Walking assistance system, controller, and method for operating walking assistance system

Abstract

To provide a walking assist system, a controller and a walking assist method capable of implementing intuitive operation.SOLUTION: A walking assist system 100 used to improve walking, comprises a walking mechanism 5 supporting legs of a user 9 and including a right footrest part 11 and a left footrest part 12 spaced apart from each other, a drive mechanism 30 for moving the walking mechanism 5, a controller 15 for a walking assistant 9s to set a motion trajectory M to the walking mechanism 5, a detection part T for detecting the motion trajectory M set via the controller 15, and a control device 50 provided independently of the controller 15 and controlling the drive mechanism 30 on the basis of, the detection result of the detection part T.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a walking assistance system, a controller, and a walking assistance method. [Background technology]

[0002] In recent years, technology relating to the experience of walking has been attracting attention for the purpose of rehabilitation and improvement of physical functions, and for example, a walking training system disclosed in Patent Document 1 has been proposed.

[0003] The walking training system disclosed in Patent Document 1 includes a treadmill, a leg robot attached to the leg of the trainee, a motor control unit, and a treadmill control unit. The leg robot includes a motor that assists the movement of the knee joint. The motor control unit controls the motor of the leg robot. The treadmill control unit controls the driving speed of the treadmill according to the rotation angle of the motor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-158689 A Summary of the Invention [Problem to be solved by the invention]

[0005] Conventional end-effector type walking rehabilitation devices tend to be controlled using a general personal computer (PC). In this case, the operation of the foot pad (walking mechanism) on which the user places his / her feet is changed or modified via a mouse, keyboard, touch panel, etc. However, with the above method, it is difficult for walking assistants such as physical therapists and trainers to intuitively operate the walking rehabilitation device.

[0006] In this regard, Patent Document 1 merely discloses a technique for controlling a leg robot or a treadmill in response to the user's movements, and it is difficult to realize the above-mentioned intuitive operation.

[0007] The present invention has been devised in view of the above-mentioned problems, and an object of the present invention is to provide a walking assistance system, a controller, and a walking assistance device that can realize intuitive operation. System Operation The purpose is to provide a method. [Means for solving the problem]

[0008] A walking assist system according to a first aspect of the present invention is a walking assist system used for experiencing walking, comprising: a walking mechanism that supports the feet of a user and includes a right footrest and a left footrest spaced apart from each other; a drive mechanism that moves the walking mechanism; a controller that sets a motion trajectory for the walking mechanism; a detection unit that detects the motion trajectory set via the controller; and a control device that is provided independently of the controller and controls the drive mechanism based on a detection result of the detection unit. The detection unit includes a sensor that detects a path along which the controller moves in a state linked with the walking mechanism as the movement trajectory. It is characterized by:

[0010] No. 2 The walking assistance system according to the present invention is 1 In the invention, the controller includes a housing and a connection section that maintains the linkage between the housing and the walking mechanism.

[0011] No. 3 The walking assistance system according to the present invention is or No. 2 Departure Clearly The controller includes an adjustment unit for adjusting at least a portion of a preset movement trajectory, and the detection unit is provided within the controller, detects the adjusted movement trajectory via the adjustment unit, and transmits it to the control device.

[0012] No. 4 The walking assistance system according to the present invention comprises the first to third inventions. 3In any of the inventions, the control device calculates control conditions including a walking direction, a height direction, and a moving speed of the walking mechanism, and controls the drive mechanism based on the control conditions.

[0013] No. 5 The walking assistance system according to the present invention comprises the first to third inventions. 4 In any of the inventions, the detection section detects the movement trajectory set for either the right footrest section or the left footrest section via the controller.

[0014] No. 6 The walking assistance system according to the present invention is 5 In the invention, the control device is characterized in that, based on the detection result, the control mechanism controls the drive mechanism so that movement of either the right footrest portion or the left footrest portion is linked to movement of the other of the right footrest portion or the left footrest portion.

[0015] No. 7 The walking assistance system according to the present invention is 5 In the present invention, the control device controls the drive mechanism based on the detection result so that the left footrest moves in phase with respect to the right footrest.

[0016] No. 8 The walking assistance system according to the present invention comprises the first to third inventions. 4 In any of the inventions, the detection section is configured to detect the motion trajectories for the right footrest section and the left footrest section, which are set via the controller, independently of each other.

[0017] No. 9 The walking assistance system according to the present invention comprises the first to third inventions. 8In any of the inventions, the walking assistance device further includes the walking mechanism and the drive mechanism, wherein the walking mechanism includes a footrest mechanism including the right footrest portion and the left footrest portion, and a connection mechanism arranged below the footrest mechanism and connected to the footrest mechanism, wherein the drive mechanism is arranged below the footrest mechanism and moves the footrest mechanism in the walking direction via the connection mechanism, and the connection mechanism includes a right side connection portion connected to the right footrest portion and a left side connection portion separated from the right side connection portion and connected to the left footrest portion, and the drive mechanism includes a pair of right side drive units that independently apply a load to the right side connection units in the walking direction to move the right footrest portion in at least one of the walking direction and the height direction, and a pair of left side drive units that independently apply a load to the left side connection units in the walking direction to move the left footrest portion in at least one of the walking direction and the height direction.

[0018] No. 1 0 The controller according to the present invention is the first invention to the third invention. 9 The present invention is used in a walking assistance system according to any one of the present inventions, and is characterized in that the detection unit is mounted thereon.

[0019] No. 1 1 Walking aid according to the invention System Operation The method is to use a walking aid to experience walking. System Operation It is a method , mutual They are spaced apart , for supporting the user's right foot Right foot rest and for supporting the left foot of the user a detection step of detecting a movement trajectory set via a controller for the walking mechanism including the left footrest; Along the motion trajectory detected by and a control step of controlling a drive mechanism that moves the walking mechanism via a control device provided independently of the controller. The detection step includes detecting, by using a sensor, a path along which the controller moves in a state linked with the walking mechanism as the movement trajectory. It is characterized by: Effect of the Invention

[0020] First Invention to Third Invention 9According to the invention, the control device is provided independently of the controller and controls the drive mechanism based on the detection result. In other words, the movement trajectory of the walking mechanism can be set regardless of the location or position of the control device. Therefore, the walking assistant can arbitrarily set the movement trajectory of the walking mechanism by using the controller. This makes it possible to realize intuitive operation of the walking assistance system.

[0021] In addition, the first invention to the 9 According to the invention, the detection unit detects the motion trajectory set via the controller. That is, the motion trajectory can be set to temporarily stop the motion of the walking mechanism regardless of the stance phase or swing phase. Therefore, for example, the motion of the walking mechanism can be stopped in the swing phase, and interactive motion teaching can be performed, such as teaching the walking assistant how to move the body. This can dramatically expand the options for teaching methods, making it possible to improve the user's walking ability early.

[0022] In addition, the first invention No. 9 According to the invention, the sensor is a controller in a state linked with the walking mechanism. but Variation The route is detected as the movement trajectory. Therefore, the movement trajectory can be set based on the movement of the walking mechanism to be controlled. This makes it possible to easily realize intuitive operation of the walking assistance system.

[0023] In particular, 2 According to the invention, the controller includes a connection unit that maintains the interlocking of the housing and the walking mechanism. Therefore, the walking assistant can set the movement trajectory using the controller in any posture, regardless of the position of the walking mechanism. This makes it possible to improve the convenience of setting the movement trajectory.

[0024] In particular, 3According to the invention, the detection unit is provided in the controller, detects the movement trajectory adjusted via the adjustment unit, and transmits it to the control device. Therefore, detailed settings of the movement trajectory can be performed only by the controller. This makes it possible to improve convenience.

[0025] In particular, 4 According to the invention, the control device calculates control conditions including the walking direction, height direction, and moving speed of the walking mechanism, and controls the drive mechanism based on the control conditions. Therefore, it is possible to design a movement trajectory suitable for the characteristics of the user. This makes it possible to realize the movement trajectory expected by the walking assistant with high accuracy.

[0026] In particular, 5 Invention ~ 7 According to the invention, the detection unit detects the movement trajectory set for either the right footrest or the left footrest via the controller. Therefore, it is possible to set the detailed movement of either the right footrest or the left footrest. This makes it possible to reproduce the movement trajectory expected by the walking assistant with even higher accuracy.

[0027] Especially the 6 According to the invention, the control device controls the drive mechanism based on the detection result so that the movement of either the right foot rest or the left foot rest is linked to the movement of the other of the right foot rest or the left foot rest. Therefore, the movement of the walking mechanism can be realized by setting a movement trajectory for only one of the right foot rest or the left foot rest. This makes it possible to reduce the burden on the walking assistant of setting the movement trajectory.

[0028] In particular, 7 According to the invention, the control device controls the drive mechanism based on the detection result so that the left foot rest moves in phase with the right foot rest. Therefore, by setting a motion trajectory for either the right foot rest or the left foot rest, the right foot rest and the left foot rest can be moved. This makes it possible to improve convenience.

[0029] In particular,8 According to the invention, the detection unit detects the motion trajectories for the right foot rest and the left foot rest independently. This makes it easy to set motion trajectories with different characteristics for each foot rest. This makes it possible to expand the range of conditions for the motion trajectories that can be set.

[0030] In particular, 9 According to the invention, the connection mechanism and the drive mechanism are provided at a position lower than the footrest mechanism. In other words, no mechanism for moving the footrest mechanism is provided at a position higher than the footrest mechanism. This makes it easier for the walking assistant to come into contact with the user and provide direct guidance, and prevents the walking assistant from being entangled in the drive mechanism, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user.

[0031] In particular, 9 According to the invention, the pair of right side drive units independently apply a load in the walking direction to the right side connection unit, thereby moving the right footrest unit in at least one of the walking direction and the height direction. The pair of left side drive units independently apply a load in the walking direction to the left side connection unit, thereby moving the left footrest unit in at least one of the walking direction and the height direction. That is, by applying a load to each connection unit along the same direction (walking direction) using the pair of drive units, movement of each footrest unit in the walking direction and the height direction is realized. This makes it possible to reduce the configuration required for controlling the footrest mechanism. This makes it possible to realize a compact walking assistance device.

[0032] Also, the first 0 According to the invention, by using a controller equipped with a detection unit, intuitive operation of the walking assistance system can be realized.

[0033] Also, the first 1 According to the invention, the control step includes controlling the controller via a control device provided independently of the controller. Along the motion trajectory detected in the detection stepThe controller controls the drive mechanism. In other words, the movement trajectory of the walking mechanism can be set regardless of the location or position of the control device. Therefore, the walking assistant can arbitrarily set the movement trajectory of the walking mechanism by using the controller. This allows the walking assistant to System Operation It is therefore possible to realize an intuitive operation in the method.

[0034] Also, the first 1 According to the invention, the detection step detects the motion trajectory set via the controller. That is, the motion trajectory can be set to temporarily stop the motion of the walking mechanism regardless of the stance phase or swing phase. Therefore, for example, the motion of the walking mechanism can be stopped in the swing phase, and interactive motion teaching can be performed, such as teaching the walking assistant how to move the body. This can dramatically expand the options for teaching methods, making it possible to improve the user's walking ability early. According to the eleventh aspect of the present invention, the detection step includes detecting, by using a sensor, a path along which the controller moves in a state linked with the walking mechanism as a movement trajectory. Therefore, the movement trajectory can be set in consideration of the movement of the walking mechanism to be controlled. This makes it possible to easily realize an intuitive operation in the method of operating the walking assist system. [Brief description of the drawings]

[0035] [Figure 1] FIG. 1 is a schematic diagram showing an example of a walking assistance system according to the present embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing an example of a movement trajectory. [Diagram 3] 3(a) and 3(b) are schematic diagrams showing an example of a controller. [Figure 4] FIG. 4 is a schematic diagram showing an example of a display. [Diagram 5] FIG. 5(a) is a schematic diagram showing an example of the configuration of a control device, and FIG. 5(b) is a schematic diagram showing an example of the function of the control device. [Figure 6] FIG. 6 is a flowchart showing an example of the walking assistance method in this embodiment. [Figure 7] 7(a) to 7(c) are schematic diagrams showing an example of the auxiliary connecting portion. [Figure 8] FIG. 8 is a schematic diagram illustrating an example of a controller including an auxiliary connection portion. [Figure 9] Figure 9(a) is a schematic top view showing an example of a walking assistance device in this embodiment, Figure 9(b) is a schematic side view showing an example of a walking assistance device in this embodiment, and Figure 9(c) is a schematic rear view showing an example of a walking assistance device in this embodiment. [Figure 10] Figure 10(a) is a schematic oblique view showing an example of a right side connection portion in this embodiment, Figure 10(b) is a schematic oblique view showing an example of a first right side support portion, Figure 10(c) is a schematic oblique view showing an example of a second right side support portion, and Figure 10(d) is a schematic oblique view showing an example of a right side rotation shaft. [Figure 11] 11(a) and 11(b) are schematic diagrams showing the first connection point, and FIG. 11(c) and FIG. 11(d) are schematic diagrams showing the second connection point. [Figure 12] 12(a) and 12(b) are schematic side views showing an example of the right-side connection portion. [Figure 13] 13(a) to 13(c) are schematic diagrams showing an example of a link mechanism. [Figure 14] FIG. 14 is a schematic diagram showing an example of a cross slider structure and a spring. [Figure 15] 15(a) to 15(c) are schematic diagrams showing an example of the rail. [Figure 16] FIG. 16 is a schematic side view showing an example of the relationship between the controller and the walking mechanism. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, an example of a walking assistance system, a controller, and a walking assistance method according to an embodiment of the present invention will be described with reference to the drawings. In each drawing, the direction in which the user 9 moves the feet back and forth is the walking direction X, the direction in which the user 9 moves the feet up and down is the height direction Z, and the direction intersecting the walking direction X and the height direction Z is the width direction Y. In addition, the configurations in each drawing are illustrated diagrammatically for the purpose of explanation, and for example, the size of each configuration and the size comparison between each configuration may differ from those in the drawing.

[0037] (Embodiment: Walking assistance system 100) FIG. 1 is a schematic diagram showing an example of a walking assistance system 100 according to the present embodiment.

[0038] The walking assist system 100 is used for the user 9 to experience walking, for example, as shown in FIG. 1, and is used for walking improvement such as rehabilitation of the user 9. The walking assist system 100 may be used, for example, to experience pseudo walking. The walking assist system 100 includes a walking mechanism 5, a drive mechanism 30, a controller 15, a detection unit T, and a control device 50. The walking assist system 100 may include, for example, a walking assist device 1 including the walking mechanism 5 and the drive mechanism 30.

[0039] <Walking Mechanism 5> The walking mechanism 5 supports the feet of the user 9. The walking mechanism 5 moves in a walking direction X and a height direction Z to assist the user 9 in walking in a manner suitable for the user 9. The walking mechanism 5 includes a right footrest 11 and a left footrest 12 that are spaced apart from each other. By including the right footrest 11 and the left footrest 12 in the walking mechanism 5, it is possible to realize a movement similar to normal walking. The right footrest 11 and the left footrest 12 may have a shape as shown in FIG. 1, for example, or a known device for supporting the feet of the user 9 may be used. An example of the walking mechanism 5 will be described later.

[0040] <Drive mechanism 30> The drive mechanism 30 moves the walking mechanism 5. The drive mechanism 30 moves, for example, the right footrest 11 and the left footrest 12 independently. The drive mechanism 30 may include, for example, an endless belt 30B as shown in FIG. 1 and a motor 30M, or may use a known device for moving the footrests 11, 12. An example of the drive mechanism 30 will be described later.

[0041] <Controller 15> The controller 15 is used to set a motion trajectory M for the walking mechanism 5. The controller 15 is used around the walking mechanism 5, for example, along a side of the walking mechanism 5, as shown in FIG.

[0042] For example, the walking assistant 9s can set a movement trajectory M for the walking mechanism 5 by moving the controller 15. That is, by using the controller 15, a history of movement from a preset position (for example, a stopping position of the walking mechanism 5) can be set as the movement trajectory M. In particular, the movement trajectory M used for rehabilitation or the like needs to be changed according to the characteristics of the user 9, and it is necessary to spend a huge amount of time to set the desired trajectory using a PC or the like. In contrast, by setting the movement trajectory M using the controller 15, the setting time can be significantly reduced.

[0043] The controller 15 can set the movement trajectory M, for example, in a state of interlocking with the walking mechanism 5. At this time, the controller 15 interlocks with the walking mechanism 5 in a state of physical contact or non-contact. Note that the position where the controller 15 interlocks with the walking mechanism 5 can be set arbitrarily, such as the side or bottom surface of the walking mechanism 5.

[0044] The controller 15 can set a motion trajectory M for, for example, either the right footrest 11 or the left footrest 12 of the walking mechanism 5. For example, when the movements of the footrests 11, 12 are controlled to be linked, if a motion trajectory M for only one of the footrests 11, 12 is set, there is no need to set a motion trajectory M for the other of the footrests 11, 12.

[0045] The controller 15 can, for example, independently set motion trajectories M for both the right footrest 11 and the left footrest 12 of the walking mechanism 5. For example, when the movements of the footrests 11, 12 are controlled independently, motion trajectories M with different characteristics can be easily set for the footrests 11, 12.

[0046] 3(a) and 3(b), the controller 15 includes a housing 16 and a connection unit 17. The controller 15 may include an adjustment unit 18 and a display 19, for example.

[0047] The housing 16 is configured to be small enough to be held in one hand, for example. The housing 16 includes a detection unit T, for example.

[0048] The connection part 17 is used to maintain the interlocking of the housing 16 and the walking mechanism 5 (the left footrest part 12 in FIG. 3(b)). The shape of the connection part 17 may be a rod-like shape protruding from the housing 16, or may be, for example, a cane-like shape with a curved tip, and any shape may be used depending on the application.

[0049] The connection unit 17 may include, for example, an interlocking unit 17a. The interlocking unit 17a is used to maintain the interlocking between a part of the walking mechanism 5 and the housing 16 by physical contact, and may be attached to the walking mechanism 5, for example, or may be attached as a pair to the connection unit 17 and the walking mechanism 5. For example, a contact-type member such as a hook-and-loop fastener, a clip, or a magnet is used as the interlocking unit 17a. For example, a hook-shaped member may be used as the interlocking unit 17a. In this case, the walking mechanism 5 and the housing 16 can be interlocked by inserting the interlocking unit 17a into a hole provided in the walking mechanism 5. Note that, for example, a sensor described later may be used as the interlocking unit 17a. In this case, the interlocking between a part of the walking mechanism 5 and the housing 16 can be maintained in a non-contact manner.

[0050] The adjustment unit 18 is used to set a new movement trajectory M, and may also be used, for example, to adjust at least a part of a previously set movement trajectory M. The adjustment unit 18 may be used, for example, to adjust the scale of the movement trajectory M, and may also be used to adjust the shape of the movement trajectory M. The adjustment unit 18 can be used to change parameters that are difficult to operate by changing the controller 15 alone, such as switching modes or adjusting cadence.

[0051] As the adjustment unit 18, for example, switches (for example, 18a to 18c in FIG. 3(a)) are used. The adjustment unit 18 may include any number of switches depending on the application, such as adjustment switches 18a, 18b and setting / changing switch 18c. For example, it may be possible to set or change the movement trajectory M when the setting / changing switch 18c is pressed.

[0052] For example, the adjustment unit 18 may include a switch for executing a trajectory experience mode and a trajectory change mode. In the trajectory experience mode, for example, while the walking assistant 9s presses the switch, the walking mechanism 5 moves based on a preset movement trajectory M. Therefore, the user 9 can experience in advance the walking movement that he or she is about to experience. In addition, when the walker releases the switch, the movement of the walking mechanism 5 stops. Therefore, it is possible to teach the way to move the body while walking for each scene.

[0053] The trajectory change mode changes, for example, the magnitude of the stride (the amount of movement of the walking mechanism 5 in the walking direction X) and the foot height (the amount of movement of the walking mechanism 5 in the height direction Z) of the motion trajectory M. For example, the stride may be changed when the walking mechanism 5 is in a stance phase (the position of either the right footrest 11 or the left footrest 12 in the height direction Z is at its lowest position). In this case, it is possible to improve the safety for the user 9. Also, for example, the foot height may be changed when the walking mechanism 5 is in a swing phase (when the footrests 11, 12 are in a position other than the stance phase).

[0054] The adjustment unit 18 is electrically connected to, for example, a detection unit T provided in the controller 15. In this case, the detection unit T can detect the movement trajectory M set or adjusted via the adjustment unit 18 and transmit the detection result to the control device 50.

[0055] 4, the display 19 may display the movement trajectory M, for example, and may also display the state of the walking assist device 1, such as the walking mechanism 5. As the display 19, a known image display device, such as a liquid crystal display or an organic electroluminescence display, may be used.

[0056] For example, when a touch panel type image display device is used as the display 19, the display 19 may include the adjustment unit 18. In this case, for example, the adjustment unit 18 may include adjustment buttons 18d to 18i for adjusting the characteristics of the movement trajectory M, as well as adjustment buttons 18j and 18k for starting and stopping the setting of the movement trajectory M. The adjustment unit 18 may include a switch for setting the above-mentioned control mode.

[0057] The display 19 may be electrically connected to, for example, a detection unit T provided in the controller 15. In this case, the detection unit T can detect the movement trajectory M set or adjusted via the adjustment unit 18 included in the display 19, and transmit the detection result to the control device 50.

[0058] <Detection section T> The detection unit T detects a movement trajectory M set via the controller 15. The detection unit T detects, for example, a trajectory along which the walking assistant 9s moves the controller 15 as the movement trajectory M. The detection unit T may be mounted on the controller 15 as shown in FIG. 3(a), for example, or may be attached to the walking mechanism 5, for example.

[0059] The detection unit T may include, for example, a sensor, as well as electronic devices such as a processor such as a CPU (Central Processing Unit), a storage device such as a RAM (Random Access Memory), and a communication device such as a wireless module. For example, when the sensor and electronic devices are mounted on the controller 15, the process of detecting the movement trajectory M and transmitting the detection result to the control device 50 or the like can be realized by the controller 15 alone. Note that, for example, when the detection unit T is mounted on the walking mechanism 5, by connecting the sensor to the control device 50, the control device 50 can directly obtain the detection result from the sensor, eliminating the need for electronic devices.

[0060] The sensor detects, for example, a change in the controller 15 in a state linked with the walking mechanism 5 as a movement trajectory M. The sensor may detect, for example, a change in the relative position of the controller 15 with respect to the walking mechanism 5 as the movement trajectory M. Note that a method for detecting the movement of the controller 15 as the movement trajectory M can be realized by a known technique, for example, by converting the measurement results of the sensor over time into two-dimensional coordinates.

[0061] As the sensor, a known sensing device such as an acceleration sensor or a force sensor is used. The sensor may be used, for example, to link the walking mechanism 5 and the controller 15. In this case, in addition to the above-mentioned sensing device, a sensing device such as an inductive proximity sensor, a capacitive proximity sensor, or a magnetic proximity sensor is used as the sensor. This makes it possible to detect the movement trajectory M after monitoring the state in which the walking mechanism 5 and the housing 16 are linked in a non-contact manner.

[0062] The detection unit T detects the movement trajectory M set via the controller 15 for, for example, either the right foot rest 11 or the left foot rest 12 of the walking mechanism 5. In this case, for example, the right foot rest 11 or the left foot rest 12 to be targeted may be set by the adjustment unit 18. In addition to the above, for example, sensors may be provided individually for each of the foot rests 11, 12, and it may be possible to determine whether the target of the movement trajectory M is the right foot rest 11 or the left foot rest 12 based on the presence or absence of detection by each sensor.

[0063] The detection unit T may detect the movement trajectories M for the right foot rest 11 and the left foot rest 12, which are set, for example, via the controller 15, independently of each other. In this case, the movement trajectory M for the right foot or the movement trajectory M for the left foot may be detected based on the setting of the adjustment unit 18 described above or the discrimination based on each sensor. Note that the detection unit T may detect the movement trajectory M for the right foot and the movement trajectory M for the left foot at the same timing, or may detect each movement trajectory M at different timings.

[0064] <Control device 50> The control device 50 is provided independently of the controller 15, and controls the drive mechanism 30 based on a signal. For example, an electronic device such as a personal computer is used as the control device 50. Note that at least a part of the control device 50 may be built into the walking assistance device 1, for example. The control device 50 may control the drive mechanisms 30 of multiple walking assistance devices 1, for example.

[0065] FIG. 5(a) is a schematic diagram showing an example of the configuration of the control device 50, and FIG. 5(b) is a schematic diagram showing an example of the function of the control device 50.

[0066] 5(a), the control device 50 includes a housing 51, a CPU 101, a ROM (Read Only Memory) 102, a RAM 103, a storage unit 104, and I / Fs 105 to 107. The components 101 to 107 are connected to each other via an internal bus 110.

[0067] The CPU 101 controls the entire control device 50. The ROM 102 stores the operation code of the CPU 101. The RAM 103 is a working area used when the CPU 101 operates. The storage unit 104 stores various information such as control parameters of the walking assistance device 1 and information on the movement trajectory M. The various information may include information on the past movement trajectory M (for example, a movement log), information for identifying the individual user 9, information on the movement trajectory M associated with each user 9, and the like. As the storage unit 104, for example, a data storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) is used. The detection unit T may include a configuration having the same function as each of the configurations 101 to 104.

[0068] The I / F 105 is an interface for transmitting and receiving various kinds of information to and from the outside, such as the walking assistance device 1, the detection unit T, the Internet, and the like. The I / F 106 is an interface for transmitting and receiving information to and from the input unit 108. For example, a keyboard is used as the input unit 108, and the walking assistant 9s or the like inputs control commands for the walking assistance device 1, and the like, via the input unit 108. The I / F 107 is an interface for transmitting and receiving various kinds of information to and from the display unit 109. The display unit 109 displays the various kinds of information stored in the storage unit 104. A known display is used as the display unit 109.

[0069] Fig. 5(b) is a schematic diagram showing an example of the functions of the control device 50. The control device 50 includes an acquisition unit 111, a calculation unit 112, an output unit 113, and a storage unit 114. Each function shown in Fig. 5(b) is realized by the CPU 101 using the RAM 103 as a working area to execute a program stored in the storage unit 104 or the like.

[0070] The acquisition unit 111 acquires the detection result detected by the detection unit T. The acquisition unit 111 may acquire various information detected via, for example, the walking assist device 1. The acquisition unit 111 acquires, for example, information on the load applied to the footrest mechanism 10. In this case, the acquisition unit 111 acquires the load information from, for example, the detection unit T provided in the footrest mechanism 10 of the walking assist device 1.

[0071] The calculation unit 112 calculates control conditions for controlling the walking assist device 1, such as the drive mechanism 30, based on various information such as the detection results acquired by the acquisition unit 111. The calculation unit 112 calculates the drive conditions of the drive mechanism 30, for example, using past data stored in the storage unit 104. The calculation unit 112 calculates the walking direction X, height direction Z, and movement speed of the walking mechanism 5 as control conditions, for example, based on the detection results. Note that the control conditions are parameters necessary for the walking mechanism 5 to reproduce, for example, fluctuations in the controller 15, and the control conditions can be calculated from the detection results using known techniques.

[0072] The calculation unit 112 can calculate the control conditions corresponding to the movement trajectory M by, for example, calculating the walking direction X, the height direction Z, and the moving speed of the walking mechanism 5 corresponding to the detection period of the detection result. For example, when a motor is used as the driving mechanism 30, the calculation unit 112 can calculate the motor rotation speed corresponding to the movement trajectory M as the control conditions. That is, the calculation unit 112 can calculate parameters according to the characteristics of the driving mechanism 30 as the control conditions.

[0073] The calculation unit 112 may calculate a control condition based on, for example, the detection result such that the movement of either the right footrest 11 or the left footrest 12 is linked to the movement of the other of the right footrest 11 or the left footrest 12. In this case, the movement of the walking mechanism 5 can be realized by setting the motion trajectory M for only either the right footrest 11 or the left footrest 12.

[0074] The calculation unit 112 may include in the control conditions a parameter for inverting the phase with respect to the right footrest 11 and moving the left footrest 12 based on, for example, the detection result. In this case, it is possible to realize the movement of the left footrest 12 without obtaining a detection result corresponding to the motion trajectory M of the left footrest 12. Note that, in addition to the above-mentioned parameter for "inverting the phase," the calculation unit 112 may include, for example, any parameter within the range of the phase between 90° and 270° inclusive in the control conditions.

[0075] The calculation unit 112 may include in the control conditions parameters for independently moving each of the footrests 11, 12 based on the detection results of the motion trajectories M for the right and left feet, for example. In this case, it is possible to easily realize movements with different characteristics for each of the footrests 11, 12.

[0076] The output unit 113 outputs the control conditions calculated by the calculation unit 112 to the walking assistance device 1 such as the drive mechanism 30. In response to this, the control device 50 controls the drive mechanism 30.

[0077] The storage unit 114 stores various information in the storage unit 104. The storage unit 114 stores, for example, a signal corresponding to the motion trajectory M acquired by the acquisition unit 111 and a control condition calculated by the calculation unit 112 in the storage unit 104.

[0078] (Embodiment: Walking assistance method) Next, an example of the walking assistance method according to this embodiment will be described below. Fig. 6 is a flow chart showing an example of the walking assistance method according to this embodiment.

[0079] The walking assistance method includes a detection step S110 and a control step S120.

[0080] <Detection step S110> The detection step S110 detects a movement trajectory M set for the walking mechanism 5 via the controller 15. For example, the walking assistant 9s moves the controller 15 along a path along which the walking mechanism 5 is to move. At this time, the sensor included in the detection unit T detects the path along which the controller 15 moves as the movement trajectory M.

[0081] In the detection step S110, the movement trajectory M set by using, for example, the display 19 shown in Fig. 4 may be detected. For example, the adjustment buttons 18d and 18e are used to adjust an increase or decrease in the length (step length) of the movement trajectory M in the walking direction X. The adjustment buttons 18f and 18g are used to adjust an increase or decrease in the length (foot height) of the movement trajectory M in the height direction Z. The adjustment buttons 18h and 18i are used to adjust an increase or decrease in the speed of the walking mechanism 5 moving along the movement trajectory M. For this reason, for example, the detection unit T detects the movement trajectory M set by using the above-mentioned adjustment buttons 18d to 18k.

[0082] For example, the movement trajectory M may be adjusted by moving the controller 15 with respect to the movement trajectory M displayed on the display 19. In this case, for example, the adjustment target portion of the movement trajectory M is displayed on the display 19. The walking assistant 9s moves the controller 15 along the trajectory of the adjustment target portion to be adjusted. As a result, the detection unit T detects it as the adjusted movement trajectory M based on information on the adjustment target portion of the movement trajectory M and the trajectory along which the controller 15 has moved.

[0083] For example, the movement trajectory M may be displayed on the display 19 as a spline curve. In this case, the control point of the spline curve close to the walking mechanism 5 may correspond to the fluctuation of the controller 15. This makes it possible to maintain a smooth trajectory even when a part of the movement trajectory M is adjusted.

[0084] <Control Step S120> In the control step S120, the drive mechanism 30 is controlled via the control device 50 based on the detection result in the detection step S110. For example, a communication device included in the detection unit T transmits the detection result detected by the sensor to the control device 50. Note that the communication device may be a known device, and the transmission means may be a known wireless connection means such as Wi-Fi (registered trademark).

[0085] The acquisition unit 111 of the control device 50 acquires the detection result transmitted from the communication device. After that, the calculation unit 112 calculates the control condition based on the detection result. Then, the output unit 113 outputs the control condition to the walking assistance device 1. As a result, the control device 50 can control the drive mechanism 30, and the drive mechanism 30 is driven, and the walking mechanism 5 moves based on the movement trajectory M.

[0086] For example, before the control conditions are calculated, the movement trajectory M may be displayed on the display unit 109. In this case, the control conditions may be calculated based on the result of adjusting a part of the movement trajectory M via the input unit 108. For example, the movement trajectory M may be displayed on the display unit 109 as a spline curve. In this case, as in the detection step S110 described above, even when a part of the movement trajectory M is adjusted, a smooth trajectory can be maintained.

[0087] By carrying out each of the above steps, the walking assistance method is completed. After that, for example, the user 9 uses the walking assistance device 1 to perform a pseudo-walk. Note that, for example, the above steps may be carried out while the user 9 is performing a pseudo-walk or while riding on the walking assistance device 1. By arbitrarily carrying out each of the above steps, the user 9 can repeatedly experience a pseudo-walk.

[0088] (Modifications of the controller 15) Next, a description will be given of a modified example of the controller 15. The difference between the modified example and the controller 15 described above is that the connection portion 17 includes an auxiliary connection portion 17b. Note that a description of the same contents as those in the above-described embodiment will be omitted.

[0089] The auxiliary connection part 17b is used to maintain the interlocking between the housing 16 and the walking mechanism 5. The auxiliary connection part 17b is connected to the connection part 17 and the walking mechanism 5, for example.

[0090] 7(a), the auxiliary connecting portion 17b has a base end portion 17bf and a tip end portion 17bs. The auxiliary connecting portion 17b extends in the height direction Z. The auxiliary connecting portion 17b has a length of, for example, about 50 cm to 100 cm.

[0091] The base end 17bf has a shape that connects to the connection part 17, for example, as shown in FIG. 7(b), and has, for example, a recess for inserting the connection part 17. Therefore, by connecting the base end 17bf to the connection part 17, the auxiliary connection part 17b can be linked with the fluctuation of the controller 15. The base end 17bf may have, for example, a structure similar to the above-mentioned linking part 17a. In this case, the base end 17bf may be connected to the connection part 17 via the linking part 17a.

[0092] The tip portion 17bs has a shape that connects to the walking mechanism 5 (left footrest portion 12 in FIG. 7(c)), for example, as shown in FIG. 7(c), and the walking mechanism 5 has, for example, a recess for inserting the tip portion 17bs. Therefore, by connecting the tip portion 17bs to the walking mechanism 5, the walking mechanism 5 can be linked via the auxiliary connection portion 17b in accordance with the movement of the controller 15. The tip portion 17bs may have, for example, a structure similar to the linking portion 17a described above. In this case, the tip portion 17bs may be connected to the walking mechanism 5 via the linking portion 17a attached to the walking mechanism 5.

[0093] By including the auxiliary connection portion 17b in the controller 15, for example, as shown in Fig. 8, the walking assistant 9s can set the movement trajectory M without bending down to the height of the walking mechanism 5. This makes it possible to improve the convenience when setting the movement trajectory M.

[0094] In addition to the above, since the controller 15 includes the auxiliary connection unit 17b, the walking assistant 9s can set the movement trajectory M while in contact with the user 9. Therefore, when setting the movement trajectory M, it is possible to prevent accidents such as the user 9 falling over.

[0095] (Walking aid 1) The walking assist device 1 in this embodiment executes an operation required for walking assistance based on, for example, a control condition transmitted from the control device 50. The control device 50 may obtain information on a load applied by the walking assistant 9s or the like via, for example, the walking assist device 1, and set the control condition of the walking assist device 1 based on the obtained information.

[0096] 1, the walking assistance device 1 includes the above-mentioned walking mechanism 5 and a drive mechanism 30. The walking mechanism 5 includes a footrest mechanism 10 and a connection mechanism 20.

[0097] The footrest mechanism 10 supports the feet of the user 9. The connection mechanism 20 is provided at a position lower than the footrest mechanism 10, and is connected to the footrest mechanism 10 and the drive mechanism 30. The drive mechanism 30 is provided at a position lower than the footrest mechanism 10, and moves the footrest mechanism 10 in the walking direction X via the connection mechanism 20.

[0098] As described above, the connection mechanism 20 and the drive mechanism 30 are provided at a position lower than the footrest mechanism 10 in the height direction Z. In other words, no mechanism for moving the footrest mechanism 10 is provided at a position higher than the footrest mechanism 10. This allows the walking assistant 9s to come into contact with the user 9 and provide direct guidance, and prevents the walking assistant 9s from being entangled in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user 9.

[0099] The walking assist device 1 may include a known assist mechanism such as a safety frame 80 or a body weight support device 90. The walking assist device 1 is used in a state in which, for example, a part of the drive mechanism 30 is fixed to a floor surface 8 and the connection mechanism 20 is movable in the walking direction X.

[0100] As shown in, for example, Figures 9(a) to 9(c), the footrest mechanism 10 includes a right footrest section 11 and a left footrest section 12. The right footrest section 11 and the left footrest section 12 are provided spaced apart from each other.

[0101] The connection mechanism 20 moves the footrest mechanism 10 in the height direction Z. The connection mechanism 20 has a structure that displaces in the height direction Z based on a load applied along the walking direction X, for example. As the connection mechanism 20, a link structure such as a pantograph structure or a ramp tongue structure may be used, or a cam structure such as a plate cam structure or a linear cam structure may be used. Note that the "link structure" includes the "pantograph structure."

[0102] The connection mechanism 20 includes a right connection part 21 and a left connection part 22. The right connection part 21 is connected to the right footrest part 11 and is spaced apart from the left footrest part 12. The left connection part 22 is connected to the left footrest part 12 and is spaced apart from the right footrest part 11 and the right connection part 21. Each of the connection parts 21, 22 is formed using an independent link structure, cam structure, or the like.

[0103] The driving mechanism 30 moves the connection mechanism 20 in the walking direction X. The driving mechanism 30 includes, for example, an endless belt 30B and a motor 30M, as shown in Fig. 1. In this case, the driving mechanism 30 applies a load to the connection mechanism 20 from the motor 30M via the endless belt 30B to move the connection mechanism 20 in the X direction. The driving mechanism 30 may include a cylinder such as a hydraulic cylinder or an air cylinder.

[0104] The drive mechanism 30 includes a pair of right drive units 31 and a pair of left drive units 32. The pair of right drive units 31 and the pair of left drive units 32 are provided spaced apart from each other.

[0105] The pair of right-side drive units 31 each independently applies a load in the walking direction X to the right-side connection unit 21, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left-side drive units 32 each independently applies a load in the walking direction X to the left-side connection unit 22, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z.

[0106] For example, when only one of the pair of right-side drive units 31 applies a load to the right-side connection unit 21, the right footrest unit 11 moves in the height direction Z. When the pair of right-side drive units 31 apply the same load to the right-side connection unit 21, the right footrest unit 11 moves in the walking direction X. When the pair of right-side drive units 31 apply different loads to the right-side connection unit 21, the right footrest unit 11 moves in the walking direction X and the height direction Z. Note that the pair of left-side drive units 32 also have the same characteristics as the pair of right-side drive units 31, and therefore a description thereof will be omitted.

[0107] As described above, the pair of right side drive units 31 independently apply a load to the right side connection unit 21 in the walking direction X, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left side drive units 32 independently apply a load to the left side connection unit 22 in the walking direction X, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z. That is, the pair of drive units 31, 32 apply a load to each connection unit 21, 22 in the same direction (walking direction X), thereby realizing the movement of each footrest unit 11, 12 in the walking direction X and the height direction Z. Therefore, the configuration required for controlling the footrest mechanism 10 can be reduced. This makes it possible to realize a compact device.

[0108] Each component will be described in detail below.

[0109] <Foot rest mechanism 10> The footrests 11, 12 are spaced apart, for example, by about shoulder width of the user 9 along the width direction Y. The shape of the footrests 11, 12 may be, for example, a plate shape, and may be any shape on which the soles of the feet of the user 9 can be placed. Note that, for example, a known structure for fixing the feet of the user 9 may be provided on the upper surface of each footrest 11, 12, or the feet of the user 9 may be supported in a state spaced apart from the upper surface of each footrest 11, 12.

[0110] The footrest mechanism 10 may include, for example, a hole extending in the walking direction X. In this case, a part of the connection mechanism 20 is connected to the hole. For example, each of the footrests 11, 12 may include a first hole 11a, 12a and a second hole 11b, 12b spaced apart in the walking direction X. The holes 11a, 11b, 12a, 12b may be provided on a side surface of each of the footrests 11, 12 along the walking direction X, for example, on both side surfaces 11s, 12s, as shown in FIG. 9(b).

[0111] <Connection mechanism 20> 9(a), the connection mechanism 20 overlaps with the footrest mechanism 10 when viewed from the height direction Z. The connection mechanism 20 moves in the walking direction X in contact with the floor surface 8, as shown in FIG. 9(b), for example.

[0112] For example, as shown in FIG. 9(c), the right connection part 21 is provided on the inside of both side surfaces 11s of the right footrest 11 as viewed from the walking direction X. Also, the left connection part 22 is provided on the inside of both side surfaces 12s of the left footrest 12 as viewed from the walking direction X. In this case, when the walking assistant 9s directly guides the user 9 from the side, contact with the connection mechanism 20 can be suppressed. This makes it possible to improve safety.

[0113] The right connection portion 21 and the left connection portion 22 have a link structure, such as a pantograph structure, etc. The link structure has a structure in which the height changes in accordance with the load applied from the drive mechanism 30.

[0114] For example, the right connection part 21 and the left connection part 22 are a pair of pantograph structures arranged side by side in the width direction Y. In this case, the pair of pantograph structures rotate with the same movement about the axis in the width direction Y. Therefore, the variation in the movement of each of the foot rest parts 11, 12 in the width direction Y can be suppressed via the pair of pantograph structures. This makes it possible to improve stability during operation.

[0115] Each of the connection parts 21, 22 showing the link structure includes, for example, a plurality of support parts and a rotation shaft. For example, the number of support parts and the number of rotation shafts included in each of the connection parts 21, 22 are equal. The following mainly describes the right connection part 21, but since the same configuration and effect can be obtained for the left connection part 22, the description will be omitted as appropriate.

[0116] 10(a), the right connection portion 21 includes a first right support portion 21a, a second right support portion 21b, and a right rotation shaft 21c. The first right support portion 21a and the second right support portion 21b support the right footrest portion 11.

[0117] The first right support part 21a is connected to the right footrest 11 and one of the pair of right drive parts 31. As shown in FIG. 10(b), the first right support part 21a includes a pair of first links 21aa and a first shaft part 21ab. The pair of first links 21aa are provided in parallel to each other and connected via the first shaft part 21ab. The first shaft part 21ab is provided, for example, on one end side of each of the first links 21aa.

[0118] The first right support portion 21a may include, for example, at least one of a wheel portion 21ac, an insertion portion 21ad, and a first tip portion 21ae. The wheel portion 21ac, the insertion portion 21ad, and the first tip portion 21ae are provided, for example, on each of the pair of first links 21aa.

[0119] The wheel portion 21ac may be provided on each end of the first shaft portion 21ab, or a plurality of wheel portions 21ac may be provided on each end of the first shaft portion 21ab. By providing the wheel portions 21ac, the right-side connection portion 21 can be moved smoothly.

[0120] The insertion portion 21ad is provided, for example, near the center of gravity of the first link 21aa. The insertion portion 21ad is used as a center for rotation of the first link 21aa by inserting a right rotation shaft 21c, which will be described later, through the insertion portion 21ad.

[0121] The first tip portion 21ae is provided as a connection point for the right footrest portion 11. The first tip portion 21ae is provided, for example, on the end (other end) side separated from the first shaft portion 21ab.

[0122] The first tip portion 21ae is inserted into, for example, the first hole portion 11a. At this time, as the first right support portion 21a rotates, the first tip portion 21ae moves along the first hole portion 11a, changing the connection position between the right footrest portion 11 and the first right support portion 21a. Therefore, it is easier to control the movement of the right footrest portion 11 in the height direction Z compared to when the connection portion between the right footrest portion 11 and the right connection portion 21 is fixed.

[0123] The second right support part 21b is connected to the right footrest 11 and the other of the pair of right drive parts 31. As shown in Fig. 10(c), for example, the second right support part 21b includes a pair of second links 21ba and a second shaft part 21bb, and may include at least one of the wheel part 21bc, the insertion part 21bd, and the second tip part 21be.

[0124] The details of the second right support portion 21b are similar to those of the first right support portion 21a described above, and therefore will not be described repeatedly. Note that the second tip portion 21be is inserted into the second hole portion 11b, for example.

[0125] For example, as shown in FIG. 10(a), the first tip 21ae is inserted into the first hole 11a, and the second tip 21be is inserted into the second hole 11b. At this time, as the right support parts 21a and 21b rotate, the tip parts 21ae and 21be move along the holes 11a and 11b, changing the connection position between the right foot rest 11 and the right connection part 21. Therefore, regardless of the position of the right foot rest 11 in the height direction Z, the load acting from the right foot rest 11 to the right support parts 21a and 21b can be made uniform. This makes it easier to control the upper surface of the right foot rest 11 to be parallel to the floor surface 8.

[0126] For example, each of the tip portions 21ae, 21be and each of the hole portions 11a, 11b may be provided in pairs along the width direction Y. In this case, the stability in the width direction Y can be improved.

[0127] The right rotation shaft 21c extends in the width direction Y. The right rotation shaft 21c is connected to the first right support portion 21a and the second right support portion 21b as a center of rotation in a plane intersecting with the width direction Y. The right rotation shaft 21c is inserted through insertion portions 21ad, 21bd provided in the right support portions 21a, 21b.

[0128] Each of the right support parts 21a, 21b is connected to a different pair of right drive parts 31. The first right support part 21a has a first connection point 21f connected to one of the right drive parts 31a, as shown in Figures 11(a) and 11(b), for example. The first connection point 21f may be provided on the first shaft part 21ab, for example, or may be located at any position that allows the first right support part 21a to move along the walking direction X.

[0129] 11(c) and 11(d), the second right support part 21b has a second connection point 21s that is connected to the other right drive part 31b. The second connection point 21s is provided, for example, on the second shaft part 21bb, at a position separated from the first connection point 21f in the width direction Y. The second connection point 21s may be located at any position as long as it allows the second right support part 21b to move along the walking direction X.

[0130] When the above-mentioned right side support parts 21a, 21b and right side pivot shaft 21c are used, as shown in Figures 12(a) and 12(b), the position (e.g., H1, H2) of the right footrest part 11 in the height direction Z changes with the angle (e.g., θ1, θ2) between the first right side support part 21a and the second right side support part 21b around the right side pivot shaft 21c.

[0131] For example, when the angle θ1 changes to the angle θ2 with the rotation of each of the right support parts 21a, 21b, the position of the right footrest 11 changes from height H1 to height H2. At this time, since a load is applied to each of the right support parts 21a, 21b in the walking direction X, the influence of the weight and the like can be suppressed compared to the case where the load is applied directly in the height direction Z. Therefore, the position control can be set with high accuracy compared to the case where the position is changed by applying a load directly in the height direction Z. This makes it possible to set walking conditions suitable for the user 9 with high accuracy. Note that the above-mentioned angle indicates, for example, the angle formed between the right footrest 11 and the right rotation shaft 21c.

[0132] The connection mechanism 20 may include a known link structure in addition to the pantograph structure shown in FIG. 10(a) and the like. For example, the right connection part 21 may have a lazy tongue structure in which a plurality of right support parts 21a, 21b are connected. In this case, as in the case of the pantograph structure, it is possible to set walking conditions suitable for the user 9 with high accuracy.

[0133] 13(a) to 13(c), the connection mechanism 20 may include a link mechanism 20g. The link mechanism 20g is connected to the footrest mechanism 10 and a rotating shaft, and rotates about an axis along the walking direction X.

[0134] The link mechanism 20g includes a right link mechanism 21g and a left link mechanism 22g, which are provided independently at each of the connection parts 21 and 22. The right link mechanism 21g is connected to the right footrest 11 and the right rotating shaft 21c. The left link mechanism 22g is connected to the left footrest 12 and the left rotating shaft 22c.

[0135] When viewed from the height direction, the connection position between the right side link mechanism 21g and the right footrest 11 overlaps with the connection position between the right side link mechanism 21g and the right rotating shaft 21c (see the arrow extending in the height direction Z in FIG. 13(c)). When viewed from the height direction, the connection position between the left side link mechanism 22g and the left footrest 12 overlaps with the connection position between the left side link mechanism 22g and the left rotating shaft 22c. Therefore, when controlling the footrest mechanism 10, inclination with respect to the floor surface 8 can be suppressed. This makes it possible to further improve safety during operation.

[0136] 14, the connection mechanism 20 may include a spring 26. The spring 26 is used to increase the amount of change in the height direction Z of the footrest mechanism 10 in response to a load from the drive mechanism 30.

[0137] For example, the spring 26 is connected to the first right support part 21a and the second right support part 21b, and expands and contracts along the walking direction X. For example, when the spring 26 acts in a direction that brings the first right support part 21a and the second right support part 21b closer to each other, the load that moves the right footrest part 11 upward can be reduced. For this reason, by including the spring 26 in the connection mechanism 20, the amount of load applied from the drive mechanism 30 when moving the footrest mechanism 10 in the height direction Z can be reduced. This makes it possible to realize a reduction in the size of the drive mechanism 30.

[0138] The above-mentioned connection mechanism 20 may include a cross slider structure 25 instead of the spring 26, for example, or may include both the spring 26 and the cross slider structure 25. The cross slider structure 25 is used to increase the amount of change in the height direction Z of the footrest mechanism 10 in response to the load from the drive mechanism 30, just like the spring 26. For this reason, by including at least one of the spring 26 and the cross slider structure 25 in the connection mechanism 20, the amount of load acting from the drive mechanism 30 when moving the footrest mechanism 10 in the height direction Z can be reduced. This makes it possible to reduce the size of the drive mechanism 30. The spring 26 and the cross slider structure 25 may be publicly known.

[0139] <Drive mechanism 30> The drive mechanism 30 applies a load to the connection mechanism 20 using, for example, a pair of an endless belt 30B and a motor 30M. In this case, an independent endless belt 30B and a motor 30M are used as the pair of right drive units 31 and the pair of left drive units 32, respectively. The drive mechanism 30 may apply a load to the connection mechanism 20 without including, for example, the endless belt 30B. In this case, a motor 30M directly connected to the connection mechanism 20 is used as at least one of the pair of right drive units 31 and the pair of left drive units 32. By not including the endless belt 30B, it is possible to improve safety by reducing the number of driving points and to reduce the size of the entire device.

[0140] <Rail 40> The walking assistance device 1 may further include rails 40 fixed to, for example, a floor surface 8. As shown in Fig. 15(a), for example, the rails 40 include a right rail 41 and a left rail 42. The rails 41, 42 are provided independently of each other.

[0141] The right rail 41 is connected to the right connection part 21 and fixed to the floor surface 8 along the walking direction X. When viewed from the walking direction X, the right rail 41 is provided inside both side surfaces 11s of the right footrest 11. The left rail 42 is connected to the left connection part 22 and fixed to the floor surface 8 along the walking direction X. When viewed from the walking direction X, the left rail 42 is provided inside both side surfaces 12s of the left footrest 12.

[0142] As shown in Fig. 15(b) and Fig. 15(c), for example, each rail 41, 42 is fitted with a protrusion 21h, 22h protruding from an axis 21ab, 22ab, etc. extending in the width direction Y at each connection part 21, 22. In this case, when each connection part 21, 22 moves in the walking direction X, the movement in the width direction Y can be suppressed. This makes it possible to improve safety during operation.

[0143] 16, the footrest mechanism 10 may have a recess into which the controller 15 is inserted, or may have a recess into which the controller 15 is inserted, for example, at an arbitrary position of the connection mechanism 20. For example, at least one of the footrest mechanism 10 and the connection mechanism 20 may be provided with a detection unit T, and for example, a sensor of the detection unit T may be provided in the above-mentioned recess.

[0144] According to this embodiment, the control device 50 is provided independently of the controller 15, and controls the drive mechanism 30 based on the detection result. That is, the movement trajectory M for the walking mechanism 5 can be set regardless of the place or position where the control device 50 is provided. Therefore, the walking assistant 9s can arbitrarily set the movement trajectory M for the walking mechanism 5 by using the controller 15. This makes it possible to realize an intuitive operation of the walking assistance system 100.

[0145] Further, according to this embodiment, the detection unit T detects the motion trajectory M set via the controller 15. That is, the motion trajectory M can be set to temporarily stop the motion of the walking mechanism 5 regardless of the stance phase or swing phase. For this reason, for example, the motion of the walking mechanism 5 can be stopped in the swing phase, and interactive motion teaching can be performed, such as teaching the walking assistant 9s the key points of how to move the body. This allows the options of teaching methods to be dramatically expanded, and makes it possible to improve the walking of the user 9 early.

[0146] Furthermore, according to this embodiment, the sensor detects the fluctuation of the controller 15 in a state in which it is linked with the walking mechanism 5 as a movement trajectory M. Therefore, the movement trajectory M can be set based on the movement of the walking mechanism 5 to be controlled. This makes it possible to easily realize an intuitive operation of the walking assist system 100.

[0147] Moreover, according to this embodiment, the controller 15 includes a connection unit 17 that maintains the interlocking of the housing 16 and the walking mechanism 5. Therefore, the walking assistant 9s can set the movement trajectory M using the controller 15 in any posture, regardless of the position where the walking mechanism 5 is provided. This makes it possible to improve the convenience when setting the movement trajectory M.

[0148] Furthermore, according to this embodiment, the detection unit T is provided in the controller 15, detects the movement trajectory M adjusted via the adjustment unit 18, and transmits it to the control device 50. Therefore, detailed settings of the movement trajectory M can be performed only by the controller 15. This makes it possible to improve convenience.

[0149] Moreover, according to this embodiment, the control device 50 calculates control conditions including the walking direction X, the height direction Z, and the moving speed of the walking mechanism 5, and controls the drive mechanism 30 based on the control conditions. Therefore, it is possible to design a movement trajectory M suited to the characteristics of the user 9. This makes it possible to realize the movement trajectory M assumed by the walking assistant 9s with high accuracy.

[0150] Furthermore, according to this embodiment, the detection unit T detects the movement trajectory M set for either the right footrest 11 or the left footrest 12 via the controller 15. This allows for detailed setting of the movement of either the right footrest 11 or the left footrest 12. This allows for the movement trajectory M assumed by the walking assistant 9s to be reproduced with even higher accuracy.

[0151] Furthermore, according to this embodiment, the control device 50 controls the drive mechanism 30 based on the detection result so that the movement of either the right footrest 11 or the left footrest 12 is linked to the movement of the other of the right footrest 11 or the left footrest 12. Therefore, the movement of the walking mechanism 5 can be realized by setting the movement trajectory M for only one of the right footrest 11 or the left footrest 12. This makes it possible to reduce the burden on the walking assistant 9s of setting the movement trajectory M.

[0152] Furthermore, according to this embodiment, the control device 50 controls the drive mechanism 30 based on the detection result so that the left footrest 12 moves in phase with respect to the right footrest 11. Therefore, by setting a motion trajectory M for either the right footrest 11 or the left footrest 12, it is possible to move the right footrest 11 and the left footrest 12. This makes it possible to improve convenience.

[0153] Furthermore, according to this embodiment, the detection unit T detects the movement trajectories M for the right footrest 11 and the left footrest 12 independently. This makes it easy to set movement trajectories M with different characteristics for each of the footrests 11 and 12. This makes it possible to expand the conditions for the movement trajectories M that can be set.

[0154] Moreover, according to this embodiment, the connection mechanism 20 and the drive mechanism 30 are provided at a position lower than the footrest mechanism 10. That is, no mechanism for moving the footrest mechanism 10 is provided at a position higher than the footrest mechanism 10. This makes it easier for the walking assistant 9s to come into contact with the user 9 and provide direct guidance, and also prevents the walking assistant 9s from being entangled in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user 9.

[0155] According to this embodiment, the pair of right side drive units 31 independently apply a load to the right side connection unit 21 in the walking direction X, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left side drive units 32 independently apply a load to the left side connection unit 22 in the walking direction X, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z. That is, the pair of drive units 31, 32 apply a load to each connection unit 21, 22 in the same direction (walking direction X), thereby realizing the movement of each footrest unit 11, 12 in the walking direction X and the height direction Z. Therefore, the configuration required for controlling the footrest mechanism 10 can be reduced. This makes it possible to realize a compact walking assistance device 1.

[0156] Furthermore, according to this embodiment, by using the controller 15 equipped with the detection unit T, intuitive operation of the walking assistance system 100 can be realized.

[0157] Furthermore, according to this embodiment, the control step S120 controls the drive mechanism 30 based on the detection result via the control device 50 provided independently of the controller 15. That is, the movement trajectory M for the walking mechanism 5 can be set regardless of the location or position of the control device 50. Therefore, the walking assistant 9s can arbitrarily set the movement trajectory M for the walking mechanism 5 by using the controller 15. This makes it possible to realize an intuitive operation in the walking assistance method.

[0158] According to the present embodiment, the detection step S110 detects the motion trajectory M set via the controller 15. That is, the motion trajectory M can be set to temporarily stop the motion of the walking mechanism 5 regardless of the stance phase or swing phase. For this reason, for example, the motion of the walking mechanism 5 can be stopped in the swing phase, and interactive motion teaching can be performed, such as teaching the walking assistant 9s the key points of how to move the body. This can dramatically expand the options for teaching methods, and can improve the walking of the user 9 early.

[0159] For example, according to this embodiment, when viewed from the walking direction X, the right connection part 21 may be provided inside both side surfaces 11s of the right footrest 11, and the left connection part 22 may be provided inside both side surfaces 12s of the left footrest 12. In this case, when the walking assistant 9s directly guides the user 9 from the side, contact with the connection mechanism 20 can be suppressed. This makes it possible to improve safety.

[0160] For example, according to the present embodiment, the link structure may have a structure in which the height changes according to the load applied from the driving mechanism 30. In this case, the structure of the connection mechanism 20 can be simplified. This makes it possible to realize a further miniaturization of the device.

[0161] For example, according to this embodiment, the position of the footrest mechanism 10 in the height direction Z may change with the angle between the first support and the second support around the rotation axes 21c and 22c. In this case, the position control can be set with higher accuracy than when the position of the footrest mechanism 10 is changed by directly applying a load in the height direction Z. This makes it possible to set walking conditions suitable for the user 9 with high accuracy.

[0162] For example, according to this embodiment, the connection position between the link mechanism 20g and the footrest mechanism 10 may overlap the connection position between the link mechanism 20g and the rotating shafts 21c and 22c when viewed from the height direction Z. In this case, when controlling the footrest mechanism 10, inclination with respect to the floor surface 8 can be suppressed. This makes it possible to improve stability during operation.

[0163] For example, according to this embodiment, the right footrest 11 and the left footrest 12 may include first holes 11a, 12a into which the tip of the first support is inserted and which extend in the walking direction X, and second holes 11b, 12b into which the tip of the second support is inserted and which extend in the walking direction X and are spaced apart from the first holes 11a, 12a. In this case, it is easy to control the upper surfaces of the footrests 11, 12 to be parallel to the floor surface 8. This makes it possible to set walking conditions suitable for the user 9 with even greater accuracy.

[0164] For example, according to the present embodiment, the connection mechanism 20 may include at least one of a cross slider structure 25 and a spring 26. In this case, the load applied from the drive mechanism 30 when the footrest mechanism 10 is moved in the height direction Z can be reduced. This makes it possible to reduce the size of the drive mechanism 30.

[0165] For example, according to this embodiment, at least one of the pair of right drive units 31 and the pair of left drive units 32 may include an endless belt 30B and a motor 30M. In this case, the movement range of the footrest mechanism 10 in the walking direction X can be kept within the extension range of the endless belt 30B. This makes it possible to easily control the movement range of the footrest mechanism 10.

[0166] For example, according to this embodiment, the right rail 41 may be provided on the inside of both side surfaces 11s of the right footrest 11, and the left rail 42 may be provided on the inside of both side surfaces 12s of the left footrest 12. In this case, when the walking assistant 9s directly guides the user 9 from the side, contact with each of the rails 41, 42 can be suppressed. This makes it possible to improve safety. Also, when the connection mechanism 20 moves in the walking direction X, it can be suppressed from fluctuating in the width direction Y. This makes it possible to improve stability during operation.

[0167] For example, according to this embodiment, at least one of the footrest mechanism 10 and the connection mechanism 20 may be provided with a detection unit T that detects the load applied via the controller 15. Furthermore, the control device 50 may control the drive mechanism 30 based on the detection result of the detection unit T. In this case, the walking assistant 9s can realize the control of the drive mechanism 30 using the controller 15, taking into account the state of the user 9. This makes it possible to easily control the operation of the device.

[0168] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0169] 1: Walking aids 5: Walking mechanism 10: Footrest mechanism 11: Right foot rest 11a, 12a: 1st hole 11b, 12b: 2nd hole 11s, 12s: Side 12: Left foot rest 15: Controller 16: Housing 17: Connection part 17a: Interlocking part 17b: Auxiliary connection 18: Adjustment section 20: Connection mechanism 20g: Link mechanism 21 :Right side connection part 21a: 1st right support part 21b: Second right support part 21c: Right rotation axis 21f: First connection point 21s: Second connection point 22: Left side connection 25: Cross slider structure 26: Spring 30: Driving mechanism 30B: Endless belt 30M: Motor 31: Right drive unit 32: Left drive unit 40: Rail 50: Control device 8:Floor surface 80: Safety Frame 9: User 90: Weight support device 100: Walking assistance system T: Detection section S110: Detection step S120: Control step X: Walking direction Y: Width direction Z: Height direction

Claims

1. A walking assistance system used for experiencing walking, comprising: A walking mechanism that supports the feet of a user and includes a right footrest and a left footrest spaced apart from each other; A drive mechanism that moves the walking mechanism; A controller for setting a motion trajectory for the walking mechanism; A detection unit that detects a motion trajectory set via the controller; a control device that is provided independently of the controller and that controls the drive mechanism based on a detection result of the detection unit; Equipped with The detection unit includes a sensor that detects a path along which the controller moves in a state linked with the walking mechanism as the movement trajectory. A walking assistance system characterized by:

2. The controller: A housing and a connection part that maintains the interlocking of the housing and the walking mechanism; Contains 2. The walking assistance system according to claim 1,

3. The controller includes an adjustment unit for adjusting at least a part of a preset movement trajectory, The detection unit is provided in the controller, detects the movement trajectory adjusted via the adjustment unit, and transmits the movement trajectory to the control device.

3. The walking assistance system according to claim 1 or 2,

4. The control device calculates control conditions including a walking direction, a height direction, and a moving speed of the walking mechanism, and controls the drive mechanism based on the control conditions.

4. The walking assistance system according to claim 1, wherein

5. The detection unit detects the movement trajectory set via the controller for either the right footrest unit or the left footrest unit.

5. The walking assistance system according to claim 1, wherein

6. The control device controls the drive mechanism based on the detection result so that the movement of either the right footrest portion or the left footrest portion is linked to the movement of the other of the right footrest portion or the left footrest portion.

6. The walking assistance system according to claim 5,

7. The control device controls the drive mechanism based on the detection result so that the left footrest moves in phase with respect to the right footrest.

6. The walking assistance system according to claim 5,

8. The detection unit detects the movement trajectories for the right footrest and the left footrest, which are set via the controller, independently of each other.

5. The walking assistance system according to claim 1, wherein

9. A walking assistance device including the walking mechanism and the drive mechanism, The walking mechanism includes: a footrest mechanism including the right footrest portion and the left footrest portion; a connection mechanism provided below the footrest mechanism and connected to the footrest mechanism; Including, the drive mechanism is provided at a position lower than the footrest mechanism, and moves the footrest mechanism in a walking direction via the connection mechanism; The connection mechanism includes: a right connection portion connected to the right footrest portion; a left connection portion spaced apart from the right connection portion and connected to the left footrest portion; Including, The drive mechanism includes: A pair of right drive units that independently apply a load in the walking direction to the right connection unit to move the right footrest unit in at least one of the walking direction and the height direction; a pair of left side drive units that apply a load to the left side connection unit independently in the walking direction to move the left footrest unit in at least one of the walking direction and the height direction; Contains 9. The walking assistance system according to claim 1,

10. A controller used in the walking assistance system according to any one of claims 1 to 9, comprising the detection unit.

11. A method for operating a walking assistance system used for experiencing walking, comprising the steps of: a detection step of detecting a movement trajectory set via a controller for a walking mechanism including a right foot rest portion for supporting a right foot of a user and a left foot rest portion for supporting a left foot of the user, the right foot rest portion and the left foot rest portion being spaced apart from each other; a control step of controlling, via a control device provided independently of the controller, a drive mechanism that moves the walking mechanism along the movement trajectory detected in the detection step; Equipped with The detection step includes detecting, by using a sensor, a path along which the controller moves in a state linked with the walking mechanism, as the movement trajectory. A method for operating a walking assistance system comprising the steps of:

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