling member for applying a pulling force to the joint mechanism 123 of the leg orthosis 120. The pulling member is not limited to the wire 161, but may be a thick rope, a thin rope, a ribbon, a belt, etc. The pulling member may be formed of a material such as metal, resin, or fiber. For example, even if the pulling member is made of a material that bends due to its own weight, the holding belt 171 can maintain the holding height.

[0101] Similarly, the holding device for holding the wire 161 at a given height is not limited to the holding belt 171. The holding device is not limited to a belt, but can be a wire, a thick rope, a thin rope or a belt-like object. The holding device can be made of materials such as metal, resin or fiber. The holding device is preferably a suspension member suspended from above. Through this arrangement, for example, a pulling force that pulls the suspension member upward can be applied to the suspension member by a motor and a winding mechanism. The second drive mechanism 172 winds the suspension member, thereby applying a pulling force to pull the suspension member upward. Therefore, the holding height can be controlled by a simple arrangement. In addition, the XY position of the holding belt 171 can be changed according to the walking movement.

[0102] Moreover, the joint assisted by the leg orthosis 120 is not limited to the knee joint. For example, the leg orthosis 120 can assist the hip joint or the ankle joint in the joint movement. The leg orthosis 120 can assist the movement of more than two joints. In this case, more than two wires 161 and more than two drive mechanisms can be provided depending on the number of joints to be assisted.

[0103] First Modification

[0104] Will refer to Figure 8 A system configuration according to a first modification is described. In the first modification, the holding means for holding the wire 161 at a holding height is different from the above-described embodiment. Here, the support member 175 holds the wire 161 at a given height.

[0105] The support member 175 extends upward from the floor. The support member 175 can be extended and retracted. The upper end of the support member 175 is provided with a connection portion 173 connected to the wire 161. For example, the wire 161 is fixed to the top of the support member 175. The second drive mechanism 172 has a motor and a cylinder for extending and retracting the support member 175. The second drive mechanism 172 extends and retracts the support member 175 so that the height of the connection portion 173 changes. That is, when the support member 175 is extended or retracted, the height of the wire 161 is changed. Through this configuration, it is also possible to obtain the same effect as the first embodiment.

[0106] Second Modification

[0107] Will refer to Fig. 9 A system configuration according to a second variant is described. In the second variant, in addition to Figure 6 In addition to the structure of the present invention, a wire 166, a third drive mechanism 182, a connecting portion 183, a retaining belt 184, and a fourth drive mechanism 185 are provided. That is, the two wires 161, 166 are connected to the leg orthosis 120. The arrangement associated with the wire 161 is similar to that of the first embodiment and will not be described in detail. That is, the first drive mechanism 162 applies a pulling force to the wire 161, so that the joint mechanism 123 moves in a direction that causes the knee joint to flex.

[0108] The wire 166 is connected to the leg orthosis 120 from the rear side. The wire 166 is connected to the third driving mechanism 182. The third driving mechanism 182 is located at the rear of the treadmill 131. Like the first driving mechanism 162, the third driving mechanism 182 includes a motor and a winding mechanism.

[0109] The third driving mechanism 182 can apply tension to the leg orthosis 120 by winding the wire 166. The third driving mechanism 182 can weaken the tension applied to the leg orthosis 120 by unwinding the wire 166. In this way, the joint portion of the leg orthosis 120 is driven. In other words, the third driving mechanism 182 drives the wire 166 so that the angle of the joint portion of the leg orthosis 120 becomes equal to a desired angle.

[0110] In the connection portion 183, the wire 166 is connected to the holding belt 184. That is, the holding belt 184 holds the wire 166 via the connection portion 183. The holding belt 184 holds the wire 166 so that the height of the wire 166 becomes equal to a given height.

[0111] The holding belt 184 is attached to the fourth driving mechanism 185. The fourth driving mechanism 185 has a motor and a winding mechanism similarly to the second driving mechanism 172. Therefore, the fourth driving mechanism 185 can change the holding height of the wire 166 by winding or unwinding the holding belt 184.

[0112] More than two wires 161, 166 are connected to the leg orthosis 120 from different directions. The tension provided by the first drive mechanism 162 and the tension provided by the third drive mechanism 182 can be applied in different directions. The tension is applied to the leg orthosis 120 from the wire 161 forward, and the tension is applied to the leg orthosis 120 from the wire 166 backward. By the two wires 161, 166 thus provided, the joint mechanism 123 can be pushed and pulled. By this arrangement, the tension can be applied forward and backward. Therefore, more than two wires are connected to the leg orthosis 120, so that the tension can be applied in more than two directions.

[0113] In addition, the driving direction of the joint mechanism 123 can be changed by the pulling force provided by the first driving mechanism 162 and the pulling force provided by the third driving mechanism 182. For example, due to the pulling force of the third driving mechanism 182, the joint mechanism 123 moves in the direction of extending the knee joint. Due to the pulling force of the first driving mechanism 162, the joint mechanism 123 moves in the direction of flexing the knee joint. Therefore, the angle of the knee joint can be quickly made equal to the desired angle; therefore, the movement of the knee joint can be more appropriately supported.

[0114] Third Modification

[0115] In the third variation, Fig.10 As shown, the wire 161 is pulled back and forth from one side of the trainee 900. More specifically, the wire 161 is connected to the leg orthosis 120 from the -Y side. The distal end of the wire 161 is connected to the leg orthosis 120, and the other end is connected to the first driving mechanism 162. Then, the first driving mechanism 162 winds the wire 161 so that a tensile force is applied to the leg orthosis 120. In this way, the joint mechanism 123 is driven.

[0116] The holding belt 171 holds the wire 161. The holding belt 171 is connected to the wire 161 at a certain point on the wire 161. The holding belt 171 and the wire 161 are connected via a connecting portion 173. With this arrangement, the second driving mechanism 172 can raise and lower the holding height of the wire 161 according to the walking motion.

[0117] In addition, the leg orthosis 120 is provided with a conversion mechanism 129 that changes the direction of the pulling force. For example, the conversion mechanism 129 has a pulley. Then, the conversion mechanism 129 changes the direction of the wire 161 set in the lateral direction. More specifically, when the direction of the wire 161 is changed by 90°, the pulling force can be applied from the front of the leg orthosis 120. In this way, the first drive mechanism 162 can pull the wire 161 in the lateral direction.

[0118] The operation method of the walking training system can be implemented by a computer program or hardware. The overall controller 210 includes a memory for storing a program and a processor for executing the program, etc. By executing the program, the overall controller 210 can implement the operation method of the walking training system 1 according to the present embodiment.

[0119] Any of various types of non-transitory computer-readable media can be used to store the program as described above and provide it to the computer. Non-transitory computer-readable media include various types of tangible recording media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (read-only memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (programmable ROMs), EPROMs (erasable PROMs), flash ROMs, RAMs (random access memories)). Moreover, the program can be provided to the computer via any of various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can provide the program to the computer via a wired communication channel such as an electric wire or optical fiber or via a wireless communication channel.

[0120] The present invention is not limited to the above-described embodiments, but may be appropriately changed without departing from the principles.

Claims

1. A walking training system, characterized in that include: a leg orthosis, which is fitted to the user's leg; at least one pull member coupled to the leg orthosis; a first driving mechanism configured to apply a pulling force to the pulling member according to the walking motion of the user; a retaining device that holds the pull member at a retaining height at a point between a coupling point of the leg orthosis and the first drive mechanism; as well as a second driving mechanism configured to change the holding height of the pulling member held by the holding device according to the walking motion of the user, wherein The pull member is coupled to the leg orthosis from a side of the user; and The leg orthosis is provided with a mechanism configured to change the direction of the tension force of the pulling member.

2. The walking training system according to claim 1, characterized in that: The leg orthosis has a joint mechanism configured to pivot according to the walking motion of the user; and The first driving mechanism is configured to pivot the joint mechanism by pulling the pulling member.

3. The walking training system according to claim 1 or 2, characterized in that: The pull member is coupled to the leg orthosis from the front of the user; and The first driving mechanism is configured to provide the tension by winding the pulling member.

4. The walking training system according to claim 1 or 2, characterized in that: The holding device has a hanging member hanging from above the user; and The second driving mechanism is configured to raise the holding height by winding up the suspension member.

5. The walking training system according to claim 1 or 2, characterized in that: The retaining device has an upwardly extending support member; and The second driving mechanism is configured to change the holding height by extending and contracting the supporting member.

6. The walking training system according to claim 1 or 2, characterized in that: The at least one puller member is a plurality of puller members, and the plurality of puller members are connected to the leg orthosis from different directions.

7. A non-transitory storage medium for a walking training system, characterized in that: The walking training system comprises: a leg orthosis mounted to a user's leg; at least one pulling member coupled to the leg orthosis; a first driving mechanism configured to apply a pulling force to the pulling member; a holding device that holds the pulling member at a holding height at a point between a coupling point of the leg orthosis and the first driving mechanism; and a second driving mechanism configured to change the holding height of the pulling member held by the holding device, wherein the pulling member is coupled to the leg orthosis from one side of the user and the leg orthosis is provided with a mechanism configured to change a direction of the pulling force of the pulling member, The non-transitory storage medium stores instructions, which can be executed by one or more processors and enable the one or more processors to perform functions, including: detecting walking motion of the user; and The first driving mechanism and the second driving mechanism are controlled by a controller according to the walking motion of the user.

Images