Control device and control method for walking motion assisting device

Abstract

To provide a walking motion assisting technique for appropriately assisting a turning motion of an ankle joint according to a symptom of a user related to a walking disorder.SOLUTION: Provided is a control device for a walking motion assisting device, including: holding means that holds a plurality of control pattern information sets indicating time-series rotation patterns of a drive mechanism corresponding to a walking cycle; and control processing means that controls driving of the drive mechanism by a motor on the basis of the control pattern information sets, wherein the plurality of control pattern information sets held in the holding means include at least a plurality of control pattern information sets corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns, and the plurality of symptoms includes two or more symptoms related to knee joints.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present invention relates to a walking movement assist device that can assist the rotational movement of a user's ankle joints. [Background technology]

[0002] Attempts have been made to facilitate walking training by attaching walking movement assist devices to the user's legs. Patent Document 1 below proposes a walking motion assist device that assists the wearer in rotating the ankle joint, including a drive motor and a drive mechanism that can rotate coaxially with the ankle joint using the drive motor. In this walking motion assist device, a basic motion pattern that represents time-series changes in the ankle joint angle during a walking cycle is corrected based on input from an operator, and the drive of the drive motor is controlled based on the corrected motion pattern. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-217039 Summary of the Invention [Problem to be solved by the invention]

[0004] Users with walking disabilities can effectively train their walking by using the walking movement assist device described above. Gait disorders refer to abnormalities in the way people walk, and symptoms associated with gait disorders include a variety of symptoms such as shuffling, shuffling, scissor walking, lunging, walking accompanied by pain in the legs and hips, unsteadiness and tendency to stumble (trip), etc. In order for a user with a gait disorder to undergo effective walking training using the walking movement assist device, it is necessary to appropriately set a movement pattern that matches the user's symptoms.

[0005] However, even for a qualified physical therapist, it is not easy to set an appropriate movement pattern for the walking movement assist device that matches the symptoms of each user. This is because, since the walking movement assist device assists the rotational movement of the wearer's ankle joint, it is necessary to understand the relationship between the rotational movement of the ankle joint and each symptom related to walking disorders, and this understanding requires skilled experience in assisting walking training using the walking movement assist device.

[0006] The present invention has been made in view of the above circumstances, and provides a walking movement assist technology that appropriately assists the rotational movement of the ankle joint in accordance with the user's symptoms related to walking disorders. [Means for solving the problem]

[0007] One aspect of the present invention is a control device for a walking movement assist device including at least a motor and a drive mechanism that rotates by the drive force of the motor and can assist the rotational movement of the ankle joint of a target leg of a user. The control device according to this aspect includes: a storage means for storing a plurality of control pattern information indicating time-series rotation patterns of the drive mechanism corresponding to a walking cycle; and a control processing means for controlling driving of the drive mechanism by the motor based on the control pattern information, wherein the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to a walking disorder and having mutually different time-series rotation patterns, and the plurality of symptoms includes at least two or more symptoms related to the knee joint.

[0008] One aspect of the present invention is a walking movement assist method executed by a walking movement assist device including at least a motor, a drive mechanism that rotates by the drive force of the motor to assist the rotational movement of the ankle joint of a user's target leg, storage means for storing a plurality of control pattern information indicating time-series rotation patterns of the drive mechanism corresponding to a walking cycle, and control processing means for controlling driving of the drive mechanism by the motor based on the control pattern information. In this aspect, the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns, the plurality of symptoms including at least two or more symptoms related to the knee joint. The walking movement assist method further includes a display step of displaying on a display device a selection screen that allows a user to select one of the plurality of symptoms, a selection step of selecting control pattern information corresponding to the symptom selected based on a user operation on the selection screen, and a control step of controlling driving of the drive mechanism by the motor based on the selected control pattern information.

[0009] As another aspect of the present invention, the walking movement assist method may be a computer program that causes one or more processors provided in the walking movement assist device to execute the method, or a recording medium on which such a computer program is recorded. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a walking movement assist technology that appropriately assists the rotational movement of the ankle joint in accordance with the user's symptoms related to walking disorders. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view showing the appearance of a walking movement assist device according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram conceptually illustrating the hardware configuration of a control system of the walking movement assist device according to the present embodiment. [Figure 3]5A and 5B are schematic diagrams for explaining a rotation angle of a drive mechanism in the present embodiment. [Figure 4] FIG. 2 is a diagram conceptually illustrating the software configuration of a control device according to the present embodiment. [Figure 5] FIG. 10 is a diagram illustrating an example of control pattern information. [Figure 6] FIG. 10 is a diagram illustrating an example of a selection screen for control pattern information. [Figure 7] 10 is a flowchart illustrating an example of the operation of the walking movement assist device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention (hereinafter sometimes referred to as the present embodiment) will be described with reference to the drawings. The embodiments described below are merely examples, and the present invention is not limited to the configurations of the following embodiments.

[0013] First, before describing the present embodiment in detail, an outline of the features of the present embodiment will be described. The walking motion assist device according to this embodiment includes at least a motor, a drive mechanism that rotates with the driving force of the motor and is capable of assisting the rotational motion of the ankle joint of the user's target leg, and a control device. The control device comprises a storage means for storing a plurality of pieces of control pattern information indicating time-series rotation patterns of the drive mechanism corresponding to the walking cycle, and a control processing means for controlling the driving of the drive mechanism by the motor based on the control pattern information, and the plurality of pieces of control pattern information stored in the storage means include at least a plurality of pieces of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns, and the plurality of symptoms include at least two or more symptoms related to the knee joint.

[0014] The control pattern information is control information that defines how the drive mechanism is rotated according to the walking cycle of the user's target leg, and the time-series rotation pattern indicated therein indicates the temporal change in the rotational motion of the drive mechanism. In the example described below, the control pattern information is configured to indicate the time-series rotation pattern of the drive mechanism by correspondence information between each phase in the walking cycle and the target rotation angle of the drive mechanism at each phase. However, the specific content of the control pattern information is not limited to the example described below.

[0015] Here, a "gait cycle" refers to the time from when one of the user's legs (target leg) touches the ground (start point) to when the target leg touches the ground again (end point), and can be expressed as 100% for example. This definition of a "gait cycle" is a standard one used in gait analysis and gait research, but this embodiment is not limited to this definition, and the starting point of a gait cycle is not limited to heel strike. Furthermore, the "phase" of a walking cycle refers to a certain aspect within the walking cycle, and can be expressed as a percentage (between 0% and 100%) of the walking cycle (100%), such as 35% or 60%.

[0016] In this embodiment, at least a plurality of control pattern information corresponding to two or more symptoms related to the knee joint as symptoms associated with walking disorders and having mutually different time-series rotation patterns is stored, and the drive of the drive mechanism is controlled based on such control pattern information. Knee joint symptoms associated with walking disorders include genu recurvatum, knee flexion, knee joint contracture, and osteoarthritis of the knee (also known as knee OA). Back knee is a condition in which the knee hyperextends (bends too far backward) during the stance phase. Knee buckling refers to a condition in which the knee breaks suddenly when weight is applied, such as when walking, due to a lack of force. Stiff knee refers to a decrease in knee flexion during the swing phase, i.e., a condition in which the knee remains straight while walking. Knee osteoarthritis (knee OA) is a disease of the knee joint that causes symptoms of knee pain when walking. These knee joint symptoms are known to be one of the symptoms of or cause walking disorders. In the examples of this embodiment described below, symptoms related to the knee joint include, but are not limited to, genu recurvatum, knee flexion, knee joint contracture, and knee osteoarthritis.

[0017] The inventors have repeatedly conducted experiments to determine how to assist the rotational movement of the ankle joint using a walking motion assist device in order to enable users with the above-mentioned knee joint symptoms to continuously perform effective walking training while reducing the burden and discomfort they feel. As a result, they have deduced that there is an appropriate time-series rotation pattern of the drive mechanism for each knee joint symptom, and have succeeded in deriving control pattern information for each knee joint symptom. Because these are knee joint symptoms, a method of assisting the knee joint itself would normally be considered. However, the inventors have deduced that a method of assisting the rotational movement of the ankle joint can enable users with knee joint symptoms to continuously perform effective walking training while reducing the burden and discomfort they feel.

[0018] In this embodiment, since control pattern information corresponding to each of these knee joint symptoms is stored, the walking motion assist device can control the drive of the drive mechanism based on the control pattern information that matches the user's symptoms, and ultimately the user can receive effective assistance with the rotational movement of the ankle joint while walking. That is, according to this embodiment, even for users with specific knee joint symptoms related to walking disorders (particularly, genu recurvatum, flexion of the knee, knee joint contracture, or knee osteoarthritis), the rotational movement of the ankle joint can be appropriately assisted according to the user's symptoms.

[0019] The walking movement assist device according to this embodiment will be described in detail below using specific examples. However, the walking movement assist device according to this embodiment is not limited to the configuration exemplified below, and it is sufficient if it has at least the configuration outlined above.

[0020] [Walking assistance device] FIG. 1 is a perspective view showing the appearance of a walking motion assist device according to this embodiment, and FIG. 2 is a diagram conceptually showing the hardware configuration of a control system of the walking motion assist device according to this embodiment. As shown in Fig. 1, a walking movement assist device 1 according to this embodiment (hereinafter sometimes simply referred to as this device) is composed of a leg attachment unit 2 and a waist attachment unit 5. The leg attachment unit 2 is attached to the legs (below the knees) of a user (wearer), and the waist attachment unit 5 is attached to the waist of the user. In the following description of the device 1, the relative positional relationship of each component is specified using directions such as up-down, front-back, and left-right when the device 1 is worn by a user. That is, the front refers to the ventral side (front) of the human body, the rear refers to the dorsal side (rear) of the human body, the top refers to the head side of the human body, and the bottom refers to the soles of the human body.

[0021] The waist attachment part 5 includes a waist belt 51, a waist storage box 52, and the like. The waist belt 51 is worn by wrapping it around the waist of the user. The waist belt 51 is configured so that its length can be adjusted to fit the waist size of the user, similar to a general trouser belt. The waist storage box 52 is held by the waist belt 51 and stores the control device 10, a battery (not shown), and the like inside.

[0022] The leg attachment part 2 has a lower leg brace 21, a foot brace 22, lower leg frames 24A and 24B, foot frames 25A and 25B, a leg storage box 28, and the like.

[0023] The lower leg brace 21 is a brace that is worn by wrapping it around the lower leg of the user. The lower leg brace 21 is fixed and worn at a position around the user's knee.

[0024] The foot orthosis 22 is a shoe-like orthosis that is worn by inserting the user's foot inside. The foot orthosis 22 has an instep belt 221 that wraps around and secures the instep of the foot, and an ankle belt 222 that wraps around from the back of the ankle (towards the heel) to the front of the ankle to secure the ankle, and is worn to restrict the posture of the user's foot.

[0025] The upper ends of the lower leg frames 24A and 24B are each connected and fixed to the lower leg brace 21, and are arranged to sandwich the user's lower leg from the left and right when the leg attachment unit 2 is attached. This prevents the upper ends of the lower leg frames 24A and 24B from moving relative to the lower leg brace 21. Hereinafter, the lower leg frames 24A and 24B will be collectively referred to as the lower leg frame 24 unless a distinction needs to be made between them.

[0026] The foot frames 25A and 25B have their lower ends connected and fixed to the foot orthosis 22, and are arranged so as to sandwich the area around the user's ankle from the left and right when the leg attachment unit 2 is worn. This prevents the lower ends of the foot frames 25A and 25B from moving relative to the foot orthosis 22. Hereinafter, the foot frames 25A and 25B will be collectively referred to as the foot frame 25 unless a distinction needs to be made between them.

[0027] The lower end of the lower leg frame 24 and the upper end of the foot frame 25 are rotatably connected to each other by a connecting shaft 26. The connecting shaft 26 is provided so as to be located around the left and right ankles of the user when the leg attachment unit 2 is worn. In other words, the connecting shaft 26 is provided so as to be located coaxially with the rotation axis of the user's leg joint when the leg attachment unit 2 is worn. This allows the lower leg frame 24 and the foot frame 25 to rotate relatively on the same axis as the rotational movement of the user's ankle joint when the leg attachment unit 2 is worn.

[0028] The leg housing box 28 is held by the (outer) lower leg frame 24A, and houses the motor 30, drive mechanism 40, etc. inside.

[0029] The motor 30 receives power from a battery housed in the waist housing box 52 and supplies driving force to the drive mechanism 40. In this embodiment, the motor 30 outputs a rotational driving force, but it may also output a linear driving force. The drive mechanism 40 assists the rotational movement of the ankle joint of the user's target leg by rotating the foot frame 25 about the connecting shaft 26 relative to the lower leg frame 24 using the driving force from the motor 30. The specific structure of the drive mechanism 40 is not particularly limited as long as it can rotate the foot frame 25 relative to the lower leg frame 24 in response to the driving force from the motor 30. For example, the drive mechanism 40 may include a drive shaft, a reducer, etc. connected to or integrated with the connecting shaft 26 between the lower leg frame 24A and the foot frame 25A, and may be configured to rotate the foot frame 25 relative to the lower leg frame 24 by rotating the drive shaft by reducing the rotational driving force of the motor 30 using the reducer.

[0030] The device 1 further includes various sensors 250, which are first detection means capable of detecting the state of the target leg of the user in a walking cycle and second detection means capable of detecting the rotation angle of the drive mechanism 40. However, the specific configuration of the sensors 250 is not limited in any way as long as the acquisition unit 101 (described later) can identify the current phase of the target leg of the user in one walking cycle and the control processing unit 103 (described later) can control the drive of the drive mechanism 40 so as to correspond to the time-series rotation pattern indicated by the control pattern information.

[0031] In this embodiment, the sensor 250 includes a toe pressure sensor and a heel pressure sensor as the first detection means. In this case, the toe pressure sensor is a pressure sensor for detecting the load (pressure) on the toes of the user wearing the foot orthosis 22, and the heel pressure sensor is a pressure sensor for detecting the load (pressure) on the heel of the user wearing the foot orthosis 22. The toe pressure sensor is arranged, for example, in an area on the bottom of the foot orthosis 22 that comes into contact with the ball of the user's foot, and the heel pressure sensor is arranged, for example, in an area on the bottom of the foot orthosis 22 that comes into contact with the user's heel. The specific principles and structures of the toe pressure sensor and heel pressure sensor are not limited as long as their electrical characteristics change with pressure. Examples of electrical characteristics that change with pressure include electrical resistance and capacitance. The toe pressure sensor and heel pressure sensor are connected so that detection signals can be transmitted wirelessly or via wire to the control device 10 (input / output I / F 13).

[0032] The toe pressure sensor and heel pressure sensor correspond to detection means capable of detecting the toe-on state, toe-off state, heel-on state, and heel-off state of the user's target leg (the leg on which the leg attachment unit 2 is attached). However, this detection means is not limited to the configuration of this embodiment, and may be realized by a film-type pressure sensor capable of measuring pressure distribution within a plane. In this case, the toe-on state, toe-off state, heel-on state, and heel-off state can be detected from the pressure distribution state.

[0033] In this embodiment, the sensor 250 includes a rotation sensor as the second detection means. For example, the rotation sensor is housed in the leg housing box 28 and is configured to be able to detect the rotation angle of the drive mechanism 40. The rotation angle of the drive mechanism 40 is the angle between the lower leg frame 24 and the foot frame 25, and corresponds to the angle of the ankle joint of the target leg of the user. However, the angle detection principle of the rotation sensor is not limited. For example, the rotation sensor may be realized by a potentiometer, a rotary encoder, or the like, and detects the rotation angle of the drive shaft of the drive mechanism 40 or another member that rotates together with the drive shaft. The rotation sensor is connected so that a detection signal can be transmitted wirelessly or by wire to the control device 10 (input / output I / F 13).

[0034] FIG. 3 is a schematic diagram for explaining the rotation angle of the drive mechanism 40 in this embodiment. The rotation sensor in this embodiment detects the amount of displacement of the intersection angle between an extension line L1 indicating the extension direction of the lower leg frame 24 and an extension line L2 indicating the extension direction of the foot frame 25, as shown in FIG. As a result, based on the detection information from the rotation sensor, the rotation angle (ankle joint angle) of the drive mechanism 40 when the user is in an upright position is set to 0 degrees (reference angle), and when the ankle joint rotates in the dorsiflexion direction from that state, the rotation angle is detected as +θ (degrees), and conversely, when the ankle joint rotates in the plantar flexion direction, the rotation angle is detected as -θ (degrees). Note that when the user is in an upright position, it is assumed that the vertical direction (the direction in which the leg is extended) and the sole of the foot are approximately at right angles.

[0035] [Control device for walking assistance device] The control device 10 includes a CPU 11, a memory 12, an input / output interface (I / F) 13, a communication unit 15, etc. The control device 10 may be realized by a single-chip IC or by multiple IC chips. The configuration of the control device 10 shown in FIG. 2 is merely an example, and the control device 10 may include components not shown. Furthermore, the number of each component shown is not limited to the example of FIG. 2.

[0036] The CPU 11 is a so-called processor, and may be one or more general CPUs (Central Processing Units) or MPUs (Micro Processing Units), or alternatively or in addition to these, may be an application-specific integrated circuit (ASIC), a DSP (Digital Signal Processor), a GPU (Graphics Processing Unit), an FPGA (Field Programmable Gate Array), etc. The memory 12 is a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. The memory 12 stores a control program (computer program) that realizes various functions of the device 1. This control program may be stored in the memory 12, such as a ROM, in advance, or may be installed from a portable recording medium such as a CD (Compact Disc) or a memory card, or from another computer on a network, via the input / output I / F 13 or the communication unit 15, and then stored in the memory 12.

[0037] The input / output I / F 13 is an interface for inputting or outputting signals to or from externally connected components. In this embodiment, the sensors 250 are connected to the input / output I / F 13, and the motor 30 is also connected to the input / output I / F 13. As a result, a detection signal from the sensor 250 is input to the control device 10 via the input / output I / F 13, and a control signal is transmitted to the motor 30 via the input / output I / F 13. The communication unit 15 communicates with a user interface (UI) device (not shown). The communication unit 15 may support only wireless communication, only wired communication, or both. For example, the communication unit 15 performs wireless communication with the UI device. There is no limitation on the communication standard of wired communication or wireless communication supported by the communication unit 15.

[0038] The user interface (UI) device exchanges information with the control device 10 to provide a user interface for an operator such as a physical therapist. However, the user of the UI device is not limited in any way and may be the user (wearer) who wears the device 1. The UI device is a general computer (which may be portable or stationary) equipped with a display unit and an input unit that accepts user input, and may be equipped with, for example, a touch panel in which the display unit and input unit are integrated. The UI device displays a selection screen, an option selection screen, a rotation pattern graph, etc., which will be described later.

[0039] FIG. 4 is a diagram conceptually showing the software configuration of the control device 10. As shown in FIG. The control device 10 realizes the software configuration shown in Fig. 4 by causing the CPU 11 to execute a control program stored in the memory 12. Specifically, the control device 10 has, as its software configuration, an acquisition unit 101, a storage unit 102, a control processing unit 103, a UI processing unit 104, etc. The storage unit 102 corresponds to the storage means described in the overview, and the control processing unit 103 corresponds to the control processing means described in the overview. Since each software component shown in FIG. 4 is conceptually separated for ease of explanation, the software configuration realized by the control device 10 does not have to be clearly separated into each component as shown in FIG. 4. As described in the overview, the control device 10 only needs to include the storage unit 102 and the control processing unit 103, and the acquisition unit 101 and the UI processing unit 104 may be omitted.

[0040] The storage unit 102 stores a plurality of pieces of control pattern information. As described above, each piece of control pattern information may be information indicating a time-series rotation pattern of the drive mechanism 40 corresponding to a walking cycle, but in this specific example, for each of a plurality of set points having mutually different phases during a walking cycle, the control pattern information includes correspondence information between a phase during a walking cycle and a target rotation angle of the drive mechanism 40 at that phase, and the time-series rotation pattern of the drive mechanism 40 corresponding to the walking cycle is indicated by this correspondence information.

[0041] FIG. 5 is a diagram showing an example of control pattern information in this embodiment. The control pattern information in the example of Fig. 5 includes correspondence information between the phases of four set points P1, P2, P3, and P4, as well as the start point PS and end point PE, and the target rotation angle at each phase. In the example of Fig. 5, the set point P1 is set to a phase of 15% and a target rotation angle of +10 degrees (dorsiflexion side), the set point P2 is set to a phase of 50% and a target rotation angle of +10 degrees (dorsiflexion side), the set point P3 is set to a phase of 60% and a target rotation angle of -15 degrees (plantar flexion side), and the set point P4 is set to a phase of 70% and a target rotation angle of 0 degrees. The correspondence between the phase and the target rotation angle at the start point PS and the end point PE may be predetermined and fixed, or may be changeable. For example, as shown in Fig. 5, the start point PS is set to a phase of 0% and a target rotation angle of 0 degrees, and the end point PE is set to a phase of 100% and a target rotation angle of 0 degrees. The start point PS is set to the time when the heel of the target leg (the leg to which the leg attachment unit 2 is attached) touches the ground and the toe is off the ground, and the end point PE is set to the time when the same target leg next steps out and the heel touches the ground and the toe is off the ground.

[0042] 5, the target rotation angle is set to change from 0 degrees to 10 degrees between the start point PS and the set point P1. In this case, the control processor 103 (described later) controls the drive mechanism 40 to rotate in the dorsiflexion direction (+θ direction), and this control is called dorsiflexion control. The dorsiflexion control is also executed in the same manner between the set points P3 and P4. On the other hand, between set points P2 and P3, the target rotation angle is set to change from 10 degrees to -15 degrees. In this case, the control processor 103 (described later) controls the drive mechanism 40 to rotate in the plantar flexion direction (-θ direction), and this control is called plantar flexion control. Furthermore, the target rotation angle is set to be constant (+10 degrees or 0 degrees) between set points P1 and P2 and between set point P4 and end point PE. In this case, the control processor 103 (described later) controls the drive mechanism 40 to be in a free state, and this control is called free control. The free state of the drive mechanism 40 will be described later.

[0043] In this embodiment, the multiple control pattern information stored in the storage unit 102 includes multiple control pattern information corresponding to each of the symptoms of the knee joint, such as genu recurvatum, knee flexion, knee joint contracture, and osteoarthritis, which are symptoms related to walking disorders, and which have mutually different time-series rotation patterns. In the control pattern information corresponding to genu recurvatum, the target rotation angle in a predetermined phase in the stance phase is set to the dorsiflexion side so that the knee moves forward when weight is applied. In the control pattern information corresponding to knee bending, the target rotation angle in a predetermined phase of the stance phase is set to the plantar flexion side so as to suppress knee bending. In the control pattern information corresponding to knee joint contracture, the target rotation angle in a predetermined phase of the stance phase is set to the dorsiflexion side so that the knee bends before the leg swings out. The control pattern information corresponding to knee osteoarthritis is set so that free control is executed in either or both of the stance phase and swing phase. In this way, each control pattern information corresponding to each symptom of genu recurvatum, knee flexion, knee joint contracture, and knee osteoarthritis is set so that the phase and target rotation angle at one or more of the four setting points P1 to P4 are different from each other.

[0044] Furthermore, in the control pattern information corresponding to the symptom of knee buckling, it is preferable to set the target rotation angle to shift toward plantar flexion at an earlier timing during the stance phase compared to the control pattern information corresponding to the symptoms of genu recurvatum or knee joint contracture. This makes it possible to effectively prevent bending of the knee of a user with knee buckling when weight is applied to the target leg by rotating the ankle joint toward plantar flexion. Furthermore, in the control pattern information corresponding to the symptom of knee joint contracture, it is preferable to set the target rotation angle to shift to the dorsiflexion direction at a later timing during the stance phase compared to the control pattern information corresponding to the symptom of genu recurvatum. This makes it possible to encourage the rotation of the ankle joint in the dorsiflexion direction at a timing appropriate to each symptom, so that a user with genu recurvatum will have their knee move forward when weight is applied, and a user with knee joint contracture will have their knee bent when swinging their leg.

[0045] Furthermore, in this embodiment, multiple types of control pattern information are provided and stored for each of the symptoms of genu recurvatum, knee flexion, knee joint contracture, and knee osteoarthritis. Multiple control pattern information may be provided for each symptom, with different magnitudes of target rotation angles in one or more predetermined phases, or multiple control pattern information may be provided with different control switching timings. For example, in this embodiment, control pattern information corresponding to each of the symptoms of genu recurvatum, knee flexion, and knee joint contracture is provided in which the target rotation angle at a predetermined phase in the stance phase is set large toward dorsiflexion or plantarflexion, and in which it is set small. Also, control pattern information corresponding to knee osteoarthritis is provided in three types, differing in the timing of switching from plantarflexion control to dorsiflexion control when pushing off from the ground at the end of the stance phase. This allows options for the time-series rotation pattern of the control pattern information suitable for each symptom of the knee joint, depending on the strength of assistance and the timing of control, making it possible to provide assistance that is more precisely adapted to the user's symptoms. However, whether or not multiple control pattern information is provided as an option for each symptom is not limited to the example described above, and even for symptoms related to the knee joint, only one control pattern information may be provided for the symptom, or three or more control pattern information may be provided.

[0046] The storage unit 102 further stores control pattern information corresponding to a symptom of tripping (stumbling) as a walking disorder symptom in addition to the knee joint symptoms. This control pattern information corresponding to the symptom of tripping also has a different time-series rotation pattern from the control pattern information corresponding to each of the above-mentioned knee joint symptoms. The inventors have determined that assisting the rotational movement of the ankle joint can suppress not only knee joint symptoms but also stumbling, a symptom of a walking disorder other than knee joint symptoms, and have succeeded in deriving a time-series rotation pattern that can suppress stumbling. By controlling the drive of the drive mechanism 40 based on control pattern information that indicates the derived time-series rotation pattern, stumbling can be reduced and walking training can be continued.

[0047] The storage unit 102 stores each control pattern information in association with each symptom of knee flexion, knee bend, knee joint contracture, and knee osteoarthritis, as well as with symptoms of proneness to tripping. Furthermore, in this embodiment, for each symptom of knee flexion, knee bend, knee joint contracture, and knee osteoarthritis, multiple pieces of control pattern information are provided corresponding to each symptom, and each piece of control pattern information for each symptom is stored in association with the strength or pattern classification of assistance. In this embodiment, the storage unit 102 also stores control pattern information (hereinafter, sometimes referred to as general-purpose control pattern information) that indicates time-series rotation patterns that are highly versatile for various walking disorders. This general-purpose control pattern information also has a different time-series rotation pattern from the above-mentioned control pattern information.

[0048] In this way, one piece of control pattern information selected from the plurality of pieces of control pattern information stored in the storage unit 102 is referenced by a control processing unit 103, which will be described later, and used to control the drive of the drive mechanism 40. Selection of the control pattern information to be used to control the drive of the drive mechanism 40 may be performed in any manner, but in this embodiment, the control pattern information is selected by a user operation on a selection screen displayed on the UI device by processing by the UI processing unit 104.

[0049] The UI processing unit 104 performs display processing to allow the user to select one piece of control pattern information to be used for drive control from the plurality of pieces of control pattern information stored in the storage unit 102. The UI processing unit 104 displays a screen on the UI device, identifies one piece of control pattern information in response to a user operation on the screen, and notifies the control processing unit 103 of the identified piece of control pattern information. An example of a selection screen displayed on the UI device by processing by the UI processing unit 104 is shown in FIG. 6.

[0050] 6 is a diagram showing an example of a selection screen for control pattern information, in which the UI processing unit 104 causes the UI device to display the selection screen shown in FIG. 6 has a message saying "Please select according to your walking condition" and six selection buttons M1 to M6. Selection button M1 is associated with general control pattern information, selection button M2 is associated with control pattern information corresponding to genu recurvatum, selection button M3 is associated with control pattern information corresponding to knee joint contracture, selection button M4 is associated with control pattern information corresponding to knee osteoarthritis (knee OA), selection button M5 is associated with control pattern information corresponding to knee flexion, and selection button M6 is associated with control pattern information corresponding to a symptom of proneness to stumbling. As a result, when the selection button M1 is pressed, the UI processing unit 104 selects general control pattern information, and when the selection button M6 is pressed, it selects control pattern information corresponding to symptoms that are likely to cause a tripping sensation. The selection screen shown in FIG. 6 is merely an example, and the configuration of the selection screen may be controlled based on the number of categories of control pattern information stored in the storage unit 102, etc.

[0051] 6, when the selection button M2, M3, or M5 is pressed, the UI processing unit 104 further displays on the UI device an option selection screen that allows the user to select whether the assist force (assistance) is normal or strong. Then, in response to a user operation on this option selection screen, control pattern information that corresponds to genu recurvatum, knee flexion, or knee joint contracture and that is associated with the assist force (normal or strong) selected on the option selection screen is selected. When the selection button M4 is pressed, the UI processing unit 104 further displays an option selection screen on the UI device, allowing the user to select one of the three patterns. Then, in response to a user operation on the option selection screen, control pattern information corresponding to knee osteoarthritis and associated with the pattern selected on the option selection screen is selected.

[0052] 6 allows the user to select one symptom from among a plurality of symptoms related to walking disorders, although it also allows selection of general control pattern information. Therefore, the UI processing unit 104 corresponds to a display processing means that displays, on a display device, a selection screen that allows the user to select one symptom from among a plurality of symptoms. Furthermore, the above-described option selection screen can be said to be a screen that displays, in a selectable manner, any one of two or more options corresponding to one symptom selected by the user on the selection screen in the example of Fig. 6. Therefore, the UI processing unit 104 also corresponds to a display processing means that displays, on a display device, any one of two or more options corresponding to the one symptom selected by the user in a selectable manner.

[0053] Furthermore, the UI processing unit 104 can also display the control pattern information selected as described above on the UI device so that the time-series rotation pattern of the control pattern information can be changed by a user operation. In this case, the UI processing unit 104 may display the control pattern information in the form of a line graph (hereinafter sometimes referred to as a rotation pattern graph) in which the horizontal axis indicates the phase of one walking cycle and the vertical axis indicates the target rotation angle of the drive mechanism 40, as shown in the example of Fig. 5. In the rotation pattern graph, the phases and target rotation angles of set points 1 to 4 can be changed. The control pattern information changed by a user operation in this way may be stored in the storage unit 102 together with the control pattern information before the change. The changed control pattern information may also be displayed selectably on a selection screen such as that shown in Fig. 6. In this case, the UI processing unit 104 notifies the control processing unit 103 of the changed control pattern information.

[0054] The acquisition unit 101 acquires current phase information that can identify the current phase of the user's target leg in one gait cycle. The current phase information acquired by the acquisition unit 101 may be any information that can identify the current phase of the user's target leg in one gait cycle. For example, the acquisition unit 101 identifies the current phase based on the relationship between the time length of a separately set step cycle and the elapsed time from a reference phase, the ground contact state of the target leg detected by a toe pressure sensor and a heel pressure sensor, etc. The acquisition unit 101 can also identify the current phase based on information detected by other detection means such as an acceleration sensor, or based on myoelectric potential detected by a myoelectric potential sensor. Here, the "reference phase" refers to a phase that serves as a reference in a walking cycle, and for example, the phase of the starting point PS or the like is set as the reference phase.

[0055] The current phase information may indicate the time elapsed from a certain reference phase to the current phase in a gait cycle, or may indicate the ground contact state (heel contact state, heel off state, toe contact state, and toe off state) of the target leg of the user detected by a detection means such as a toe pressure sensor or a heel pressure sensor, or may be formed by a combination of these. The current phase information may also include detection information detected by other detection means (such as a myoelectricity sensor). Therefore, the phase that can be identified from the current phase information may be a phase estimated from the average leg movement for the user in a stride cycle, and some deviation from the phase corresponding to the actual walking movement of the target leg is allowed.

[0056] The acquisition unit 101 also acquires information indicating the rotation angle of the drive mechanism 40. For example, the acquisition unit 101 can acquire detection information from a rotation sensor and detect the rotation angle of the drive mechanism 40 based on this detection information. The rotation angle of the drive mechanism 40 detected by the acquisition unit 101 is detected as +θ (degrees) when the drive mechanism 40 rotates in the dorsiflexion direction, with 0 degrees as a reference angle, and as −θ (degrees) when the drive mechanism 40 rotates in the plantarflexion direction.

[0057] Based on the selected control pattern information, the control processing unit 103 controls the driving of the drive mechanism 40 by the motor 30. For example, the control processing unit 103 controls the rotation speed, rotation direction, etc. of the motor 30 to control the rotational operation of the drive mechanism 40. More specifically, based on the current phase information acquired by the acquisition unit 101, the control processing unit 103 can perform plantar flexion control to rotate the drive mechanism 40 in the plantar flexion direction (-θ), dorsiflexion control to rotate the drive mechanism 40 in the dorsiflexion direction (+θ), and free control to put the drive mechanism 40 in a free state.

[0058] The free state of the drive mechanism 40 refers to a state of the drive mechanism 40 in which no load is applied to the rotational movement of the ankle joint by the user wearing the leg attachment unit 2. However, the free state of the drive mechanism 40 does not only refer to a state in which no load is applied (zero), but may also include a state in which a small load is applied due to the structure of the drive mechanism 40 or the motor 30. Therefore, the free state of the drive mechanism 40 can also be expressed as a state of the drive mechanism 40 in which the user can freely rotate the ankle joint. Such a free state of the drive mechanism 40 can be achieved by placing the motor 30 in an unloaded state, by releasing a part of the link that transmits power from the motor 30, or the like. The unloaded state of the motor 30 can be said to be a state in which the power supplied to the motor 30 is cut off, or a state in which the output shaft of the motor 30 can be manually rotated from a stopped state. However, the method for realizing the free control by the control processing unit 103 is not limited.

[0059] The control processing unit 103 executes dorsiflexion control or plantar flexion control so as to achieve the target rotation angle of each set point at the timing corresponding to the phase of each set point, based on the correspondence relationship between the phase of each set point indicated in the selected control pattern information and the target rotation angle of the drive mechanism 40. Furthermore, when the target rotation angles of two adjacent set points in the control pattern information are the same, the control processing unit 103 executes free control from the timing corresponding to the phase of one set point to the timing corresponding to the phase of the other set point.

[0060] Here, specific processing by the control processing unit 103 will be described, taking as an example a case where the control pattern information shown in FIG. 5 is selected. When the current phase information indicates the phase of the start point PS (0%) or the detection information indicates a change from the swing leg state to the heel-contact state, the control processing unit 103 sets the rotation angle of the drive mechanism 40 at that time to the rotation angle (0 degrees) of the start point PS of one walking cycle, and thereafter performs drive control as follows based on the time-series rotation pattern indicated by the selected control pattern information. Note that the rotation angle (0 degrees) of the start point PS may be set as an absolute angle to make walking easier for the user.

[0061] The control processing unit 103 performs dorsiflexion control between the start point PS and the set point P1, i.e., between the phases of 0% and 15%, to change the target rotation angle from 0 degrees to +10 degrees. Subsequently, the control processing unit 103 performs free control between the phases of 15% and 50%, because the target rotation angles of the set points P1 and P2, which are adjacent in phase, are both +10 degrees. Subsequently, between the set points P2 and P3, i.e., between the phases of 50% and 60%, the control processing unit 103 performs plantarflexion control to change the target rotation angle from +10 degrees to -15 degrees. Subsequently, between the set points P3 and P4, i.e., between the phases of 60% and 70%, the control processing unit 103 performs dorsiflexion control to change the target rotation angle from -15 degrees to 0 degrees. Subsequently, since the target rotation angles of the set point P4 and the end point PE, which are adjacent in phase, are the same at 0 degrees, the control processing unit 103 executes free control between the phases of 70% and 100%. However, such control by the control processing unit 103 is merely an example, and more detailed control may be performed based not only on the current phase information but also on detection information from the sensor and other setting information.

[0062] When control pattern information corresponding to genu recurvatum is selected, the control processing unit 103 executes dorsiflexion control at a predetermined timing during the stance phase based on the control pattern information so that the knee moves forward when weight is applied. When control pattern information corresponding to knee bending is selected, the control processing unit 103 executes plantar flexion control at a predetermined timing in the stance phase based on the control pattern information so as to suppress knee bending. When control pattern information corresponding to knee joint contracture is selected, the control processing unit 103 executes dorsiflexion control at a predetermined timing in the stance phase based on the control pattern information so that the knee is bent before the leg is swung out. When control pattern information corresponding to knee osteoarthritis is selected, the control processing unit 103 executes free control in either or both of the stance phase and the swing phase based on the control pattern information.

[0063] Based on each control pattern information for each symptom, the control executed by the control processing unit 103 is preferably as follows. That is, when control is performed based on control pattern information corresponding to the symptom of knee buckling, plantar flexion control is initiated at an earlier timing during the stance phase of the target leg compared to when control is performed based on control pattern information corresponding to the symptoms of genu recurvatum or knee joint contracture. This makes it possible to effectively prevent bending of the knee of a user with knee buckling symptoms when weight is applied to the target leg by rotating the ankle joint in the plantar flexion direction. Furthermore, when control is performed based on control pattern information corresponding to a symptom of knee joint contracture, dorsiflexion control is initiated at a later timing during the stance phase of the target leg compared to when control is performed based on control pattern information corresponding to a symptom of genu recurvatum. This makes it possible to encourage rotation of the ankle joint in the dorsiflexion direction at a timing appropriate to each symptom, so that a user with a symptom of genu recurvatum will have their knee move forward when weight is applied, and a user with a symptom of knee joint contracture will have their knee bent when swinging their leg out.

[0064] In this manner, in this embodiment, the user's symptoms related to a walking disorder are selected, and the drive of the drive mechanism 40 is controlled based on the control pattern information corresponding to the symptoms. This allows even a user with a disability related to a walking disorder, particularly a knee joint symptom, to continue effective walking training while reducing the burden and discomfort. Furthermore, by selecting not only the symptoms but also the strength of the assist (assistance) and fine-tuning the control timing, it is possible to provide detailed assistance according to the user's condition.

[0065] [Walking movement assistance method] FIG. 7 is a flowchart showing an example of the operation of the walking movement assist device 1 according to this embodiment. Hereinafter, the walking movement assist method according to this embodiment will be described with reference to Fig. 7. Fig. 7 mainly shows a pre-step of walking movement assist in the walking movement assist method. 7 are the same as the processing contents of the control processing unit 103 and the UI processing unit 104 described above, and therefore, the details of each step will be omitted below as appropriate.

[0066] First, the UI processing unit 104 causes the UI device to display a selection screen such as that shown in FIG. 6 (S71). 6, the selection screen displays six selection buttons M1 to M6 along with a message saying "Please select according to your walking condition." Selection button M1 displays "Basic Mode," selection button M2 is a button selected by users with genu recurvatum symptoms, selection button M3 is a button selected by users with knee joint contracture symptoms, selection button M4 is a button selected by users with knee osteoarthritis (knee OA), selection button M5 is a button selected by users with knee flexion symptoms, and selection button M6 is a button selected by users with a tendency to stumble. The operator (which may be the user (wearer) himself / herself or another person) presses a selection button indicating a symptom that suits the user (wearer) from the displayed selection screen.

[0067] When the UI processing unit 104 detects a press operation on the selection button M1 indicating the basic mode (S72), it selects general control pattern information from the plurality of control pattern information stored in the storage unit 102, and when it detects a press operation on the selection button M6 indicating a symptom that makes a person prone to stumbling (S72), it selects control pattern information corresponding to the symptom that makes a person prone to stumbling (S73).

[0068] When the UI processing unit 104 detects a pressing operation on any of the selection buttons M2, M5, or M3, which indicate genu recurvatum, knee flexion, or knee joint contracture (S72), it causes the UI device to display an option selection screen for the strength of assistance (76). The option selection screen displayed at this time allows the user to select whether the strength of the assist (assistance) force is normal or strong.

[0069] When a pressing operation on the selection button M2 indicating genu recurvatum is detected (S72), the UI processing unit 104 selects control pattern information corresponding to genu recurvatum and corresponding to the assist force (normal or strong) selected on the option selection screen (S77). When a pressing operation on the selection button M5 indicating knee bending is detected (S72), the UI processing unit 104 selects control pattern information corresponding to knee bending and corresponding to the assist force (normal or strong) selected on the option selection screen (S77). When a pressing operation on the selection button M3 indicating knee joint contracture is detected (S72), the UI processing unit 104 selects control pattern information corresponding to the knee joint contracture and corresponding to the assist force (normal or strong) selected on the option selection screen (S77).

[0070] When the UI processing unit 104 detects a pressing operation on the selection button M4 indicating knee osteoarthritis (knee OA) (S72), it causes the UI device to display a pattern option selection screen (74). The option selection screen displayed at this time allows the user to select one of a plurality of patterns.

[0071] When a pressing operation on the selection button M4 indicating knee osteoarthritis (knee OA) is detected (S72), the UI processing unit 104 selects control pattern information corresponding to knee osteoarthritis (knee OA) and corresponding to the option selected on the option selection screen (S75).

[0072] The control processing unit 103 starts the drive control of the drive mechanism 40 based on the control pattern information selected as described above (S78). However, the UI processing unit 104 may cause the UI device to display the time-series rotation pattern indicated by the control pattern information selected in step (S73), step (S75), or step (S77) so that the time-series rotation pattern indicated by the control pattern information can be changed by a user operation. In this case, when the time-series rotation pattern is changed by a user operation, the control processing unit 103 starts drive control of the drive mechanism 40 based on the changed control pattern information (S78).

[0073] [Variations] The above is an example of the walking movement assist device 1 and walking movement assist method according to this embodiment. The walking movement assist device 1 is not limited to the above-described configuration, and may be partially modified as appropriate as long as it has at least a part of the above-described configuration. In addition, although a plurality of steps (processing) are shown in order in Fig. 7, the content of each step of the walking movement assist method according to this embodiment and the order of execution of each step are not limited to the example in Fig. 7. The order of execution of each step may be changed within the scope of the spirit of the invention.

[0074] Furthermore, the drive control of the drive mechanism 40 by the control processing unit 103 may be performed based on the selected control pattern information and is not limited to the above example. For example, the device 1 may not have the sensor 250, and the current phase of the user's target leg may be identified only by the elapsed time from the reference phase in the walking cycle, or the current rotation angle of the drive mechanism 40 may be estimated without relying on a signal fed back from a rotation sensor or the like. Furthermore, free control was performed between adjacent set points where the target rotation angle was set to the same in the control pattern information, but control that fixes the target rotation angle (hereinafter referred to as fixed control) may be performed instead of free control, or free control or fixed control may be selectively performed.

[0075] Furthermore, the selection screen for allowing the user to select control pattern information is not limited to the example of FIG. 6, six selection buttons M1 to M6 are provided, but fewer than six selection buttons or seven or more selection buttons may be provided depending on the number of categories of control pattern information stored in the storage unit 102. For example, a selection screen may display three selection buttons: a selection button associated with general control pattern information, a selection button corresponding to knee joint symptoms, and a selection button corresponding to other symptoms related to gait disorders. When the selection button corresponding to knee joint symptoms is pressed on the selection screen, a selection screen having four selection buttons corresponding to genu recurvatum, knee flexion, knee joint contracture, and knee OA may be further displayed. Similarly, when the selection button corresponding to other symptoms related to gait disorders is pressed, a selection screen having a selection button corresponding to a symptom of proneness to tripping and two or more selection buttons corresponding to other symptoms may be further displayed.

[0076] The contents of each of the above-described embodiments can also be specified as follows. (Appendix 1) A control device for a walking motion assist device including at least a motor and a drive mechanism that rotates by a driving force of the motor and can assist the rotational movement of an ankle joint of a target leg of a user, a storage means for storing a plurality of pieces of control pattern information indicating time-series rotation patterns of the drive mechanism corresponding to walking cycles; a control processing means for controlling the driving of the drive mechanism by the motor based on the control pattern information; Equipped with the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns; The plurality of symptoms includes at least two or more symptoms related to the knee joint. A control device for a walking assistance device. (Appendix 2) The plurality of symptoms include at least knee flexion and genu recurvatum, or knee flexion and knee joint contracture, as two or more symptoms related to the knee joint, the storage means stores at least control pattern information corresponding to the knee flexion symptom and control pattern information corresponding to the genu recurvatum or knee joint contracture symptom, The control processing means Plantar flexion control can be performed to rotate the drive mechanism in a plantar flexion direction, When control is performed based on control pattern information corresponding to the symptom of knee bending, the plantar flexion control is started at an earlier timing in the stance phase of the target leg than when control is performed based on control pattern information corresponding to the symptom of genu recurvatum or knee joint contracture. 2. A control device for a walking movement assist device according to claim 1. (Appendix 3) The plurality of symptoms includes at least genu recurvatum and knee joint contracture as two or more symptoms related to the knee joint, the storage means stores at least control pattern information corresponding to the symptom of genu recurvatum and control pattern information corresponding to the symptom of knee joint contracture, The control processing means A dorsiflexion control is performed to rotate the drive mechanism in a dorsiflexion direction, When control is performed based on control pattern information corresponding to the symptom of knee joint contracture, the dorsiflexion control is started at a later timing in the stance phase of the target leg compared to when control is performed based on control pattern information corresponding to the symptom of genu recurvatum. 3. A control device for a walking movement assist device according to claim 1 or 2. (Appendix 4) the storage means further stores control pattern information corresponding to a symptom of being prone to tripping as a symptom of a walking disorder. 4. A control device for a walking movement assist device according to any one of appendices 1 to 3. (Appendix 5) further comprising a display processing means for displaying on a display device a selection screen that allows a user to select one symptom from the plurality of symptoms; the control processing means controls the driving of the drive mechanism by the motor based on control pattern information corresponding to a symptom selected based on a user operation on the selection screen. 5. A control device for a walking movement assist device according to any one of appendices 1 to 4. (Appendix 6) the display processing means causes the display device to selectably display any one of two or more options corresponding to the one symptom selected by the user; the control processing means controls driving of the drive mechanism by the motor based on control pattern information corresponding to the selected symptom, the control pattern information corresponding to a selected option out of two or more mutually different control pattern information corresponding to the two or more options. 6. A control device for a walking movement assist device according to claim 5. (Appendix 7) A walking movement assist method executed by a walking movement assist device including at least a motor, a drive mechanism that rotates by a driving force of the motor and is capable of assisting a rotational movement of an ankle joint of a target leg of a user, a storage means that stores a plurality of pieces of control pattern information that indicate time-series rotation patterns of the drive mechanism corresponding to a walking cycle, and a control processing means that controls driving of the drive mechanism by the motor based on the control pattern information, the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns; The plurality of symptoms includes at least two or more symptoms related to the knee joint, a display step of displaying on a display device a selection screen that allows a user to select one symptom from the plurality of symptoms; a selection step of selecting control pattern information corresponding to a symptom selected based on a user operation on the selection screen; a control step of controlling the driving of the drive mechanism by the motor based on the selected control pattern information; A walking movement assistance method including: (Appendix 8) The selection step includes: displaying on the display device one of two or more options corresponding to the one symptom selected by the user in a selectable manner; selecting control pattern information corresponding to the selected symptom, the control pattern information corresponding to the selected option from among two or more mutually different control pattern information corresponding to the two or more options; 8. The walking movement assist method according to claim 7, further comprising: [Explanation of symbols]

[0077] 1 Walking motion assist device (this device), 2 Leg attachment part, 5 Waist attachment part, 10 Control device, 11 CPU, 12 Memory, 13 Input / output I / F, 15 Communication unit, 21 Lower leg orthosis, 22 Foot orthosis, 24 Lower leg frame, 25 Foot frame, 26 Connecting shaft, 28 Leg storage box, 30 Motor, 40 Drive mechanism, 51 Waist belt, 52 Waist storage box, 101 Acquisition unit, 102 Holding unit, 103 Control processing unit, 104 UI processing unit, 221 Instep belt, 222 Ankle belt, 250 Sensor

Claims

1. A control device for a walking motion assist device including at least a motor and a drive mechanism that rotates by a driving force of the motor and can assist the rotational movement of an ankle joint of a target leg of a user, a storage means for storing a plurality of pieces of control pattern information indicating time-series rotation patterns of the drive mechanism corresponding to walking cycles; a control processing means for controlling the driving of the drive mechanism by the motor based on the control pattern information; Equipped with the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns; The plurality of symptoms includes at least two or more symptoms related to the knee joint. A control device for a walking assistance device.

2. The plurality of symptoms include at least knee flexion and genu recurvatum, or knee flexion and knee joint contracture, as two or more symptoms related to the knee joint, the storage means stores at least control pattern information corresponding to the knee flexion symptom and control pattern information corresponding to the genu recurvatum or knee joint contracture symptom, The control processing means Plantar flexion control can be performed to rotate the drive mechanism in a plantar flexion direction, When control is performed based on control pattern information corresponding to the symptom of knee bending, the plantar flexion control is started at an earlier timing in the stance phase of the target leg than when control is performed based on control pattern information corresponding to the symptom of genu recurvatum or knee joint contracture. The control device for a walking movement assist device according to claim 1.

3. The plurality of symptoms includes at least genu recurvatum and knee joint contracture as two or more symptoms related to the knee joint, the storage means stores at least control pattern information corresponding to the symptom of genu recurvatum and control pattern information corresponding to the symptom of knee joint contracture, The control processing means A dorsiflexion control is performed to rotate the drive mechanism in a dorsiflexion direction, When control is performed based on control pattern information corresponding to the symptom of knee joint contracture, the dorsiflexion control is started at a later timing in the stance phase of the target leg compared to when control is performed based on control pattern information corresponding to the symptom of genu recurvatum. The control device for a walking movement assist device according to claim 1.

4. the storage means further stores control pattern information corresponding to a symptom of being prone to tripping as a symptom of a walking disorder. The control device for a walking movement assist device according to claim 1.

5. further comprising a display processing means for displaying on a display device a selection screen that allows a user to select one symptom from the plurality of symptoms; the control processing means controls the driving of the drive mechanism by the motor based on control pattern information corresponding to a symptom selected based on a user operation on the selection screen. The control device for a walking movement assist device according to any one of claims 1 to 4.

6. the display processing means causes the display device to selectably display any one of two or more options corresponding to the one symptom selected by the user; the control processing means controls driving of the drive mechanism by the motor based on control pattern information corresponding to the selected symptom, the control pattern information corresponding to a selected option out of two or more mutually different control pattern information corresponding to the two or more options. The control device for a walking movement assist device according to claim 5.

7. A walking movement assist method executed by a walking movement assist device including at least a motor, a drive mechanism that rotates by a driving force of the motor and is capable of assisting a rotational movement of an ankle joint of a target leg of a user, a storage means that stores a plurality of pieces of control pattern information that indicate time-series rotation patterns of the drive mechanism corresponding to a walking cycle, and a control processing means that controls driving of the drive mechanism by the motor based on the control pattern information, the plurality of control pattern information stored in the storage means includes at least a plurality of control pattern information corresponding to a plurality of symptoms related to walking disorders and having mutually different time-series rotation patterns; The plurality of symptoms includes at least two or more symptoms related to the knee joint, a display step of displaying on a display device a selection screen that allows a user to select one symptom from the plurality of symptoms; a selection step of selecting control pattern information corresponding to a symptom selected based on a user operation on the selection screen; a control step of controlling the driving of the drive mechanism by the motor based on the selected control pattern information; A walking movement assistance method including:

8. The selection step includes: displaying on the display device one of two or more options corresponding to the one symptom selected by the user in a selectable manner; selecting control pattern information corresponding to the selected symptom, the control pattern information corresponding to the selected option from among two or more mutually different control pattern information corresponding to the two or more options; The walking movement assist method according to claim 7, further comprising:

Images