Management System, Method, and Storage Medium

Abstract

One technical solution of the present invention relates to a management system, method, and storage medium for managing a walking training device. The management system includes: a state detection unit that detects a load state in which a user applies a load to the walking training device during use of the walking training device; an evaluation value calculation unit that calculates an evaluation value for evaluating the load applied by the user to the walking training device; and a timing determination unit that determines that the maintenance timing of the walking training device has arrived when the evaluation value is equal to or greater than a threshold value associated with the walking training device.

Description

Technical Field

[0001] The present invention relates to a management system, method, and storage medium for a walking training device. Background Art

[0002] Conventionally, various walking training devices have been proposed for performing walking training on a patient for the purpose of rehabilitation training for lower limb paralysis or the like. For example, Japanese Patent No. 6554996 discloses a walking training device that determines the start of the swing of a user's leg based on the position of the center of load applied to the sole of the foot in the gait motion of a user wearing the walking training device. Summary of the Invention

[0003] Generally, when a user uses a walking training device for walking training, the user wears a connecting tool such as a belt or a brace that connects the walking training device to the user, and is supported from above by the connecting tool. When the user performs walking training, a load is applied to such a connecting tool, and the connecting tool may be damaged or deteriorated. Therefore, it is necessary to grasp the maintenance timing of the walking training device based on the load given by the user to the walking training device.

[0004] However, the walking training device disclosed in Japanese Patent No. 6554996 was not created for the purpose of solving such a problem. Therefore, there is a problem that it is impossible to determine the maintenance timing of the walking training device based on the load given by the user to the walking training device.

[0005] The present invention has been completed to solve such a problem, and an object thereof is to provide a management system, method, and storage medium capable of determining the maintenance timing of a walking training device based on the load given by a user to the walking training device.

[0006] One aspect of the present invention relates to a management system for managing a walking training device for a user to perform walking training, the management system including:

[0007] a state detection unit that detects a load state in which a user applies a load to the walking training device during use of the walking training device;

[0008] an evaluation value calculation unit that calculates an evaluation value for evaluating the load applied by the user to the walking training device; and

[0009] a timing determination unit that determines that the maintenance timing of the walking training device has arrived when the evaluation value is equal to or greater than a threshold value associated with the walking training device.

[0010] The state detection unit detects a situation in which the user has fallen during use of the walking training device,

[0011] The evaluation value may be the cumulative load obtained based on the number of falls of the user and a predetermined load.

[0012] The predetermined load may be greater than or equal to the load that the user may apply to the connecting appliance that connects the user and the walking training device.

[0013] The state detection unit detects the situation that the user has fallen during the use of the walking training device.

[0014] The evaluation value may be the cumulative load based on the number of falls of the user and the load applied to the walking training device when the user falls.

[0015] The load applied to the walking training device may be the load that the user applies to the connecting appliance that connects the user and the walking training device.

[0016] The state detection unit detects the situation that the user has fallen during the use of the walking training device.

[0017] The evaluation value may be the number of falls of the user.

[0018] The threshold value may be a value based on the durability of the connecting appliance that connects the user and the walking training device.

[0019] The state detection unit can use the captured image of the user using the walking training device and detect the load state based on the change in the user's posture.

[0020] The state detection unit can detect the load state based on the change in the user's load output by the load measurement device that measures the user's load.

[0021] The walking training device includes a support device that supports the user from above via a connecting appliance worn on the user.

[0022] The state detection unit can detect the load state based on the load applied by the user to the support device via the connecting appliance.

[0023] The method according to one aspect of the present invention includes:

[0024] A computer,

[0025] Detect the load state in which the user applies a load to the walking training device during the use of the walking training device.

[0026] Calculate an evaluation value for evaluating the load applied by the user to the walking training device.

[0027] When the evaluation value is greater than or equal to the threshold value associated with the walking training device, it is determined that the maintenance timing of the walking training device has arrived.

[0028] A technical solution of the present invention relates to a storage medium storing a program,

[0029] which causes a computer to execute:

[0030] a step of detecting a load state in which a user applies a load to a walking training device during use of the walking training device;

[0031] a step of calculating an evaluation value for evaluating the load applied by the user to the walking training device; and

[0032] a step of determining that the maintenance timing of the walking training device has arrived when the evaluation value is equal to or higher than a threshold value associated with the walking training device.

[0033] According to the present invention, it is possible to provide a management system, a method, and a storage medium capable of determining the maintenance timing of a walking training device based on the load applied by a user to the walking training device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same elements, and in which:

[0035] Figure 1 is a diagram showing a management system according to a technical solution of the present invention.

[0036] Figure 2 is a perspective view showing a walking training device according to a technical solution of the present invention.

[0037] Figure 3 is a side view showing an example of a walking assistance device according to a technical solution of the present invention.

[0038] Figure 4 is a perspective view showing the bottom of a walking assistance device according to a technical solution of the present invention.

[0039] Figure 5 is a diagram showing the configuration of a walking training device according to a technical solution of the present invention.

[0040] Figure 6 is a diagram showing the configuration of a management device according to a technical solution of the present invention.

[0041] Figure 7 is a diagram showing an example of management information held by a management device according to a technical solution of the present invention.

[0042] Figure 8It is a flowchart showing the processing performed by the walking training device related to one technical solution of the present invention.

[0043] Figure 9 It is a flowchart showing the processing performed by the management device related to one technical solution of the present invention. Detailed implementation mode

[0044] Hereinafter, a management system related to one technical solution of the present invention will be described with reference to the drawings. Figure 1 It is a diagram showing the management system 1 related to one technical solution of the present invention. The management system 1 is a system for managing the walking training device 10. The management system 1 includes a walking training device 10, a management device 20, and a notification target device 30. The walking training device 10, the management device 20, and the notification target device 30 can perform data communication with each other via the network 40.

[0045] The walking training device 10 is a device for a user to perform walking training. The walking training device 10 can be installed in places such as hospitals and rehabilitation training facilities. The walking training device 10 provides the management device 20 with log information related to the walking training device 10. Refer to Figures 2 to 5 The details of the walking training device 10 will be described.

[0046] The management device 20 is a device for managing the walking training device 10. The management device 20 can be installed at the manufacturing factory of the walking training device 10 or the like. The management device 20 determines the maintenance timing of the walking training device 10. When the maintenance timing of the walking training device 10 has arrived, the management device 20 sends a notification indicating that the maintenance timing has arrived to the notification target device 30. Refer to Figure 6 The details of the management device 20 will be described.

[0047] The notification target device 30 is a device that receives a notification indicating that the maintenance timing of the walking training device 10 has arrived from the management device 20. The notification target device 30 can be installed at a company that performs maintenance on the walking training device 10 or the like.

[0048] Figure 2 It is a perspective view of the walking training device 10 related to one technical solution of the present invention. The walking training device 10 includes a main body 11, a control device 12 (not shown), a treadmill 13, a suspension load reduction device 14, a camera unit 15, and a load measurement device 161 (not shown).

[0049] The main body 11 is a support structure of the walking training device 10. The control device 12 is a device for overall control of the walking training device 10. The treadmill 13 is a device for the user to walk, and includes a rotating member that rotates in accordance with the user's pace.

[0050] The suspension load reduction device 14 is a support device for supporting the user from above via a connecting tool. The connecting tool includes a harness and a belt. The harness is worn on a body part such as the user's waist. One end of the belt is connected to the harness, and the other end is connected to the suspension load reduction device 14. The suspension load reduction device 14 supports the user from above via the belt and the harness connected in this way.

[0051] The camera unit 15 includes an image sensor for photographing the user. The camera unit 15 is provided at a position where it can photograph the user who is using the walking training device 10.

[0052] Figure 3 It is a side view showing an example of the walking assistance device 16 related to one technical solution of the present invention. The walking assistance device 16 is a device that is worn on the user's legs and assists the user's walking. The walking assistance device 16 has a bottom 160. The user's foot is placed on top of the bottom 160.

[0053] Figure 4 It is a perspective view showing the bottom 160 of the walking assistance device 16. A load measurement device 161 is provided on the bottom 160. The load measurement device 161 is a device for measuring the load applied to the walking training device 10 by the user wearing the walking assistance device 16 during the use of the walking training device 10. As a specific example of the load measurement device 161, for example, a load sensor that detects the load applied to the bottom 160 in the vertical direction can be cited.

[0054] In addition, the number and position of the load measurement devices 161 are not limited to Figure 4 the example shown, and any number of load measurement devices 161 can be provided at any position on the bottom 160. Alternatively, a load measurement device 161 can be provided directly below the treadmill 13 to measure the load applied to the walking training device 10 by the user during the use of the walking training device 10.

[0055] Figure 5 It is a diagram showing the configuration of the walking training device 10. The walking training device 10 includes a control device 12, a load measurement device 161, and a motion information generation device 17.

[0056] The motion information generation device 17 is a device that acquires motion information indicating the user's motion. As a specific example of the motion information generation device 17, for example, an image sensor can be cited. The image sensor photographs the user who is using the walking training device 10 to generate a photographed image and outputs the photographed image. The photographed image corresponds to the motion information.

[0057] The control device 12 is a device that performs overall control of the walking training device 10. The control device 12 includes a processor 120, a communication interface (I / F) 130, and a storage device 140.

[0058] The communication interface 130 is a device that performs data communication between the control device 12 and other devices. The communication interface 130 can perform data communication with the load measurement device 161 and the motion information generation device 17. In addition, the communication interface 130 can perform data communication with the management device 20 and the notification target device 30 via the network 40. The storage device 140 is a device that stores various information such as programs processed by the control device 12.

[0059] The processor 120 is a device that reads a program from the storage device 140 and executes it. As a specific example of the processor 120, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), etc. can be cited. The program executed by the processor 120 includes a state detection unit 121, an evaluation value calculation unit 122, and a log transmission unit 123. In addition, an integrated circuit such as an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit) can also execute these programs. The control device 12, the processor 120, and the integrated circuit are equivalent to a computer.

[0060] The state detection unit 121 is a program that uses the motion information generated by the motion information generation device 17 to detect a load state in which a user using the walking training device 10 may apply a load to the walking training device 10. This load state includes, for example, the user's fall. Therefore, the state detection unit 121 can detect a situation where a user using the walking training device 10 has fallen. The state detection unit 121, the processor installed with the state detection unit 121, and the control device 12 are equivalent to the state detection unit. In addition, the processor 120 and the control device 12 are equivalent to a computer.

[0061] The state detection unit 121 can use the captured image of the user using the walking training device 10 to detect the load state based on the change in the user's posture. For example, the state detection unit 121 can analyze the captured image of the user and, when the posture of the user during walking changes to the posture of the user during a fall, determine that the user has fallen.

[0062] In addition, the state detection unit 121 can detect the load state based on the change in the user's load output by the load measurement device 161. For example, the state detection unit 121 can analyze the user's load output by the load measurement device 161, and when the user's load has decreased sharply, it is determined that the user has fallen. More specifically, when the decrease amplitude of the user's load per unit time exceeds a predetermined threshold, the state detection unit 121 can determine that the user has fallen. The predetermined threshold can be determined based on the decrease amplitude of the load assumed when the user has fallen.

[0063] Furthermore, the state detection unit can detect the load state based on the load applied by the user to the suspension unloading device 14. For example, the state detection unit 121 can analyze the user's load measured by the suspension unloading device 14, and when the user's load has increased sharply, it is determined that the user has fallen. More specifically, when the increase in the user's load per unit time exceeds a predetermined threshold, the state detection unit 121 can determine that the user has fallen. The predetermined threshold can be determined based on the increase in the load assumed when the user has fallen.

[0064] The evaluation value calculation unit 122 is a program that calculates an evaluation value for evaluating the load of the user on the walking training device 10. In the present embodiment, the cumulative load based on the number of times the user has fallen and a predetermined load is used as the evaluation value. The evaluation value calculation unit 122, the processor 120 on which the evaluation value calculation unit 122 is installed, and the control device 12 having the processor 120 are equivalent to the evaluation value calculation unit.

[0065] The predetermined load preferably uses a value greater than or equal to the load that the user may apply to the connection tool (belt, equipment, etc.) connecting the user and the walking training device 10. Specifically, the predetermined load can be determined based on the weight of the user in the state of wearing the walking assistance device 16. When falling, a load greater than or equal to the weight of the user in the state of wearing the walking assistance device 16 is applied to the connection tool. Therefore, it is preferable to use a load several times the weight of the user in the state of wearing the walking assistance device 16. For example, when the weight of the user in the state of wearing the walking assistance device 16 is 105 kg, a load of approximately 4200 N, which is more than 4 times that, can be used as the predetermined load. When the state detection unit 121 detects the fall of the user, the evaluation value calculation unit 122 accumulates the predetermined load and calculates the cumulative load as the evaluation value.

[0066] The log sending unit 123 is a program that sends log information related to the walking training device 10 to the management device 20. The log information includes the identification information of the walking training device 10 and the evaluation value calculated by the evaluation value calculation unit 122.

[0067] Figure 6 This is a diagram showing the configuration of the management device 20. The management device 20 includes a processor 21, a communication interface 22, and a storage device 23.

[0068] The communication interface 22 is a device for data communication between the management device 20 and other devices. The communication interface 22 can perform data communication with the walking training device 10 and the notification target device 30 via the network 40.

[0069] The storage device 23 is a device for storing various information such as programs and data tables processed by the processor 21. Figure 7 This is a diagram showing an example of the data table stored in the storage device 23. Figure 7 The data table shown registers information related to the walking training device 10 included in the management system 1.

[0070] Specifically, the data table registers the identification information of the walking training device 10, the threshold value assigned to the walking training device 10, and the notification target information. The threshold value is a value based on the durability of the connecting appliance. The threshold value can be determined based on the degree of breakage, deterioration, cracking, etc. obtained through the durability test of the connecting appliance. For example, the threshold value can be set to several tens to several hundreds of times the above-mentioned established load, etc. The threshold value is used when determining the maintenance timing of the walking training device 10.

[0071] The notification target information is information indicating the destination of the notification that the maintenance timing of the walking training device 10 has arrived. For example, as the notification target information, the contact method of the contractor who performs the maintenance of the walking training device 10 can be adopted, etc.

[0072] The processor 21 is a device that reads the program from the storage device 23 and executes it. As a specific example of the processor 21, it includes various processors such as a CPU and an MPU. The program executed by the processor 21 includes a timing determination unit 210 and a notification unit 211. In addition, an integrated circuit such as an FPGA or an ASIC can also execute these programs. The management device 20, the processor 21, and the integrated circuit are equivalent to a computer.

[0073] The timing determination unit 210 is a program that determines that the maintenance timing of the walking training device 10 has arrived when the evaluation value for evaluating the load of the user on the walking training device 10 is equal to or greater than the threshold value associated with the walking training device 10. In the present embodiment, the timing determination unit 210 compares the cumulative load based on the number of falls of the user and the established load with the threshold value associated with the walking training device 10, and determines that the maintenance timing of the walking training device 10 has arrived when the cumulative load is equal to or greater than the threshold value. The timing determination unit 210, the processor 21 installed with the timing determination unit 210, and the management device 20 including the processor 21 are equivalent to the timing determination unit.

[0074] The notification unit 211 is a program that notifies the notification target device 30 of the situation that the maintenance timing of the walking training device 10 has arrived.

[0075] Figure 8 It is a flowchart showing the processing executed by the walking training device 10. The walking training device 10 can repeatedly execute Figure 8 the processing.

[0076] In step S101, the motion information generation device 17 generates motion information of the user who is using the walking training device 10. In step S102, the state detection unit 121 of the control device 12 uses the motion information generated by the motion information generation device 17 to determine whether a load state is detected. If the load state is not detected (No), Figure 8 the processing ends. On the other hand, if the load state is detected (Yes), the processing branches to step S103. In step S103, the evaluation value calculation unit 122 of the control device 12 calculates an evaluation value, Figure 8 the processing ends.

[0077] Figure 9 It is a flowchart showing the processing executed by the management device 20. When the management device 20 receives log information from the walking training device 10, it can execute Figure 9 the processing.

[0078] In step S201, the timing determination unit 210 of the management device 20 obtains a threshold value associated with the identification information of the walking training device 10 included in the received log information from the storage device 23. In step S202, the timing determination unit 210 determines whether the evaluation value included in the received log information is equal to or greater than the obtained threshold value. If the evaluation value is less than the threshold value (No), Figure 9 the processing ends. On the other hand, if the evaluation value is equal to or greater than the threshold value (Yes), in step S203, the notification unit 211 notifies the notification target device 30 of the situation that the maintenance timing of the walking training device 10 that has sent the log information has arrived, Figure 9 the processing ends.

[0079] In the above embodiment, the state detection unit 121 detects the situation that the user has fallen during the use of the walking training device 10. Then, the evaluation value calculation unit 122 calculates an evaluation value for evaluating the load of the user on the walking training device 10. And when the evaluation value is equal to or greater than the threshold value associated with the walking training device 10, the timing determination unit 210 determines that the maintenance timing of the walking training device 10 has arrived. Thus, the timing determination unit 210 can determine the maintenance timing of the walking training device 10.

[0080] In addition, in the above-described embodiment, the state detection unit 121 detects a situation where the user has fallen during the use of the walking training device 10. The evaluation value is based on the cumulative load of the number of times the user has fallen and a predetermined load. Thus, the timing determination unit 210 can determine that the maintenance timing of the walking training device 10 has arrived based on the cumulative load of the number of times the user has fallen and the predetermined load.

[0081] Furthermore, the predetermined load is equal to or greater than the load that the user may apply to the connecting appliance that connects the user to the walking training device 10. Thus, the timing determination unit 210 can determine that the maintenance timing of the connecting appliance of the walking training device 10 has arrived based on the load that the user may apply to the connecting appliance.

[0082] Furthermore, the threshold value is a value based on the durability of the connecting appliance. Thus, the timing determination unit 210 can determine that the maintenance timing of the connecting appliance has arrived based on the durability of the connecting appliance.

[0083] Furthermore, the state detection unit 121 can use a captured image of the user using the walking training device 10 and detect the user's fall based on a change in the user's posture. Thus, the state detection unit 121 can detect the user's fall based on a change in the user's posture and can accurately detect the situation where the user has fallen.

[0084] Furthermore, the state detection unit 121 can detect the user's fall based on a change in the load of the user output by the load measurement device 161 that measures the load of the user. By using both this detection unit and the detection unit of the user's fall based on the captured image of the user using the walking training device 10, the detection accuracy of the user's fall can be improved.

[0085] Furthermore, the state detection unit can detect the user's fall based on the load applied to the suspension unloading device 14 that supports the user via the connecting appliance worn by the user. Thus, the detection accuracy of the user's fall can be improved.

[0086] In other embodiments, it is possible to use the cumulative load of the number of times the user has fallen and the load applied by the user to the walking training device 10 at the time of falling as the evaluation value. The load applied by the user to the walking training device 10 at the time of falling can be measured by the suspension unloading device 14. In addition, the load applied by the user to the walking training device 10 at the time of falling can be calculated by subtracting the load measured by the load measurement device 161 from the known weight of the user. The load applied by the user to the walking training device 10 at the time of falling is preferably set as the load applied by the user to the connecting appliance that connects the user to the walking training device 10.

[0087] Thus, the timing determination unit 210 can determine the maintenance timing of the walking training device 10 based on the load actually applied to the walking training device 10 when the user falls.

[0088] In addition, in other embodiments, the number of times the user falls can be used as an evaluation value. In this case, the walking training device 10 sends the identification information of the walking training device 10 and the number of times the user falls as log information to the management device 20. The threshold value used in the determination of the maintenance timing of the walking training device 10 can be the number of times the user falls based on the durability of the connecting appliance. The number of times the user falls based on the durability of the connecting appliance is obtained through a durability test of the connecting appliance.

[0089] Furthermore, in other embodiments, the walking training device 10 may also perform the functions of the management device 20. Specifically, the walking training device 10 can determine the maintenance timing of the walking training device 10, and when the maintenance timing of the walking training device 10 has arrived, send a notice indicating that the maintenance timing has arrived to the notification target device 30.

[0090] A program according to an embodiment of the present invention includes a set of commands (or software code) for causing a computer to perform one or more functions described in the embodiment when read into the computer. The program can also be stored in a non-transitory computer-readable medium or a tangible storage medium. As non-limiting examples, the computer-readable medium or the tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD), or other memory technologies, CD-ROM, digital versatile disk (DVD), Blu-ray (registered trademark) disk, or other optical disk storage, cassette tape, magnetic tape, magnetic disk storage, or other magnetic storage devices. The program can also be transmitted on a transitory computer-readable medium or a communication medium. As non-limiting examples, the transitory computer-readable medium or the communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0091] The present invention is not limited to the above embodiments and can be appropriately modified without departing from the spirit of the present invention.

Claims

1. A management system for walking training, which manages a walking training device for a user to perform walking training. The management system includes: A state detection unit that detects a load state in which the user applies a load to the walking training device during the use of the walking training device; An evaluation value calculation unit that calculates an evaluation value for evaluating the load applied by the user to the walking training device; And A timing determination unit that determines that the maintenance timing of the walking training device has arrived when the evaluation value is equal to or higher than a threshold value associated with the walking training device. The state detection unit detects a situation where the user has fallen during the use of the walking training device. The evaluation value is a cumulative load based on the number of falls of the user and a predetermined load. The predetermined load is equal to or higher than the load that the user may apply to a connecting tool that connects the user and the walking training device.

2. The management system according to claim 1, The state detection unit detects a situation where the user has fallen during the use of the walking training device. The evaluation value is a cumulative load based on the number of falls of the user and the load applied by the user to the walking training device at the time of falling.

3. The management system according to claim 2, The load applied to the walking training device is the load applied by the user to a connecting tool that connects the user and the walking training device.

4. The management system according to claim 1, The state detection unit detects a situation where the user has fallen during the use of the walking training device. The evaluation value is the number of falls of the user.

5. The management system according to any one of claims 1 to 4, The threshold value is a value based on the durability of a connecting tool that connects the user and the walking training device.

6. The management system according to any one of claims 1 to 4, The state detection unit uses a captured image of the user who is using the walking training device and detects the load state based on a change in the posture of the user.

7. The management system according to any one of claims 1 to 4, The state detection unit detects the load state based on a change in the load of the user output by a load measurement device that measures the load of the user.

8. The management system according to any one of claims 1 to 4, The walking training device includes a support device that supports the user from above via a connecting tool worn on the user. The state detection unit detects the load state based on the load applied by the user to the support device via the connecting tool.

9. A method for walking training, in which A computer, Detects a load state in which a user applies a load to a walking training device during the use of the walking training device, Calculates an evaluation value for evaluating the load applied by the user to the walking training device, When the evaluation value is above a threshold associated with the walking training device, it is determined that the maintenance timing of the walking training device has arrived. The computer detects a situation where the user has fallen during the period of using the walking training device. The evaluation value is a cumulative load obtained based on the number of falls of the user and a predetermined load. The predetermined load is above the load that the user may exert on a connecting appliance that connects the user and the walking training device.

10. The method according to claim 9, The computer detects a situation where the user has fallen during the period of using the walking training device. The evaluation value is a cumulative load obtained based on the number of falls of the user and the load exerted by the user on the walking training device at the time of falling.

11. The method according to claim 10, The load exerted on the walking training device is the load exerted by the user on a connecting appliance that connects the user and the walking training device.

12. The method according to claim 9, The computer detects a situation where the user has fallen during the period of using the walking training device. The evaluation value is the number of falls of the user.

13. The method according to any one of claims 9 to 12, The threshold is a value based on the durability of a connecting appliance that connects the user and the walking training device.

14. The method according to any one of claims 9 to 12, The computer uses a captured image of the user who is using the walking training device and detects the load state based on a change in the posture of the user.

15. The method according to any one of claims 9 to 12, The computer detects the load state based on a change in the load of the user output by a load measuring device that measures the load of the user.

16. The method according to any one of claims 9 to 12, The walking training device includes a support device that supports the user from above via a connecting appliance worn on the user. The computer detects the load state based on the load exerted by the user on the support device via the connecting appliance.

17. A storage medium stores a program. The program causes a computer to execute: a step of detecting a load state in which a user applies a load to the walking training device during the period of using the walking training device; a step of calculating an evaluation value for evaluating the load applied by the user to the walking training device; and a step of determining that the maintenance timing of the walking training device has arrived when the evaluation value is above a threshold associated with the walking training device; The step of detecting the load state detects a situation where the user has fallen during the period of using the walking training device. The evaluation value is a cumulative load obtained based on the number of falls of the user and a predetermined load. The predetermined load is greater than the load that the user may apply to the connecting device that connects the user and the walking training device.

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