Walking motion evaluation system

Abstract

To provide a walking movement evaluation system enabling a user or a staff member to appropriately obtain information useful for qualitatively evaluating the degree of progress of walking training or the degree of recovery of the user.SOLUTION: A rollator 1 for rehabilitation has: armrest parts 3L, 3R and grips 4L, 4R; elbow load sensors 11L, 11R and hand load sensors 12L, 12R; and a body processing part 60. The body processing part 60 calculates as an evaluation index related to a walking movement of a user P of the rollator 1 a hand-elbow self-supporting degree index, a hand-elbow left and right balance index and its variables, and hand-elbow priority index and its variables on the basis of detection values of elbow load and hand load, and displays the calculated evaluation index by the two-dimensional graph to a display 61.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to a walking motion evaluation system using a rehabilitation walker. [Background technology]

[0002] Conventionally, walking training systems using walkers have been proposed to assist users who have difficulty walking independently, such as those described in Patent Documents 1, 2, and 3. These systems consist of a frame that can move on the floor surface via wheels, and a pair of left and right elbow rests or a pair of left and right grips to support the weight of the user when standing. The user can then support their upper body by resting their left and right elbows on the elbow rests or grasping the grips with both hands, and perform walking movements in this state.

[0003] Furthermore, the system described in Patent Document 1 measures the load on a U-shaped upper limb support with an elbow rest using multiple load sensors and provides feedback to the user on the state of load distribution. In addition, the system described in Patent Document 2 estimates the leg-lifting posture during walking from the load on the grip and modifies the training scenario according to the degree of recovery of walking function based on the estimation result. In addition, the system described in Patent Document 3 evaluates the degree of recovery of walking function using walking distance, heart rate, and arm swing amplitude as indicators. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2019-188147 [Patent Document 2] Japanese Patent Publication No. 2019-205817 [Patent Document 3] Japanese Patent Publication No. 2020-062163 [Overview of the project] [Problems that the invention aims to solve]

[0005] Walkers like those described in Patent Documents 1, 2, and 3 are often used in hospitals and nursing homes for rehabilitation purposes, such as gait training, for users who have difficulty walking independently due to impaired or weakened leg motor function. In this case, it is necessary for staff involved in gait training, such as doctors, nurses, caregivers, and therapists, to appropriately assess the progress of the user's gait training and the degree of recovery of their walking function, and to modify the training content accordingly. For example, it is necessary to determine whether the user has recovered to the point where they can walk using a silver car or cane without using a walker with elbow rests, and then transition from walker training to gait training using a silver car or cane.

[0006] However, traditionally, such judgments were generally based on visual observations of the user's walking motion, the user's feedback, and the experience of skilled staff. Therefore, these judgments tended to lack objectivity and were prone to inconsistency among staff members. Consequently, there were concerns that such judgments might be inappropriate. Furthermore, for users, conventional walkers made it difficult to quantitatively recognize the effectiveness of walking training and the degree of recovery of walking function, which made it difficult to increase motivation for walking training.

[0007] This invention was made in view of the above background, and aims to provide a gait motion evaluation system that allows users and staff to appropriately obtain useful information for quantitatively evaluating the progress of the user's gait training and the degree of recovery of their gait function. [Means for solving the problem]

[0008] The walking motion evaluation system of the present invention aims to achieve the above objectives. A walking motion evaluation system having a function to calculate predetermined types of evaluation indicators related to the walking motion of a user, using a rehabilitation walking device configured to move relative to the floor surface along with the user as the user walks, the walking device comprising: a frame that is movable on the floor surface relative to the floor surface; a pair of elbow rests mounted on the frame and positioned on the upper part of the frame so that the user can rest their left and right elbows on them, respectively; and a pair of grips mounted on the frame and positioned in front of the elbow rests so that the user can grasp them with their left and right hands, respectively, wherein the walking device is configured to move relative to the floor surface along with the user as the user walks, either with the user resting their elbows on the elbow rests, or with the user grasping the grips with their hands, or with the user resting their elbows on the elbow rests and grasping the grips with their hands, A first load sensor detects the elbow load, which is the load acting from the elbow, on each of the elbow rests on which the user's elbows are placed. A second load sensor detects a hand load, which is the load applied from each hand to each of the grips held by the user. An evaluation index calculation unit calculates the evaluation index related to the user's walking motion from the detected values ​​of the elbow load and the hand load. Equipped with, The evaluation index calculation unit uses the following evaluation index: (1) A hand-elbow independence index which is the value obtained by subtracting from 1 the ratio of the sum of the total detected loads of the elbows in the vertical direction on both the left and right sides of the user and the total detected loads of the hands in the vertical direction, and the user's body weight. (2) A left total load, which is the sum of the detected values ​​of the elbow load in the vertical direction and the detected values ​​of the hand load in the vertical direction on the left side of the user, and a right total load, which is the sum of the detected values ​​of the elbow load in the vertical direction and the detected values ​​of the hand load in the vertical direction on the right side of the user, which is the ratio, difference, absolute difference, or ratio of the difference to the user's weight, or ratio of the absolute difference to the user's weight, and a left-right balance index, which is the variation of the left-right balance index. (3) The invention is characterized by calculating a hand-elbow dominance index which is the ratio, difference, absolute difference, ratio of the difference to the user's weight, or ratio of the absolute difference to the user's weight, or ratio of the hand-elbow dominance index which is the variation of the hand-elbow dominance index (first invention).

[0009] In the first invention, the statement that the frame is "movable on a floor surface relative to the floor surface" is not limited to a configuration in which the frame can move on a floor surface to which it is fixed, but also includes a configuration in which a movable floor surface can move relative to the frame.

[0010] Furthermore, the "hand-elbow independence index" is not limited to the values ​​that constitute it (the ratio minus 1), but may also be a value that has a monotonically changing relationship (monotonically increasing or decreasing) with respect to that value (for example, a value obtained by multiplying that value by an arbitrary non-zero constant value, or the difference or sum of that value and an arbitrary constant value). Similarly, the "hand-elbow left-right balance index" is not limited to the values ​​that constitute it (ratio, difference, absolute difference), but may also be a value that has a monotonically changing relationship with respect to that value. Similarly, the "hand-elbow superiority index" is not limited to the values ​​that constitute it (ratio, difference, absolute difference), but may also be a value that has a monotonically changing relationship with respect to that value.

[0011] In this first invention, the hand-elbow independence index functions as an indicator that shows how much of the user's body weight is supported by their own legs without relying on their hands and elbows when the user performs a walking motion while resting both elbows on the elbow rests of a rehabilitation walker and grasping the grips with both hands (hereinafter, this walking motion is referred to as the hand-elbow support direction motion).

[0012] Furthermore, the left-right hand-elbow balance index functions as an indicator representing the degree of balance between the supporting force of the left hand and elbow and the supporting force of the right hand and elbow during the hand-elbow-supported walking motion. The left-right hand-elbow balance variation index functions as an indicator representing the degree of variation of the left-right hand-elbow balance index.

[0013] Further, the elbow dominance index functions as an index representing the ratio between the force by which the user supports their own weight with their hand and the force by which the user supports their own weight with their elbow in the above-described elbow-supported walking motion. And, the elbow dominance variation index functions as an index representing the degree of variation of the elbow dominance index.

[0014] Therefore, according to the first invention, by means of the elbow independence index, the elbow left-right balance index and the elbow left-right balance variation index, and the elbow dominance index and the elbow dominance variation index, it becomes quantitatively clear how the user supports their own weight with their elbows and hands in the elbow-supported walking motion using the rehabilitation walker. Thus, according to the first invention, it becomes possible for the user and the staff to appropriately obtain useful information for quantitatively evaluating the progress of the user's walking training and the degree of recovery of the walking function.

[0015] In such a first invention, it is preferable to include a display unit that displays the evaluation index calculated by the evaluation index calculation unit, and the display unit displays (1) the elbow independence index, (2) the elbow left-right balance index and the elbow left-right balance variation index, and (3) the elbow dominance index and the elbow dominance variation index as a two-dimensional graph (second invention).

[0016] According to this, since the elbow independence index, the elbow left-right balance index and the elbow left-right balance variation index, and the elbow dominance index and the elbow dominance variation index are displayed by a two-dimensional graph, it becomes possible for the user or the staff to easily and visually recognize these indexes.

[0017] Further, in the first invention or the second invention, the evaluation index calculation unit further uses, as the evaluation index, (4) a value obtained by subtracting from 1 the ratio between the total load of the detected values of the hand loads in the vertical direction on both the left and right sides of the user and the weight of the user, or a value obtained by subtracting from 1 the ratio between the total load of the detected values of the hand loads in the vertical direction on both the left and right sides and the detected value of the hand load in the forward direction and the weight of the user, as the two-handed independence index, (5) A left-right balance index for both hands, which is the ratio, difference, or absolute difference between the detected value of the hand load in the vertical direction on the left side of the user and the detected value of the hand load in the vertical direction on the right side of the user, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, or the total load of the detected value of the hand load in the vertical direction on the left side and the detected value of the hand load in the forward direction, and the ratio, difference, or absolute difference between the detected value of the hand load in the vertical direction on the right side and the total load of the hand load in the forward direction, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, and a left-right balance fluctuation index for both hands, which is the fluctuation of the left-right balance index. (6) Both the left and right sides of the user to It is preferable to calculate a two-handed forward movement index, which is the ratio, difference, or absolute difference between the total detected load of the hand load in the forward direction and the total detected load of the hand load in the vertical direction, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, and a two-handed forward movement variation index, which is the variation of the two-handed forward movement index (third invention).

[0018] Furthermore, in the third invention, the "independence index of both hands" is not limited to the value that constitutes it (the value obtained by subtracting the ratio from 1), but may also be a value that has a monotonically changing relationship (monotonically increasing or monotonically decreasing) with respect to that value (for example, the value obtained by multiplying that value by an arbitrary non-zero constant value, or the difference or sum of that value and an arbitrary constant value, etc.). Similarly, the "left-right balance index of both hands" is not limited to the value that constitutes it (ratio, difference, absolute difference), but may also be a value that has a monotonically changing relationship with respect to that value. Similarly, the "advancement index of both hands" is not limited to the value that constitutes it (ratio, difference, absolute difference), but may also be a value that has a monotonically changing relationship with respect to that value.

[0019] In this third invention, the bilateral independence index functions as an indicator that shows how much of the user's body weight is supported by their own legs without relying on their hands when the user performs a walking motion while grasping the grips of a rehabilitation walker with both hands (hereinafter, this walking motion is referred to as bilateral support walking motion).

[0020] Furthermore, the bilateral balance index functions as an indicator representing the degree of balance between the supporting force of the left hand and the supporting force of the right hand in the bilateral support walking motion. The bilateral balance variation index functions as an indicator representing the degree of variation of the bilateral balance index.

[0021] Furthermore, the two-handed forward movement index functions as an indicator representing the ratio of forward force to force in the direction of gravity among the forces generated by the user with both hands during the two-handed supported walking motion. The two-handed forward movement variation index functions as an indicator representing the degree of variation in the two-handed forward movement index.

[0022] Therefore, according to the third invention, the bilateral independence index, bilateral left-right balance index, bilateral left-right balance fluctuation index, bilateral forward movement index, and bilateral forward movement fluctuation index make it quantitatively clear how force is generated by both hands during bilateral support walking using a rehabilitation walker. Thus, according to the third invention, it becomes possible for users and staff to appropriately obtain useful information for quantitatively evaluating the progress of the user's walking training and the degree of recovery of walking function.

[0023] In the third invention described above, the device is provided with a display unit that displays the evaluation index calculated by the evaluation index calculation unit, and it is preferable that the display unit displays (4) the bilateral independence index, (5) the bilateral left-right balance index and the bilateral left-right balance fluctuation index, and (6) the bilateral advancement index and the bilateral advancement fluctuation index as a two-dimensional graph (fourth invention).

[0024] According to this system, the bilateral independence index, the bilateral left-right balance index, the bilateral left-right balance fluctuation index, the bilateral forward movement index, and the bilateral forward movement fluctuation index are displayed as two-dimensional graphs, making it easy for users or staff to visually recognize these indicators. [Brief explanation of the drawing]

[0025] [Figure 1] An overall perspective view of a rehabilitation walker (walking motion evaluation system) according to an embodiment of the present invention. [Figure 2] A perspective view of the front of the rehabilitation walker according to the embodiment. [Figure 3] A block diagram showing the configuration of information processing for a rehabilitation walker according to an embodiment. [Figure 4] A graph showing an example of evaluation information displayed according to the first phase of gait training (walking motion supported by the hands and elbows). [Figure 5] A graph showing an example of evaluation information displayed according to the second phase of gait training (walking motion with both hands supported). [Modes for carrying out the invention]

[0026] One embodiment of the present invention will be described below with reference to Figures 1 to 5. Referring to Figures 1 and 2, the rehabilitation walker 1 of this embodiment (hereinafter simply referred to as walker 1) comprises a frame 2 that is movable on the floor surface, a pair of elbow rests 3L, 3R mounted on the frame 2 and positioned on the upper part of the frame 2 so that a user P can rest their left and right elbows on them respectively, and a pair of first grips 4L, 4R and a pair of second grips 5L, 5R mounted on the frame 2 and positioned in front of the elbow rests 3L, 3R so that a user P can grasp them with their left and right hands respectively.

[0027] Furthermore, the walker 1 of this embodiment also functions as a walking motion evaluation system. In addition, in the walker 1 of this embodiment, the first grips 4L and 4R function as grips in the present invention, and the second grips 5L and 5R are additional grips for performing brake operations to stop the walker 1. In addition, in the walker 1 of this embodiment, the front-rear direction and left-right direction of the frame 2 (or the front-rear direction and left-right direction of the walker 1) are the directions shown in Figures 1 and 2. In the following description, unless otherwise specified, "front-rear direction" and "left-right direction" refer to the directions shown in Figures 1 and 2. Also, in the description of this embodiment, reference numerals with "L" added indicate reference numerals for the left side member of the walker 1, and reference numerals with "R" added indicate reference numerals for the right side member of the walker 1. However, when it is not necessary to distinguish between left and right, the addition of "L" and "R" may be omitted.

[0028] Frame 2 comprises an upper frame 21 and a lower frame 22 arranged with a vertical gap between them, vertical frames 23L and 23R connecting the upper frame 21 and the lower frame 22, and four wheels 24 attached to the lower frame 22.

[0029] Both the upper frame 21 and the lower frame 22 are frames formed in a roughly U-shape when viewed from above, and are arranged so that their respective open ends face backward.

[0030] The vertical frames 23L and 23R are positioned extending vertically to the left and right sides of the upper frame 21 and lower frame 22, respectively. The upper ends of the vertical frames 23L and 23R are fixed to the left and right sides of the upper frame 21, respectively, and their lower ends are fixed to the left and right sides of the lower frame 22, respectively. In this way, the upper frame 21 and the lower frame 22 are connected via the left and right vertical frames 23L and 23R.

[0031] The four wheels 24 are positioned at the front and rear of each side of the lower frame 22, respectively. They are mounted on the lower frame 22 so that they can make contact with the floor surface beneath the lower frame 22, roll on the floor surface, and rotate in the yaw direction (direction around the vertical axis). Each of these wheels 24 may be made of, for example, a swivel caster.

[0032] In this embodiment, since the frame 2 is configured as described above, the wheels 24 that are in contact with the floor surface can roll, and by turning as appropriate, it can move in any direction on the floor surface.

[0033] The elbow rests 3L and 3R are each formed in an elongated shape in the front-to-back direction, and their upper surfaces are formed in a flat, cushioned shape. The elbow rests 3L and 3R are each attached to the upper sides of the left and right sides of the upper frame 21. In this case, each elbow rest 3 may be attached to the left and right sides of the upper frame 21 so that its position in the front-to-back direction or the left-to-right direction relative to the frame 2 can be adjusted.

[0034] The first grips 4L and 4R are positioned in front of the left and right elbow rests 3L and 3R, respectively, extending in the left-right direction. As shown in Figure 2, the first grips 4L and 4R are attached to a flat plate-shaped first base 41 that extends forward from the upper surface of the front part of the upper frame 21 (the part connecting the left and right sides) via a pair of plate members 43L and 43R and a pair of mounting members 42L and 42R.

[0035] Specifically, the mounting members 42L and 42R are positioned on the upper surface of the first base 41, extending horizontally from the left and right sides of the center, respectively, and are fixed to the first base 41 via the second load sensors 12L and 12R, which will be described later. The plate members 43L and 43R are attached to the left mounting member 42L and the right mounting member 42R, respectively, so as to stand upright with their normal directions facing the front-to-back direction. In Figure 2, multiple holes are drilled in each plate member 43, but these holes are not required.

[0036] The left first grip 4L is attached to the left plate member 43L so as to extend to the left from the upper left end of the left plate member 43L, and the right first grip 4R is attached to the right plate member 43R so as to extend to the right from the upper right end of the right plate member 43R. In this case, the first grips 4L and 4R are attached to the plate members 43L and 43R, respectively, by inserting core materials (not shown) protruding from each of the plate members 43L and 43R into each of the first grips 4L and 4R.

[0037] The second grips 5L and 5R are positioned to extend vertically in front of the first grips 4L and 4R, respectively. As shown in Figure 2, the lower ends of the second grips 5L and 5R are attached to the left and right front portions of the upper frame 21, respectively, via mounting members 51L and 51R.

[0038] Furthermore, the second grips 5L and 5R are each equipped with brake levers 52L and 52R, respectively, for applying braking force to the left and right rear wheels (the rear wheels 24 of the lower frame 22) via wires 53L and 53R.

[0039] The mechanical configuration of the walker 1 in this embodiment is as described above. With the walker 1 configured in this way, as shown in Figure 1, the user P can stand between the left and right sides of the upper frame 21 and the lower frame 22, and place their left and right elbows on the elbow rests 3L and 3R respectively, and grasp the first grips 4L and 4R respectively with their left and right hands. When the user P performs a walking motion (hand-elbow supported walking motion) with their left and right elbows on the elbow rests 3L and 3R respectively and grasping the first grips 4L and 4R respectively with their left and right hands, the walker 1 moves on the floor surface together with the user P.

[0040] Alternatively, if user P performs a walking motion (two-handed walking motion) while grasping the first grips 4L and 4R with both hands, without resting their left and right elbows on the elbow rests 3L and 3R respectively, the walker 1 moves along the floor surface with user P.

[0041] The walker 1 of this embodiment is further equipped with an information processing device 6 including a display 61 and a plurality of sensors, as shown in Figure 3. The plurality of sensors include first load sensors 11L, 11R (hereinafter referred to as elbow load sensors 11L, 11R) for detecting the load (elbow load) acting from the left and right elbows of the user P on the left and right elbow rests 3L, 3R, respectively, and second load sensors 12L, 12R (hereinafter referred to as hand load sensors 12L, 12R) for detecting the load (hand load) acting from the left and right hands of the user P on the left and right first grips 4L, 4R, respectively. The elbow load sensors 11L, 11R correspond to the first load sensors in this invention, and the hand load sensors 12L, 12R correspond to the second load sensors in this invention.

[0042] Each elbow load sensor 11 is composed of a force sensor such as a load cell, and is interposed between each elbow rest 3 and the side of the upper frame 21 so as to transmit the elbow load acting on each elbow rest 3, as shown in Figure 1. In this embodiment, each elbow load sensor 11 is configured to detect the elbow load acting on each elbow rest 3 in the vertical direction (direction of gravity) (hereinafter sometimes referred to as the vertical elbow load).

[0043] Each hand load sensor 12 is composed of a force sensor such as a load cell, and is assembled to each mounting member 42 so that the hand load acting on each first grip 4 is transmitted via each plate member 43, as shown in Figure 2. In this embodiment, each hand load sensor 12 is configured to detect both the vertical hand load (hereinafter sometimes referred to as vertical hand load) and the forward hand load (hereinafter sometimes referred to as forward hand load) acting on each first grip 4. Each hand load sensor 12 may be an integrated sensor capable of detecting hand loads in two axes, or it may be configured so that the vertical hand load and the forward hand load can be detected by separate sensors.

[0044] In this embodiment, the information processing device 6 comprises a main processing unit 60 having a display unit 61 and an auxiliary processing unit 65. The auxiliary processing unit 65 is a processing unit that mainly has the function of acquiring measurement data, and is composed of one or more electronic circuit units including, for example, a processor such as a microcontroller (not shown), memory (RAM, ROM, etc.), interface circuit, communication circuit, etc. The auxiliary processing unit 65 is mounted at any suitable location on the walking vehicle 1. For example, as shown in Figure 1, the auxiliary processing unit 65 may be mounted on the vertical frame 23L (or 23R) of the frame 2.

[0045] The auxiliary processing unit 65 receives detection signals from the elbow load sensors 11L and 11R and the hand load sensors 12L and 12R. The auxiliary processing unit 65 has the following functions, realized by the implemented hardware configuration and program (software): an elbow load measurement unit 65a that measures the left and right elbow loads (vertical elbow loads) from the detection signals of the elbow load sensors 11L and 11R; a hand load measurement unit 65b that measures the left and right hand loads (vertical hand loads and forward hand loads) from the detection signals of the hand load sensors 12L and 12R; and a communication processing unit 65c that communicates with the main processing unit 60 via wired or wireless connection.

[0046] In this embodiment, the main unit processing unit 60 is comprised of, for example, a tablet terminal having a display unit 61 made of a liquid crystal display or the like, or a mobile personal computer. The display unit 61 corresponds to the display unit in this invention. The walking vehicle 1 is equipped with a terminal mounting unit 63 to which the main unit processing unit 60 can be detachably attached.

[0047] Specifically, referring to Figures 1 and 2, the walker 1 is equipped with a flat second base 64 that extends forward from the lower surface of the upper frame 21 to the front of the first base 41, and a terminal mounting section 63 is attached to the front part of the upper surface of this second base 64 (the part that extends forward beyond the front end of the first base 41).

[0048] In this case, the terminal mounting unit 63 is configured so that the main unit processing unit 60 can be mounted in an upright position, with the display unit 61 of the main unit processing unit 60 facing the user P's head, and is also provided with an operation unit 63a for adjusting the tilt angle of the main unit processing unit 60. Figure 1 shows the main unit processing unit 60 mounted on the terminal mounting unit 63, and Figure 2 shows the main unit processing unit 60 removed from the terminal mounting unit 63. With the main unit processing unit 60 mounted on the terminal mounting unit 63, the user P, who is performing walking movements using the walker 1, can view the screen of the display unit 61 of the main unit processing unit 60 at any time.

[0049] The main unit processing unit 60, which is mounted on the terminal mounting unit 63 configured as described above, incorporates an electronic circuit unit including a processor such as a microcontroller (not shown), memory (RAM, ROM, etc.), interface circuit, communication circuit, etc., and has the necessary gait training application (program) pre-installed. The main unit processing unit 60 has functions realized by the implemented hardware configuration and the gait training application, including an evaluation index calculation unit 60a that calculates various evaluation indices related to the user's walking motion, an evaluation information output unit 60b that outputs evaluation information based on the evaluation indices, and a communication processing unit 60c that communicates with the auxiliary processing unit 65 by wired or wireless means.

[0050] To elaborate, the main unit processing unit 60 may be composed of an electronic circuit unit that does not include a display unit 61. Furthermore, a separate display unit may be detachably attached to the walker 1, or may be pre-installed.

[0051] Next, the operation of the walker 1 in relation to the user P's walking training will be explained. In this embodiment, user P, who intends to undergo walking training, performs walking training using the walker 1 according to the instructions of the staff. Here, the phases of walking training can be classified into three phases: the two-elbow support phase (on elbows phase), in which the user supports their own weight mainly with both elbows; the two-hand support phase (on hands phase), in which the user supports their weight with both hands; and the one-hand support phase (on a hand phase), in which the user supports their weight with one hand.

[0052] Furthermore, the walking training using the walking aid 1 of this embodiment can be classified into two phases, for example, a first phase and a second phase. The first phase of walking training is training to transition the user's walking motion from a two-elbow support phase to a two-hand support phase. In this walking training, the user P places both elbows on the elbow rests 3L and 3R, grasps the first grips 4L and 4R with both hands, and performs walking motions while supporting their upper body with both elbows and hands. In this embodiment, the walking motion of the user P in this first phase of walking training corresponds to the hand-elbow support walking motion in the present invention.

[0053] Furthermore, the second phase of walking training is designed to transition the user's walking motion from a two-handed support phase to a one-handed support phase. In this walking training, the user P grasps the first grips 4L and 4R with both hands and performs walking motions while supporting their upper body primarily with both hands. In this embodiment, the walking motion of the user P in this second phase of walking training corresponds to the two-handed support walking motion in the present invention.

[0054] The first phase of gait training (gait training using hand-elbow support walking motion) is primarily aimed at restoring user P's arm strength as much as possible (enabling user P to support most of their body weight with their hands rather than their elbows). Therefore, in the first phase of gait training, user P is instructed by staff to perform walking motions with the goal of minimizing the vertical load on their elbows to the left and right and supporting their body weight with vertical load on their hands to the left and right. In addition, the main processing unit 60 of the information processing device 6 is set to execute processing for the first phase based on staff operations, etc.

[0055] In the first phase of walking training, user P walks a straight distance of, for example, about 5m while pushing the walker 1 during each training session. At this time, the elbow load measurement unit 65a of the auxiliary processing unit 65 of the information processing device 6 sequentially acquires detected values ​​EL(i) and ER(i) for the vertical elbow load of each elbow from the outputs of the elbow load sensors 11L and 11R at a constant processing cycle, and the hand load measurement unit 65b of the auxiliary processing unit 65 sequentially acquires detected values ​​HL(i) and HR(i) for the vertical hand load of each hand from the outputs of the hand load sensors 12L and 12R at a predetermined processing cycle. In this case, the processing cycle may be, for example, 5 to 10 times per second.

[0056] The detected values ​​EL(i), ER(i) for vertical elbow load and HL(i), HR(i) for vertical hand load are sequentially transmitted from the auxiliary processing unit 65 to the main processing unit 60. The evaluation index calculation unit 60a of the main processing unit 60 then sequentially calculates the hand-elbow independence index S_he(i), the hand-elbow left-right balance index X_he(i), and the hand-elbow dominance index Y_he(i) from these detected values ​​EL(i), ER(i), HL(i), HR(i) as instantaneous values ​​of three types of evaluation indices related to the user P's walking motion, using the following equations (1), (2), and (3), and stores them in memory in a time series. As a result, N data points (= number of samples per second × walking training time [seconds]) (instantaneous values) are accumulated for each of the hand-elbow independence index S_he(i), hand-elbow left-right balance index X_he(i), and hand-elbow dominance index Y_he(i). S_he(i)=(1-(HL(i)+HR(i)+EL(i)+ER(i)) / W)×100 [%] ……(1) X_he(i)=((HR(i)+ER(i))-(HL(i)+EL(i))) / W×100 [%] ……(2) Y_he(i)=((HL(i)+HR(i))-(EL(i)+ER(i))) / W×100 [%] ……(3)

[0057] Here, W is the weight of the user P, which is pre-inputted into the main unit processing unit 60. Therefore, in this embodiment, the hand-elbow independence index S_he(i) is an evaluation index that represents the value obtained by subtracting from 1 the ratio of the total load of vertical elbow loads and vertical hand loads on both the left and right sides to the weight of the user P (the value obtained by normalizing the total load by the weight W), the hand-elbow left-right balance index X_he(i) is an evaluation index that represents the ratio of the difference between the total load of vertical elbow loads and vertical hand loads on the right side and the total load of vertical elbow loads and vertical hand loads on the left side to the weight of the user P (the value obtained by normalizing the difference by the weight W), and the hand-elbow superiority index Y_he(i) is the ratio of the difference between the total load of vertical hand loads on both the left and right sides and the total load of vertical elbow loads on both the left and right sides to the weight of the user P (the value obtained by normalizing the difference by the weight W).

[0058] During walking training, the main unit processing unit 60 displays the values ​​of the hand-elbow independence index S_he(i), the left-right balance index X_he(i), and the hand-elbow dominance index Y_he(i), which are calculated sequentially as described above, or graphs showing the changes in these values ​​over time, on the display unit 61 in real time via the evaluation information output unit 60b. This allows the user to perform walking training while checking in real time on the display unit 61 how the values ​​(instantaneous values) of the hand-elbow independence index S_he(i), the left-right balance index X_he(i), and the hand-elbow dominance index Y_he(i) change during their walking motion.

[0059] After the completion of the first phase of gait training, the evaluation index calculation unit 60a calculates the representative value (S_he) of the hand-elbow independence index, the representative value (X_he) of the hand-elbow balance index, and the representative value (Y_he) of the hand-elbow dominance index for one gait training session. In this embodiment, the second quartiles S_he(q2), X_he(q2), and Y_he(q2) are calculated as the median values ​​of the accumulated N data for the hand-elbow independence index S_he(i), the hand-elbow balance variation index X_he(i), and the hand-elbow dominance index Y_he(i), respectively, as shown in the following equations (4), (5), and (6). (S_he )~=S_he(i)'s second quartile S_he(q2) ……(4) (X_he) ~= the second quartile of X_he(i) is X_he(q2) ……(5) (Y_he )~=2nd quartile of Y_he(i) Y_he(q2) ……(6)

[0060] If the distributions of S_he(i), X_he(i), and Y_he(i) are close to a normal distribution, the mean can be calculated using the representative values ​​(S_he), (X_he), and (Y_he(i)) respectively.

[0061] Furthermore, the evaluation index calculation unit 60a calculates the left-right balance index ΔX_he, which represents the variation (range of change) of X_he (i), and the hand-elbow superiority variation index ΔY_he, which represents the variation (range of change) of Y_he (i), based on the left-right balance index X_he (i) and the hand-elbow superiority index Y_he (i) (i=1~N) accumulated in one walking training session. In this embodiment, as shown in equations (7) and (8) below, the difference between the third quartile X_he(q3) and the first quartile X_he(q1) of X_he (i) is calculated as the left-right balance index ΔX_he, and the difference between the third quartile Y_he(q3) and the first quartile Y_he(q1) of Y_he (i) is calculated as the hand-elbow superiority variation index ΔY_he. ΔX_he = X_he(i) - 3rd quartile X_he(q3) - 1st quartile X_he(q1) ……(7) ΔY_he=3rd quartile Y_he(q3)-1st quartile Y_he (q1) of Y_he(i) ……(8)

[0062] If the distributions of X_he(i) and Y_he(i) are close to a normal distribution, the standard deviation or variance may be calculated using ΔX_he and ΔY_he.

[0063] As described above, ΔX_he and ΔY_he are indicators representing the stability (or variability) of user P during walking. Smaller values ​​indicate less lateral and forward / backward sway of user P's body.

[0064] The main processing unit 60 then uses the evaluation information output unit 60b to display evaluation information based on (S_he)~, (X_he)~, (Y_he)~, ΔX_he, and ΔY_he calculated as described above on the display unit 61. In this case, the evaluation information output unit 60b sets up a two-dimensional coordinate plane with the left-right balance index X_he as the horizontal axis (or vertical axis) and the hand-elbow superiority index Y_he as the vertical axis (or horizontal axis), as illustrated in Figure 4, and displays image data of a two-dimensional graph on the display unit 61, in which rhombus-shaped quadrilaterals ABCD having positions and sizes corresponding to (X_he)~, (Y_he)~, ΔX_he, and ΔY_he are placed on this coordinate plane.

[0065] In this case, the rhombus-shaped quadrilateral ABCD is set up as follows: On the above coordinate plane, the position of point Q=[X_he(q2), Y_he(q2)], defined by the representative values ​​(X_he)~(=X_he(q2)) and (Y_he)~(=Y_he(q2)) of the left-right balance index and the hand-elbow dominance index, is set as the representative position of quadrilateral ABCD. Then, of the four vertices of the rhombus-shaped quadrilateral, two vertices offset horizontally from point Q are set up as point A=[X_he(q1), Y_he(q2)], with the first quartile X_he(q1) of the left-right balance index X_he(i) as the horizontal axis coordinate value, and point C=[X_he(q3), Y_he(q2)], with the third quartile X_he(q3) of the left-right balance index X_he(i) as the horizontal axis coordinate value.

[0066] Furthermore, two vertices are set as points shifted vertically from point Q: point B = [X_he(q2), Y_he(q1)], where the vertical axis coordinate is the first quartile Y_he(q1) of the hand-elbow dominance index Y_he(i), and point D = [X_he(q2), Y_he(q3)], where the vertical axis coordinate is the third quartile Y_he(q3) of the hand-elbow dominance index Y_he(i).

[0067] As a result, the horizontal and vertical widths of the rectangle ABCD are set to match the left-right balance variation index ΔX_he and the right-right dominance variation index ΔY_he, respectively.

[0068] Note that while the representative position and coordinates of each vertex of the rhombus quadrilateral ABCD were set using quartiles, it is also possible to set the rhombus quadrilateral ABCD using, for example, the mean and standard deviation of X_he(i) and Y_he(i), respectively. In that case, the coordinates of the representative position of quadrilateral ABCD should be set to [mean of X_he(i), mean of Y_he(i)], and the coordinates of points A, B, C, and D should be set to [mean of X_he(i) - standard deviation, mean of Y_he(i)], [mean of X_he(i), mean of Y_he(i) - standard deviation], [mean of X_he(i) + standard deviation, mean of Y_he(i)], and [mean of X_he(i), mean of Y_he(i) + standard deviation], respectively.

[0069] As described above, the evaluation information output unit 60b sets up a two-dimensional coordinate plane with the left-right balance fluctuation index X_he of the hand and elbow on the horizontal axis and the hand and elbow superiority index Y_he on the vertical axis, and displays image data of a two-dimensional graph on the display unit 61 in which rhombus-shaped quadrilaterals ABCD having positions and sizes corresponding to (X_he)~, (Y_he)~, ΔX_he, and ΔY_he are placed on this coordinate plane.

[0070] Note that instead of the rhombus-shaped quadrilateral ABCD, an ellipse may be displayed. In this case, the ellipse is centered at the point Q=[X_he(q2), Y_he(q2)] defined by the representative values ​​(X_he)~(=X_he(q2)) and (Y_he)~(=Y_he(q2)) of the left-right balance index and the right-right dominance index of the elbow, with the length of the major axis being 2a, the length of the minor axis being 2b, and the coordinates of the focus being (√(a 2 -b 2 )+(X_he)~,(Y_he)~),(-√(a 2 -b 2 Let )+(X_he)~,(Y_he)~), and the ellipse is represented by the following equation (9). (x-(X_he)~) 2 / a 2 +(y-(Y_he)~) 2 / b 2 =1 ……(9) however, a = ΔX_he / 2 ……(9a) b = ΔY_he / 2 ……(9b)

[0071] In addition, in this embodiment, the evaluation information output unit 60b changes the color of rectangle ABCD, for example, according to the representative value (S_he)~ (=S_he(q2)) of the hand and elbow independence index. For example, the color of rectangle ABCD can be set so that as the value of the representative value (S_he)~ of the hand and elbow independence index increases, the color of rectangle ABCD changes from yellow to green, or from green to blue.

[0072] Alternatively, instead of using a color for rectangle ABCD, the pattern of rectangle ABCD could be changed according to the representative value of the hand-elbow independence index (S_he) ~ (= S_he(q2)).

[0073] In the first phase of gait training, as described above, the display unit 61 can display image data of a two-dimensional graph corresponding to the representative value of the hand-elbow independence index (S_he)~, the representative value of the hand-elbow balance index (X_he)~, the representative value of the hand-elbow dominance index (Y_he)~, the hand-elbow balance fluctuation index ΔX_he, and the hand-elbow priority fluctuation index ΔY_he. Therefore, useful information for quantitatively evaluating the progress of the first phase of gait training can be displayed clearly as visual information on the display unit 61. As a result, staff can appropriately judge the progress of the first phase of gait training.

[0074] Next, we will explain the second phase of gait training. The primary objective of the second phase of gait training is to enable user P to support most of their body weight with their hands and legs. Therefore, in the second phase of gait training, user P is instructed by staff to perform walking movements with the goal of minimizing the vertical hand load on the left and right sides, supporting their weight with their left and right legs, and increasing the forward hand load on their left and right hands. In addition, the main processing unit 60 of the information processing device 6 is set to execute processing for the second phase based on the staff's operation or other means.

[0075] In the second phase of walking training, user P walks a straight distance of, for example, about 5m while pushing the walker 1 during each training session. At this time, the hand load measurement unit 65b of the auxiliary processing unit 65 of the information processing device 6 sequentially acquires the detected values ​​HL(i) and HR(i) for the vertical hand load for each hand and the detected values ​​HLF(i) and HRF(i) for the forward hand load for each hand from the outputs of the hand load sensors 12L and 12R at a predetermined processing cycle. In this case, the processing cycle may be, for example, 5 to 10 times per second.

[0076] The detected values ​​of vertical hand load HL(i), HR(i) and forward hand load HLF(i), HRF(i) are sequentially transmitted from the auxiliary processing unit 65 to the main processing unit 60. The evaluation index calculation unit 60a of the main processing unit 60 then sequentially calculates the instantaneous values ​​of three types of evaluation indices related to the user P's walking motion from these detected values ​​HL(i), HR(i), HLF(i), HRF(i), as bilateral independence index S_bh(i), bilateral left-right balance index X_bh(i), and bilateral forward movement index Y_bh(i) using the following equations (11), (12), and (13), and stores them in memory in a time series. As a result, N data points (= number of samples per second × walking training time [seconds]) (instantaneous values) are accumulated for each of the bilateral independence index S_bh(i), bilateral left-right balance index X_bh(i), and bilateral forward movement index Y_bh(i). S_bh(i)=(1-(HLF(i)+HRF(i)+HL(i)+HR(i)) / W)×100 [%] ...(11) X_bh(i)=((HR(i)+HRF (i))-(HL(i)+HLF(i))) / W×100 [%] ...(12) Y_bh(i)=((HLF(i)+HRF(i))-(HL(i)+HR(i))) / W×100 [%] ...(13)

[0077] In this embodiment, the bilateral independence index S_bh(i) is an evaluation index that represents the value obtained by subtracting from 1 the ratio of the total load of vertical hand loads and forward hand loads on both the left and right sides to the user P's weight (the value obtained by normalizing the total load by the weight W); the bilateral balance index X_he(i) is an evaluation index that represents the ratio of the difference between the total load of vertical hand loads and forward hand loads on the right side and the total load of vertical hand loads and forward hand loads on the left side to the user P's weight (the value obtained by normalizing the difference by the weight W); and the bilateral forward movement index Y_bh(i) is the ratio of the difference between the total load of forward hand loads on both the left and right sides and the total load of vertical hand loads on both the left and right sides to the user P's weight W (the value obtained by normalizing the difference by the weight W).

[0078] During walking training, the main unit processing unit 60 displays the values ​​of the bilateral independence index S_bh(i), bilateral left-right balance index X_bh(i), and bilateral forward movement index Y_bh(i), which are calculated sequentially as described above, or graphs showing the changes in these values ​​over time, on the display unit 61 in real time via the evaluation information output unit 60b. This allows the user to perform walking training while checking in real time on the display unit 61 how the values ​​(instantaneous values) of the bilateral independence index S_bh(i), bilateral left-right balance index X_bh(i), and bilateral forward movement index Y_bh(i) change during their walking motion.

[0079] After the completion of the second phase of walking training, the evaluation index calculation unit 60a calculates the representative value (S_bh) for the bilateral independence index, the representative value (X_bh) for the bilateral left-right balance index, and the representative value (Y_bh) for the bilateral forward movement index during one walking training session. In this embodiment, the second quartiles S_bh(q2), X_bh(q2), and Y_bh(q2), which are the median values ​​of the accumulated N data for the bilateral independence index S_bh(i), the bilateral left-right balance index X_bh(i), and the bilateral forward movement index Y_bh(i), are calculated as the representative values ​​(S_bh)~, (X_bh)~, and (Y_bh)~, respectively, as shown in the following equations (14), (15), and (16). The second quartile of (S_bh) ~=S_bh) is S_bh(q2) ……(14) (X_bh) is the second quartile of X_bh(i), X_bh(q2) ... (15) (Y_bh) is the second quartile of Y_bh(i), Y_bh(q2) ... (16)

[0080] If the distributions of S_bh(i), X_bh(i), and Y_bh(i) are close to a normal distribution, the mean can be calculated using the representative values ​​(S_bh), (X_bh), and (Y_bh) respectively.

[0081] Furthermore, the evaluation index calculation unit 60a calculates the bilateral ΔX_bh=X_bh(i) - 3rd quartile X_bh(q3) - 1st quartile X_bh(q1) ……(17) ΔY_bh=Y_bh(i) - 3rd quartile Y_bh(q3) - 1st quartile Y_bh(q1) ……(18)

[0082] If the distributions of X_bh(i) and Y_bh(i) are close to a normal distribution, the standard deviation or variance may be calculated using ΔX_bh and ΔY_bh.

[0083] As described above, ΔX_bh and ΔY_bh are indicators representing the stability (or variability) of user P during walking. Smaller values ​​indicate less lateral and forward / backward sway of user P's body.

[0084] The main processing unit 60 then uses the evaluation information output unit 60b to display evaluation information based on (S_bh)~, (X_bh)~, (Y_bh)~, ΔX_bh, and ΔY_bh calculated as described above on the display unit 61. In this case, the evaluation information output unit 60b sets up a two-dimensional coordinate plane with the left-right balance index X_bh as the horizontal axis (or vertical axis) and the left-right advance index Y_bh as the vertical axis (or horizontal axis), as illustrated in Figure 5, and displays image data of a two-dimensional graph on the display unit 61, in which rhombus-shaped quadrilaterals ABCD having positions and sizes corresponding to (X_bh)~, (Y_bh)~, ΔX_bh, and ΔY_bh are placed on this coordinate plane.

[0085] In this case, the rhombus-shaped quadrilateral ABCD is defined as follows: On the above coordinate plane, the position of point Q=[X_bh(q2), Y_bh(q2)], defined by the representative values ​​(X_bh)~(=X_bh(q2)) and (Y_bh)~(=Y_bh(q2)) of the two-handed left-right balance index and the two-handed forward advance index, is set as the representative position of quadrilateral ABCD. Then, of the four vertices of the rhombus-shaped quadrilateral, two vertices shifted horizontally from point Q are set as point A=[X_bh(q1), Y_bh(q2)], with the first quartile X_bh(q1) of the two-handed left-right balance index X_bh(i) as the horizontal axis coordinate value, and point C=[X_bh(q3), Y_bh(q2)], with the third quartile X_bh(q3) of the two-handed left-right balance index X_bh(i) as the horizontal axis coordinate value.

[0086] Furthermore, two vertices are set as points shifted vertically from point Q: point B = [X_bh(q2), Y_bh(q1)], where the vertical axis coordinate is the first quartile Y_bh(q1) of the two-handed advance index Y_bh(i), and point D = [X_bh(q2), Y_bh(q3)], where the vertical axis coordinate is the third quartile Y_bh(q3) of the two-handed advance index Y_bh(i).

[0087] As a result, the width along the horizontal axis and the width along the vertical axis of the quadrilateral ABCD are set to widths that correspond to the left-right balance variation index ΔX_bh and the forward movement variation index ΔY_bh, respectively.

[0088] In addition, the representative position and the coordinates of each vertex of the diamond-shaped quadrilateral ABCD were set using quartiles. However, for example, the diamond-shaped quadrilateral ABCD may be set using the average value and the standard deviation of X_bh(i) and Y_bh(i) respectively. In that case, the coordinates of the representative position of the quadrilateral ABCD are set as [the average value of X_bh(i), the average value of Y_bh(i)], and the coordinates of points A, B, C, and D are set as [the average value of X_bh(i) - standard deviation, the average value of Y_bh(i)], [the average value of X_bh(i), the average value of Y_bh(i) - standard deviation], [the average value of X_bh(i) + standard deviation, the average value of Y_bh(i)], and [the average value of X_bh(i), the average value of Y_bh(i) + standard deviation] respectively.

[0089] As described above, the evaluation information output unit 60b sets a two-dimensional coordinate plane with the two-handed left-right balance index X_he on the horizontal axis and the two-handed progress index Y_bh on the vertical axis, and on this coordinate plane, it causes the display 61 to display the image data of a two-dimensional graph in which a diamond-shaped quadrilateral ABCD having a position and size corresponding to (X_bh)~, (Y_bh)~, ΔX_bh, and ΔY_bh is arranged.

[0090] Note that, instead of the diamond-shaped quadrilateral ABCD, for example, an ellipse may be displayed. In this case, the ellipse is centered at the position of the point Q = [X_bh(q2), Y_bh(q2)] defined by the representative values (X_bh)~(=X_bh(q2)) and (Y_bh)~(=Y_bh(q2)) of the two-handed left-right balance index and the two-handed progress index, with the length of the major axis being 2a, the length of the minor axis being 2b, and the coordinates of the foci being (√(a 2 -b 2 )+(X_bh)~,(Y_bh)~) and (-√(a 2 -b 2 )+(X_bh)~,(Y_bh)~), and is an ellipse represented by the following formula (19). (x-(X_bh)~) 2 / a 2 +(y-(Y_bh)~) 2 / b 2 = 1 ……(19) However, a = ΔX_bh / 2 ……(19a) b = ΔY_bh / 2 ……(19b)

[0091] In addition, in this embodiment, the evaluation information output unit 60b changes the color of rectangle ABCD, for example, according to the representative value (S_bh)~ (=S_bh(q2)) of the two-handed independence index. For example, the color of rectangle ABCD can be set so that as the value of the representative value (S_bh)~ of the two-handed independence index increases, the color of rectangle ABCD changes from yellow to green, or from green to blue.

[0092] Alternatively, instead of changing the color of rectangle ABCD, the pattern of rectangle ABCD could be changed according to the representative value of the two-handed independence index (S_bh) ~ (= S_bh(q2)).

[0093] In the second phase of gait training, as described above, the display unit 61 can display image data of a two-dimensional graph corresponding to the representative value of the bilateral independence index (S_bh)~, the representative value of the bilateral balance index (X_bh)~, the representative value of the bilateral forward movement index (Y_bh)~, the bilateral balance fluctuation index ΔX_bh, and the bilateral forward movement fluctuation index ΔY_bh. Therefore, useful information for quantitatively evaluating the progress of the second phase of gait training can be displayed clearly as visual information on the display unit 61. As a result, staff can appropriately judge the progress of the second phase of gait training.

[0094] It should be noted that the present invention is not limited to the embodiments described above, and other embodiments can also be adopted. Several other embodiments are given below as examples. In the above embodiments, the hand-elbow independence index was calculated using formula (1) among the evaluation indices in the first phase of walking training, but for example, (HL(i)+HR(i)+EL(i)+ER(i)) / W may be calculated as an index instead of the hand-elbow independence index. In this case, the index will mean the hand-elbow dependency index, and during walking training, the user will be instructed to walk in a way that reduces this index.

[0095] Furthermore, in the above embodiment, the left-right balance index of the elbows was calculated using formula (2) among the evaluation indicators in the first phase of gait training. However, for example, the ratio of (HR(i)+ER(i)) to (HL(i)+EL(i)), the difference between (HR(i)+ER(i)) and (HL(i)+EL(i)), the absolute difference between (HR(i)+ER(i)) and (HL(i)+EL(i)), or the ratio obtained by dividing the absolute difference by the user P's weight W may be used as the left-right balance index of the elbows.

[0096] Furthermore, in the above embodiment, the hand-elbow priority index among the evaluation indicators in the first phase of gait training was calculated using formula (3), but for example, the hand-elbow priority index may be calculated as the ratio of (HL(i)+HR(i)) and (EL(i)+ER(i)), the difference between the two, the absolute difference between the two, or the ratio obtained by dividing the absolute difference by the user P's weight.

[0097] Furthermore, in the above embodiment, the bilateral independence index among the evaluation indicators in the second phase of gait training was calculated using formula (11), but for example, (HLF(i)+HRF(i)+HL(i)+HR(i)) / W may be calculated as an index to replace the bilateral independence index, or (1-(HL(i)+HR(i)) / W) may be calculated as the bilateral independence index, or (HL(i)+HR(i)) / W may be calculated as an index to replace the bilateral independence index. In this case, (HLF(i)+HRF(i)+HL(i)+HR(i)) / W or (HL(i)+HR(i)) / W will mean the bilateral dependence index, and during gait training, the user will be instructed to walk in a way that reduces this index.

[0098] Furthermore, in the above embodiment, the bilateral balance index among the evaluation indicators in the second phase of gait training was calculated using formula (12), but for example, the ratio, difference, or absolute difference between (HR(i) + HRF(i)) and (HL(i) + HLF(i))) or the ratio obtained by dividing the absolute difference by the user P's weight, or the ratio, difference, or absolute difference between HR(i) and HL(i), or the ratio obtained by dividing the difference or absolute difference by the user P's weight may be used as the bilateral balance index.

[0099] Furthermore, in the above embodiment, the bilateral advancement index among the evaluation indicators in the second phase of gait training was calculated using formula (13), but for example, the ratio of (HLF(i)+HRF(i)) to (HL(i)+HR(i)), the difference between the two, the absolute difference between the two, or the ratio obtained by dividing the absolute difference by the user P's weight may be used as the bilateral advancement index. Furthermore, in the above embodiment, the main unit processing unit 60 is mounted on the walker 1, but the main unit processing unit 60 may be arranged separately from the walker 1.

[0100] Furthermore, in the above embodiment, a system was exemplified as a walking motion evaluation system that includes a walker 1 in which a frame 2 equipped with elbow rests 3L, 3R and grips 4L, 4R moves on a fixed floor surface. However, the rehabilitation walker in the walking motion evaluation system of the present invention may be incorporated into a device that has a movable floor surface (a floor surface that moves in accordance with the user's walking motion), such as a treadmill-type walking machine. In this case, the floor surface moves relative to the frame of the rehabilitation walker in accordance with the user's walking motion (walking motion on the movable floor surface). [Explanation of symbols]

[0101] 1... Rehabilitation walker (walking motion evaluation system), 2... Frame, 3L, 3R... Elbow rest, 4L, 4R... First grip (grip), 61... Display unit (display unit), 11L, 11R... Elbow load sensor (first load sensor), 12L, 12R... Hand load sensor (second load sensor), 60a... Evaluation index calculation unit.

Claims

1. A walking motion evaluation system having a function to calculate predetermined types of evaluation indicators related to the walking motion of a user, using a rehabilitation walking device configured to move relative to the floor surface along with the user as the user walks, the walking device comprising: a frame that is movable on the floor surface relative to the floor surface; a pair of elbow rests mounted on the frame and positioned on the upper part of the frame so that the user can rest their left and right elbows on them, respectively; and a pair of grips mounted on the frame and positioned in front of the elbow rests so that the user can grasp them with their left and right hands, respectively, wherein the walking device is configured to move relative to the floor surface along with the user as the user walks, either with the user resting their elbows on the elbow rests, or with the user grasping the grips with their hands, or with the user resting their elbows on the elbow rests and grasping the grips with their hands, A first load sensor detects the elbow load, which is the load acting from the elbow, on each of the elbow rests on which the user's elbows are placed. A second load sensor detects a hand load, which is a load applied from each hand, to each of the grips held by the user. An evaluation index calculation unit calculates the evaluation index related to the user's walking motion from the detected values ​​of the elbow load and the hand load. Equipped with, The evaluation index calculation unit uses the following evaluation index: (1) A hand-elbow independence index is the value obtained by subtracting from 1 the ratio of the sum of the detected load values ​​of the elbows in the vertical direction on both the left and right sides of the user and the detected load values ​​of the hands in the vertical direction, and the user's body weight. (2) A left total load, which is the sum of the detected values ​​of the elbow load in the vertical direction and the detected values ​​of the hand load in the vertical direction on the left side of the user, and a right total load, which is the sum of the detected values ​​of the elbow load in the vertical direction and the detected values ​​of the hand load in the vertical direction on the right side of the user, which is the ratio, difference, absolute difference, or ratio of the difference to the user's weight, or ratio of the absolute difference to the user's weight, and a left-right balance index, which is the variation of the left-right balance index, (3) A walking motion evaluation system characterized by calculating a hand-elbow dominance index which is the ratio, difference, absolute difference, ratio of the difference to the user's body weight, or ratio of the absolute difference to the user's body weight, or the variation of the hand-elbow dominance index which is the variation of the hand-elbow dominance index, and a hand-elbow dominance variation index which is the variation of the hand-elbow dominance index.

2. In the walking motion evaluation system according to claim 1, The system includes a display unit that displays the evaluation index calculated by the evaluation index calculation unit, A walking motion evaluation system characterized in that the display unit displays (1) the hand-elbow independence index, (2) the hand-elbow balance index and the hand-elbow balance fluctuation index, and (3) the hand-elbow dominance index and the hand-elbow dominance fluctuation index as a two-dimensional graph.

3. In the walking motion evaluation system according to claim 1, The evaluation index calculation unit further determines the evaluation index as follows: (4) A bilateral independence index which is the ratio of the total load of the detected vertical hand loads on both the left and right sides of the user to the user's body weight, or the ratio of the total load of the detected vertical hand loads on both the left and right sides and the detected hand load in the forward direction to the user's body weight, subtracted from 1. (5) A left-right balance index for both hands, which is the ratio, difference, or absolute difference between the detected value of the hand load in the vertical direction on the left side of the user and the detected value of the hand load in the vertical direction on the right side of the user, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, or the total load of the detected value of the hand load in the vertical direction on the left side and the detected value of the hand load in the forward direction, and the ratio, difference, or absolute difference between the detected value of the hand load in the vertical direction on the right side and the total load of the hand load in the forward direction, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, and a left-right balance fluctuation index for both hands, which is the fluctuation of the left-right balance index for both hands, (6) A walking motion evaluation system characterized by calculating a two-handed forward movement index which is the ratio, difference, or absolute difference between the total load of the detected hand loads in the forward direction on both the left and right sides of the user and the total load of the detected hand loads in the vertical direction, or the ratio of the difference to the user's weight, or the ratio of the absolute difference to the user's weight, and a two-handed forward movement variation index which is the variation of the two-handed forward movement index.

4. In the walking motion evaluation system according to claim 3, The system includes a display unit that displays the evaluation index calculated by the evaluation index calculation unit, A walking motion evaluation system characterized in that the display unit displays (4) the bilateral independence index, (5) the bilateral left-right balance index and the bilateral left-right balance fluctuation index, and (6) the bilateral forward movement index and the bilateral forward movement fluctuation index as a two-dimensional graph.

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