Gait training system

Abstract

To provide a gait training system with which a user can perform a proper training.SOLUTION: A gait training system 1 includes: a leg wearing tool 120A that a user wears on the leg part; first tension means connected to the leg wearing tool 120A and providing tensile force of pulling a leg part obliquely upward and forward; second tension means connected to the leg wearing tool and providing tensile force of pulling a leg part obliquely upward and backward; and a weight 1201 installed to cancel tensile force vertically upward by the first and second tension means.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a gait training system. [Background technology]

[0002] Patent Document 1 discloses a rehabilitation system for walking training for stroke patients. In this system, a trainee walks on a treadmill. A cable is connected to the trainee's leg. The cable pulls the leg. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Publication No. 2017 / 0027803 Summary of the Invention [Problem to be solved by the invention]

[0004] In such walking training systems, a trainee may wear a leg brace. A cable or wire for pulling the leg is attached to the leg brace. Some leg braces are equipped with actuators for assisting the movement of joints, etc. That is, a user who has difficulty walking uses a leg brace with an actuator. On the other hand, a trainee with mild symptoms uses a leg brace without an actuator. If a trainee switches between a leg brace without an actuator and a leg brace with an actuator, there is a risk that the trainee will not be able to train properly.

[0005] The present disclosure has been made to solve such problems, and provides a walking training system that enables appropriate training. [Means for solving the problem]

[0006] The walking training system in this embodiment comprises a leg orthosis attached to a user's leg, a first pulling means connected to the leg orthosis and applying a pulling force to pull the leg diagonally upward and forward, a second pulling means connected to the leg orthosis and applying a pulling force to pull the leg diagonally upward and backward, and a weight provided to cancel the vertically upward pulling forces applied by the first and second pulling means.

[0007] In the above walking training system, the weight may be detachably attached to the leg brace.

[0008] In the above walking training system, the first pulling means may include a first pulling wire attached to the leg orthosis, the second pulling means may include a second pulling wire attached to the leg orthosis, and the weight may be attached to at least one of the first pulling wire and the second pulling wire.

[0009] In the above walking training system, a weight may be attached to each of the first pull wire and the second pull wire, and the weight attached to the first pull wire may be heavier than the weight attached to the second pull wire.

[0010] In the walking training system, the first pulling means and the second pulling means may operate to apply a forward swing assist force to the leg in response to a walking motion of the user.

[0011] The walking training system described above can be switchable between a first mode in which walking training is performed while wearing a leg orthosis with an actuator that drives the joints of the leg, and a second mode in which walking training is performed while wearing the leg orthosis, and the weight of the weight of the weight of the leg orthosis with actuator may correspond to the difference between the weight of the leg orthosis and the weight of the leg orthosis.

[0012] The walking training system may be configured to record the training results in the first mode and the training results in the second mode. Effect of the Invention

[0013] The present disclosure provides a leg brace and a walking training system that can be worn appropriately. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic perspective view of a walking training system 1 according to an embodiment of the present invention. [Diagram 2] FIG. 13 is a perspective view showing the configuration of a leg orthosis for a robot leg. [Diagram 3] FIG. 13 is a side view showing a system configuration using a leg prosthesis without a robotic leg. [Figure 4] FIG. 13 is a side view showing a schematic configuration of a leg orthosis without a robot leg. [Diagram 5] FIG. 13 is a front view showing a schematic configuration of a leg orthosis without a robot leg. [Figure 6] FIG. 11 is a diagram showing a leg prosthesis without a robot leg according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0016] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means for solving the problems.

[0017] First embodiment (System Configuration) 1 is an overall conceptual diagram showing an example of the configuration of a rehabilitation support system according to an embodiment of the present invention. The rehabilitation support system (walking training system 1) according to this embodiment is mainly composed of a walking training device 100 and a leg brace 120.

[0018] The walking training device 100 is a specific example of a rehabilitation support device that supports the rehabilitation of a trainee (user) 900. The walking training device 100 is a device that allows the trainee 900, who is a hemiplegic patient suffering from paralysis in one leg, to perform walking training under the guidance of a training staff member 901. Here, the training staff member 901 can be a therapist (physiotherapist) or a doctor, and can also be called a training instructor, training assistant, training assistant, etc., since the training staff member supports the trainee's training by providing guidance or assistance.

[0019] The walking training device 100 mainly comprises a control panel 133 attached to a frame 130 forming the overall skeleton, and a treadmill 131 on which the trainee 900 walks. Furthermore, the leg brace 120 is attached to the affected leg, which is the paralyzed leg of the trainee 900. In FIG. 1, the leg brace 120 is attached to the right leg of the trainee 900.

[0020] The frame 130 is erected on a treadmill 131 that is installed on the floor. The treadmill 131 rotates a ring-shaped belt 132 by a motor (not shown). The treadmill 131 is a device that encourages the trainee 900 to walk, and the trainee 900 who is undergoing walking training gets on the belt 132 and tries to walk in accordance with the movement of the belt 132. Note that the training staff 901 can, for example, stand on the belt 132 behind the trainee 900 as shown in FIG. 1 and walk together with the trainee, but it is usually preferable for the training staff 901 to be in a position that makes it easy to assist the trainee 900, such as standing astride the belt 132.

[0021] The frame 130 supports a control panel 133 and a training monitor 138. The control panel 133 houses an overall control unit 210 that controls the motors and sensors. The training monitor 138 is, for example, a liquid crystal panel, and displays the progress of training and the like to the trainee 900. The frame 130 also supports a front pulling unit 135 near the front of the upper part of the trainee 900's head, a harness pulling unit 112 near the upper part of the head, and a rear pulling unit 137 near the rear of the upper part of the head. The frame 130 also includes a handrail 130a for the trainee 900 to grasp.

[0022] The handrails 130a are arranged on both the left and right sides of the trainee 900. The handrails 130a are provided along the front-rear direction in a horizontal plane. Each handrail 130a is arranged in a direction parallel to the walking direction of the trainee 900. The handrails 130a are adjustable in vertical and horizontal positions. In other words, the handrails 130a can include a mechanism for changing their height and width. Furthermore, the handrails 130a can be configured so that their inclination angle can be changed, for example, by adjusting the height to be different between the front side and the rear side in the walking direction. For example, the handrails 130a can be given an inclination angle that gradually increases along the walking direction.

[0023] The handrail 130a is also provided with a handrail sensor 218 that detects the load received from the trainee 900. For example, the handrail sensor 218 can be a resistance change detection type load detection sheet in which electrodes are arranged in a matrix. The handrail sensor 218 can also be a six-axis sensor that combines a three-axis acceleration sensor (x, y, z) and a three-axis gyro sensor (roll, pitch, yaw). However, the type and installation position of the handrail sensor 218 are not important.

[0024] The camera 140 functions as an imaging unit for observing the entire body of the trainee 900. The camera 140 is installed near the training monitor 138 so as to face the trainee. The camera 140 takes still images and videos of the trainee 900 during training. The camera 140 includes a lens and imaging element set that provides an angle of view sufficient to capture the entire body of the trainee 900. The imaging element is, for example, a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, and converts an optical image formed on an imaging surface into an image signal.

[0025] The coordinated operation of the front pulling section 135 and the rear pulling section 137 offsets the load of the leg brace 120 so that it does not become a burden on the affected leg, and further assists the swinging motion of the affected leg according to the set degree.

[0026] One end of the front wire 134 is connected to a winding mechanism of the front pulling unit 135, and the other end is connected to the leg brace 120. The winding mechanism of the front pulling unit 135 turns on / off a motor (not shown) to wind or unwind the front wire 134 in response to the movement of the affected leg. Similarly, one end of the rear wire 136 is connected to a winding mechanism of the rear pulling unit 137, and the other end is connected to the leg brace 120. The winding mechanism of the rear pulling unit 137 turns on / off a motor (not shown) to wind or unwind the rear wire 136 in response to the movement of the affected leg. Such coordinated operation of the front pulling unit 135 and the rear pulling unit 137 offsets the load of the leg brace 120 so that the load does not become a burden on the affected leg, and further assists the swinging motion of the affected leg according to the set degree.

[0027] The front wire 134 and the front pulling unit 135 constitute a first pulling means for pulling the legs of the trainee 900 upward and forward. The rear wire 136 and the rear pulling unit 137 constitute a second pulling means for pulling the legs of the trainee 900 upward and backward. The front pulling unit 135 and the rear pulling unit 137 pull the front wire 134 and the rear wire 136 with a pulling force according to the walking phase, as described below. Also, a pulling force operation pattern may be set according to the walking phase.

[0028] For example, the training staff 901, as an operator, sets a high assist level for a trainee with severe paralysis. When the assist level is set high, the front pulling unit 135 winds up the front wire 134 with a relatively large force in accordance with the timing of the swing of the affected leg. As the training progresses and assistance is no longer necessary, the training staff 901 sets the assist level to the minimum. When the assist level is set to the minimum, the front pulling unit 135 winds up the front wire 134 with just enough force to cancel the weight of the leg orthosis 120 in accordance with the timing of the swing of the affected leg.

[0029] The walking training device 100 is equipped with a fall prevention harness device as a safety device, the main components of which are an orthosis 110, a harness wire 111, and a harness tensioning part 112. The orthosis 110 is a belt that is 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 is equipped with a connecting hook 110a that connects one end of the harness wire 111, which is a hanging device, and can also be called a hanger belt. The trainee 900 wears the orthosis 110 so that the connecting hook 110a is located at the rear of the trainee.

[0030] One end of the harness wire 111 is connected to a connecting hook 110a of the harness 110, and the other end is connected to a 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 on and off a motor (not shown). With this configuration, when the trainee 900 is about to fall, the fall prevention harness device winds up the harness wire 111 according to an instruction from the overall control unit 210 that detects the movement, and the harness 110 supports the upper body of the trainee 900, preventing the trainee 900 from falling.

[0031] 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 inclination angle of the abdomen on which the orthosis 110 is worn with respect to the direction of gravity.

[0032] The management monitor 139 is attached to the frame 130, and is a display input device mainly used for monitoring and operation by the training staff 901. The management monitor 139 is, for example, a liquid crystal panel, and a touch panel is provided on its surface. The management monitor 139 displays various menu items related to training settings, various parameter values ​​during training, training results, etc. In addition, an emergency stop button 232 is provided near the management monitor 139. When the training staff 901 presses the emergency stop button 232, the walking training device 100 is brought to an emergency stop.

[0033] The overall control unit 210 generates rehabilitation data that may include setting parameters related to training settings, various data related to leg movements output from the leg brace 120 as training results, etc. This rehabilitation data may include data indicating the training staff 901 or their years of experience and level of proficiency, data indicating the symptoms, walking ability, recovery level, etc. of the trainee 900, various data output from sensors provided outside the leg brace 120, etc.

[0034] The leg brace 120 is attached to the affected leg of the trainee 900. As described above, the front wire 134 and the rear wire 136 are connected to the leg brace 120. The front wire 134 and the rear wire 136 pull the leg brace 120, thereby providing an assist force to the affected leg. The leg brace 120 may include an actuator or the like that assists the joint movement of the trainee 900. For example, the leg brace 120 includes a motor for bending or extending the knee joint.

[0035] Furthermore, the leg orthosis 120 may have a sensor for detecting leg movements. For example, the leg orthosis 120 may be provided with a sensor for detecting the load received from the sole of the foot. Of course, the leg orthosis 120 may not have an actuator or a sensor. When no pulling force is applied by the wire, the leg orthosis 120 may be omitted. In this case, the trainee 900 can perform walking training on the treadmill 131 by himself.

[0036] The overall control unit 210 controls the actuators of the leg brace 120, the front puller 135, and the rear puller 137 according to the outputs of various sensors. For example, the overall control unit 210 detects a walking cycle and its timing according to the detection results of the posture sensor 217, the sensor of the leg brace 120, the camera 140, etc. The overall control unit 210 outputs a command value for applying a driving force according to the timing of the walking cycle to each actuator. This causes each actuator to operate according to the walking cycle and walking pattern. For example, a driving force is applied according to the stance phase and the timing at which the swing mechanism is switched.

[0037] Here, the walking training system 1 uses a leg orthosis with robotic legs and a leg orthosis without robotic legs. The leg orthosis 120 with robotic legs is equipped with a drive mechanism for driving the knee joint and the like. That is, in the leg orthosis 120 with robotic legs, the knee joint is an active joint operated by an actuator. The leg orthosis 120 without robotic legs does not have a drive mechanism for driving the knee joint and the like. That is, the leg orthosis 120 without robotic legs is for attaching the front wire 134 and the rear wire 136, and does not have a drive mechanism.

[0038] For example, a leg orthosis 120 with a robotic leg is used for a trainee with severe paralysis and low walking ability. In other words, since the leg orthosis 120 needs to assist the knee joint movement of the trainee 900, an actuator such as a motor is mounted on the leg orthosis 120. The leg orthosis 120 with a robotic leg is also called a leg orthosis with an actuator.

[0039] On the other hand, for a trainee with mild paralysis and high walking ability, a leg orthosis 120 without a robotic leg is used. In other words, since there is no need for the leg orthosis 120 to assist the knee joint movement of the trainee 900, an actuator such as a motor is not mounted on the leg orthosis 120. The leg orthosis 120 without a robotic leg is also called an actuator-less leg orthosis. The leg orthosis 120 without a robotic leg can omit a joint mechanism such as a knee joint. In other words, the leg orthosis 120 without a robotic leg does not need to be provided with not only an actuator but also a passive joint mechanism. For example, the leg orthosis 120 without a robotic leg can be an expandable supporter band.

[0040] By using the leg orthosis 120 without robotic legs, the difficulty of training can be increased. The trainee 900 can perform appropriate training according to his / her walking ability. In addition, since the leg orthosis 120 without robotic legs is not equipped with actuators or the like, it is lighter than the leg orthosis 120 with robotic legs. Therefore, the trainee 900 can easily put on and take off the leg orthosis 120.

[0041] In this way, the walking training system 1 is provided with two types of leg orthoses 120, one with a robot leg and the other without a robot leg. The leg orthoses 120 are used according to the walking ability of the trainee. That is, the leg orthoses 120 are used according to the trainee 900. A trainee 900 with low walking ability wears the leg orthoses 120 with a robot leg and performs walking training. A trainee 900 with high walking ability wears the leg orthoses 120 without a robot leg and performs walking training. In this way, by switching the leg orthoses 120 according to the trainee 900, appropriate walking training can be performed. Furthermore, when a trainee 900 with low walking ability repeatedly trains and his or her walking ability improves, the leg orthoses 120 are also switched. That is, even for the same trainee 900, the leg orthoses 120 are switched according to the progress of the training.

[0042] In this way, in the walking training system 1, the trainee 900 can select whether or not to use the robotic legs and perform training. Here, a mode in which walking training is performed with the robotic legs is referred to as a first mode, and a mode in which walking training is performed without the robotic legs is referred to as a second mode. In the first mode, swing assistance by the wire and knee joint assistance by the robotic legs are performed. In the second mode, only swing assistance by the wire is performed, and knee joint assistance by the robotic legs is not performed.

[0043] Furthermore, in the walking training system 1, the trainee 900 can perform walking training without knee joint assist by the robotic legs and swing assist by the wires. A mode in which walking training is performed without knee joint assist and swing assist is defined as a third mode. In the third mode, the trainee 900 performs walking training on the treadmill 131 without receiving any assist force at all. In the third mode, the leg brace 120 is not required.

[0044] The trainee 900 selects a mode and performs walking training. The mode selection may be performed by the training staff 901. When the trainee 900 performs training, the training results are recorded in a memory or the like. For example, the training date and time, training time, walking distance, number of steps, training video, mode information, and the like are stored as training results. The training results for the first mode and the training results for the second mode are recorded in the memory or the like of the overall control unit 210. The training results are stored as history in a recording device such as a memory. After training, the trainee 900 or the training staff 901 can check the training results (training history) for each mode. The training results may be recorded in a server or cloud system external to the overall control unit 210.

[0045] In the swing assistance by wires, the front wires 134 and the rear wires 136 apply a pulling force to the leg brace 120. The front wires 134 apply a pulling force obliquely upward and forward to the leg brace 120. The rear wires 136 apply a pulling force obliquely upward and backward to the leg brace 120. Therefore, the leg brace 120 is applied with a resultant force of the pulling force obliquely upward and forward and backward. This makes it possible to provide an assisting force for swinging out the affected leg.

[0046] The overall control unit 210 controls the front pulling unit 135 and the rear pulling unit 137 so as to apply an assist force forward when the affected leg is swung out. At the timing of the swing out, the pulling force of the front pulling unit 135 becomes greater than the pulling force of the rear pulling unit 137. At the timing of the swing out of the affected leg, a pulling force from the front is applied to the affected leg. Furthermore, the resultant force of the forward obliquely upward pulling force and the rearward obliquely upward pulling force has a vertically upward component. When a pulling force is applied forward, a pulling force is also applied in a direction that counteracts gravity. In other words, the weight of the leg and the leg brace 120 is reduced by the vertically upward component of the pulling force.

[0047] Here, the weight of the leg orthosis 120 differs depending on whether or not the robot leg is present. The leg orthosis 120 without the robot leg is lighter than the leg orthosis 120 with the robot leg. Therefore, if the same forward swing assist force is applied in the first mode and the second mode, the load applied to the affected leg due to gravity is reduced in the second mode. In other words, it becomes difficult to apply an appropriate training load in the second mode.

[0048] Therefore, in this embodiment, a weight (heavy object) is added to the leg orthosis 120 without robotic legs used in the second mode. In other words, the leg orthosis 120 without robotic legs is intentionally made heavier. The leg orthosis 120 without robotic legs can be made heavier than the leg orthosis 120 with robotic legs. This allows the trainee 900 with high walking ability to train with an appropriate load. Since the trainee 900 can train efficiently, the recovery speed can be improved.

[0049] The leg orthosis 120 without robot legs is lighter than the leg orthosis 120 with robot legs. Therefore, the trainee 900 can easily put it on and take it off. For example, the leg orthosis 120 with robot legs may be attached only to the upper leg. The knee joint portion and the lower leg frame can be omitted. Therefore, it is possible to achieve a lighter weight and to easily put it on.

[0050] Next, the leg orthosis 120 with a robot leg used in the first mode will be described with reference to Fig. 2. Fig. 2 is a schematic perspective view showing one configuration example of the leg orthosis 120. The leg orthosis 120 mainly comprises a control unit 121, a plurality of frames supporting each part of the affected leg, and a load sensor 222 for detecting the load applied to the sole of the foot.

[0051] The control unit 121 includes an auxiliary control section 220 that controls the leg brace 120, and also includes a motor (not shown) that generates a driving force to assist in the extension and flexion of the knee joint. The frame that supports each part of the affected leg includes an upper leg frame 122 and a lower leg frame 123 rotatably connected to the upper leg frame 122. This frame also includes a foot frame 124 rotatably connected to the lower leg frame 123, a front connecting frame 127 for connecting the front wire 134, and a rear connecting frame 128 for connecting the rear wire 136.

[0052] The upper leg frame 122 and the lower leg frame 123 rotate relatively around the hinge axis Ha shown in the figure. The motor of the control unit 121 rotates according to instructions from the auxiliary control unit 220 to bias the upper leg frame 122 and the lower leg frame 123 to open or close relatively 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 by the upper leg frame 122 and the lower leg frame 123 around the hinge axis Ha. The lower leg frame 123 and the foot frame 124 rotate relatively around the hinge axis Hb shown in the figure. The angle range of the relative rotation is adjusted in advance by the adjustment mechanism 126.

[0053] The front connecting frame 127 extends in the left-right direction on the front side of the upper leg, and is provided so as to connect to the upper leg frame 122 at both ends. The front connecting frame 127 is provided with a connecting hook 127a for connecting the front wire 134 near the center in the left-right direction. The rear connecting frame 128 extends in the left-right direction on the rear side of the lower leg, and is provided with a connecting hook 128a for connecting the rear wire 136 near the center in the left-right direction.

[0054] The upper thigh frame 122 includes an upper thigh belt 129. The upper thigh belt 129 is a belt that is integrally provided on the upper thigh frame, and is wrapped around the upper thigh of the affected leg to fix the upper thigh frame 122 to the upper thigh. This prevents the entire leg brace 120 from slipping off relative to the leg of the trainee 900.

[0055] The load sensor 222 is a load sensor embedded in the foot frame 124. The load sensor 222 detects the magnitude and distribution of the vertical load received by the sole of the trainee 900, and can also be configured to detect, for example, the COP (Center Of Pressure). The load sensor 222 is, for example, a resistance change detection type load detection sheet in which electrodes are arranged in a matrix.

[0056] Next, the leg orthosis 120 without a robot leg used in the second mode will be described. In the following description, the leg orthosis 120 without a robot leg will be described as the leg orthosis 120A. Fig. 3 is a diagram showing a configuration when the leg orthosis 120A without a robot leg is used. Specifically, it is a side view showing a trainee 900 wearing the leg orthosis 120A training with the walking training system 1.

[0057] The leg brace 120A is a harness that is attached to the upper leg (thigh) of the trainee 900. It is preferable that the leg brace 120 is attached above the knee joint of the trainee 900. In this way, it is possible to prevent the leg brace 120 from interfering with the walking motion.

[0058] The leg brace 120A is made of an elastic material. The leg brace 120A is stretchable and fits closely to the upper thigh of the trainee 900. This makes it possible to prevent the leg brace 120A from shifting out of position during training.

[0059] For example, the leg brace 120A is placed over the entire circumference of the leg like a leg supporter. For example, the leg brace 120A is made of an elastic material formed into a ring shape. In a cross-sectional view along a horizontal plane, the leg brace 120A has a hollow circular shape, inside which the upper leg is placed. The trainee 900 can wear the leg brace 120A by inserting the affected leg into the leg brace 120A from the toe.

[0060] Alternatively, the leg brace 120A may be worn so as to be wrapped around the upper leg. The leg brace 120A has a belt-like shape and is wrapped around the upper leg. In this case, the leg brace 120A may be fixed to the thigh by a hook-and-loop fastener or the like.

[0061] The leg brace 120A is attached with a front wire 134 and a rear wire 136. The front wire 134 and the rear wire 136 generate a pulling force vertically upward and forward.

[0062] The leg brace 120A has a weight 1201 for canceling the vertically upward tensile force. By attaching the weight 1201 to the leg brace 120A, the effective weight of the leg brace 120A can be increased. The vertically upward component of the tensile force can be canceled. Since the load on the affected leg can be increased, the trainee 900 can train appropriately. The weight 1201 may be removable from the leg brace 120A or may be fixed thereto.

[0063] An appropriate assist force can be applied even without robot legs. Even when the forward swing assist force is increased, the vertically upward component force is cancelled by the weight 1201. Since the vertically upward pulling force can be cancelled, an appropriate load can be applied, enabling effective training.

[0064] For example, the weight of the weight 1201 is adjusted so that the leg orthosis 120A without a robot leg has the same weight as the leg orthosis 120 with a robot leg. The overall control unit 210 can control the front pulling unit 135 and the rear pulling unit 137 so as to apply the same pulling force in the first mode and the second mode. Swing-out assistance can be performed with the same pulling force without changing the control pattern in the first mode and the second mode. This makes it easier to control the assist force of the swing-out assistance.

[0065] Specific examples of the leg brace 120A and the weight 1201 will be described with reference to Figures 4 and 5. Figure 4 is a side view of the leg brace 120A, and Figure 5 is a front view. The leg brace 120A is attached to the thigh 900A of the trainee 900. The thigh 900A is the part below the hip joint of the trainee 900 and above the knee joint.

[0066] The weight 1201 is attached to the leg orthosis 120A. The weight 1201 is provided detachably to the leg orthosis 120A. The leg orthosis 120A may be provided with a bag or the like for attaching the weight 1201. That is, the weight 1201 is accommodated in a bag or the like provided on the outer circumferential surface of the leg orthosis 120A. Alternatively, the weight 1201 may be embedded in the leg orthosis 120A. The weight 1201 is placed above the trainee 900.

[0067] As shown in Fig. 4, the leg brace 120A has attachment parts 1202 and 1203 for attaching the front wire 134 and the rear wire 136. The attachment part 1202 for attaching the front wire 134 is provided on the front side of the leg brace 120A. For example, the attachment part 1202 is formed in a ring shape, and the tip of the front wire 134 is attached to the attachment part 1202. The front wire 134 may be attached to the attachment part 1202 using a carabiner or a hook.

[0068] An attachment part 1203 for attaching the rear wire 136 is provided on the rear side of the leg brace 120A. For example, the attachment part 1203 is formed in a ring shape, and the tip of the rear wire 136 is attached to the attachment part 1203. The rear wire 136 may be attached to the attachment part 1203 by using a carabiner or a hook.

[0069] As shown in Fig. 5, the wire attachment position is preferably at the center of the leg in the left-right direction. In other words, attachment parts 1202 and 1203 are located at the center of thigh 900A in the left-right direction. In this way, the affected leg can be pulled straight in the front-rear direction. It is possible to prevent a pulling force from being applied in the outward or inward rotation direction of the leg. Therefore, appropriate swing assistance can be performed, and effective training can be performed.

[0070] It is preferable that the weight of the weight of the weight-equipped leg orthosis 120 with a robot leg corresponds to the difference between the weight of the weight of the weight-equipped leg orthosis 120 with a robot leg and the weight of the weight-equipped leg orthosis 120A without a robot leg. For example, if the weight of the weight-equipped leg orthosis 120 with a robot leg is 5 kg heavier than the weight-equipped leg orthosis 120A without a robot leg, the weight of the weight-equipped leg orthosis 120 with a robot leg and the weight-equipped leg orthosis 120A without a robot leg can be set to 5 kg. This allows the weight of the weight-equipped leg orthosis 120 with a robot leg to match the weight of the weight-equipped leg orthosis 120A without a robot leg.

[0071] It is preferable to arrange the weights 1201 evenly around the outer periphery of the thigh 900A. In other words, the weights 1201 are arranged evenly around the entire circumference of the leg brace 120A. For example, weights of the same weight are prepared and arranged at equal intervals in the circumferential direction. In this way, the weights 1201 can be arranged in a well-balanced manner.

[0072] If the total weight of the weight 1201 is 5 kg, multiple weights of several hundred grams should be prepared. The weights should then be evenly distributed around the circumference. For example, multiple weights can be fixed to the leg brace 120A with a belt or the like.

[0073] Embodiment 2 In the second embodiment, the configuration for attaching the weight is different. Since the configuration other than the weight attachment configuration is the same as in the first embodiment, the description will be omitted as appropriate. The configuration in the second embodiment will be described with reference to Fig. 6. Fig. 6 is a side view showing the system configuration when the leg brace 120A is used.

[0074] In this embodiment, weights 1205 and 1206 are attached to the leg brace 120A using wires. Specifically, a through hole is provided in the weight 1205 for passing the front wire 134 through. Thus, the weight 1205 is attached to the tip of the front wire 134. A through hole is provided in the weight 1206 for passing the rear wire 136 through. Here, the weights 1205 and 1206 are each hollow cylindrical. That is, the through holes are provided along the axial direction of the cylinder. Thus, the weight 1205 is attached to the tip of the front wire 134, and the weight 1206 is attached to the tip of the rear wire 136. The front wire 134 and the rear wire 136 can cancel out the vertical upward tensile force generated in the leg brace 120A.

[0075] A weight 1205 is placed in front of the leg brace 120A. A weight 1206 is placed in the rear of the leg brace 120A. The weight 1205 is attached to the leg brace 120A via a front wire 134. The weight 1206 is attached to the leg brace 120A via a rear wire 136. By providing weights 1205 and 1206 on both the front and rear sides, the trainee 900 can train in a well-balanced manner. The weights 1205 and 1206 may be the same weight or different weights. Furthermore, the front weight 1205 may be heavier or lighter than the rear weight 1206.

[0076] Here, the front weight 1205 is made heavier than the rear weight 1206. For example, if the total weight of the weights 1205, 1206 is 5 kg, the weight 1205 can be made 3 kg and the weight 1206 can be made 2 kg. That is, to provide swing assistance forward, the tensile force of the front wire 134 is made greater than the tensile force of the rear wire 136. Therefore, it is preferable to make the front weight 1205 heavier than the rear weight 1206.

[0077] Of course, only one of the front weight 1205 or the weight 1206 may be attached to the leg brace 120A. In other words, the rear weight 1206 may be omitted, and only the front weight 1205 may be included. In other words, the front weight 1205 may be omitted, and only the rear weight 1206 may be included.

[0078] As in the first embodiment, the front wire 134 and the rear wire 136 are attached at the center in the left-right direction, so that the generation of tensile force in the external rotation direction or the internal rotation direction can be increased. Therefore, the trainee 900 can perform training in a well-balanced manner. This allows for appropriate training.

[0079] Moreover, the first embodiment and the second embodiment may be combined. That is, at least one of the weights 1205 and 1206 may be added in addition to the weight 1201. For example, the weights 1201 and 1205 may be attached to the leg brace 120A, and the weights 1201 and 1206 may be attached to the leg brace 120A. The weights 1201, 1205, and 1206 may be attached to the leg brace 120A.

[0080] The invention made by the inventor has been specifically described above based on an embodiment, but it goes without saying that the present invention is not limited to the above embodiment and can be modified in various ways without departing from the gist of the invention. [Explanation of symbols]

[0081] 1. Walking training system 100 Walking training device 110 Orthotics 110a Connecting hook 111 Harness wire 112 Harness tension section 120 Leg braces 120A Leg brace 1201 Weight 1202 Mounting part 1203 Mounting part 1205 Weight 1206 Weight 130 frames 130a Handrail 131 Treadmill 132 Belt 210 Overall Control Unit 900 Trainer 901 Training Staff

Claims

1. A leg brace attached to a user's leg; a first tensioning means connected to the leg brace and applying a tensioning force to pull the leg obliquely upward and forward; A second tensioning means is connected to the leg brace and applies a tensioning force to pull the leg obliquely upward and backward. a weight provided to cancel the vertically upward pulling force by the first and second pulling means.

2. The gait training system according to claim 1 , wherein the weight is removably attached to the leg brace.

3. the first tensioning means comprises a first tensioning wire attached to the leg brace; the second tensioning means comprises a second tensioning wire attached to the leg brace; The walking training system according to claim 1 or 2, wherein the weight is attached to at least one of the first pulling wire and the second pulling wire.

4. A weight is attached to each of the first pull wire and the second pull wire, The gait training system of claim 3 , wherein the weight attached to the first puller wire is heavier than the weight attached to the second puller wire.

5. The walking training system according to claim 3 , wherein the first tensioning means and the second tensioning means operate to apply a forward swing assist force to the leg in response to a walking motion of the user.

6. The walking training system includes: a first mode in which walking training is performed while wearing a leg orthosis with an actuator that drives the joints of the leg; A first mode in which walking training is performed while wearing the leg brace; and a second mode in which walking training is performed while wearing the leg brace.

3. The walking training system according to claim 1, wherein the weight of the weight corresponds to a difference between a weight of the actuator-equipped leg orthosis and a weight of the leg orthosis itself.

7. The walking training system includes: The gait training system according to claim 6 , wherein the training results in the first mode and the training results in the second mode are recorded separately.

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