Walking training system

Abstract

To provide walking training to trainees regardless of their walking ability. [Solution] A walking training system comprising a walking training control device that displays images simulating the walking movements of the trainee's lower limbs on a display device, and a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the walking cycle of the displayed walking movements.

Description

Technical Field

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[0001] The present invention relates to a walking training system and a walking training method.

Background Art

[0002] In the rehabilitation of neurological patients including stroke patients, the reacquisition of walking is an important issue. In order to reacquire walking, a walking training device capable of performing effective walking training is desired. Conventionally, a device for performing walking training by applying electrical stimulation to the nerve roots of the sensory nerves to the spinal cord based on the detection result of the body movement of a walking trainer is known (for example, Patent Document 1).

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, when performing walking training using a conventional walking training device, the walking trainer needs to actually perform a walking motion. For example, when the walking trainer does not have sufficient walking ability due to problems such as disease, disability, environment, etc., there are cases where walking training using a conventional walking training device cannot be performed.

[0005] Aspects of the present invention have been made in consideration of such circumstances, and an object is to provide a walking training system and a walking training method that can provide walking training to a trainer regardless of the walking ability of the trainer.

Means for Solving the Problems

[0006] A walking training system according to one aspect of the present invention comprises a walking training control device that displays images simulating the walking movements of the lower limbs of a trainee on a display device, and a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the walking cycle of the displayed walking movements.

[0007] A walking training method according to one aspect of the present invention involves a walking training control device causing an image simulating the walking movement of the trainee's lower limbs to be displayed on a display device, and a spinal cord stimulator generating electrical stimulation to the trainee's spinal cord at a timing corresponding to the walking cycle of the displayed walking movement. [Effects of the Invention]

[0008] According to the above embodiment, walking training can be provided to the trainee regardless of the trainee's walking ability. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram showing the configuration of the walking training system 1 according to an embodiment. [Figure 2] This figure shows an example of the functional configuration of the gait training control device 100. [Figure 3] This figure shows an example of a gait image IM1. [Figure 4] This figure shows an example of the display device 200. [Figure 5] This figure shows an example of a spinal cord stimulator 300. [Figure 6] This is a diagram illustrating an example of gait training using the gait training system 1. [Figure 7] This is a sequence diagram showing an example of the processing of the walking training system 1 according to the embodiment. [Figure 8] This figure shows the results of the Timed Up and Go (TUG) test before and after walking training. [Figure 9] This figure shows the results of the FRT before and after walking training. [Figure 10] This figure shows an example of the functional configuration of the gait training control device 100A in a modified example. [Modes for carrying out the invention]

[0010] The following describes embodiments of the walking training system and walking training method of the present invention with reference to the drawings. In the following, an example of a walking training system comprising a display device that displays images to the person being walked, a walking training control device that displays images simulating the walking movements of the lower limbs of the person being walked on the display device, and a spinal cord stimulator that generates electrical stimulation to the spinal cord of the person being walked at timings corresponding to the walking cycle of the walking movements displayed on the display device will be described.

[0011] [Overall structure] Figure 1 is a configuration diagram of a walking training system 1 according to an embodiment. The walking training system 1 comprises, for example, a walking training control device 100, a display device 200, and a spinal cord stimulator 300. The display device 200 and the spinal cord stimulator 300 may be worn by the walking trainee T. The walking trainee T is an example of a "trainee". The walking training control device 100, the display device 200, and the spinal cord stimulator 300 are connected communicably, for example, via a network NW. The network NW includes, for example, a Wi-Fi network, a cellular network, the Internet, a WAN (Wide Area Network), a LAN (Local Area Network), provider equipment, a wireless base station, etc. The network NW may be wired communication or wireless communication.

[0012] [Walking Training Control Device] The gait training control device 100 is a general-purpose PC (Personal Computer) or server device. Alternatively, the gait training control device 100 may be a cloud computing system implemented by a server device or storage device. Alternatively, the gait training control device 100 may be a communication terminal (terminal device) such as a smartphone or tablet device. The gait training control device 100 provides images to the display device 200 and transmits signals to the spinal cord stimulator 300 via a network NW.

[0013] Figure 2 shows an example of the functional configuration of the gait training control device 100. The gait training control device 100 includes, for example, a communication unit 110, an input unit 120, a display control unit 130, a spinal cord stimulation control unit 140, and a storage unit 150. Some or all of the display control unit 130 and the spinal cord stimulation control unit 140 are realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may also be realized by hardware (including circuitry) such as LSI (Large Scale Integration), Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), GPU (Graphics Processing Unit), and SOC (System On Chip), or by the cooperation of software and hardware. The gait training control device 100 may be implemented by the service operator of the embodiment installing a program on a cloud server, in which case the owner of the hardware of the gait training control device 100 and the service operator may be different.

[0014] The storage unit 150 is implemented by an HDD (Hard Disk Drive), flash memory, SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory), etc. The storage unit 150 stores, for example, walking motion information 152, programs, and various other information. The storage unit 150 may also include address information for communication with the display device 200, spinal cord stimulator 300, and other external devices. At least a portion of the information contained in the storage unit 150 may be stored in an external device (for example, a database server) that can communicate with the walking training control device 100.

[0015] The walking motion information 152 includes information related to a walking image described later. The walking motion information 152 includes, for example, information in which time and a walking image are associated with each other. The walking motion information 152 includes, for example, a walking image (moving image) that is video information.

[0016] The communication unit 110 communicates with the display device 200, the spinal cord stimulation device 300, other external devices, etc. via a network NW or the like. For example, the communication unit 110 transmits a walking image described later to the display device 200 or receives the walking motion information 152 from an external device.

[0017] The input unit 120 receives input of information from a walking trainer T, a caregiver who provides rehabilitation for the walking trainer T, etc. The input unit 120 is, for example, a button, a keyboard, a microphone, etc. The input unit 120 may have a configuration in which input and output are integrated, such as a touch panel. The input unit 120 receives input of, for example, setting information for a display control unit 130 and a spinal cord stimulation control unit 140 described later, an instruction to start walking training, etc. The setting information input by the input unit 120 may be stored in the storage unit 150.

[0018] The display control unit 130 displays a walking image on the display device 200, which is an image simulating the walking movement of the lower limbs of the walking trainee T. The image simulating the walking movement of the lower limbs of the walking trainee T is an image that represents the walking movement of the walking trainee T or something other than the walking trainee T (for example, a person, a robot, an avatar, etc.), or an image that does not represent the walking movement itself but represents changes synchronized with the walking movement to evoke the walking movement in the walking trainee T. An image that evokes the walking movement in the walking trainee T is, for example, an image that indirectly represents the movement of the left and right lower limbs through the movement of a displayed object, changes in shape, changes in color and shading, etc. The image that evokes the walking movement in the walking trainee T does not have to include the walking trainee T or something other than the walking trainee T performing the walking movement. The walking image may be an actual walking video, a CG (Computer Graphics) image, or a drawing. An actual walking image is an image showing the walking movement of a healthy person that has been filmed in advance. A CG image is an image showing an avatar performing the walking movement. Preferably, the walking image is one that allows the walking trainee T to simulate the walking motion. The display control unit 130 displays the walking image, which is a video, on the display device 200 based on the walking motion information 152, for example. If the display device 200 is attached to the head of the walking trainee T, the display control unit 130 may display the walking image synchronized with the movement of the walking trainee T's head. By synchronizing the walking image with the movement of the walking trainee T's head, the walking trainee T can obtain a sense of immersion as if they were actually performing the walking motion.

[0019] Furthermore, the gait cycle of the walking motion shown in the walking image, the viewpoint position of the walking image, the type of walking image, etc., may be set by the user of the walking training system 1 (walking trainee T or a caregiver providing rehabilitation to walking trainee T, etc.). If information about the gait cycle of the walking motion, the viewpoint of the walking image, the type of walking image, etc., is included in the setting information, the display control unit 130 may display the walking image, which is the gait cycle of the walking motion, the viewpoint of the walking image, and the type of walking image stored in the setting information, on the display device 200. The gait cycle may be expressed as a numerical value such as the speed of the walking motion or the degree to a standard gait cycle (e.g., 1.0x speed, 1.5x speed, 0.5x speed, etc.), or as a level such as slow, normal, fast. The gait cycle may be selected as a cycle that walking trainee T finds comfortable, or as a cycle that the caregiver judges to be appropriate for walking trainee T's gait training. The viewpoint of the walking image may be freely set, or it may be selectable from multiple specific viewpoint positions. The viewpoint of the walking image may be, for example, a first-person perspective looking down on the walking movement of the lower limbs, or a perspective showing the lower limbs performing the walking movement from above the person performing the walking movement. In other words, the walking image may be an image showing the walking movement of the lower limbs from a first-person perspective, or an image showing the walking movement of the lower limbs from above the person performing the walking movement. The types of walking images may be, for example, actual walking video, CG images, drawings, etc.

[0020] Figure 3 shows an example of a walking image IM1. Figure 3 shows a walking image IM1, which is a CG image representing the walking movement of the lower limbs from a first-person perspective. The walking image IM1 is an image showing avatar A performing walking movements. The walking image IM1 may be an image that allows walking trainer T to recognize the timing of when the spinal cord is stimulated by the spinal cord stimulator 300, which will be described later. For example, the walking image IM1 may be an image in which the color of avatar A's right or left lower limb changes at the time when the spinal cord is stimulated, or an image in which a display (e.g., a mark) appears that makes it possible to recognize that stimulation has been given. In addition to avatar A, the walking image IM1 may also include the road on which the walking movement takes place, the surrounding scenery, etc.

[0021] The spinal cord stimulation control unit 140 generates a signal to generate electrical stimulation in the spinal cord stimulator 300 at a timing corresponding to the gait cycle of the walking motion displayed on the display device 200 by the display control unit 130. In other words, the spinal cord stimulation control unit 140 generates a signal to generate electrical stimulation in the spinal cord stimulator 300 at a timing corresponding to the gait cycle of the walking motion included in the walking image IM1. The timing corresponding to the gait cycle may be, for example, the timing when either the left leg or the right leg is moved forward during walking, or the timing when the left leg and the right leg are each moved forward during walking. The timing corresponding to the gait cycle may be, for example, the timing when the toes of either the left or right lower limb leave the bed during walking, or the timing when the toes of the left leg and the right lower limb each leave the bed during walking. In this way, by generating electrical stimulation at the timing when the right or left lower limb is moved forward, or at the timing when the toes leave the bed, stimulation can be generated at the same timing as the stimulation that occurs when performing the walking motion included in the walking image IM1.

[0022] The spinal cord stimulation control unit 140 may generate a signal containing information relating to the degree of electrical stimulation generated by the spinal cord stimulator 300. The degree of electrical stimulation may be set, for example, by the user. The degree of electrical stimulation refers to the magnitude of the electrical stimulation, such as the current and frequency. The degree of electrical stimulation (e.g., intensity) is set by adjusting the magnitude of the current (mA). The degree of electrical stimulation may be set based on the sensory threshold or based on the tolerance of the gait trainee T to the stimulation. If the setting information includes the degree of electrical stimulation, the spinal cord stimulation control unit 140 may generate a signal that generates electrical stimulation at the degree stored in the setting information.

[0023] The spinal cord stimulation control unit 140 transmits the generated signals to the spinal cord stimulator 300 via the network NW. The spinal cord stimulation control unit 140 may transmit a signal to the spinal cord stimulator 300 each time a signal is generated, or it may generate multiple signals based on the timing corresponding to the gait cycle of the gait motion contained in the gait image IM1, which is a video, and transmit the multiple signals together to the spinal cord stimulator 300. For example, the spinal cord stimulation control unit 140 generates signal information related to the time to generate a stimulus corresponding to the gait image IM1 and transmits the signal information to the spinal cord stimulator 300.

[0024] [Display device] The display device 200 is a device that displays the walking image IM1 provided by the walking training control device 100. The display device 200 receives the walking image IM1 from the walking training control device 100 via the network NW. The display device 200 may be, for example, a head-mounted display or a VR (Virtual Reality) device. The display device 200 is worn by the walking trainee T. By using a display device 200 that is worn by the walking trainee T and recognizes the walking image IM1, such as a head-mounted display or a VR device, the walking trainee T can obtain a sense of immersion as if they were actually performing walking movements. Figure 4 is a diagram showing an example of the display device 200. Figure 4 shows the walking trainee T wearing the display device 200. The display device 200 displays the walking image IM1, and by wearing the display device 200, the walking trainee T recognizes the walking image IM1. If the display device 200 is a VR device, the display device 200 displays the walking image IM1 in a virtual reality space. The gait image IM1 may be synchronized with the head movements of the gait trainee T.

[0025] [Spinal cord stimulator] The spinal cord stimulator 300 generates electrical stimulation to the spinal cord of the gait trainee T at timings corresponding to the gait cycle of the walking movement displayed on the display device 200. Specifically, the spinal cord stimulator 300 generates electrical stimulation in response to signals generated by the spinal cord stimulation control unit 140, thereby stimulating the spinal cord of the gait trainee T at timings corresponding to the gait cycle of the walking movement displayed on the display device 200. The spinal cord stimulator 300 receives signals from the gait training control device 100 via the network NW.

[0026] Figure 5 shows an example of a spinal cord stimulator 300. The spinal cord stimulator 300 is fixed to the waist of a walking trainee T with a belt or the like, as shown in Figure 5. The spinal cord stimulator 300 comprises, for example, an electrical stimulation generating unit 310 and electrodes 320.

[0027] The electrical stimulation generating unit 310 generates electrical stimulation based on the signal generated by the spinal cord stimulation control unit 140. The degree of electrical stimulation may be variable in the electrical stimulation generating unit 310. The degree of electrical stimulation is at least one of the frequency and current of the electrical stimulation. When the degree of electrical stimulation is variable, the electrical stimulation generating unit 310 may change the degree of electrical stimulation based on the sensory threshold, or it may change the degree of electrical stimulation according to the tolerance of the walking trainee T to the stimulation. For example, the electrical stimulation generating unit 310 may set the degree of electrical stimulation higher the higher the tolerance of the walking trainee T to the stimulation, and set the degree of electrical stimulation lower the lower the tolerance of the walking trainee T to the stimulation. In this case, the signal generated by the spinal cord stimulation control unit 140 may include information related to the degree of electrical stimulation, or the spinal cord stimulator 300 may include a configuration that allows the degree of electrical stimulation to be changed. The configuration (input interface) that allows the degree of electrical stimulation to be changed may be, for example, a knob to change the volume or a button.

[0028] Electrode 320 is an electrode that emits electrical stimulation generated by the electrical stimulation generating unit 310. Electrode 320 is attached in a position that allows it to stimulate the sensory nerves that control sensation in the lower limbs of the walking trainee T. Electrode 320 may also be attached in a position that provides percutaneous stimulation to the spinal cord of the walking trainee T. Specifically, electrode 320 may be attached to the body surface of the walking trainee T. Furthermore, there may be one electrode 320 or multiple electrodes. If the spinal cord stimulator 300 is equipped with two electrodes 320, for example, the first electrode may be attached to the walking trainee T from the lower thoracic vertebrae to the upper lumbar vertebrae, and the second electrode may be attached to the walking trainee T's abdomen.

[0029] [Walking Training Methods] Figure 6 is a diagram illustrating an example of gait training using the gait training system 1. Gait training is performed, for example, with the gait trainee T wearing a VR device, which is a display device 200, and a spinal cord stimulator 300. In Figure 6, electrodes 320 are attached to the body surface of the gait trainee T, and are configured to provide electrical stimulation transcutaneously. When gait training begins, the display control unit 130 displays the gait image IM1 on the display device 200. At the same time, the spinal cord stimulation control unit 140 generates a signal to generate electrical stimulation in the spinal cord stimulator 300, and the generated signal is transmitted to the spinal cord stimulator 300. The spinal cord stimulator 300 provides electrical stimulation to the spinal cord based on the signal. The spinal cord stimulator 300 provides electrical stimulation to the spinal cord at timings corresponding to the gait cycle of the gait movement included in the gait image IM1. In other words, the timing of the electrical stimulation is synchronized with a predetermined timing in the gait cycle.

[0030] In this way, by applying electrical stimulation that matches the gait cycle contained in the gait image IM1, the gait trainee T receives stimulation similar to that of actual walking. Specifically, when the gait trainee T recognizes the gait image IM1, stimulation similar to that of actual walking is sent from the motor cortex to the spinal cord based on visual information. In addition, by stimulating the spinal cord percutaneously with electrical stimulation, the locomotor circuit (LC) is stimulated, and the gait trainee T experiences a sensation that promotes walking, which is a multi-joint movement. Therefore, by performing gait training using the gait training system 1, the gait trainee T receives stimulation similar to that of actual gait training involving walking. Furthermore, the stimulation of the spinal cord by electrical stimulation and stimulation from the motor cortex activates the activity of internal organs controlled by the autonomic nervous system, similar to that of actual walking.

[0031] [Explanation of the process] Next, the processing in the walking training system 1 according to the embodiment will be described. Figure 7 is a sequence diagram showing an example of the processing in the walking training system 1 according to the embodiment.

[0032] First, the user inputs setting information via the input unit 120 of the gait training control device 100. This setting information includes, for example, the type of gait image IM1 to be displayed on the display device 200, the gait cycle, the viewpoint position, and the degree of electrical stimulation. Based on this, the gait training control device 100 sets the training content (step S100). Next, the user inputs an instruction to start gait training via the input unit 120 of the gait training control device 100. As a result, the gait training control device 100 starts gait training (step S102).

[0033] The display control unit 130 transmits the walking image IM1 to the display device 200 based on the setting information (step S104). The display device 200 displays the walking image IM1 based on the received walking image IM1 (step S106). At this time, the walking image IM1 is a moving image.

[0034] The spinal cord stimulation control unit 140 generates a signal to generate electrical stimulation and transmits it to the spinal cord stimulator 300 (step S108). The spinal cord stimulation control unit 140 periodically generates signals according to the gait cycle while the gait image IM1 is displayed on the display device 200, and transmits them to the spinal cord stimulator 300 (steps S108-1, S108-2, S108-3, ..., S108-N), so that electrical stimulation is generated at timings corresponding to the gait cycle of the gait movement included in the gait image IM1 displayed on the display device 200.

[0035] Based on the termination of the transmitted walking image IM1, the walking training control device 100 terminates the walking training (step S110).

[0036] In this way, by providing gait training using the gait training system 1, gait training can be provided to gait trainee T regardless of T's walking ability. Specifically, even if gait trainee T has difficulty walking due to illness, disability, environmental issues, etc., gait training can be performed by using the gait training system 1. For example, even a patient with severe paralysis who has difficulty maintaining an upright posture can use the gait training system 1 to perform gait training in a seated or lying position.

[0037] [Evaluation tests of motor skills before and after walking training and their results] Next, we will describe the results of a predetermined test in which subjects used the gait training system 1 in this embodiment and underwent gait training, with their motor function evaluated before and after the training. The subjects were 11 healthy individuals aged 65 or older, with an average age of 73 years. The following six conditions apply to the subjects. (1) No history of neurological disorders, orthopedic disorders, or internal diseases. (2) Persons who do not have metal implants in their bodies, such as pacemakers. (3) No history of epileptic seizures or family history of epileptic seizures. (4) Persons who are not taking medications that act on the central nervous system. (5) Persons who have never experienced any side effects from electrical stimulation in the past. (6) Persons with no history of psychiatric disorder. The prescribed tests are the Timed Up and Go test (TUG) and the Functional Reach Test (FRT).

[0038] Gait training was conducted for 20 minutes using gait training system 1. The subjects viewed gait image IM1 for 20 minutes and received electrical stimulation synchronized with the gait cycle of gait image IM1.

[0039] The subjects assumed a comfortable seated position in a chair with a backrest and wore a VR device (display device 200) on their heads. The walking image IM1 displayed by the display device 200 was an image of walking in a virtual space from a first-person perspective. The walking image IM1 included both the act of walking and a straight road. The walking motion included in the walking image IM1 was walking on flat ground at a speed of 5 km / h. The walking image IM1 displayed on the display device 200 was synchronized with the movements of the subjects' heads. The subjects were instructed to imagine walking in accordance with the image (walking image IM1) in the virtual space, without actually performing any physical movements.

[0040] Electrode 320 consisted of a 5×7cm cathode electrode attached to the spinous processes of the 11th and 12th thoracic vertebrae, and a 10×10cm anode electrode attached above the navel. The electrical stimulation frequency was set to a 100Hz burst stimulation at 30Hz, and the magnitude of the electrical stimulation current was set to twice the sensory threshold. The timing of the electrical stimulation was synchronized with the gait image IM1 displayed on the VR device (display device 200). Electrical stimulation was applied to the subject in accordance with the swing phase of the right lower limb of the gait movement displayed in the virtual space.

[0041] Next, we will explain the evaluation methods and results of each test. Each test measures the target value and evaluates motor ability by statistically analyzing the measurement results. R ver4.2.3 was used for the statistical analysis. For the TUG time and FRT reach distance data, the Shapiro-Wilk test was used to confirm normality, and the difference before and after intervention was analyzed using a t-test (one-sided test). The statistical significance level was set at less than 5%.

[0042] The Timed Up and Go (TUG) test measures and analyzes the time it takes for a subject to leave a chair, walk to a designated distance away, turn around, and sit back down in the chair, in order to evaluate walking ability, fall risk, etc. In the TUG test, a 3m walkway was set up. Subjects stood up from a seated position in response to a signal, turned around at the 3m target in a clockwise or counterclockwise direction, and sat back down in the original chair. The examiner measured the time from leaving the chair to sitting down using a stopwatch. The measurement was taken once for both clockwise and counterclockwise turns, and the shorter time was used for analysis. Figure 8 shows the TUG results before and after walking training. Figure 8 shows the average AVG1 for all subjects before and after walking training, and the results for each subject. The results are explained below. The subject's TUG time before walking training (PRE) was 8.7s ± 1.3s. The subject's TUG time after walking training (POST) was 8.5s ± 1.4s. In TUG (Time-Based Learning), a decreasing trend in the time required was observed before and after walking training.

[0043] The Fast Reach Test (FRT) is a test that evaluates the body's balance function by measuring and analyzing the distance the arm moves forward while keeping the arm parallel to the floor. In this embodiment, the FRT is an index of dynamic balance ability. In the FRT, the subject was instructed to start in a static standing position with either the left or right arm raised 90° (shoulder joint flexed at 90°), extend the arm as far forward as possible while flexing the trunk, and return to the starting position from the position where the arm was extended as far forward as possible without losing balance (maximum reach position). The examiner measured the reach distance, which is the distance from the distal end of the upper limb in the starting position to the distal end of the upper limb in the maximum reach position. The measurement was performed twice, and the longer record was used for analysis. Figure 9 shows the results of the FRT before and after walking training. Figure 9 shows the average AVG2 for all subjects before and after walking training, and the results for each subject. The subject's FRT result before walking training (PRE) was 37.5 ± 4.4 cm. The subject's FRT result after post-posterior gait training (POST) was 39.5 ± 5.7 cm. A significant increase in reach distance was observed before and after gait training.

[0044] As shown in Figure 9, dynamic balance ability can be improved by using the kinetic electropharmacology therapy in this embodiment and performing gait training. This improvement in dynamic balance ability leads to an improvement in the trainee's walking ability.

[0045] According to the embodiments described above, a walking training system comprising a walking training control device that displays images simulating the walking movements of the trainee's lower limbs on a display device, and a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the walking cycle of the displayed walking movements, can provide walking training to a trainee regardless of the trainee's walking ability.

[0046] [Differentiation] The technical scope of the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

[0047] For example, in the embodiment described above, the walking training system 1 is composed of a walking training control device 100, a display device 200, and a spinal cord stimulator 300. However, the walking training system 1 may also be a system comprising a walking training control device 100A, which further has the functions of the spinal cord stimulator 300, and a display device 200. Figure 10 shows an example of the functional configuration of a modified walking training control device 100A. The walking training control device 100A differs from the walking training control device 100 described above in that it further has an electrical stimulation generating unit 310A and an electrode 320A. In this case, for example, the walking training control device 100A and the display device 200 are connected to each other via a network NW so that they can communicate with each other, thereby providing walking training to the person undergoing walking training T using the walking training system 1.

[0048] Furthermore, in the embodiment described above, the walking motion information 152 was stored in the storage unit 150, but the walking motion information 152 may also be stored in the display device 200. For example, the display device 200 may have a storage device that stores the walking motion information 152. When performing walking training, the display device 200 transmits the walking motion information 152 related to the displayed walking image IM1 to the walking training control device 100. The walking training control device 100 generates a signal to generate electrical stimulation based on the received walking motion information 152 and transmits it to the spinal cord stimulator 300.

[0049] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0050] 1…Walking training system 100…Walking training control device 130…Display control unit 140…Spinal cord stimulation control unit 200…Display device 300…Spinal cord stimulator 320…Electrode

Claims

1. A display device which is a head-mounted display, A walking training control device that displays images on the display device representing the walking movements of the lower limbs of the trainee or another person, The device comprises a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the gait cycle of the displayed walking motion, The aforementioned walking training control device is A storage unit for storing the aforementioned image, A display control unit that displays the image in a first-person perspective on the head-mounted display worn by the trainee, The system includes a spinal cord stimulation control unit that generates a signal for generating electrical stimulation at a timing corresponding to the gait cycle of the walking motion in the aforementioned image, The spinal cord stimulator generates electrical stimulation in response to the generated signal. Walking training system.

2. A display device which is a VR (Virtual Reality) device, A walking training control device that displays images on the display device representing the walking movements of the lower limbs of the trainee or another person, The device comprises a spinal cord stimulator that generates electrical stimulation to the trainee's spinal cord at timings corresponding to the gait cycle of the displayed walking motion, The aforementioned walking training control device is A storage unit for storing the aforementioned image, The VR device worn by the trainee includes a display control unit that displays the image in a first-person perspective within a virtual reality space, The system includes a spinal cord stimulation control unit that generates a signal for generating electrical stimulation at a timing corresponding to the gait cycle of the walking motion in the aforementioned image, The spinal cord stimulator generates electrical stimulation in response to the generated signal. Walking training system.

3. The spinal cord stimulator generates electrical stimulation at the timing when either the left or right leg is moved forward during the displayed walking motion. A walking training system according to claim 1 or 2.

4. The spinal cord stimulator generates electrical stimulation at the timing when the left and right legs are moved forward in the displayed walking motion. A walking training system according to claim 1 or 2.

5. The spinal cord stimulator has variable control over at least one of the frequency of the electrical stimulation and the current of the electrical stimulation. A walking training system according to claim 1 or 2.

6. The spinal cord stimulator provides electrical stimulation to the sensory nerves that control sensation in the lower limbs of the trainee. A walking training system according to claim 1 or 2.

7. The spinal cord stimulator delivers electrical stimulation to the trainee's spinal cord percutaneously. A walking training system according to claim 1 or 2.

8. The spinal cord stimulator is an electrode for percutaneously stimulating the trainee's spinal cord by electrical stimulation, comprising a first electrode that can be attached from the lower thoracic vertebrae to the upper lumbar vertebrae of the trainee, and a second electrode that can be attached to the trainee's abdomen. A walking training system according to claim 1 or 2.

9. The display control unit causes the display device to display the image synchronized with the head movements of the trainee wearing the display device. A walking training system according to claim 1 or 2.

Images