Walking Assistance Systems

Abstract

To provide a walking aid system capable of reducing the burden on a user.SOLUTION: A walking aid system 100 for use in a walking experience comprises a walking aid device 1, and a first display part 109a that is mounted on the walking aid device 1 and arranged away from a floor surface. The first display part 109, which is arranged along the floor surface 8, has a first image displayed on a top surface. The first display part 109a has stretchability. An end of the first display part 109a is provided with a fixing part for being fixed to a user 9.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a walking assistance system. [Background technology]

[0002] In recent years, technologies relating to the experience of walking have been attracting attention for the purpose of rehabilitation and improvement of physical functions, and walking training systems disclosed in Patent Documents 1 and 2, for example, have been proposed.

[0003] The walking training system disclosed in Patent Document 1 includes a walking assistance device that is attached to a user's foot and assists the user in walking, a first pulling means that pulls at least one of the walking assistance device and the user's foot upward and forward, and a second pulling means that pulls at least one of the walking assistance device and the user's foot upward and backward. A display unit that displays information is arranged vertically, and the user can check the information displayed on the display unit.

[0004] The walking training device disclosed in Patent Document 2 includes a display unit, a position adjustment unit that positions the display unit at a position that blocks at least a part of the user's field of view in the direction of travel, a first imaging unit that images the user's feet, a second imaging unit that images the direction of travel of the user, and a display control unit that simultaneously displays a first image captured by the first imaging unit and a second image captured by the second imaging unit on the display unit. The display unit on which information is displayed is arranged vertically, and the user can check the information displayed on the display unit. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-223294 [Patent Document 2] Japanese Patent Application Publication No. 2019-115516 Summary of the Invention [Problem to be solved by the invention]

[0006] Here, a walking rehabilitation device using a head-mounted display is also known as a technology for performing walking rehabilitation by displaying information on a display unit. However, with a walking rehabilitation device using a head-mounted display, the user must wear the head-mounted display on their head, which places a heavy burden on the user.

[0007] In this regard, the technologies disclosed in Patent Documents 1 and 2 do not use a head-mounted display, but the display unit is arranged vertically. This requires the user to look forward to check the information displayed on the display unit. However, users who need walking rehabilitation, etc., tend to look downward due to concerns about the condition of their feet. This makes it difficult for them to look forward, which places a heavy burden on the user.

[0008] 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 that can reduce the burden on the user. [Means for solving the problem]

[0009] A walking assistance system according to a first aspect of the present invention is a walking assistance system used to allow a user to experience walking, and includes a walking assistance device and a first display unit attached to the walking assistance device and disposed at a distance from a floor surface, the first display unit being disposed along the floor surface and displaying a first image on an upper surface thereof. The first display unit has flexibility. It is characterized by the following.

[0011] No. 2 The walking assistance system according to the present invention is 1 In the invention, a fixing portion for fixing the first display portion to the user is provided at an end of the first display portion.

[0012] No. 3 The walking assistance system according to the invention A walking assistance system used for a user's walking experience includes a walking assistance device and a first display unit attached to the walking assistance device and disposed at a distance from a floor surface, the first display unit being disposed along the floor surface, a first image being displayed on an upper surface thereof, and a first image being displayed on a front surface thereof. The device further comprises an imaging unit arranged below the first display unit for capturing a first foot image showing the user's foot from an upper viewpoint, a posture information acquisition unit for acquiring posture information of the user, and a generation unit for generating a second foot image from a higher viewpoint than the first foot image based on the posture information and the first foot image, wherein the first display unit displays the first image including the second foot image.

[0013] No. 4 The walking assistance system according to the present invention is 3 In the invention, the imaging unit is arranged in multiple locations, and the generation unit selects at least one of the multiple first foot images based on the posture information, and generates the second foot image based on the posture information and the selected first foot image.

[0014] No. 5 The walking assistance system according to the present invention comprises the first to third inventions. 4 In any of the inventions, an acquisition unit is provided that acquires model walking video showing normal walking movements from an upper viewpoint, and the first display unit is characterized in that the first video including the model walking video is displayed.

[0015] No. 6 The walking assistance system according to the invention A walking assistance system used for a user's walking experience, comprising: a walking assistance device; and a first display unit attached to the walking assistance device and arranged at a distance from a floor surface, the first display unit being arranged along the floor surface and displaying a first image on an upper surface thereof; The device is characterized in that it comprises an imaging unit arranged below the first display unit, which captures a reference walking video showing the walking movement of one of the user's legs from an upper viewpoint, and a generation unit which generates an inverted walking video in which the one of the user's legs is inverted left and right based on the reference walking video of the user, and the first display unit displays the first video in which the inverted walking video is displayed after the reference walking video.

[0016] No. 7 The walking assistance system according to the present invention comprises the first to third inventions. 6In any of the inventions, the device further comprises a posture information acquisition unit that acquires posture information of the user, and a generation unit that generates a posture image that projects the posture of the user based on the posture information, and the first display unit is characterized in that the first image including the posture image is displayed.

[0017] No. 8 The walking assistance system according to the present invention is 7 In the invention, the first display unit displays the first image including a walking indicator image showing a walking indicator and the posture image.

[0018] No. 9 The walking assistance system according to the present invention comprises the first to third inventions. 8 In any of the inventions, a second display unit is provided that is continuous with the first display unit and arranged in the vertical direction, and the second display unit displays a second image that is integrated with the first image.

[0019] No. 10 The walking assistance system according to the invention A walking assistance system used for a user's walking experience, comprising: a walking assistance device; and a first display unit attached to the walking assistance device and arranged at a distance from a floor surface, the first display unit being arranged along the floor surface and displaying a first image on an upper surface thereof; The first display unit is formed in a sheet shape, and further includes a winding mechanism for winding the first display unit in a roll shape.

[0020] No. 11 The walking assistance system according to the present invention comprises the first to third inventions. 10 In any of the inventions, the walking assistance device comprises a walking mechanism that supports the user's feet and includes a right footrest and a left footrest that are spaced apart from each other, and a drive mechanism that moves the walking mechanism, a controller that sets a movement trajectory for the walking mechanism, a detection unit that detects the movement trajectory set via the controller, and a control device that is provided independently of the controller and controls the drive mechanism based on the detection results of the detection unit.

[0021] No. 12 The walking assistance system according to the present invention comprises the first to third inventions. 11In any of the inventions, the walking assist device comprises a walking mechanism that supports the user's feet and includes a right footrest and a left footrest that are spaced apart from each other, and a drive mechanism that moves the walking mechanism, the walking mechanism including a footrest mechanism that includes the right footrest and the left footrest, and a connection mechanism that is located below the footrest mechanism and connected to the footrest mechanism, the drive mechanism is located below the footrest mechanism and moves the footrest mechanism in the walking direction via the connection mechanism, and the connection mechanism is connected to the right footrest. the drive mechanism includes a pair of right drive units that apply loads independently in the walking direction to the right connection units to move the right footrest in at least one of the walking direction and the height direction, and a pair of left drive units that apply loads independently in the walking direction to the left connection units to move the left footrest in at least one of the walking direction and the height direction. do. [Effects of the Invention]

[0022] First Invention to Third Invention 12 According to the invention, the first display unit is placed along the floor surface and the first image is displayed on the upper surface. This allows the user to view the first image while directing their gaze downward. This reduces the burden on the user.

[0023] In particular, 1 According to the invention, the first display unit is stretchable. This allows the first display unit to stretch and contract in accordance with the user's movements. This makes it less likely for the first display unit to wrinkle, making it easier to check the first image.

[0024] In particular, 2 According to the invention, a fixing portion for fixing the first display unit to the user is provided at an end of the first display unit, so that the first video displayed on the first display unit can be displayed seamlessly to the user.

[0025] In particular,3 According to the invention, the device further includes an imaging unit disposed below the first display unit for capturing a first foot image showing the user's feet from an upper viewpoint, a posture information acquisition unit for acquiring posture information about the user, and a generation unit for generating a second foot image from a viewpoint higher than the first foot image based on the posture information and the first foot image, and the first display unit displays the first image including the second foot image. This allows the user to view the foot image from a viewpoint closer to the user's head, thereby improving the realism of the walking experience.

[0026] In particular, 4 According to the invention, a plurality of imaging units are arranged, and a generating unit selects at least one of the plurality of first foot images based on posture information, and generates a second foot image based on the posture information and the selected first foot image. This allows the user to view an image of the feet that takes into account the user's posture, thereby improving the realism of the walking experience.

[0027] In particular, 5 According to the invention, an acquisition unit is provided that acquires model walking video showing normal walking movements from an upper viewpoint, and a first display unit displays a first video including the model walking video. This allows the user to check the model walking video. This makes the paralyzed leg appear as if it is moving normally, allowing the user to practice mirror therapy.

[0028] In particular, 6According to the invention, the imaging unit captures a first foot image including a reference walking image showing the walking movement of one of the user's feet from an upper viewpoint, the generation unit generates an inverted walking image in which one of the user's feet is flipped left and right based on the user's reference walking image, and the first display unit displays a first image in which the inverted walking image is displayed after the reference walking image. This allows the user to view the inverted walking image in which the healthy foot is flipped left and right. This makes the paralyzed foot appear to be moving normally, allowing mirror therapy to be performed on the user. Furthermore, the inverted walking image in which one of the user's feet is flipped left and right allows the user's other foot to be viewed. This makes it possible to improve the effectiveness of walking rehabilitation.

[0029] In particular, 7 According to the invention, the device further includes a posture information acquisition unit that acquires posture information of the user, and a generation unit that generates a posture image projecting the user's posture based on the posture information, and the first display unit displays a first image including the posture image. Therefore, the user's posture tilt during the walking experience can be confirmed from the posture image. This makes it possible to effectively perform walking rehabilitation, etc.

[0030] In particular, 8 According to the invention, the first display unit displays a first image including a walking indicator image and a posture image. Therefore, the user's posture tilt when the walking indicator image, such as a curb, is displayed can be confirmed from the posture image. This makes it possible to effectively carry out walking rehabilitation, etc.

[0031] In particular, 9 According to the invention, the device includes a second display unit that is provided continuously above the first display unit and arranged in the vertical direction, and the second display unit displays a second image that is integrated with the first image. This allows the first image and the second image to be displayed seamlessly, thereby improving the realism of the walking experience.

[0032] In particular, 10According to the invention, the first display unit is formed in a sheet shape and further includes a winding mechanism 68 for winding the first display unit into a roll. Therefore, even if the user moves in the walking direction, the length of the first display unit in the walking direction can be adjusted. This makes it possible to improve the effectiveness of walking rehabilitation.

[0033] In particular, 11 According to the invention, the control device is provided independently of the controller and controls the drive mechanism based on the detection results. That is, 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 intuitively operate the walking assistance system.

[0034] In particular, 11 According to the invention, the detection unit detects a 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 whether it is in the stance phase or swing phase. Therefore, interactive motion instruction can be performed, for example, by stopping the motion of the walking mechanism in the swing phase and allowing a walking assistant to teach key points on how to move the body. This dramatically expands the options for instruction methods and enables the user to improve their walking early.

[0035] In particular, 12 According to the invention, the connection mechanism and the drive mechanism are provided below the footrest mechanism. That is, no mechanism for moving the footrest mechanism is provided above the footrest mechanism. This makes it easier for the walking assistant to provide direct instruction to the user and prevents the walking assistant from getting caught in the drive mechanism, etc. This makes it possible to create an environment suitable for providing direct instruction to the user.

[0036] In particular, 12According to the invention, the pair of right-side drive units independently apply a load to the right-side connection unit in the walking direction, thereby moving the right foot unit in at least one of the walking direction and the height direction. The pair of left-side drive units independently apply a load to the left-side connection unit in the walking direction, thereby moving the left foot unit in at least one of the walking direction and the height direction. That is, by applying a load to each connection unit in the same direction (walking direction) using the pair of drive units, movement of each foot unit in the walking direction and the height direction is achieved. This reduces the configuration required to control the footrest mechanism, making it possible to miniaturize the walking assistance device. [Brief explanation of the drawings]

[0037] [Figure 1] FIG. 1 is a schematic diagram showing an example of a walking assistance system according to this embodiment. [Figure 2] FIG. 2(a) is a schematic side view showing an example of a walking assistance system according to this embodiment, and FIG. 2(b) is a schematic cross-sectional view showing an example of a walking assistance system according to this embodiment. [Figure 3] 3(a) and 3(b) are schematic diagrams showing an example of an image displayed on the first display unit. [Figure 4] FIG. 4 is a schematic diagram showing an example of images displayed on the first display unit and the second display unit. [Figure 5] FIG. 5 is a schematic diagram showing an example of a movement trajectory. [Figure 6] 6(a) and 6(b) are schematic diagrams showing an example of a controller. [Figure 7] FIG. 7 is a schematic diagram showing an example of a display. [Figure 8] FIG. 8(a) is a schematic diagram showing an example of the configuration of a control device, and FIG. 8(b) is a schematic diagram showing an example of the function of the control device. [Figure 9] FIG. 9 is a flowchart showing an example of a walking assistance method according to this embodiment. [Figure 10] 10(a) to 10(c) are schematic diagrams showing an example of an auxiliary connecting portion. [Figure 11] FIG. 11 is a schematic diagram showing an example of a controller including an auxiliary connection portion. [Figure 12] Figure 12(a) is a schematic top view showing an example of a walking assistance device in this embodiment, Figure 12(b) is a schematic side view showing an example of a walking assistance device in this embodiment, and Figure 12(c) is a schematic back view showing an example of a walking assistance device in this embodiment. [Figure 13] Figure 13(a) is a schematic oblique view showing an example of a right-side connection portion in this embodiment, Figure 13(b) is a schematic oblique view showing an example of a first right-side support portion, Figure 13(c) is a schematic oblique view showing an example of a second right-side support portion, and Figure 13(d) is a schematic oblique view showing an example of a right-side rotation shaft. [Figure 14] 14(a) and 14(b) are schematic diagrams showing the first connection points, and FIGS. 14(c) and 14(d) are schematic diagrams showing the second connection points. [Figure 15] 15(a) and 15(b) are schematic side views showing an example of the right-side connection portion. [Figure 16] 16(a) to 16(c) are schematic diagrams showing an example of a link mechanism. [Figure 17] FIG. 17 is a schematic diagram showing an example of a cross slider structure and a spring. [Figure 18] 18(a) to 18(c) are schematic diagrams showing an example of a rail. [Figure 19] FIG. 19 is a schematic side view showing an example of the relationship between the controller and the walking mechanism. [Figure 20] FIG. 20 is a schematic diagram showing a modified example of the walking assist system according to this embodiment. [Figure 21] FIG. 21 is a schematic diagram showing a modified example of the walking assist system according to this embodiment. [Figure 22] FIG. 22 is a schematic diagram showing a modified example of the walking assist system according to this embodiment. [Figure 23] FIG. 23 is a schematic diagram showing a modified example of the walking assist system according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0038] An example of a walking assistance system according to an embodiment of the present invention will be described below with reference to the drawings. In each drawing, the direction in which the user 9 moves their feet back and forth is referred to as the walking direction X, the direction in which the user 9 moves their feet up and down is referred to as the height direction Z, and the direction intersecting the walking direction X and the height direction Z is referred to as the width direction Y. The components in each drawing are shown schematically for the purpose of explanation, and the size of each component and the size comparison between the components may differ from those shown in the drawings.

[0039] (Embodiment: Walking assistance system 100) Fig. 1 is a schematic diagram showing an example of a walking assist system 100 according to this embodiment. Fig. 2(a) is a schematic side view showing an example of a walking assist system according to this embodiment, and Fig. 2(b) is a schematic cross-sectional view showing an example of a walking assist system according to this embodiment.

[0040] As shown in FIG. 1 , for example, the walking assist system 100 is used to allow a user 9 to experience walking, and is used for improving the walking ability of the user 9, such as rehabilitation. The walking assist system 100 may be used, for example, to experience simulated walking. The walking assist system 100 includes a walking device 1 and a display unit 109. The walking assist device 1 may further include, for example, an imaging unit 61, a posture information acquisition unit 62, a control device 50 including a generation unit 63, and an image projection unit 64. The walking assist system 100 may include, for example, a walking mechanism 5, a drive mechanism 30, a controller 15, a detection unit T, and the control device 50.

[0041] <Walking assistance device 1> The walking assist device 1 assists the user in walking. The walking assist device 1 includes, for example, a walking mechanism 5 and a drive mechanism 30. Note that the walking assist device 1 may be, for example, a known treadmill, an end-effector type walking assist device, or a walking assist device with parallel bars that allows the user to walk straight ahead for about several meters.

[0042] <Display section 109> The display unit 109 is attached to the walking assist device 1 and displays images. The display unit 109 has a first display unit 109a and a second display unit 109b.

[0043] First display unit 109a is disposed at a distance from the floor surface. First display unit 109a is disposed, for example, at a height near the waist of user 9. First display unit 109a is disposed along the floor surface, and the first image is displayed on the upper surface. Therefore, the user can check the first image displayed on the upper surface of first display unit 109a with their eyes facing downward. This makes it possible to reduce the burden on the user. First display unit 109 is disposed, for example, horizontally, but may also be disposed at an angle relative to the horizontal as long as it is disposed along the floor surface.

[0044] The first display unit 109a is made of, for example, a stretchable fabric. A suitable material for the first display unit 109a is, for example, spandex. The first display unit 109a may also be made of, for example, polyurethane, polyester, or the like. The first display unit 109a is made of, for example, a spandex screen. The first image projected from the image projection unit 64 is displayed on the upper surface of the screen. The stretchable first display unit 109a can stretch and contract in accordance with the movements of the user 9. This makes it less likely for wrinkles to form on the first display unit 109a, making it easier to check the first image. The first display unit 109a may be made of a stretchable fabric with a large number of LEDs (Light Emitting Diodes) arranged on the upper surface. Alternatively, a known monitor or display may be used for the first display unit 109a.

[0045] An end of the first display unit 109a on the user 9 side in the walking direction X has a fixing unit 69 for fixing to the user 9. This allows the first video displayed on the first display unit 109a to be seamlessly displayed to the user 9. The fixing unit 69 may be, for example, a known hook-and-loop fastener, a magnet, or the like. The end of the first display unit 109a is fixed to, for example, the waist of the user 9 via the fixing unit 69.

[0046] A rod member 68 extending in the width direction Y is provided at the end of the first display unit 109a on the user 9 side in the walking direction X. This prevents the stretching force acting on the stretchable first display unit 109a from acting locally, and allows the stretching force to be dispersed in the width direction Y. This makes it possible to prevent wrinkling and buckling of the first display unit 109a. The cross member 68 extends, for example, parallel to the width direction Y. A fixing portion 69 may be provided on the cross member 68.

[0047] The first image is displayed on first display unit 109a. The first image may be a real-life image, a virtual image such as computer graphics, or an augmented reality image in which a virtual image is superimposed on a real-life image. The first image may be a three-dimensional image based on the parallax of both eyes.

[0048] The first image includes, for example, a posture image, a walking indicator image, a foot image, etc. The posture image is an image projecting the posture of the user 9, for example, as shown in FIG. 3(a). The walking indicator image is an image showing walking indicators such as curbs and signs. The foot image is an image showing the feet from an upper viewpoint, for example, as shown in FIG. 3(b). The foot image may be an image showing the feet of the user 9 from an upper viewpoint. The foot image may be generated by the generation unit 63 or may be captured by the imaging unit 61.

[0049] The foot image may include a walking image. The walking image is, for example, an image showing the walking motion of the left and right feet of the user 9 from an upper viewpoint. The walking image may include a reference walking image and an inverted walking image displayed after the reference walking image. The reference walking image is, for example, an image showing the walking motion of one foot of the user 9 from an upper viewpoint. It is preferable that the one foot is the healthy foot. The inverted walking image is generated by the generation unit 63 and is an image showing the walking motion of one foot of the user 9, which is inverted left and right, from an upper viewpoint.

[0050] The foot image may include a model walking image, which is an image showing a normal walking motion from an overhead viewpoint.

[0051] The foot image includes a first foot image and a second foot image. The first foot image is an image showing the feet of the user 9 from an upper viewpoint captured by the image capturing unit 61. The second foot image is an image generated by the generation unit 63 and showing the feet of the user 9 from a viewpoint higher than the first foot image.

[0052] In addition, the first video may include various information such as the walking experience score, walking environment, various setting screens, etc. The first video may include people, cars, buildings, etc. The first video may include the walking speed, number of steps, walking distance, etc. of the user 9. The first video can display an image similar to an everyday space with virtual people, cars, buildings, etc. in the virtual space, making it possible to perform walking rehabilitation, etc. that is more conscious of everyday life spaces. Furthermore, the first video can confirm the walking speed, number of steps, walking distance, etc. of the user 9 that accompany walking rehabilitation, etc., so that walking rehabilitation, etc. can be performed effectively.

[0053] The walking mechanism 5 may be placed below the first display unit 109a. In this case, the first display unit 109a prevents the user 9 from seeing the walking mechanism 5. This makes it possible to reduce the psychological burden on the user 9.

[0054] The control device 50 may be disposed below the first display unit 109a. In this case, the first display unit 109a prevents the user 9 from seeing the control device 50. This can reduce the psychological burden on the user 9.

[0055] The second display unit 109b is disposed at a distance from the floor surface. The second display unit 109b is disposed along the vertical direction. The second display unit 109b is provided continuously above the first display unit 109a. As shown in FIG. 4, the second display unit 109b displays a second image integrated with the first image. In the example of FIG. 4, posture images are integrally displayed on the first display unit 109a and the second display unit 109b. This allows the first image and the second image to be displayed seamlessly. This improves the sense of realism when the user 9 experiences walking. The second display unit 109b is disposed vertically, for example, but may also be disposed at an angle relative to the vertical. The second image may be the same type of image as the first image, or may be an image different from the first image.

[0056] The second display unit 109b is made of, for example, a stretchable cloth. Spandex is a suitable material for the second display unit 109b. Polyurethane, polyester, or the like may also be used for the second display unit 109b. A screen made of spandex is used for the second display unit 109b. An image is projected onto the screen from the image projection unit 64, and the second image is displayed on the screen. The second display unit 109b may be made of a stretchable cloth with a large number of LEDs (Light Emitting Diodes) arranged on it. Alternatively, a known monitor or display may be used for the second display unit 109b.

[0057] <Imaging unit 61> The imaging unit 61 may be, for example, a known camera that captures video. For example, a plurality of imaging units 61 (three in the example of FIG. 2(b)) are provided, and are arranged, for example, below the first display unit 109a. Each imaging unit 61 is arranged at a different position below the first display unit 109a. The imaging units 61 capture a first foot image showing the feet of the user 9 from an upper viewpoint. The imaging units 61 may have three-dimensional coordinate values ​​of the location where they are installed.

[0058] <Posture information acquisition unit 62> The posture information acquisition unit 62 acquires posture information of the user 9. For example, a known motion capture is used as the posture information acquisition unit 62. For example, an optical motion capture is used as the posture information acquisition unit 62. The posture information acquisition unit 62 may be a marker-type motion capture or a markerless-type motion capture. The posture information may include three-dimensional coordinate values ​​of any part of the user 9, such as the head, neck, shoulders, waist, elbows, knees, and ankles.

[0059] <Generation part 63> The generation unit 63 generates an image to be displayed on the display unit 109. The generation unit 63 generates a first image and a second image. The generation unit 63 may generate a real-life image, a virtual image such as computer graphics, or an augmented reality image in which a virtual image is superimposed on a real-life image. The generation unit 63 may generate a three-dimensional image based on the parallax of both eyes.

[0060] The generation unit 63 generates a posture image in which the posture of the user 9 is projected based on the posture information.

[0061] Furthermore, the generation unit 63 generates a foot image showing the feet of the user 9 from an upper viewpoint based on the posture information. For example, the generation unit 63 can generate a foot image based on three-dimensional coordinate values ​​of the waist, knees, and ankles of the user 9 acquired by motion capture.

[0062] The generation unit 63 generates a second foot image shown from a viewpoint higher than the first foot image based on the posture information and the first foot image. The generation unit 63 can correct the first foot image so that the viewpoint position becomes the three-dimensional coordinate value of the head of the user 9, for example, based on the posture information and the three-dimensional coordinate value of the imaging unit 61 that captured the first foot image, and generate the corrected first foot image as the second foot image. In other words, the generation unit 63 can correct the first foot image captured by the imaging unit 61 arranged below the first display unit 109a to the second foot image from a viewpoint higher than the imaging unit 61.

[0063] The generation unit 63 selects at least one of the multiple first foot images based on the posture information, and generates a second foot image based on the posture information and the selected first foot image. The generation unit 63 selects the imaging unit 61 that is closest to the three-dimensional coordinate values ​​of the head of the user 9 from the three imaging units 61 based on the posture information, and generates a second foot image based on the first foot image captured by the selected imaging unit 61.

[0064] The generation unit 63 generates an inverted walking video in which one leg is inverted left and right based on a reference walking video showing the walking motion of one leg from an upper viewpoint. The generation unit 63 generates an inverted walking video with the same period as the period of the reference walking video.

[0065] <Video Projection Unit 64> The image projection unit 64 projects an image onto the display unit 109. The image projection unit 64 projects a first image onto the first display unit 109a. The image projection unit 64 projects a second image onto the second display unit 109b. A known projector or the like is used as the image projection unit 64. The image projection unit 64 that projects the first image and the image projection unit 64 that projects the second image may be the same or separate. The image projection unit 64 is disposed above the first display unit 109a. Note that the image projection unit 64 may be disposed below the first display unit 109a, which is transparent, and the first image may be displayed on the upper surface of the first display unit 109a.

[0066] <Walking Mechanism 5> The walking mechanism 5 supports the feet of the user 9. The walking mechanism 5 moves in the walking direction X and the 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 achieve a movement similar to normal walking. The right footrest 11 and the left footrest 12 may have a shape such as that shown in FIG. 1, 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.

[0067] <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 includes, for example, an endless belt 30B and a motor 30M as shown in FIG. 1, and may also use a known device for moving the footrests 11 and 12. An example of the drive mechanism 30 will be described later.

[0068] <Controller 15> The controller 15 is used to set a movement trajectory M for the walking mechanism 5. The controller 15 is used around the walking mechanism 5, for example, along the side of the walking mechanism 5, as shown in FIG.

[0069] 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, the history of movement from a preset position (for example, the 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 setting the desired trajectory using a PC or the like requires a huge amount of time. In contrast, by setting the movement trajectory M using the controller 15, the setting time can be significantly reduced.

[0070] The controller 15 can set the movement trajectory M, for example, while 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. The position at which the controller 15 interlocks with the walking mechanism 5 can be set arbitrarily, such as on the side or bottom of the walking mechanism 5.

[0071] The controller 15 can set a movement 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 movement trajectory M for only one of the footrests 11, 12 is set, there is no need to set a movement trajectory M for the other of the footrests 11, 12.

[0072] The controller 15 can, for example, independently set the 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, it is possible to easily set motion trajectories M with different characteristics for the footrests 11, 12.

[0073] 6(a) and 6(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.

[0074] 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.

[0075] The connecting part 17 is used to maintain the interlocking of the housing 16 and the walking mechanism 5 (left footrest part 12 in FIG. 6(b)). The shape of the connecting 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 can be used depending on the application.

[0076] 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 through 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. The interlocking unit 17a may be a contact-type member such as a hook-and-loop fastener, a clip, or a magnet. The interlocking unit 17a may be a hook-shaped member, for example. 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 a sensor, which will be described later, may also be used as the interlocking unit 17a. In this case, the interlocking between the part of the walking mechanism 5 and the housing 16 can be maintained without contact.

[0077] 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.

[0078] For example, switches (for example, 18a to 18c in FIG. 6(a)) are used as the adjustment unit 18. The adjustment unit 18 may include any number of switches depending on the application, such as adjustment switches 18a and 18b and setting / changing switch 18c. For example, the setting / changing switch 18c may be configured to be able to set or change the movement trajectory M when pressed.

[0079] 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. This allows the user 9 to experience in advance the walking motion that they will soon be experiencing. Furthermore, when the walker releases the switch, the movement of the walking mechanism 5 stops. This makes it possible to teach the user how to move their body while walking for each situation.

[0080] The trajectory change mode changes, for example, the size of the stride (the amount of movement of the walking mechanism 5 in the walking direction X) and the size of the foot height (the amount of movement of the walking mechanism 5 in the height direction Z) of the movement trajectory M. For example, the stride may be changed when the walking mechanism 5 is in a standing phase (when either the right footrest 11 or the left footrest 12 is at its lowest position in the height direction Z). In this case, it is possible to improve the safety of the user 9. Also, for example, the foot height may be changed when the walking mechanism 5 is in a swing phase (when each footrest 11, 12 is at a position other than the standing phase).

[0081] 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.

[0082] 7, the display 19 may display the movement trajectory M, as well as 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.

[0083] 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. Note that the adjustment unit 18 may include a switch for setting the above-mentioned control mode.

[0084] 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.

[0085] The video displayed on the display 19 may be displayed on the display unit 109.

[0086] <Detection section T> The detection unit T detects the 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. 6(a), for example, or may be attached to the walking mechanism 5, for example.

[0087] 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, if the sensor and electronic devices are mounted on the controller 15, the process of detecting the movement trajectory M and transmitting the detection results to the control device 50 or the like can be realized by the controller 15 alone. Note that, for example, if 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 results from the sensor, eliminating the need for electronic devices.

[0088] The sensor detects, for example, a movement of the controller 15 in a state where it is linked with the walking mechanism 5 as a movement trajectory M. The sensor may also detect, for example, a movement of the controller 15 relative to the walking mechanism 5 as a movement trajectory M. Note that the method of detecting the movement of the controller 15 as a 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.

[0089] 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 devices, sensing devices such as an inductive proximity sensor, a capacitive proximity sensor, and a magnetic proximity sensor are used as the sensor. This makes it possible to monitor the state in which the walking mechanism 5 and the housing 16 are linked together in a non-contact manner and detect the movement trajectory M.

[0090] The detection unit T detects the movement trajectory M set via the controller 15 for, for example, either the right footrest 11 or the left footrest 12 of the walking mechanism 5. In this case, the right footrest 11 or the left footrest 12 to be targeted may be set, for example, by the adjustment unit 18. In addition to the above, for example, sensors may be individually provided for each of the footrests 11, 12, and it may be possible to determine whether the movement trajectory M targets the right footrest 11 or the left footrest 12 based on whether each sensor detects anything.

[0091] The detection unit T may detect the movement trajectories M for the right foot rest 11 and the left foot rest 12 independently, for example, as set via the controller 15. 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 determination based on each sensor. Note that the detection unit T may detect the movement trajectories 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.

[0092] <Control device 50> The control device 50 controls the image displayed on the display unit 109. For example, an electronic device such as a personal computer is used as the control device 50. The control device 50 is communicably connected to, for example, the walking assist device 1, an imaging unit 61, a posture information acquisition unit 62, and an image projection unit 64.

[0093] The control device 50 may be provided independently of the controller 15 and may control the drive mechanism 30 based on a signal. At least a part of the control device 50 may be built into, for example, the walking assist device 1. The control device 50 may control the drive mechanisms 30 of multiple walking assist devices 1, for example.

[0094] FIG. 8(a) is a schematic diagram showing an example of the configuration of the control device 50, and FIG. 8(b) is a schematic diagram showing an example of the function of the control device 50.

[0095] 8(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.

[0096] The CPU 101 controls the entire control device 50. The ROM 102 stores operation codes for the CPU 101. The RAM 103 is a work area used when the CPU 101 is operating. The storage unit 104 stores various information such as control parameters of the walking assist device 1 and information related to the movement trajectory M. The various information may include information related to past movement trajectories M (for example, movement logs), information identifying the individual user 9, and information related to the movement trajectory M associated with each user 9. The storage unit 104 may be, for example, a data storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The detection unit T may include components having the same functions as the components 101 to 104.

[0097] The I / F 105 is an interface for transmitting and receiving various types of information to and from the walking assist device 1, the detection unit T, the Internet, and other external devices. 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 and the like for the walking assist device 1 via the input unit 108. The I / F 107 is an interface for transmitting and receiving various types of information to and from the display unit 109. The display unit 109 displays the various types of information stored in the storage unit 104.

[0098] Fig. 8(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, a storage unit 114, and a generation unit 63. Note that each function shown in Fig. 8(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.

[0099] The acquisition unit 111 acquires the detection results 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.

[0100] The acquisition unit 111 acquires various types of information. For example, the acquisition unit 111 acquires video captured by the imaging unit 61. For example, the acquisition unit 111 acquires posture information of the user 9 acquired by the posture information acquisition unit 62. For example, the acquisition unit 111 acquires walking video showing a walking movement from an upper viewpoint. The acquisition unit 111 acquires walking indicator video showing walking indicators. The acquisition unit 111 may acquire video of people, cars, buildings, etc. The acquisition unit 111 may acquire the walking speed, number of steps, walking distance, etc. of the user 9.

[0101] 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.

[0102] The calculation unit 112 can calculate the control conditions corresponding to the movement trajectory M by calculating, for example, the walking direction X, the height direction Z, and the movement speed of the walking mechanism 5 corresponding to the detection period of the detection result. For example, when a motor is used as the drive mechanism 30, the calculation unit 112 may calculate the number of motor rotations corresponding to the movement trajectory M as the control conditions. In other words, the calculation unit 112 can calculate parameters according to the characteristics of the drive mechanism 30 as the control conditions.

[0103] The calculation unit 112 may calculate the control conditions based on the detection results, for example, so that movement of either the right footrest 11 or the left footrest 12 is linked to movement of the other footrest 11 or the left footrest 12. In this case, the movement of the walking mechanism 5 can be achieved by setting the motion trajectory M for only either the right footrest 11 or the left footrest 12.

[0104] The calculation unit 112 may include in the control conditions a parameter for moving the left footrest 12 by inverting the phase with respect to the right footrest 11, for example, based on 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 movement trajectory M of the left footrest 12. Note that the calculation unit 112 may include in the control conditions, in addition to the above-mentioned parameter for "inverting the phase," any parameter that sets the phase within a range of 90° to 270°.

[0105] 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 movement 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.

[0106] The output unit 113 outputs the control conditions calculated by the calculation unit 112 to the walking assist device 1, such as the drive mechanism 30. In response to this, the control device 50 controls the drive mechanism 30.

[0107] The output unit 113 outputs the video generated by the generation unit 63 to the video projection unit 64. The output unit 113 outputs the video generated by the generation unit 63 to the display unit 109.

[0108] The memory unit 114 stores various types of information in the storage unit 104. The memory 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.

[0109] The storage unit 114 stores, for example, the foot video acquired by the acquisition unit 111 in the storage unit 104 .

[0110] (Embodiment: Example of walking assistance method) Next, an example of a walking assistance method according to this embodiment will be described below. Fig. 9 is a flowchart showing an example of the walking assistance method according to this embodiment.

[0111] The example of the walking assistance method includes a fixing step S210, an acquiring step S220, a generating step S230, and a displaying step S240. The example of the operation of the walking assistance system 100 may further include a detecting step S110 and a controlling step S120.

[0112] <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.

[0113] In the detection step S110, the movement trajectory M set may be detected using, for example, the display 19 shown in Fig. 7. For example, the adjustment buttons 18d and 18e are used to adjust the increase and decrease of the length (stride) of the movement trajectory M in the walking direction X. The adjustment buttons 18f and 18g are used to adjust the increase and decrease of the length (foot height) of the movement trajectory M in the height direction Z. The adjustment buttons 18h and 18i are used to adjust the increase and decrease of 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 using the above-mentioned adjustment buttons 18d to 18k.

[0114] For example, the movement trajectory M may be adjusted by moving the controller 15 relative to the movement trajectory M displayed on the display 19. In this case, for example, the portion of the movement trajectory M to be adjusted is displayed on the display 19. The walking assistant 9s moves the controller 15 along the trajectory of the portion to be adjusted that is to be adjusted. As a result, the detection unit T detects the movement trajectory M after adjustment based on information on the portion of the movement trajectory M to be adjusted and the trajectory along which the controller 15 has moved.

[0115] 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.

[0116] <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 can be a known device, and the transmission means can be a known wireless connection means such as Wi-Fi (registered trademark).

[0117] The acquisition unit 111 of the control device 50 acquires the detection result transmitted from the communication device. Then, the calculation unit 112 calculates the control conditions based on the detection result. Then, the output unit 113 outputs the control conditions to the walking assist device 1. This allows the control device 50 to control the drive mechanism 30, which is driven and causes the walking mechanism 5 to move based on the movement trajectory M.

[0118] Note that, for example, the movement trajectory M may be displayed on the display unit 109 before the control conditions are calculated. In this case, the control conditions may be calculated based on the result of adjusting a part of the movement trajectory M via, for example, the input unit 108. For example, the movement trajectory M may be displayed on the display unit 109 as, for example, a spline curve. In this case, similar to the detection step S110 described above, even when a part of the movement trajectory M is adjusted, a smooth trajectory can be maintained.

[0119] <Fixing step S210> In the fixing step S210, the user 9 and the first display unit 109a are fixed via fixing units 69 provided at the ends of the stretchable first display unit 109a. This allows the first display unit 109a to stretch and contract so as to follow the movement of the user 9. The walking assist device 1 supports the feet of the user 9.

[0120] <Acquisition step S220> In the acquisition step S220, the imaging unit 61 disposed below the first display unit 109a captures a first foot image showing the feet of the user 9 from an upper viewpoint. The imaging unit 61 captures the first foot image including a reference walking image showing the walking motion of one of the user's feet from an upper viewpoint.

[0121] In the acquisition step S220, posture information of the user 9 is acquired by the posture information acquisition unit 62. Also, in the acquisition step S220, a walking indicator image is acquired by the acquisition unit 111. Also, in the acquisition step S220, the acquisition unit 111 may acquire an example walking image.

[0122] <Generation Step S230> A generating step S230 generates a posture image based on the posture information.

[0123] In the generating step S230, an inverted walking video is generated by inverting one of the legs of the user 9 left and right based on the reference walking video of the user 9.

[0124] In the generating step S230, at least one of the plurality of first foot images is selected based on the posture information, and a second foot image is generated based on the posture information and the selected first foot image. The generating unit 63 generates a second foot image including a reference walking image and an inverted walking image based on the first foot image including a reference walking image and an inverted walking image.

[0125] <Display step S240> In the display step S240, the first video is displayed on the first display unit 109a, so that the user 9 can view the first video with their line of sight tilted downward.

[0126] In the display step S240, the first image including the posture image is displayed on the first display unit 109a. Therefore, the tilt of the posture of the user 9 during the walking experience can be confirmed from the posture image. Furthermore, the first display unit 109a displays the first image including the walking indicator image and the posture image. Therefore, the tilt of the posture of the user 9 when the walking indicator image such as a curb is displayed can be confirmed from the posture image.

[0127] In the display step S240, the first display unit 109a displays a first image including a second foot image from a viewpoint higher than the first foot image. This allows the user 9 to see the feet from a viewpoint closer to the user's head. This makes it possible to improve the sense of reality of the walking experience.

[0128] In the display step S240, the model walking video is displayed on the first display unit 109a. Therefore, the user 9 can check the model walking video. This makes the paralyzed leg appear as if it is moving normally, and mirror therapy can be performed for the user 9.

[0129] In the display step S240, a first image in which an inverted walking image is displayed after a reference walking image is displayed on the first display unit 109a. This allows the user 9 to view an inverted walking image in which the healthy leg is reversed left and right. This makes the paralyzed leg appear as if it is moving normally, allowing mirror therapy to be performed on the user 9.

[0130] In the display step S240, the second video image integrated with the first video image is displayed on the second display unit 109b, so that the first video image and the second video image can be displayed seamlessly.

[0131] The walking assistance method is completed by performing each of the above steps. Note that, for example, each of the above steps may be performed while the user 9 is performing simulated walking or while riding on the walking assistance device 1. By arbitrarily performing each of the above steps, the user 9 can repeatedly experience simulated walking.

[0132] (Modification 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 content as in the above embodiment will be omitted.

[0133] The auxiliary connection part 17b is used to maintain the interlocking of 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.

[0134] 10(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.

[0135] 10(b), the base end 17bf has a shape that connects to the connection portion 17, and has, for example, a recess for inserting the connection portion 17. Therefore, by connecting the base end 17bf to the connection portion 17, the auxiliary connection portion 17b can be interlocked with fluctuations in the controller 15. The base end 17bf may have, for example, a structure similar to the interlocking portion 17a described above. In this case, the base end 17bf may be connected to the connection portion 17 via the interlocking portion 17a.

[0136] As shown in FIG. 10(c), for example, the tip portion 17bs has a shape that allows it to connect to the walking mechanism 5 (left footrest 12 in FIG. 10(c)), and the walking mechanism 5 has, for example, a recess into which the tip portion 17bs is inserted. 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, the same structure as 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.

[0137] By including the auxiliary connection part 17b in the controller 15, for example, as shown in Fig. 11, 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.

[0138] 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.

[0139] (Walking aid 1) The walking assist device 1 in this embodiment performs the actions required for walking assistance based on, for example, control conditions transmitted from the control device 50. The control device 50 may acquire information on the load applied by the walking assistant 9s or the like via the walking assist device 1, and set the control conditions for the walking assist device 1 based on the acquired information.

[0140] 1, the walking assist device 1 includes the walking mechanism 5 described above and a drive mechanism 30. The walking mechanism 5 includes a footrest mechanism 10 and a connection mechanism 20.

[0141] 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.

[0142] 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 instruction to the user 9, and also prevents the walking assistant 9s from being caught in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct instruction to the user 9.

[0143] The walking assist device 1 may include known assist mechanisms such as a safety frame 80 and a body weight support device 90. The walking assist device 1 is used with, for example, a part of the drive mechanism 30 fixed to a floor surface 8 and the connection mechanism 20 movable in the walking direction X.

[0144] 12(a) to 12(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.

[0145] The connection mechanism 20 moves the footrest mechanism 10 in the height direction Z. The connection mechanism 20 is structured to be displaced in the height direction Z based on a load applied along the walking direction X, for example. The connection mechanism 20 may be a link structure such as a pantograph structure or a lazy tongue structure, or a cam structure such as a plate cam structure or a linear cam structure. Note that the term "link structure" includes a "pantograph structure."

[0146] 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 connection part 21, 22 is formed by an independent link structure, cam structure, or the like.

[0147] The drive mechanism 30 moves the connection mechanism 20 in the walking direction X. The drive mechanism 30 includes, for example, an endless belt 30B and a motor 30M, as shown in FIG. 1 . In this case, the drive mechanism 30 applies a load from the motor 30M to the connection mechanism 20 via the endless belt 30B to move it in the X direction. The drive mechanism 30 may include a cylinder such as a hydraulic cylinder or an air cylinder.

[0148] 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.

[0149] 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 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 12 in at least one of the walking direction X and the height direction Z.

[0150] 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 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 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 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.

[0151] As described above, the pair of right-side drive units 31 independently apply a load to the right-side connecting unit 21 in the walking direction X, thereby moving the right footrest 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 connecting unit 22 in the walking direction X, thereby moving the left footrest 12 in at least one of the walking direction X and the height direction Z. That is, by applying a load to each connecting unit 21, 22 in the same direction (walking direction X) using the pair of drive units 31, 32, movement of each footrest 11, 12 in the walking direction X and the height direction Z is achieved. This allows for a reduction in the components required to control the footrest mechanism 10, thereby enabling the device to be made more compact.

[0152] Each component will be described in detail below.

[0153] <Foot rest mechanism 10> The footrests 11, 12 are spaced apart, for example, about shoulder width apart from each other along the width direction Y. The footrests 11, 12 may have any shape, for example, a plate shape, as long as the soles of the feet of the user 9 can be placed thereon. 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.

[0154] 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 first hole portions 11a, 12a and second hole portions 11b, 12b spaced apart in the walking direction X. The holes 11a, 11b, 12a, 12b may be provided on the side surfaces of the footrests 11, 12 along the walking direction X, for example, on both side surfaces 11s, 12s, as shown in FIG. 12(b).

[0155] <Connection mechanism 20> 12(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 while in contact with the floor surface 8, as shown in FIG.

[0156] 12(c), for example, the right-side connection part 21 is provided inside both side surfaces 11s of the right footrest part 11 when viewed from the walking direction X. Also, the left-side connection part 22 is provided inside both side surfaces 12s of the left footrest part 12 when 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.

[0157] The right-side connecting portion 21 and the left-side connecting portion 22 are formed as 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.

[0158] For example, the right-side connecting portion 21 and the left-side connecting portion 22 represent a pair of pantograph structures arranged side by side in the width direction Y. In this case, the pair of pantograph structures rotate in the same manner around the axis of the width direction Y. Therefore, fluctuations in the movement of the footrests 11, 12 relative to the width direction Y can be suppressed via the pair of pantograph structures. This makes it possible to improve stability during operation.

[0159] Each of the connection parts 21, 22, which form a link structure, includes, for example, a plurality of support parts and a pivot shaft. For example, the number of support parts and the number of pivot shafts included in each of the connection parts 21, 22 are equal. The following mainly describes the right connection part 21, but because the same configuration and effects can be obtained for the left connection part 22, explanations will be omitted where appropriate.

[0160] 13(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.

[0161] 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. 13(b), for example, 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 arranged 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.

[0162] 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 on, for example, each of the pair of first links 21aa.

[0163] 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, for example. By providing the wheel portion 21ac, the right-side connecting portion 21 can be moved smoothly.

[0164] 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, through which a right rotation shaft 21c (described later) is inserted.

[0165] The first tip portion 21ae is provided as a connection point for the right footrest 11. The first tip portion 21ae is provided, for example, on the end (other end) side separated from the first shaft portion 21ab.

[0166] 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 point between the right footrest portion 11 and the right connection portion 21 is fixed.

[0167] 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. 13(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, for example, a wheel part 21bc, an insertion part 21bd, and a second tip part 21be.

[0168] The second right support portion 21b has a second end portion 21be that is inserted into the second hole 11b, for example.

[0169] For example, as shown in FIG. 13(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 tips 21ae and 21be move along the holes 11a and 11b, changing the connection position between the right footrest 11 and the right connection part 21. This makes it possible to equalize the load acting from the right footrest 11 to the right support parts 21a and 21b, regardless of the position of the right footrest 11 in the height direction Z. This makes it easier to control the top surface of the right footrest 11 to be parallel to the floor surface 8.

[0170] 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.

[0171] The right-side rotating shaft 21c extends in the width direction Y. The right-side rotating shaft 21c is connected to the first right-side support portion 21a and the second right-side support portion 21b as a center of rotation in a plane intersecting with the width direction Y. The right-side rotating shaft 21c is inserted through insertion portions 21ad, 21bd provided in the right-side support portions 21a, 21b, respectively.

[0172] Each of the right support parts 21a, 21b is connected to a different pair of right drive parts 31. As shown in Figures 14(a) and 14(b), for example, the first right support part 21a has a first connection point 21f that is connected to one of the right drive parts 31a. 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.

[0173] 14(c) and 14(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 that allows the second right support part 21b to move along the walking direction X.

[0174] When the above-mentioned right support parts 21a, 21b and right pivot shaft 21c are used, as shown in Figures 15(a) and 15(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 support part 21a and the second right support part 21b around the right pivot shaft 21c.

[0175] For example, when the angle θ1 changes to the angle θ2 as each of the right support parts 21a, 21b rotates, the position of the right footrest 11 changes from height H1 to height H2. At this time, a load is applied to each of the right support parts 21a, 21b in the walking direction X, so the influence of the footrest's own weight and the like can be suppressed compared to when a load is applied directly in the height direction Z. Therefore, position control can be set with higher accuracy compared to when a load is applied directly in the height direction Z to change the position. This makes it possible to set walking conditions suitable for the user 9 with high accuracy. Note that the above-mentioned angle refers to the angle formed between the right footrest 11 and the right rotation shaft 21c, for example.

[0176] The connection mechanism 20 may include a known link structure in addition to the pantograph structure shown in FIG. 13(a) and other figures. For example, the right connection part 21 may have a lag tongue structure in which multiple right support parts 21a, 21b are connected. In this case, as with the pantograph structure, it is possible to set walking conditions suitable for the user 9 with high precision.

[0177] The connection mechanism 20 may include a link mechanism 20g, as shown in Figures 16(a) to 16(c), for example. 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.

[0178] The link mechanism 20g includes a right link mechanism 21g and a left link mechanism 22g, which are independently provided at each connection portion 21, 22. The right link mechanism 21g is connected to the right footrest 11 and the right pivot shaft 21c. The left link mechanism 22g is connected to the left footrest 12 and the left pivot shaft 22c.

[0179] When viewed from the height direction, the connection position between the right link mechanism 21g and the right footrest 11 overlaps with the connection position between the right link mechanism 21g and the right pivot shaft 21c (see the arrow extending in the height direction Z in Figure 16(c)). When viewed from the height direction, the connection position between the left link mechanism 22g and the left footrest 12 overlaps with the connection position between the left link mechanism 22g and the left pivot shaft 22c. Therefore, when controlling the footrest mechanism 10, tilting with respect to the floor surface 8 can be suppressed. This makes it possible to further improve safety during operation.

[0180] 17, 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 the load from the drive mechanism 30.

[0181] 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. Therefore, 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 reduce the size of the drive mechanism 30.

[0182] The connection mechanism 20 described above may include a cross slider structure 25 instead of the spring 26, or may include both the spring 26 and the cross slider structure 25. The cross slider structure 25, like the spring 26, 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. Therefore, 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 any known structure.

[0183] <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. Not including the endless belt 30B can improve safety by reducing the number of drive points and can also make the entire device more compact.

[0184] <Rail 40> The walking assist device 1 may further include rails 40 fixed to, for example, the floor surface 8. As shown in FIG. 18(a), the rails 40 include, for example, a right rail 41 and a left rail 42. The rails 41 and 42 are provided independently of each other.

[0185] The right rail 41 is connected to the right connector 21 and fixed to the floor 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 connector 22 and fixed to the floor 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.

[0186] 18(b) and 18(c), the rails 41, 42 are fitted with protrusions 21h, 22h that protrude from shafts 21ab, 22ab, etc. that extend in the width direction Y at the connecting portions 21, 22. In this case, when the connecting portions 21, 22 move in the walking direction X, movement in the width direction Y can be suppressed. This makes it possible to improve safety during operation.

[0187] 19, 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 at any position on the connection mechanism 20. For example, a detection unit T may be provided in at least one of the footrest mechanism 10 and the connection mechanism 20, and a sensor for the detection unit T may be provided in the recess.

[0188] According to this embodiment, the first display unit 109a is placed along the floor surface, and the first image is displayed on the upper surface. Therefore, the user 9 can view the first image with their eyes facing downward. This can reduce the burden on the user.

[0189] According to this embodiment, first display unit 109a is stretchable. Therefore, first display unit 109a can stretch and contract in accordance with the movement of user 9. This makes it difficult for wrinkles to form on first display unit 109a, making it easier to check the first video.

[0190] According to this embodiment, a fixing portion 69 for fixing to the user 9 is provided at an end of the first display unit 109a. This allows the first video displayed on the first display unit 109a to be displayed seamlessly to the user 9.

[0191] According to this embodiment, the device further includes a posture information acquisition unit 62 that acquires posture information of the user 9, and a generation unit 63 that generates a posture image projecting the posture of the user 9 based on the posture information, and the first display unit 109a displays a first image including the posture image. Therefore, the tilt of the posture of the user 9 during the walking experience can be confirmed from the posture image. This makes it possible to effectively perform walking rehabilitation, etc.

[0192] According to this embodiment, the first display unit 109a displays a first image including a walking indicator image and a posture image. Therefore, the tilt of the posture of the user 9 when the walking indicator image such as a curb is displayed can be confirmed from the posture image. This makes it possible to effectively carry out walking rehabilitation, etc.

[0193] According to this embodiment, the device further includes an imaging unit 61 disposed below the first display unit 109a and configured to capture a first foot image showing the feet of the user 9 from an upper viewpoint, a posture information acquisition unit 62 that acquires posture information of the user 9, and a generation unit 63 that generates a second foot image from a viewpoint higher than the first foot image based on the posture information and the first foot image, and the first display unit 109a displays the first image including the second foot image. This allows the user 9 to view the foot image from a viewpoint closer to their head. This enhances the sense of realism of the walking experience.

[0194] According to this embodiment, a plurality of imaging units 61 are arranged, and the generation unit 63 selects at least one of the plurality of first foot images based on the posture information, and generates a second foot image based on the posture information and the selected first foot image. This allows the user 9 to view an image of the feet that takes into account the posture of the user 9. This makes it possible to improve the realism of the walking experience.

[0195] According to this embodiment, the device includes an acquisition unit 111 that acquires a model walking video showing normal walking movements from an upper viewpoint, and the first display unit 109a displays a first video including the model walking video. This allows the user 9 to check the model walking video. This makes it appear as if the paralyzed leg is moving normally, allowing mirror therapy to be performed on the user 9.

[0196] According to this embodiment, the imaging unit 61 captures a first foot image including a reference walking image showing the walking movement of one foot of the user 9 from an upper viewpoint. The generation unit 63 generates an inverted walking image in which one foot of the user 9 is flipped left and right based on the reference walking image of the user 9. The first display unit 109a displays a first image in which the inverted walking image is displayed after the reference walking image. This allows the user 9 to view the inverted walking image in which the healthy foot is flipped left and right. This makes the paralyzed foot appear as if it is moving normally, allowing mirror therapy to be performed on the user 9. Furthermore, the inverted walking image in which one foot of the user 9 is flipped left and right allows the user 9 to view the other foot. This makes it possible to improve the effectiveness of walking rehabilitation.

[0197] According to this embodiment, the second display unit 109b is provided continuously above the first display unit 109a and arranged in the vertical direction, and the second display unit 109b displays a second image that is integrated with the first image. This allows the first image and the second image to be displayed seamlessly. This makes it possible to improve the realism of the walking experience.

[0198] According to this embodiment, the walking mechanism 5 is placed below the first display unit 109a. In this case, the first display unit 109a prevents the user 9 from seeing the walking mechanism 5. This makes it possible to reduce the psychological burden on the user 9.

[0199] According to this embodiment, the control device 50 is disposed below the first display unit 109a. In this case, the first display unit 109a prevents the user 9 from seeing the control device 50. This can reduce the psychological burden on the user 9.

[0200] 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 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 intuitive operation of the walking assistance system 100.

[0201] Furthermore, according to this embodiment, the detection unit T detects the movement trajectory M set via the controller 15. That is, the movement trajectory M can be set to temporarily stop the movement of the walking mechanism 5 regardless of whether it is in the standing phase or the swing phase. Therefore, for example, interactive movement teaching can be performed, such as stopping the movement of the walking mechanism 5 in the swing phase and having the walking assistant 9s teach key points on how to move the body. This dramatically expands the options for teaching methods, making it possible to achieve early improvement in the walking of the user 9.

[0202] Furthermore, according to this embodiment, the sensor detects fluctuations of the controller 15 in a state where 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 intuitive operation of the walking assist system 100.

[0203] Furthermore, 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 installed. This makes it possible to improve convenience when setting the movement trajectory M.

[0204] 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.

[0205] Furthermore, according to this embodiment, the control device 50 calculates control conditions including the walking direction X, height direction Z, and movement 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 expected by the walking assistant 9s with high accuracy.

[0206] 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 makes it possible to set detailed movement of either the right footrest 11 or the left footrest 12. This makes it possible to reproduce the movement trajectory M expected by the walking assistant 9s with even higher accuracy.

[0207] Furthermore, according to this embodiment, the control device 50 controls the drive mechanism 30 based on the detection result so that movement of either the right footrest 11 or the left footrest 12 is linked to movement of the other of the right footrest 11 or the left footrest 12. Therefore, by setting the movement trajectory M for only one of the right footrest 11 or the left footrest 12, movement of the walking mechanism 5 can be realized. This reduces the burden on the walking assistant 9s of setting the movement trajectory M.

[0208] 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 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 improves convenience.

[0209] 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 range of conditions for the movement trajectories M that can be set.

[0210] Furthermore, according to this embodiment, the connection mechanism 20 and the drive mechanism 30 are provided at a position below the footrest mechanism 10. In other words, no mechanism for moving the footrest mechanism 10 is provided at a position above the footrest mechanism 10. This makes it easier for the walking assistant 9s to come into contact with the user 9 and provide direct instruction, and also prevents the walking assistant 9s from being caught in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct instruction to the user 9.

[0211] Furthermore, according to this embodiment, the pair of right-side drive units 31 independently apply a load to the right-side connecting unit 21 in the walking direction X, thereby moving the right footrest 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 connecting unit 22 in the walking direction X, thereby moving the left footrest 12 in at least one of the walking direction X and the height direction Z. That is, by applying a load to each connecting unit 21, 22 in the same direction (walking direction X) using the pair of drive units 31, 32, movement of each footrest 11, 12 in the walking direction X and the height direction Z is realized. This allows for a reduction in the components required to control the footrest mechanism 10. This allows for a reduction in the size of the walking assist device 1.

[0212] Furthermore, according to this embodiment, by using the controller 15 equipped with the detection unit T, the walking assist system 100 can be operated intuitively.

[0213] 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 intuitive operation in the walking assistance method.

[0214] Furthermore, according to this embodiment, the detection step S110 detects the movement trajectory M set via the controller 15. That is, the movement trajectory M can be set to temporarily stop the movement of the walking mechanism 5 regardless of whether it is in the standing phase or the swing phase. Therefore, for example, interactive movement teaching can be performed, such as stopping the movement of the walking mechanism 5 in the swing phase and having the walking assistant 9s teach key points on how to move the body. This dramatically expands the options for teaching methods, making it possible to achieve early improvement in the walking of the user 9.

[0215] 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 reduced. This makes it possible to improve safety.

[0216] For example, according to this embodiment, the link structure may have a structure in which the height changes in response to the load applied from the drive mechanism 30. In this case, the structure of the connection mechanism 20 can be simplified, thereby enabling further miniaturization of the device.

[0217] For example, according to this embodiment, the position of the footrest mechanism 10 in the height direction Z may change around the rotation axes 21c and 22c in accordance with the angle between the first support and the second support. In this case, 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.

[0218] For example, according to this embodiment, the connection position between link mechanism 20g and footrest mechanism 10 may overlap the connection position between link mechanism 20g and pivot shafts 21c and 22c when viewed from the height direction Z. In this case, when controlling footrest mechanism 10, tilting with respect to floor surface 8 can be suppressed. This improves stability during operation.

[0219] 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 portion is inserted and which extend in the walking direction X, and second holes 11b, 12b, into which the tip of the second support portion is inserted and which are spaced apart from the first holes 11a, 12a and extend in the walking direction X. In this case, it is easier 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 precision.

[0220] For example, according to this 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.

[0221] 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.

[0222] For example, according to this embodiment, the right rail 41 may be provided inside both side surfaces 11s of the right footrest 11, and the left rail 42 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 rails 41, 42 can be reduced. This makes it possible to improve safety. Furthermore, when the connection mechanism 20 moves in the walking direction X, movement in the width direction Y can be reduced. This makes it possible to improve stability during operation.

[0223] 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 control 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.

[0224] (Modification of walking assist system 100) As shown in FIG. 20, the walking assist system 100 may further include a winding mechanism 68 for winding up the sheet-shaped first display unit 109a in a roll.

[0225] According to this embodiment, the first display unit 109a is formed in a sheet shape and further includes a winding mechanism 68 for winding the first display unit 109a into a roll. Therefore, even if the user 9 moves in the walking direction X, the length of the first display unit 109a in the walking direction X can be adjusted. This makes it possible to improve the effect of walking rehabilitation.

[0226] (Modification of walking assist system 100) 21, the walking assistance system 100 may have a pair of slits 195 formed in the first display unit 109a, extending along the front-rear direction X. The feet of the user 9 can be inserted into the slits 195. In this case, the first display unit 109a is preferably positioned at the height of the feet of the user 9.

[0227] According to this embodiment, a pair of slits 195 extending along the front-rear direction X are formed in the first display unit 109a. This allows the user 9 to insert their feet into the slits 195. This allows the first display unit 109 to be positioned closer to the floor.

[0228] (Modification of walking assist system 100) As shown in FIG. 22 , the walking assistance system 100 includes a rod 68 extending in the width direction Y at an end of the first display unit 109a on the user 9 side in the walking direction X. The rod 68 is curved in the width direction Y so that its center in the width direction Y is located forward of the end in the width direction Y. This reduces the gap between the end in the width direction Y of the flexible first display unit 109a and the user 9, compared to when the rod 68 extends parallel to the width direction Y. This reduces the noticeable gap between the first image, such as a foot image, and the actual body of the user 9, thereby improving the sense of body ownership of the first image, such as a foot image. In addition to being curved in the width direction Y, the rod 68 may be formed by combining rod-shaped members extending linearly so that its center in the width direction Y is located forward of the end in the width direction Y.

[0229] According to this embodiment, a rod 68 extending in the width direction Y is provided at the end of the first display unit 109a on the user 9 side in the walking direction X, and the central portion of the cross member 68 in the width direction Y is positioned further forward than the end portion in the width direction Y. Therefore, compared to when the cross member 68 extends parallel to the width direction Y, it is possible to reduce the gap between the first display unit 109a, which has flexibility, and the user 9. This makes the gap between the first image, such as a foot image, and the actual body of the user 9 less noticeable, and it is possible to improve the sense of body ownership for the first image, such as a foot image.

[0230] (Modification of walking assist system 100) 23 , in the walking assist system 100, a first display unit 109c separate from the first display unit 109a is provided between the first display unit 109a and the user 9, and the first display unit 109c covers the end of the first display unit 109a facing the user 9 in the walking direction X from above. Therefore, even if a gap occurs between the stretchable first display unit 109a and the user 9, the gap can be filled by the first display unit 109c, and the first image can be displayed on the first display unit 109c. This makes the gap between the first image, such as a foot image, projected by the image projection unit 64 and the actual body of the user 9 less noticeable, thereby improving the sense of body ownership for the first image, such as a foot image.

[0231] The first display unit 109c is made of, for example, stretchable cloth. Spandex is a suitable material for the first display unit 109c. Polyurethane, polyester, or the like may also be used for the first display unit 109c. The first display unit 109c is made of, for example, a screen made of spandex. The first image projected from the image projection unit 64 is displayed on the upper surface of the screen. The first display unit 109c is provided between the first display unit 109a and the user 9. The first display unit 109c is attached to the waist of the user 9, and covers the end of the first display unit 109a on the user 9 side in the walking direction X from above.

[0232] Here, although there is a risk of a gap occurring between the first display unit 109a and the user 9, since the stretchable first display unit 109a is given a stretching force, it may be difficult to further apply a stretching force to the first display unit 109a to deform it and fill the gap.

[0233] In this regard, according to the present embodiment, an image projection unit 64 that projects the first image is provided, and a first display unit 109c that is separate from the first display unit 109a is provided between the first display unit 109a and the user 9, and the first display unit 109c covers from above the end of the first display unit 109a that faces the user 9 in the walking direction X. Therefore, even if a gap occurs between the stretchable first display unit 109a and the user 9, the gap can be filled by the first display unit 109c, and the first image can be displayed on the first display unit 109c. This makes the gap between the first image, such as a foot image, projected by the image projection unit 64 less noticeable and makes it possible to improve the sense of body ownership for the first image, such as a foot image.

[0234] Although several 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 embodied 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 within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. [Explanation of symbols]

[0235] 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: Drive mechanism 30B: Endless belt 30M: Motor 31: Right drive unit 32: Left drive unit 40: Rail 50: Control device 61: Imaging unit 62: Posture information acquisition unit 63 :Generation part 64: Image projection unit 68: Winding mechanism 69:Fixed part 8: Floor 80: Safety Frame 9: User 90: Weight support device 100: Walking assistance system 109: Display section 109a: 1st display section 109b: 2nd display section T: Detector S110: Detection step S120: Control step S210: Fixed step S220: Acquisition step S230: Generation step S240: Display step X: Walking direction Y: Width direction Z: Height direction

Claims

1. A walking assistance system used for a user's walking experience, comprising: A walking aid; A first display unit is attached to the walking assistance device and is disposed at a distance from a floor surface, the first display unit is disposed along the floor surface and displays a first image on an upper surface thereof; The first display portion has elasticity. A walking assistance system characterized by:

2. A fixing portion for fixing the first display portion to the user is provided at an end of the first display portion.

2. The walking assistance system according to claim 1,

3. A walking assistance system used to provide a walking experience to a user, comprising: A walking aid; A first display unit is attached to the walking assistance device and is disposed at a distance from a floor surface, the first display unit is disposed along the floor surface and displays a first image on an upper surface thereof; an imaging unit disposed below the first display unit and configured to capture a first foot image showing the user's foot from an upper viewpoint; a posture information acquisition unit for acquiring posture information of the user; a generating unit that generates a second foot image from a viewpoint above the first foot image based on the posture information and the first foot image, The first display unit displays the first image including the second foot image. A walking assistance system characterized by:

4. The imaging unit is arranged in plurality, The generation unit is selecting at least one of the first foot images based on the posture information; generating the second foot image based on the posture information and the selected first foot image; 4. The walking assistance system according to claim 3,

5. An acquisition unit is provided for acquiring model walking video showing normal walking movements from an upper viewpoint, The first display unit displays the first image including the model walking image.

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

6. A walking assistance system used to provide a walking experience to a user, comprising: A walking aid; A first display unit is attached to the walking assistance device and is disposed at a distance from a floor surface, the first display unit is disposed along the floor surface and displays a first image on an upper surface thereof; An imaging unit that is disposed below the first display unit and captures a reference walking image showing a walking motion of one leg of the user from an upper viewpoint; A generation unit that generates an inverted walking image by laterally inverting the one foot of the user based on the reference walking image of the user, The first display unit displays the first image in which the reference walking image is followed by the reverse walking image. A walking assistance system characterized by:

7. a posture information acquisition unit for acquiring posture information of the user; a generation unit that generates a posture image projecting the posture of the user based on the posture information; Further comprising: The first display unit displays the first image including the posture image.

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

8. The first display unit displays the first image including a walking indicator image showing a walking indicator and the posture image.

8. The walking assistance system according to claim 7,

9. A second display unit is provided continuously on the first display unit and arranged along a vertical direction, The second display unit displays a second image integrated with the first image.

9. The walking assistance system according to claim 1,

10. A walking assistance system for use in providing a walking experience to a user, comprising: A walking aid; A first display unit is attached to the walking assistance device and is disposed at a distance from a floor surface, the first display unit is disposed along the floor surface and displays a first image on an upper surface thereof; The first display unit is formed in a sheet shape, Further comprising a winding mechanism for winding up the first display unit in a roll shape. A walking assistance system characterized by:

11. The walking assistance device includes: 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 for moving 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; To be prepared The walking assistance system according to any one of claims 1 to 10,

12. The walking assistance device includes: 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 for moving the walking 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 12. The walking assistance system according to claim 1, wherein:

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