Walking training system, control method thereof and storage medium

Abstract

The present invention relates to a walking training system, a control method thereof, and a storage medium. The walking training device according to this embodiment includes: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor detecting the distribution of a load received by the sole of the trainee's foot riding on a belt of the treadmill; a walking state determination unit determining whether the one leg has switched from a standing state to a swinging state based on an increase in the load received by the other leg of the trainee performing walking training, as detected by the load distribution sensor; and a control unit for initiating bending control of the one leg in the swinging state by the robot leg when the treadmill determination unit determines that the one leg has switched from the standing state to the swinging state.

Description

Technical Field

[0001] The invention relates to a walking training system, a control method and a storage medium thereof. Background Art

[0002] Japanese Unexamined Patent Application Publication No. 2016-73525 (JP 2016-73525A) discloses a walking training system comprising: a dynamic balance ability evaluation device for evaluating a user's dynamic balance ability based on temporal changes in predetermined body parts caused by the user's walking; and a treadmill for the user to perform walking training. For example, the walking training system includes a pressure sensor located on the treadmill belt, and detects the force (floor reaction force) of the user kicking the belt based on the pressure sensor's measurement value.

[0003] The response performance of a pressure sensor when it is unloaded is generally lower than when it is loaded. Therefore, in the prior art, even when a user performing walking training switches one leg from a standing position to a swinging position, the load received by that leg is not removed and is unintentionally detected. Therefore, the timing of the leg switching from a standing position to a swinging position cannot be accurately detected. In other words, using the prior art, the walking state of the user (trainee) cannot be accurately determined. As a result, there is a problem that the prior art cannot provide users with effective walking training. Summary of the Invention

[0004] The present invention has been made in view of the above background, and an object of the present invention is to provide a walking training system, a control method thereof, and a storage medium capable of providing effective training to a trainee by improving the accuracy of determining the trainee's walking state.

[0005] A walking training system according to an embodiment of the present invention includes: a robotic leg attached to a trainee's leg; a treadmill; a load distribution sensor attached to the treadmill and detecting the distribution of load received by the sole of the trainee's foot riding on a belt of the treadmill; a walking state determination unit that determines whether the leg has switched from a standing state to a swinging state based on an increase in load received by the other leg of the trainee performing walking training, as detected by the load distribution sensor; and a control unit that, when the walking state determination unit determines that the leg has switched from the standing state to the swinging state, initiates bending control of the leg in the swinging state by the robotic leg. This walking training system can accurately detect the timing when the trainee's leg switches from the standing state to the swinging state. Therefore, the accuracy of determining the trainee's walking state can be improved, resulting in effective walking training for the trainee. For example, this walking training system can accurately detect the timing when the leg to which the robotic leg is attached switches from the standing state to the swinging state. Therefore, the robotic legs can bend and extend at appropriate timing, and as a result, effective walking training can be provided to the trainee.

[0006] The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the load received from the other leg becomes equal to or greater than a predetermined load.

[0007] The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the load received from the other leg becomes equal to or greater than a predetermined ratio of a maximum value of the load received from the one leg.

[0008] The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the position of the center of gravity of the load detected by the load distribution sensor enters a predetermined area including the position of the other leg.

[0009] A method for controlling a walking training system according to an embodiment of the present invention includes: detecting the distribution of load received by the sole of a trainee's foot riding on a belt of the treadmill using a load distribution sensor attached to the treadmill; determining whether the leg to which the robot leg is attached has switched from a standing state to a swing state based on an increase in load received by a different leg; and, upon determining that the leg has switched from the standing state to the swing state, initiating flexion control of the leg in the swing state by the robot leg. This method for controlling a walking training system can accurately detect the timing at which a trainee's leg switches from a standing state to a swing state. Therefore, the accuracy of determining the trainee's walking state can be improved, resulting in effective walking training for the trainee. For example, this method for controlling a walking training system can accurately detect the timing at which the leg to which the robot leg is attached switches from a standing state to a swing state. Therefore, the robot leg can bend and extend at appropriate timing, resulting in effective walking training for the trainee.

[0010] A storage medium according to an embodiment of the present invention stores a control program that causes a computer to execute: a process for detecting the distribution of load received by the sole of a trainee's foot riding on a treadmill belt using a load distribution sensor attached to the treadmill; a process for determining whether a leg to which a robot leg is attached has switched from a standing state to a swinging state based on an increase in load received from a different leg; and a process for initiating bending control of the leg in the swinging state by the robot leg when it is determined that the leg has switched from the standing state to the swinging state. This control program can accurately detect the timing at which a trainee's leg switches from a standing state to a swinging state during walking training. Consequently, the accuracy of determining the trainee's walking state can be improved, resulting in effective walking training for the trainee. For example, this control program can accurately detect the timing at which a leg to which the robot leg is attached switches from a standing state to a swinging state. Consequently, the robot leg can bend and extend at appropriate timing, resulting in effective walking training for the trainee.

[0011] According to the present invention, it is possible to provide a walking training system, a control method thereof, and a storage medium capable of providing effective training to a trainee by improving the accuracy of determining the trainee's walking state. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like numerals represent like elements, and in which:

[0013] Figure 1is an overall conceptual diagram showing a configuration example of a walking training device according to a first embodiment;

[0014] Figure 2 Is set in Figure 1 A schematic side view of a portion of a treadmill in the walking training device is shown;

[0015] Figure 3 It shows the settings Figure 1 A schematic perspective view of an example of the configuration of a walking assist device in a walking training device shown;

[0016] Figure 4 It shows Figure 1 A block diagram of an example of a system configuration of a walking training device is shown;

[0017] Figure 5 is a timing diagram showing the effect of low response performance when the load distribution sensor is not loaded;

[0018] Figure 6 It is through magnification Figure 5 A timing diagram obtained as part of

[0019] Figure 7 Is shown by Figure 1 A timing chart showing an example of a method for determining a trainee's walking state by a walking training apparatus shown;

[0020] Figure 8 It is through magnification Figure 7 A timing diagram obtained as part of

[0021] Figure 9 Is shown by Figure 1 A schematic plan view of another example of a method for determining a trainee's walking state using a walking training apparatus shown; and

[0022] Figure 10 Is shown by Figure 1 FIG. 2 is a timing chart showing another example of a method in which the gait training apparatus determines the gait state of a trainee. DETAILED DESCRIPTION

[0023] Hereinafter, the present invention will be described by way of its embodiments, but the present invention according to the scope of the claims is not limited to the following embodiments. In addition, not all configurations described in the embodiments are essential for solving the described problems. For the sake of clarity, the following description and drawings have been omitted and simplified as appropriate. In the drawings, the same reference numerals are used for the same elements, and repeated descriptions are omitted as necessary.

[0024] First embodiment

[0025] Figure 1is an overall conceptual diagram showing an example configuration of a walking training device according to a first embodiment. The walking training device 100 according to this embodiment is a specific example of a rehabilitation support device that supports the rehabilitation of a trainee (user) 900, and in particular, a specific example of a walking training device that supports walking training. The walking training device 100 is a device for the trainee 900 to perform walking training under the guidance of a trainer 901, who is a hemiplegic patient with one leg paralyzed. Here, the trainer 901 can be, for example, a therapist (physiotherapist) or a doctor who assists the trainee's training through guidance or care. Therefore, the trainer 901 can be referred to as a training instructor, a training caregiver, or a training assistant. The walking training device 100 can also be referred to as a walking training system. The up-down direction, the left-right direction, and the front-back direction in the following description are directions based on the orientation of the trainee 900.

[0026] The walking training device 100 mainly includes: a control panel 133, which is attached to a frame 130 constituting the entire skeleton; a treadmill 131 on which the trainee 900 walks; and a walking assist device (robotic leg) 120, which is attached to the affected leg, i.e., the leg on the paralyzed side of the trainee 900.

[0027] The treadmill 131 is a device that prompts the trainee 900 to walk, and the trainee 900 who performs walking training rides on the belt 1311 and attempts walking motion according to the motion of the belt 1311. For example, Figure 1 As shown, the trainee 901 can stand on the belt 1311 behind the trainee 900 and perform walking exercises with the trainee 900. However, it is generally preferred that the trainee 901 is in a state where it is easy to perform care on the trainee 900, that is, standing astride the belt 1311.

[0028] Figure 2 1 is a schematic side view of a portion of the treadmill 131. Figure 2 As shown, treadmill 131 includes at least an endless belt 1311, pulleys 1312, and a motor (not shown). Furthermore, load distribution sensor 222 is mounted on the inner side of belt 1311 (on the lower side of belt 1311 on the surface on which trainee 900 rides) so as not to move with belt 1311. However, load distribution sensor 222 may be disposed on the upper side of belt 1311 so as to move with belt 1311.

[0029] Load distribution sensor 222 is composed of multiple sensors, and these sensors are arranged in a matrix on the underside of belt 1311, which supports the sole of trainee 900's foot. By using these sensors, load distribution sensor 222 can detect the magnitude and distribution of surface pressure (load) received by the sole of trainee 900's foot. For example, load distribution sensor 222 is a resistance change detection type load detection sheet, in which multiple electrodes are arranged in a matrix. Based on the detection results of load distribution sensor 222, the walking state of trainee 900 (such as whether each leg is in a standing position or a swinging position) can be determined. The details of the method for determining the walking state of trainee 900 based on the detection results of load distribution sensor 222 will be described later.

[0030] In the treadmill 131, for example, the overall control unit 210, which will be described later, determines the walking state of the trainee 900 based on the detection result of the load distribution sensor 222, and uses a motor (not shown) to rotate the pulley 1312 according to the walking state, thereby rotating (moving) the endless belt 1311. Therefore, the trainee 900 can perform walking training without stepping off the belt 1311.

[0031] Frame 130 stands upright on a treadmill 131 mounted on a floor surface, supporting a control panel 133 housing an integrated control unit 210 for controlling motors and sensors, and a training monitor 138, such as a liquid crystal panel that displays training progress and other information to the trainee 900. Frame 130 also supports a front tensioning unit 135 located in front of the trainee's 900 head, a protective gear tensioning unit 112 located in the head, and a rear tensioning unit 137 located in the back of the head. Frame 130 also includes handrails 130a for the trainee 900 to grasp.

[0032] Handrails 130a are arranged on the left and right sides of trainee 900. Each handrail 130a is arranged to extend in a direction parallel to the walking direction of trainee 900. The position of handrails 130a in the vertical and horizontal directions is adjustable. In other words, handrails 130a may include a mechanism for changing their height and width. Furthermore, handrails 130a may be configured so that the height of handrails 130a is adjusted so that the height of the front side and the height of the rear side in the walking direction are different, thereby changing the inclination angle. For example, handrails 130a may be provided with an inclination angle that gradually increases along the walking direction.

[0033] Furthermore, armrest 130a is provided with an armrest sensor 218 for detecting the load received by trainee 900. For example, armrest sensor 218 may be a load detection sheet of a resistance change detection type in which electrodes are arranged in a matrix. Furthermore, armrest sensor 218 may be a six-axis sensor in which a three-axis acceleration sensor (x, y, z) and a three-axis gyroscope sensor (roll, pitch, yaw) are combined. However, the type and installation location of armrest sensor 218 are not limited.

[0034] Camera 140 functions as an imaging unit for observing the entire body of trainee 900. Camera 140 is installed near training monitor 138 so as to face the trainee. Camera 140 captures both still and moving images of trainee 900 during training. Camera 140 includes a lens and an imaging element that provides a viewing angle capable of capturing the entire body of trainee 900. The imaging element is, for example, a complementary metal oxide semiconductor (CMOS) image sensor that converts an optical image on an image plane into an image signal.

[0035] By the coordinated operation of the front tensioning unit 135 and the rear tensioning unit 137 , the load of the walking assistance device 120 is offset so as not to burden the affected leg, thereby assisting the forward swinging movement of the affected leg according to a set degree.

[0036] One end of the front wire 134 is connected to the winding mechanism of the front tensioning unit 135, and the other end is connected to the walking assistance device 120. The winding mechanism of the front tensioning unit 135 winds and unwinds the front wire 134 according to the movement of the affected leg by turning on and off a motor (not shown). Similarly, one end of the rear wire 136 is connected to the winding mechanism of the rear tensioning unit 137, and the other end is connected to the walking assistance device 120. The winding mechanism of the rear tensioning unit 137 winds and unwinds the rear wire 136 according to the movement of the affected leg by turning on and off a motor (not shown). Through this coordinated operation of the front tensioning unit 135 and the rear tensioning unit 137, the load of the walking assistance device 120 is offset so that it does not become a burden on the affected leg, thereby assisting the forward swing movement of the affected leg to a set degree.

[0037] For example, as an operator, trainer 901 sets a high assistance level for a trainee with severe paralysis. When the assistance level is set to high, front tensioning unit 135 winds front wire 134 with a relatively strong force, in accordance with the swing forward of the affected leg. As training progresses and assistance is no longer needed, trainer 901 sets the assistance level to the lowest level. When the assistance level is set to the lowest level, front tensioning unit 135 winds front wire 134 with a force that offsets the weight of walking assistance device 120, in accordance with the swing forward of the affected leg.

[0038] The gait training device 100 further includes an anti-fall harness device consisting of a brace 110 , a harness wire 111 , and a harness tensioning unit 112 .

[0039] Brace 110 is a belt that wraps around the abdomen of the trainee 900 and is secured to the waist using, for example, hook-and-loop fasteners. Brace 110 includes a connecting hook 110a for connecting one end of a harness cord 111, which serves as a sling, also known as a sling. The trainee 900 wears brace 110 so that connecting hook 110a is positioned on the lower back.

[0040] One end of the harness wire 111 is connected to the connecting hook 110a of the brace 110, and the other end is connected to the winding mechanism of the harness tensioning unit 112. The winding mechanism of the harness tensioning unit 112 winds and unwinds the harness wire 111 by turning a motor (not shown) on and off. With this configuration, if the trainee 900 is about to fall, the fall prevention device winds up the harness wire 111 based on the instructions of the overall control unit 210 that detects movement, supports the trainee 900's upper body with the brace 110, and prevents the trainee 900 from falling.

[0041] The brace 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 brace 110 is attached relative to the direction of gravity.

[0042] The management monitor 139 is a display input device primarily used for monitoring and operation by the trainer 901 and is attached to the frame 130. The management monitor 139 is, for example, a liquid crystal panel with a touch panel provided on its surface. The management monitor 139 displays various menu items related to training settings, various parameter values ​​during training, training results, and the like. Furthermore, an emergency stop button 232 is provided near the management monitor 139. When the trainer 901 presses the emergency stop button 232, the walking training device 100 is brought to an emergency stop.

[0043] The walking assist device 120 is attached to the affected leg of the trainee 900 and assists the trainee 900 in walking by reducing the load of extension and flexion on the knee joint of the affected leg. The walking assist device 120 transmits data on leg movement acquired through walking training to the overall control unit 210 or drives the joint portion according to instructions from the overall control unit 210. The walking assist device 120 can also be connected to the hip joint (including the connecting member of the rotating portion) via a wire or the like, and the hip joint is attached to the brace 110 as part of the anti-fall support device.

[0044] Details of the walking assistance device 120

[0045] Figure 31 is a schematic perspective view showing an example of the configuration of the walking assistance device 120. The walking assistance device 120 mainly includes a control unit 121 and a plurality of frames that support various parts of the affected leg. The walking assistance device 120 is also called a robotic leg.

[0046] The control unit 121 includes an assist control unit 220 for controlling the walking assist device 120, and also includes a motor (not shown) that generates a driving force for assisting the extension and flexion of the knee joint. The frame supporting the various parts of the affected leg includes a thigh frame 122 and a calf frame 123 pivotally connected to the thigh frame 122. The frame also includes a foot flat frame 124 pivotally connected to the calf frame 123; a front connecting frame 127 for connecting to a front cable 134; and a rear connecting frame 128 for connecting to a rear cable 136.

[0047] The thigh frame 122 and the calf frame 123 pivot relative to each other around the hinge axis Ha shown in the figure. The motor of the control unit 121 rotates following the instruction of the auxiliary control unit 220 to force the thigh frame 122 and the calf frame 123 to open or close relative to each other around the hinge axis Ha. The angle sensor 223 housed in the control unit 121 is, for example, a rotary encoder, and detects the angle formed between the thigh frame 122 and the calf frame 123 around the hinge axis Ha. The calf frame 123 and the foot flat frame 124 pivot relative to each other around the hinge axis Hb shown in the figure. The relative pivot angle range is pre-adjusted by the adjustment mechanism 126.

[0048] The front connecting frame 127 is provided so as to extend in the left-right direction on the front side of the thigh and is connected to the thigh frame 122 at both ends. A connecting hook 127a for connecting to the front thread 134 is also provided around the center of the front connecting frame 127 in the left-right direction. The rear connecting frame 128 is provided so as to extend in the left-right direction on the rear side of the calf and is connected to the calf frame 123 extending in the vertical direction at both ends. A connecting hook 128a for connecting to the rear thread 136 is also provided around the center of the rear connecting frame 128 in the left-right direction.

[0049] The thigh frame 122 includes a thigh belt 129. The thigh belt 129 is a belt integrally provided on the thigh frame and is wrapped around the thigh of the affected leg to secure the thigh frame 122 to the thigh. This prevents the entire walking assistance device 120 from shifting relative to the trainee's 900 leg.

[0050] System Configuration Example of the Gait Training Device 100

[0051] Then, refer to Figure 4 A system configuration example of the gait training device 100 is described. Figure 4 is a block diagram showing a system configuration example of the gait training device 100 .

[0052] like Figure 4 As shown, the system configuration of the walking training device 100 includes an overall control unit 210, a treadmill drive unit 211, an operation receiving unit 212, a display control unit 213, a tensioning drive unit 214, a protective gear drive unit 215, an image processing unit 216, a posture sensor 217, an armrest sensor 218, a load distribution sensor 222, a communication connection interface (IF) 219 and a walking assistance device 120.

[0053] The overall control unit 210 is, for example, a micro processing unit (MPU), and performs control of the entire apparatus by executing a control program read from a system memory.

[0054] The treadmill drive unit 211 includes a motor and a drive circuit for rotating the belt 1311 of the treadmill 131. The overall control unit 210 controls the rotation of the belt 1311 by transmitting a drive signal to the treadmill drive unit 211. The overall control unit 210 adjusts the rotation speed of the belt 1311 based on, for example, the walking speed set by the trainee 901. Alternatively, the overall control unit 210 adjusts the rotation speed of the belt 1311 based on the walking state of the trainee 900 as determined by the detection results of the load distribution sensor 222.

[0055] The operation receiving unit 212 receives the input operation of the trainee 901 through the operation buttons provided on the device, the touch panel superimposed on the management monitor 139, the attached remote controller, etc. The operation signal received by the operation receiving unit 212 is transmitted to the overall control unit 210. The overall control unit 210 can instruct to turn on and off the power supply, or to start training based on the operation signal received by the operation receiving unit 212. In addition, numerical values ​​related to the settings can be input and menu items can be selected. The operation receiving unit 212 is not limited to receiving the input operation of the trainee 901. Of course, the operation receiving unit 212 can also receive the input operation of the trainee 900.

[0056] The display control unit 213 receives a display signal from the overall control unit 210, generates a display image, and displays the image on the training monitor 138 or the management monitor 139. The display control unit 213 generates an image showing the training progress and a real-time image captured by the camera 140 according to the display signal.

[0057] The tension drive unit 214 includes a motor and its drive circuit, located in the front tensioning unit 135, for pulling the front wire 134, and a motor and its drive circuit, located in the rear tensioning unit 137, for pulling the rear wire 136. The overall control unit 210 controls the winding of the front wire 134 and the rear wire 136 by transmitting drive signals to the tension drive unit 214. Furthermore, the overall control unit 210 controls the tension of each wire by controlling the driving torque of the motor, rather than being limited to the winding operation. Furthermore, the overall control unit 210 identifies the timing of the transition from the standing position to the swing position of the affected leg based on the detection results of the load distribution sensor 222, and increases or decreases the tension of each wire in synchronization with this timing, thereby assisting the forward swing movement of the affected leg.

[0058] The harness drive unit 215 includes a motor and its drive circuit, which is installed in the harness tensioning unit 112 and is used to pull the harness wire 111. By transmitting a drive signal to the harness drive unit 215, the overall control unit 210 controls the winding of the harness wire 111 and the tension of the harness wire 111. For example, if the trainee 900 is predicted to fall, the overall control unit 210 winds a certain amount of the harness wire 111 to prevent the trainee from falling.

[0059] The image processing unit 216 is connected to the camera 140 and can receive image signals from the camera 140. Based on instructions from the overall control unit 210, the image processing unit 216 receives the image signals from the camera 140 and performs image processing on the received image signals to generate image data. Furthermore, the image processing unit 216 can also perform image processing on the image signals received from the camera 140 based on instructions from the overall control unit 210 to perform specific image analysis. For example, the image processing unit 216 detects the position (standing position) of the foot of the affected leg in contact with the treadmill 131 through image analysis. Specifically, for example, the standing position is calculated by extracting an image area near the end of the foot flat frame 124 and analyzing an identification mark drawn on the belt 1311 that overlaps with the end portion.

[0060] As described above, posture sensor 217 detects the tilt angle of the abdomen of trainee 900 relative to the direction of gravity and transmits the detection signal to overall control unit 210. Overall control unit 210 calculates the posture of trainee 900, specifically the tilt angle of the trunk, by using the detection signal from posture sensor 217. Overall control unit 210 and posture sensor 217 can be connected via wired or short-range wireless communication.

[0061] The armrest sensor 218 detects the load applied to the armrest 130a. That is, a load corresponding to a portion of the trainee's weight that the trainee 900 cannot support with both legs is applied to the armrest 130a. The armrest sensor 218 detects this load and transmits a detection signal to the overall control unit 210.

[0062] As described above, load distribution sensor 222 detects the magnitude and distribution of surface pressure (load) received from the sole of trainee 900 and transmits a detection signal to overall control unit 210. Overall control unit 210 receives and analyzes the detection signal to determine the walking state and estimate switching.

[0063] The overall control unit 210 also functions as a function execution unit that performs various calculations related to control and executes the control. The overall control unit 210 includes, for example, a gait evaluation unit 210a, a training determination unit 210b, a gait state determination unit 210c, and a flexion-extension control unit 210d. The gait state determination unit 210c and the flexion-extension control unit 210d will be described later.

[0064] The walking evaluation unit 210a uses data acquired from various sensors to evaluate whether the walking motion of the trainee 900 is abnormal walking. The training determination unit 210b determines the training result of a series of walking training based on, for example, the cumulative number of abnormal walking evaluated by the walking evaluation unit 210a.

[0065] The method for determining the training results and the criteria for determining the training results can be appropriately set. For example, the training results can be determined by comparing the amount of movement of the paralyzed body part with the benchmark of each walking phase. The walking phase is obtained as follows: a walking cycle of the affected leg (or healthy leg) is divided into a standing phase in which the leg is in a standing state, a transition phase from the standing phase to the swing phase in which the leg is in a swinging state, a swing phase, and a transition phase from the swing phase to the standing phase, etc. The walking phase can be classified (determined) based on the detection results of the load distribution sensor 222, for example. As described above, for a walking cycle, one cycle can be considered to include a standing phase, a transition phase, a swing phase, and a transition phase. However, it does not matter which phase is defined as the starting phase. In addition, for a walking cycle, one cycle can be considered to include, for example, a two-leg support state, a single-leg (affected leg) support state, a two-leg support state, and a single-leg (healthy leg) support state. In this case, it does not matter which state is defined as the starting state.

[0066] Furthermore, the gait cycle focusing on the right or left leg (healthy or affected leg) can be further divided and represented by dividing the stance phase into initial ground contact and four phases, and the swing phase into three phases. Initial ground contact refers to the moment the observed foot contacts the floor. The four phases of the stance phase are the load response phase, the mid-stance phase, the end-stance phase, and the pre-swing phase. The load response phase is the phase from initial ground contact to the moment the opposite foot leaves the floor (contralateral liftoff). The mid-stance phase is the phase from contralateral liftoff to the moment the observed heel leaves the floor (heel-off). The end-stance phase is the phase from heel-off to initial ground contact on the opposite side. The pre-swing phase is the phase from initial ground contact on the opposite side to the moment the observed foot leaves the floor (liftoff). The three phases of the swing phase are the swing initial phase, the swing mid-phase, and the swing end phase. The swing initial phase is the phase from the end of the pre-swing phase (liftoff) to the moment the two feet cross (feet cross). The swing mid-phase is the phase from the moment the feet cross to the moment the tibia becomes vertical (vertical tibia). The end-swing phase is the time from tibia vertical to the next initial ground contact.

[0067] The communication connection IF 219 is an interface connected to the overall control unit 210 , and is an interface for providing commands to the walking assistance device 120 attached to the affected leg of the trainee 900 and receiving sensor information.

[0068] The walking assist device 120 may include a communication connection IF 229 connected to the communication connection IF 219 by wire or wirelessly. The communication connection IF 229 is connected to the assist control unit 220 of the walking assist device 120. The communication connection IF 219 and the communication connection IF 229 are communication interfaces such as a wired local area network (LAN) or a wireless LAN that conforms to a communication standard.

[0069] Furthermore, the walking assist device 120 may include an assist control unit 220, a joint drive unit 221, and an angle sensor 223. The assist control unit 220 is, for example, an MPU, and controls the walking assist device 120 by executing a control program provided by the overall control unit 210. Furthermore, the assist control unit 220 notifies the overall control unit 210 of the status of the walking assist device 120 via the communication connection IF 219 and the communication connection IF 229. Furthermore, the assist control unit 220 receives commands from the overall control unit 210 and executes control such as starting and stopping the walking assist device 120.

[0070] The joint drive unit 221 includes the motor and its drive circuit of the control unit 121. The auxiliary control unit 220 transmits a drive signal to the joint drive unit 221 to drive the thigh frame 122 and the calf frame 123 to open or close relative to each other around the hinge axis Ha. This movement facilitates knee extension and flexion and inhibits knee collapse.

[0071] As described above, the angle sensor 223 detects the angle formed between the thigh frame 122 and the calf frame 123 about the hinge axis Ha and transmits a detection signal to the auxiliary control unit 220. The auxiliary control unit 220 receives the detection signal and calculates the opening angle of the knee joint.

[0072] The response performance of the load distribution sensor 222 when it is unloaded is generally lower than the response performance of the load distribution sensor 222 when it is loaded. Therefore, even when one leg of the trainee 900 performing walking training leaves the belt 1311 of the treadmill 131 at the timing of switching from the standing state to the swing state, the load distribution received from the leg may not be removed and may be inadvertently detected. In that case, even if the leg has switched from the standing state to the swing state, the leg is determined to be in the standing state. If the leg is the affected leg to which the walking assist device (robotic leg) 120 is attached, flexion control for the swing state by the walking assist device 120 cannot be started at the appropriate timing. Therefore, the trainee 900 cannot perform effective walking training.

[0073] Figure 5 is a timing chart showing the influence of low response performance when the load distribution sensor 222 is not loaded. Figure 6 It is through magnification Figure 5 The timing diagram is obtained by taking part of Figure 5 and Figure 6 In the example of FIG. 1 , a case where the right leg is the affected leg to which the walking assist device 120 is attached and the left leg is the healthy leg will be described.

[0074] exist Figure 5 In the example of , when the load value of the right leg as the affected leg decreases to a value less than the threshold value D5 (time t51, t52, t53), it is determined that the right leg has switched from the standing state to the swing state. However, from the data obtained by enlarging the vicinity of time t51, Figure 6 As can be seen from the timing diagram, the right leg has actually switched to the swing state at time t50, before time t51. However, due to the delay in load removal, it is determined that the right leg has already switched to the swing state at time t51. This delays the timing for the walking assist device 120 attached to the right leg to start bending control in the swing state, preventing the trainee 900 from performing effective walking training.

[0075] Therefore, in this embodiment, the walking state determination unit 210c determines whether the leg to which the walking assistance device 120 is attached (the affected leg) has switched from the standing state to the swing state based on the state of the increase in the load from the leg to which the walking assistance device 120 is not attached (the healthy leg), which is received by the load distribution sensor 222. In this embodiment, when the walking state determination unit 210c determines that the leg to which the walking assistance device 120 is attached has switched from the standing state to the swing state, the flexion-extension control unit 210d starts flexion control of the swing state using the walking assistance device 120.

[0076] Here, the response performance of load distribution sensor 222 is higher when load distribution sensor 222 is loaded than when load distribution sensor 222 is unloaded. Therefore, walking state determination unit 210c can accurately detect the timing of the leg (affected leg) attached with walking assistance device 120 switching from the standing state to the swing state. In other words, walking state determination unit 210c can accurately determine the walking state of trainee 900. Furthermore, flexion-extension control unit 210d can initiate flexion control of the swing state using walking assistance device 120 at the appropriate timing. Consequently, trainee 900 can perform effective walking training.

[0077] Example of a method for determining the walking state of the trainee 900

[0078] Figure 7 1 is a timing chart showing an example of a method of determining the walking state of the trainee 900 by the walking training device 100 . Figure 8 It is through magnification Figure 7 The timing diagram is obtained by taking part of Figure 7 and Figure 8 In the example of , a case where the right leg is the affected leg to which the walking assist device 120 is attached and the left leg is the healthy leg will be described. Figure 7 and Figure 8 In the example of FIG. 1 , detection of the switching timing of the right leg as the affected leg from the standing state to the swing state will be mainly described.

[0079] refer to Figure 7 At the timing when the load value of the left leg (healthy leg) detected by the load distribution sensor 222 increases to a value equal to or greater than the threshold value D1 (the timing when the load value changes from a value less than the threshold value D1 to a value equal to or greater than the threshold value D1) (times t11, t12, and t13), the walking state determination unit 210c determines that the right leg (affected leg) has switched from the standing state to the swing state. When the walking state determination unit 210c determines that the right leg (affected leg) has switched from the standing state to the swing state, the flexion-extension control unit 210d starts flexion control of the swing state using the walking assistance device 120 attached to the right leg.

[0080] Here, as obtained by amplifying the time t11 Figure 8 As can be seen from the timing diagram, the response performance of load distribution sensor 222 is higher when load distribution sensor 222 is loaded than when load distribution sensor 222 is unloaded. Therefore, walking state determination unit 210c can accurately detect the timing of the switch from the standing state to the swing state of the leg (the affected leg) to which walking assistance device 120 is attached. In other words, walking state determination unit 210c can accurately determine the walking state of trainee 900. Furthermore, flexion-extension control unit 210d can initiate flexion control of the swing state using walking assistance device 120 at the appropriate timing. Consequently, trainee 900 can perform effective walking training.

[0081] Threshold D1 can be set to any load value depending on the trainee 900. For example, threshold D1 can be set to a predetermined load value by the trainee 900 or the trainer 901. Specifically, threshold D1 is set to a load value of approximately 5 kg, for example. Alternatively, threshold D1 can be set to a load value that is a predetermined ratio of the maximum load received by the affected leg (the load received by the affected leg when standing only on the affected leg). Specifically, threshold D1 can be set to a load value of approximately 60% of the maximum load received by the affected leg, for example.

[0082] Alternatively, threshold D1 may be set to a load value that is a predetermined ratio of the total load received by both legs. In this case, for example, when the load received by the left leg (the healthy leg) changes from a value less than the predetermined ratio of the total load received by both legs to a value greater than the predetermined ratio, gait state determination unit 210c determines that the right leg (the affected leg) has switched from a stance state to a swing state.

[0083] Another example of a method for determining the walking state of the trainee 900

[0084] Figure 9 1 is a schematic plan view showing another example of a method of determining the walking state of the trainee 900 by the walking training device 100 . Figure 10 1 is a timing chart showing another example of a method for determining the walking state of the trainee 900 by the walking training device 100. Figure 9 and Figure 10 In the example of , a case where the right leg is the affected leg to which the walking assist device 120 is attached and the left leg is the healthy leg will be described. Figure 9 and Figure 10 In the example of FIG. 1 , detection of the switching timing of the right leg as the affected leg from the standing state to the swing state will be mainly described.

[0085] like Figure 9As shown, first, gait state determination unit 210c identifies the center of gravity position (COP) of trainee 900 based on the load detected by load distribution sensor 222. Here, as the left leg load increases relative to the right leg load, the center of gravity position (COP) approaches the ground contact area of ​​the left leg, while as the right leg load increases relative to the left leg load, the center of gravity position (COP) approaches the ground contact area of ​​the right leg. Therefore, based on the degree to which the center of gravity position (COP) approaches the left leg (healthy leg) (i.e., the state in which the load received by the left leg increases), it can be determined whether the right leg (affected leg) has switched from the stance state to the swing state.

[0086] For example, when the center of gravity position COP is located in the ground contact area of ​​the right leg (i.e., when standing with only the right leg), the degree of proximity of the center of gravity position COP to the left leg is set to 0%. When the center of gravity position COP is located in the ground contact area of ​​the left leg (i.e., when standing with only the left leg), the degree of proximity of the center of gravity position COP to the left leg is set to 100%. At this time, the reference Figure 10 When the degree of proximity of the center of gravity position COP to the left leg reaches, for example, 80% (times t21, t22, t23), the walking state determination unit 210c determines that the right leg has switched from the standing state to the swinging state. Figure 10 In the example shown in FIG, the component COPy of the center of gravity position COP in the left-right direction is shown. When the walking state determination unit 210c determines that the right leg (affected leg) has switched from the standing state to the swing state, the flexion-extension control unit 210d starts flexion control of the swing state using the walking assistance device 120 attached to the right leg.

[0087] Even with this determination method, it is possible to accurately determine the walking state of the trainee 900. Therefore, it is possible to start bending control of the swinging state at an appropriate timing using the walking assist device 120. Therefore, the trainee 900 can perform effective walking training.

[0088] As described above, the gait training device 100 according to this embodiment detects that the leg to which the walking assistance device 120 is attached (the affected leg) has switched from the standing state to the swing state based on the increased load received by the load distribution sensor 222 from the leg to which the walking assistance device 120 is not attached (the healthy leg), and initiates bending control of the swing state using the walking assistance device 120. Here, the response performance of the load distribution sensor 222 is higher when the load distribution sensor 222 is loaded than when the load distribution sensor 222 is unloaded. Therefore, the gait training device 100 can accurately detect the timing of the switch from the standing state to the swing state of the leg to which the walking assistance device 120 is attached (the affected leg). In other words, the gait training device 100 can accurately determine the walking state of the trainee 900. Furthermore, the gait training device 100 can initiate bending control of the swing state using the walking assistance device 120 at the appropriate timing. Consequently, the trainee 900 can perform effective gait training.

[0089] In this embodiment, the walking assistance device 120 is attached to the right leg as an example, but the present invention is not limited to this. For example, the walking assistance device 120 may be attached to the left leg. In this case, the walking training device 100 detects that the left leg has switched from the stance state to the swing state based on the increase in load received by the load distribution sensor 222 from the right leg, and initiates bending control for the swing state using the walking assistance device 120 attached to the left leg. Alternatively, the walking assistance device 120 may be attached to both the right and left legs. In this case, the walking training device 100 detects that the left leg has switched from the stance state to the swing state based on the increase in load received by the load distribution sensor 222 from the right leg, and initiates bending control for the swing state using the walking assistance device 120 attached to the left leg. Furthermore, the walking training device 100 detects that the right leg has switched from the stance state to the swing state based on the increase in load received by the load distribution sensor 222 from the left leg, and initiates bending control for the swing state using the walking assistance device 120 attached to the right leg.

[0090] In this embodiment, the case where the switching from the standing state to the swing state of a leg to which the walking assistance device 120 is attached is detected based on the increase in the load received by the load distribution sensor 222 from the other leg has been described, but the present invention is not limited to this. Of course, the switching from the standing state to the swing state of a leg to which the walking assistance device 120 is not attached can also be detected based on the increase in the load received by the load distribution sensor 222 from the other leg.

[0091] Furthermore, in the present disclosure, part or all of the processing in the walking training device 100 may be realized by causing a central processing unit (CPU) to execute a computer program.

[0092] The above-mentioned program includes instructions (or software codes) that are used to cause the computer to perform one or more of the functions described in these embodiments when loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. Examples of non-transitory computer-readable media or tangible storage media include, but are not limited to, random access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disc storage, and magnetic tape cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices. The program may be transmitted on a temporary computer-readable medium or a communication medium. Examples of temporary computer-readable media or communication media include, but are not limited to, electrical, optical, acoustic or other forms of propagation signals.

Claims

1. A walking training system comprising: a robotic leg, which is attached to one of the trainee's legs; treadmill; a load distribution sensor that is attached to the treadmill and detects a distribution of load received from the soles of the trainee riding on the belt of the treadmill; a walking state determination unit that determines whether the one leg has switched from a standing state to a swing state based on a state of an increase in load detected by the load distribution sensor and received from the other leg of the trainee performing walking training; as well as a control unit, which, when the walking state determination unit determines that the one leg has switched from the standing state to the swinging state, starts bending control of the one leg in the swinging state by the robot leg; The control unit adjusts the rotation speed of the belt of the treadmill according to the walking state of the trainee determined based on the detection result of the load distribution sensor.

2. The walking training system according to claim 1, wherein: The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the load received from the other leg becomes equal to or greater than a predetermined load.

3. The walking training system according to claim 1, wherein: The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the load received from the other leg becomes equal to or greater than a predetermined ratio of a maximum value of the load received from the one leg.

4. The walking training system according to claim 1, wherein: The walking state determination unit determines that the one leg has switched from the standing state to the swing state when the position of the center of gravity of the load detected by the load distribution sensor enters a predetermined area including the position of the other leg.

5. A storage medium storing a control program that causes a computer to execute: a process for detecting a distribution of a load received from the soles of the feet of a trainee riding on a belt of the treadmill using a load distribution sensor attached to the treadmill; a process of determining whether the one leg to which the robot leg is attached has switched from a standing state to a swinging state based on a state of increase in a load received from another leg different from the one leg; as well as When it is determined that the one leg has switched from the standing state to the swing state, starting a process of bending control of the one leg in the swing state by the robot leg; The control program further causes the computer to execute: A process of adjusting the rotation speed of the belt of the treadmill according to the walking state of the trainee determined based on the detection result of the load distribution sensor.

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