Walking assistance device, control method and control program for walking assistance device

Abstract

To realize a walking aid device that contributes to an improvement in the effect of walking training.SOLUTION: A walking aid device (1) according to an embodiment of the present disclosure comprises: an upper thigh fitting part (11) for fitting the walking aid device (1) to an upper thigh of a leg part; a lower thigh fitting part (12) for fitting the walking aid device (1) to a lower thigh of the leg part; a damper (15) for connecting the upper thigh fitting part (11) and the lower thigh fitting part (12), and giving reaction in the bending direction of a knee joint of the leg part; a sensor (18) for detecting a pressure acting on the upper thigh fitting part (11) from the upper thigh, or a pressure acting on the lower thigh fitting part (12) from the lower thigh; and a control part (20) for adjusting the reaction of the damper (15) on the basis of a detection result of the sensor (18).SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a walking assistance device, a control method and a control program for a walking assistance device, for example, a walking assistance device that is worn on the legs of a user when the user performs walking training, and a control method and a control program for a walking assistance device. [Background technology]

[0002] For example, when a user such as a hemiplegic patient performs walking training, a walking assistance device is attached to the affected leg of the user to prevent the knee of the affected leg from bending. As disclosed in Patent Document 1, such a walking assistance device includes an upper thigh attachment part for the upper leg of the user's leg, a lower leg attachment part for the lower leg of the user's leg, and a damper that applies resistance in the bending direction of the knee joint of the leg. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-90515 Summary of the Invention [Problem to be solved by the invention]

[0004] The present applicant has found the following problem: For example, the walking assist device of Patent Document 1 has a problem that the effect of walking training decreases even if the level of paralysis in the affected leg of the user improves because the damper is configured to apply a certain resistance force to the affected leg.

[0005] The present disclosure has been made in consideration of such problems, and provides a walking assistance device, a control method for a walking assistance device, and a control program that contribute to improving the effect of walking training. [Means for solving the problem]

[0006] A walking assistance device according to one embodiment of the present disclosure is a walking assistance device that is worn on a leg of a user when the user performs walking training, an upper leg attachment part for attaching the walking assistance device to an upper leg of the leg; A lower leg attachment part for attaching the walking assistance device to a lower leg of the leg; a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in a bending direction of a knee joint of the leg; a sensor for detecting a pressure applied from the upper leg to the upper leg attachment part or a pressure applied from the lower leg to the lower leg attachment part; A control unit that adjusts the resistance of the damper based on a detection result of the sensor; Equipped with.

[0007] In the above-mentioned walking assistance device, it is preferable that the sensor is arranged in a position facing the sole of the upper leg of the leg at the upper leg attachment part or in a position facing the sole of the lower leg of the leg at the lower leg attachment part when the walking assistance device is attached to the user's leg.

[0008] In the above-described walking assist device, it is preferable that the control unit reduces the resistance of the damper when a maximum value of the detection result of the sensor in at least one walking cycle becomes less than a preset threshold value.

[0009] In the walking assist device described above, it is preferable that the control unit reduces the resistance of the damper in a stepwise manner based on a plurality of preset threshold values. In the above-described walking assistance device, it is preferable that the control unit reduces the resistance of the damper when an average value of maximum values ​​of detection results of the sensor in each of the most recent multiple walking cycles becomes less than the threshold value.

[0010] In the above-described walking assistance device, it is preferable that the control unit reduces the resistance of the damper when a maximum value of the detection results of the sensor in each of the most recent multiple walking cycles is consecutively less than the threshold value.

[0011] In the walking assistance device described above, it is preferable that the control unit reduces the resistance of the damper when an average value of the detection results of the sensor for a predetermined period becomes less than a predetermined threshold value.

[0012] In the walking assist device described above, it is preferable that the control unit determines a swing state of the leg based on a detection result of the sensor.

[0013] A control method for a walking assist device according to one embodiment of the present disclosure is a control method for a walking assist device that is attached to a leg of a user when the user performs walking training, the control method including: detecting a pressure acting from the upper leg of the leg to an upper leg attachment section for attaching the walking assistance device to the upper leg using a sensor provided in the upper leg attachment section, or detecting a pressure acting from the lower leg of the leg to a lower leg attachment section for attaching the walking assistance device to the lower leg using a sensor provided in the lower leg attachment section, while the user wearing the walking assistance device is performing walking training; a step of connecting the upper leg attachment part and the lower leg attachment part based on a detection result of the sensor, and adjusting a resistance of a damper that applies a resistance in a bending direction of a knee joint of the leg; Equipped with.

[0014] A control program for a walking assist device according to an embodiment of the present disclosure is a control program for a walking assist device that is attached to a leg of a user when the user performs walking training, the control program including: a process of detecting a pressure acting from the upper leg of the leg to an upper leg attachment section for attaching the walking assistance device to the upper leg using a sensor provided in the upper leg attachment section, or detecting a pressure acting from the lower leg of the leg to a lower leg attachment section for attaching the walking assistance device to the lower leg using a sensor provided in the lower leg attachment section, while the user wearing the walking assistance device is performing walking training; a process of connecting the upper leg attachment part and the lower leg attachment part based on a detection result of the sensor, and adjusting a resistance of a damper that applies a resistance in a bending direction of a knee joint of the leg; to be executed by the computer. Effect of the Invention

[0015] According to the present disclosure, it is possible to realize a walking assistance device, a control method and a control program for a walking assistance device that contribute to improving the effect of walking training. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing a schematic view of a trainee performing walking training using the walking assist device of the first embodiment. [Diagram 2] 1 is a front view showing a walking assistance device according to a first embodiment. [Diagram 3] 1 is a side view showing a walking assistance device of a first embodiment. [Figure 4] 1 is a block diagram showing a control system of the walking assist device of the first embodiment. [Diagram 5] FIG. 13 is a diagram showing walking movements in one walking cycle and the timing of mode switching. [Figure 6] 13 is a diagram showing the relationship between walking motion in one walking cycle and the surface pressure detected by the second sensor. FIG. [Figure 7] 4 is a flow chart showing the flow of a control method for the walking assist device of the first embodiment. [Figure 8] FIG. 4 is a diagram showing the relationship between surface pressure and resistance generated in a damper. [Figure 9] FIG. 2 is a diagram illustrating an example of a hardware configuration included in a control unit. [Figure 10] FIG. 13 is a side view showing a different walking assistance device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. In addition, the following description and drawings are appropriately simplified for clarity of explanation.

[0018] <Embodiment 1> FIG. 1 is a schematic diagram showing a state in which a trainee uses a walking assistance device according to the present embodiment to perform walking training. In the following description, the upper leg refers to the portion from the hip joint to the knee joint, and the lower leg refers to the portion from the knee joint to the ankle joint. The portion below the ankle joint, that is, the portion on the tip side, is called the sole of the foot. The upper leg, lower leg, and sole of the foot are collectively called the leg.

[0019] 1, the walking assistance device 1 of this embodiment is suitable for a trainee (i.e., a user) U who is a hemiplegic patient suffering from paralysis in one leg, who wears the walking assistance device 1 on the paralyzed leg (i.e., the affected leg) of the trainee U, to perform walking training on a treadmill 2. However, although Fig. 1 illustrates an example in which the trainee U performs walking training on the treadmill 2, the situation in which the trainee U performs walking training is not limited.

[0020] Fig. 2 is a front view of the walking assistance device of this embodiment. Fig. 3 is a side view of the walking assistance device of this embodiment. As shown in Figs. 2 and 3, the walking assistance device 1 includes an upper leg attachment part 11, a lower leg attachment part 12, an upper leg frame 13, a lower leg frame 14, and a damper 15.

[0021] As shown in Fig. 1, the upper thigh attachment part 11 is used to attach the walking assistance device 1 to the upper thigh of the trainee U, and is made of a stretchable material such as a resin material or a fiber material. As shown in Fig. 2, the upper thigh attachment part 11 is provided with a hook-and-loop fastener 11a. The trainee U wraps the upper thigh attachment part 11 around his or her upper thigh and fastens it with the hook-and-loop fastener 11a. When the upper thigh attachment part 11 is attached to the upper thigh of the trainee U, the hook-and-loop fastener 11a is positioned, for example, on the front side of the upper thigh.

[0022] As shown in Fig. 1, the lower leg attachment part 12 is used to attach the walking assistance device 1 to the lower leg of the trainee U, and is made of a stretchable material such as a resin material or a fiber material. As shown in Fig. 2, the lower leg attachment part 12 is provided with a hook-and-loop fastener 12a. The trainee U wraps the lower leg attachment part 12 around the lower leg and fastens it with the hook-and-loop fastener 12a. When the lower leg attachment part 12 is attached to the lower leg of the trainee U, the hook-and-loop fastener 12a is positioned, for example, on the front side of the lower leg.

[0023] 2 and 3, the upper leg frame 13 is attached to the side of the upper leg attachment part 11, and is disposed along the upper leg when the upper leg attachment part 11 is attached to the upper leg of the trainee U. The lower leg frame 14 is attached to the side of the lower leg attachment part 12, and is disposed along the lower leg when the lower leg attachment part 12 is attached to the lower leg of the trainee U. The upper leg frame 13 and the lower leg frame 14 are connected via a damper 15.

[0024] The damper 15 is, for example, a rotary damper, and is disposed on the side of the knee joint when the walking assist device 1 is attached to the affected leg of the trainee U. Specifically, the damper 15 is disposed at the height of the knee joint so that the rotation axis Ax of the damper 15 approximately coincides with the axis of the knee joint. The upper leg frame 13 and the lower leg frame 14 form a link mechanism that is rotatable around the rotation axis Ax of the damper 15.

[0025] The damper 15 applies resistance in the bending direction of the knee joint. For example, the damper 15 uses the viscous resistance of a fluid such as oil to slow down the rotation of the knee joint in the bending direction. The damper 15 is preferably a one-way damper that applies resistance only in one direction around the rotation axis Ax. The damper 15 is free so as not to apply resistance in the extension direction of the knee joint. As will be described later, the damper 15 can be switched on and off by a switch. In addition, the damper 15 has a resistance adjustment unit that can adjust the resistance of the damper 15.

[0026] Fig. 4 is a block diagram showing a control system of the walking assist device of this embodiment. As shown in Fig. 4, the walking assist device 1 includes a first sensor 16, a switch 17, a second sensor 18, a resistance adjustment unit 19, and a control unit 20. The first sensor 16 detects the timing of the walking movement of the trainee U. Specifically, the first sensor 16 is provided to detect the switching timing in a walking cycle (walking period).

[0027] For example, an angle sensor that detects the rotation angle of the lower leg relative to the upper leg, or an angular velocity sensor that detects the rotation angular velocity of the lower leg relative to the upper leg can be used as the first sensor 16. The angle sensor or angular velocity sensor attached to the lower leg frame 14 can be used as the first sensor 16.

[0028] The first sensor 16 measures the shin angle because the shin angle changes depending on the timing in the walking cycle. The detection result of the shin angle shows a waveform according to the walking cycle. In other words, the shin angle changes periodically according to the walking cycle. Therefore, the walking timing can be detected based on the shin angle measured by the first sensor 16.

[0029] Alternatively, a distance measuring sensor that measures the distance to a floor surface (e.g., the walking surface of the treadmill 2) can be used as the first sensor 16. For example, a distance measuring sensor attached to a shoe, the sole of the foot, or in the vicinity thereof can be used as the first sensor 16.

[0030] The distance from the sole of the foot to the floor surface changes according to the walking motion, so the waveform shows a waveform according to the walking cycle. In other words, the distance from the sole of the foot to the floor surface changes periodically according to the walking cycle. Therefore, by using a distance measuring sensor as the first sensor 16, the walking timing can be detected.

[0031] The switch 17 switches the mode of the damper 15 based on the detection result of the first sensor 16. For example, a solenoid switch or the like can be used as the switch 17. The switch 17 switches the mode of the damper 15 so that the damper 15 alternates between the first mode and the second mode.

[0032] At this time, in the first mode, the damper 15 is turned off, and a free mode is set in which no resistance is applied in the bending direction, whereas in the second mode, the damper 15 is turned on, and a damper mode is set in which a resistance is applied in the bending direction.

[0033] In detail, the switch 17 may, for example, compare the output value of the first sensor 16 with a threshold value and switch the mode of the damper 15 according to the comparison result. That is, the mode may be switched according to a timing signal indicating the timing when the output value of the first sensor 16 exceeds the threshold value or falls below the threshold value.

[0034] In addition, a threshold value for detecting the switching timing when the first mode is switched to the second mode and a threshold value for detecting the switching timing when the second mode is switched to the first mode may be set separately.

[0035] The second sensor 18 detects, for example, pressure acting on the upper thigh attachment part 11 during walking training of the trainee U. The second sensor 18 includes, for example, a pressure sensor, and is disposed at a position on the upper thigh attachment part 11 facing the back of the upper thigh (i.e., the back of the thigh) of the trainee U when the upper thigh attachment part 11 is attached to the upper thigh of the trainee U, as shown in FIG.

[0036] The resistance adjustment unit 19 adjusts the resistance generated in the damper 15 (i.e., the resistance of the damper 15). In detail, the resistance adjustment unit 19 includes, for example, an adjustment valve that adjusts the flow rate of a fluid such as oil inside the damper 15. The control unit 20, which will be described in detail later, controls the switch 17 based on the detection result of the first sensor 16 and controls the resistance adjustment unit 19 based on the detection result of the second sensor 18.

[0037] FIG. 5 is a diagram showing the walking motion in one walking cycle and the timing of mode switching. Note that one walking cycle includes a total of two steps, one step with the left leg and one step with the right leg. In FIG. 5, one walking cycle is shown in the order of (a) to (m). In FIG. 5, after timing (m), the sequence returns to timing (a) and the next walking cycle begins. Also, in FIG. 5, the swing phase is from timing (a) to (g), and the stance phase is from timing (h) to (m).

[0038] In Fig. 5, the sole of the foot lands between timing (g) and timing (h), and leaves the ground when returning from timing (m) to timing (a). In Fig. 5, timings (a) to (c) correspond to a flexion period in which the flexion angle of the knee joint increases, and timings (d) to (g) correspond to an extension period in which the flexion angle of the knee joint decreases. Note that the swing phase, stance phase, flexion phase, and extension phase are based on the affected leg wearing the walking assistance device 1.

[0039] In this embodiment, the control unit 20 controls the switch 17 to switch from the first mode to the second mode during the extension phase, specifically at the timing of (f). The control unit 20 also controls the switch 17 to switch from the second mode to the first mode at the timing of changing from the stance phase to the swing phase, specifically between the timing of (m) and the timing of (a).

[0040] During the swing phase, the affected leg does not need to support the weight of the trainee U. Therefore, it is not necessary for the damper 15 to generate a resistance force against the knee joint, and the damper 15 can be made free in the bending direction during almost the entire swing phase. In other words, during the entire stance phase, the damper 15 is in the second mode in which it generates a resistance force in the bending direction.

[0041] Thus, the walking assist device 1 of this embodiment has a first mode in which the damper 15 is free and a second mode in which a resistance force is generated in the damper 15 during one walking cycle, and is configured such that the control unit 20 controls the switch 17 to alternate between the first mode and the second mode while the trainee U is undergoing walking training. In other words, the control unit 20 controls the switch 17 based on a timing signal to control the on / off of the damper 15.

[0042] Fig. 6 is a diagram showing the relationship between the walking motion in one walking cycle and the surface pressure detected by the second sensor. Note that in Fig. 6, the upper part shows the walking motion of the trainee U, and the lower part shows the surface pressure detected by the second sensor during the walking motion.

[0043] As shown in Fig. 6, when the affected leg (the right leg in Fig. 6) wearing the walking assist device 1 is in the stance phase, surface pressure acts on the upper thigh attachment part 11, and the surface pressure detected by the second sensor indicates the maximum value in one walking cycle. In detail, if the trainee U bends the knee joint of the affected leg when resistance is generated by the damper 15, surface pressure acts on the upper thigh attachment part 11, and at this time, as the paralysis level of the trainee U's affected leg increases, a larger surface pressure acts on the upper thigh attachment part 11.

[0044] Here, as described above, typical walking assistance devices have the problem that even if the level of paralysis in the trainee U's affected leg improves, the effectiveness of walking training decreases because the damper is configured to apply a certain resistance force to the affected leg.

[0045] Therefore, in the walking assist device 1 of this embodiment, the control unit 20 controls the resistance adjustment unit 19 based on the detection result of the second sensor 18 to adjust the resistance generated in the damper 15. Fig. 7 is a flow chart showing the flow of the control method for the walking assist device of this embodiment. Fig. 8 is a diagram showing the relationship between the surface pressure and the resistance generated in the damper.

[0046] First, the control unit 20 acquires the detection result of the second sensor 18 (S1). Then, the control unit 20 determines whether the maximum value of the contact pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is equal to or greater than the first threshold value T1, or less than the first threshold value T1, and equal to or greater than the second threshold value T2, or less than the second threshold value T2, and equal to or greater than the third threshold value T3, or less than the third threshold value (S2).

[0047] Next, the control unit 20 determines the resistance level of the damper 15 based on the judgment result of the above-mentioned detection result (S3). In detail, when the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is equal to or greater than the first threshold value T1, the control unit 20 determines the resistance level of the damper 15 to be resistance level 1, which generates the largest resistance in the damper 15, as shown in FIG.

[0048] When the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is less than the first threshold value T1 and is equal to or greater than the second threshold value T2, the control unit 20 determines the resistance level of the damper 15 to be resistance level 2, as shown in Fig. 8. At this time, the second threshold value T2 is smaller than the first threshold value T1, and the resistance generated in the damper 15 at resistance level 2 is smaller than the resistance generated in the damper 15 at resistance level 1.

[0049] When the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is less than the second threshold value T2 and is equal to or greater than the third threshold value T3, the control unit 20 determines the resistance level of the damper 15 to be resistance level 3, as shown in Fig. 8. At this time, the third threshold value T3 is smaller than the second threshold value T2, and the resistance generated in the damper 15 at resistance level 3 is smaller than the resistance generated in the damper 15 at resistance level 2.

[0050] When the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is less than the third threshold value T3, as shown in Fig. 8, the control unit 20 determines the resistance level of the damper 15 to be resistance level 4. At this time, the resistance generated in the damper 15 at resistance level 4 is smaller than the resistance generated in the damper 15 at resistance level 3, and for example, no resistance is generated in the damper 15 at resistance level 4.

[0051] Next, the control unit 20 controls the drag adjustment unit 19 to adjust the drag generated in the damper 15 based on the determined drag level (S4). As a result, in this embodiment, the drag generated in the damper 15 is reduced in stages based on the surface pressure detected by the second sensor 18. At this time, the value and number of the thresholds, and the amount of reduction in the drag generated in the damper 15 when it falls below the threshold, etc. can be set appropriately.

[0052] In this manner, the walking assistance device 1 and the control method for the walking assistance device 1 of this embodiment adjust the resistance force generated in the damper 15 based on the surface pressure detected by the second sensor 18, which changes depending on factors such as the level of paralysis of the affected leg of the trainee U.

[0053] Therefore, the walking assistance device 1 and the control method of the walking assistance device 1 of this embodiment can reduce the resistance generated in the damper 15 when, for example, the paralysis level of the affected leg of the trainee U becomes low and the surface pressure detected by the second sensor 18 becomes smaller than when the paralysis level is high, thereby improving the effectiveness of walking training.

[0054] <Other embodiments> In the above-mentioned first embodiment, the present disclosure has been described as a hardware configuration, but the present disclosure is not limited to this. The present disclosure can also be realized by making a CPU (Central Processing Unit) execute a computer program to process each component.

[0055] For example, the control unit 20 of the above-mentioned first embodiment may have the following hardware configuration: Fig. 9 is a diagram showing an example of the hardware configuration included in the control unit.

[0056] 9 includes an interface 31, a processor 32, and a memory 33. The control unit 20 described in the first embodiment is realized by the processor 32 reading and executing a program stored in the memory 33. In other words, this program is a program for causing the processor 32 to function as the control unit 20.

[0057] Here, a program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, a transitory computer-readable medium or a communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0058] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present disclosure.

[0059] For example, in the above embodiment, the swing phase of the trainee U's legs is determined based on the detection result of the first sensor 16, but for example, if the surface pressure detected by the second sensor 18 is less than the third threshold value, the control unit 20 may determine that the trainee U's legs are in the swing phase (i.e., swing state).

[0060] For example, in the above embodiment, when the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is less than the first threshold value T1, the second threshold value T2, or the third threshold value T3, the resistance generated by the damper 15 is reduced. However, when the average value of the maximum values ​​of the surface pressure detected by the second sensor 18 in each of the most recent walking cycles is less than a preset threshold value, the resistance generated by the damper 15 may be reduced. Also, when the maximum values ​​of the surface pressure detected by the second sensor 18 in each of the most recent walking cycles are consecutively less than a preset threshold value, the resistance generated by the damper 15 may be reduced. Also, when the average value of the surface pressure detected by the second sensor 18 in a preset period is less than a preset threshold value, the resistance generated by the damper 15 may be reduced. In short, it is sufficient that the resistance generated by the damper 15 can be adjusted based on the detection result of the second sensor 18.

[0061] For example, in the above embodiment, the resistance generated in the damper 15 is reduced based on the surface pressure detected by the second sensor 18 in the most recent walking cycle, but, for example, if the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is equal to or greater than a preset threshold value, the resistance generated in the damper 15 may be increased.

[0062] For example, the modes of the damper 15 and the timing of switching between the first mode and the second mode in the above embodiment are merely examples, and for example, a lock mode in which the damper 15 is locked may be provided between the first mode and the second mode.

[0063] For example, the second sensor 18 in the above embodiment is provided on the upper thigh attachment part 11, but may also be provided on a portion of the lower leg attachment part 12 that faces the back of the trainee U's lower leg (i.e., the calf) when the lower leg attachment part 12 is attached to the trainee U's lower leg, as shown in FIG. 10.

[0064] For example, the damper 15 in the above embodiment is configured as, for example, a rotary damper, but it may be configured as a stroke damper or the like, and may be any damper configured to adjust the resistance.

[0065] For example, the walking assistance device 1 in the above embodiment is configured to be attached to the legs of the trainee U using hook-and-loop fasteners, but the means of attachment to the legs of the trainee U is not limited, and the device may be attached, for example, by a belt. [Explanation of symbols]

[0066] 1. Walking aids 2. Treadmill 11 Upper thigh attachment part, 11a hook and loop fastener 12 Lower leg attachment part, 12a hook and loop fastener 13 Upper leg frame 14 Lower leg frame 15 Damper 16 First Sensor 17 Switch 18 Second Sensor 19 Drag adjustment section 20 Control section 31 Interface 32 processors 33 Memory Ax Rotation axis T1 First threshold T2 Second Threshold T3 Third Threshold U Trainer

Claims

1. A walking assistance device that is attached to a leg of a user when the user performs walking training, an upper leg attachment part for attaching the walking assistance device to an upper leg of the leg; A lower leg attachment part for attaching the walking assistance device to a lower leg of the leg; a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in a bending direction of a knee joint of the leg; A first sensor that detects a switching timing in the user's walking cycle; a control unit that controls the mode of the damper based on the switching timing so as to alternate between a first mode in which the damper does not apply a resistance force in the bending direction of the leg and a second mode in which the damper applies a resistance force in the bending direction of the leg; and A second sensor that detects a pressure applied from the upper leg to the upper leg attachment portion or a pressure applied from the lower leg to the lower leg attachment portion; Equipped with the control unit reduces the resistance of the damper in the second mode when an average value of the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles becomes less than a predetermined threshold value, or when the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles consecutively become less than a predetermined threshold value.

2. 2. The walking assistance device according to claim 1, wherein the second sensor is arranged at a position facing the sole of the upper leg of the leg in the upper leg attachment part or at a position facing the sole of the lower leg of the leg in the lower leg attachment part when the walking assistance device is attached to the leg of the user.

3. A method for controlling a walking assistance device that is attached to a leg of a user when the user performs walking training, comprising: The control unit a step of detecting a switching timing in a walking cycle of the user wearing the walking assist device using a first sensor while the user is performing walking training, and connecting an upper thigh attachment part for attaching the walking assist device to the upper thigh of the leg and a lower thigh attachment part for attaching the walking assist device to the lower leg of the leg based on the switching timing, and controlling a mode of the damper that applies resistance in a bending direction of a knee joint of the leg so as to alternate between a first mode in which the damper does not apply resistance in the bending direction of the leg and a second mode in which the damper applies resistance in the bending direction of the leg; detecting a pressure acting from the upper leg of the leg to the upper leg attachment part using a second sensor provided on the upper leg attachment part, or detecting a pressure acting from the lower leg of the leg to the lower leg attachment part using a second sensor provided on the lower leg attachment part, while the user wearing the walking assistance device is performing walking training; adjusting the resistance of the damper in the second mode based on the detection result of the second sensor; Implemented the following: the control unit reduces the resistance of the damper in the second mode when an average value of the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles becomes less than a predetermined threshold value, or when the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles consecutively become less than a predetermined threshold value.

4. A control program for a walking assistance device that is attached to a leg of a user when the user performs walking training, a process of detecting a switching timing in a walking cycle of the user using a first sensor while the user wearing the walking assist device is performing walking training, and connecting an upper thigh attachment part for attaching the walking assist device to the upper thigh of the leg and a lower thigh attachment part for attaching the walking assist device to the lower leg of the leg based on the switching timing, and controlling a mode of the damper that applies resistance in a bending direction of a knee joint of the leg so as to alternate between a first mode in which the damper does not apply resistance in the bending direction of the leg and a second mode in which the damper applies resistance in the bending direction of the leg; a process of detecting a pressure acting from the upper leg of the leg to the upper leg attachment part using a second sensor provided on the upper leg attachment part, or detecting a pressure acting from the lower leg of the leg to the lower leg attachment part using a second sensor provided on the lower leg attachment part, while the user wearing the walking assistance device is performing walking training; A process of adjusting the resistance of the damper in the second mode based on a detection result of the second sensor; The control unit executes the above. A control program for a walking assistance device that reduces the resistance of the damper in the second mode when an average value of the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles becomes less than a predetermined threshold value, or when the maximum values ​​of the detection results of the second sensor in each of the most recent multiple walking cycles consecutively become less than a predetermined threshold value.

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