JP6554996B2 - 歩行訓練装置、及びその歩行訓練方法 - Google Patents
歩行訓練装置、及びその歩行訓練方法 Download PDFInfo
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- JP6554996B2 JP6554996B2 JP2015160697A JP2015160697A JP6554996B2 JP 6554996 B2 JP6554996 B2 JP 6554996B2 JP 2015160697 A JP2015160697 A JP 2015160697A JP 2015160697 A JP2015160697 A JP 2015160697A JP 6554996 B2 JP6554996 B2 JP 6554996B2
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- Prior art keywords
- walking
- load
- sole
- assist device
- tensile force
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- 238000000034 method Methods 0.000 title claims description 14
- 230000005021 gait Effects 0.000 claims description 39
- 230000007704 transition Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 80
- 210000002683 foot Anatomy 0.000 description 29
- 210000000689 upper leg Anatomy 0.000 description 10
- 230000005484 gravity Effects 0.000 description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000037303 wrinkles Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 1
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Description
この一態様において、前記動作判定手段は、前記荷重中心位置が前記足裏の踵領域内から爪先領域内に推移し、該爪先領域内に所定時間以上継続してあるとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定してもよい。この一態様によれば、荷重中心位置が爪先領域内に所定時間以上継続して入っている安定した状態で、振出し開始を判定できる。これにより、歩行補助装置が装着された脚部の前方への振出し開始をより高精度に判定できる。
上記目的を達成するための本発明の一態様は、歩行を補助する歩行補助装置が脚部に装着されたユーザの歩容状態を判定する歩容状態判定方法であって、前記歩行補助装置に設けられユーザの足部に装着される足部装着部に設けられ、該ユーザの足裏に生じる荷重を検出するステップと、前記検出された足裏の荷重に基づいて、ユーザの歩容動作中の足裏に掛かる荷重中心位置を連続的に算出するステップと、前記算出された荷重中心位置が前記足裏の踵領域内に位置した状態から爪先領域内へ推移したとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定するステップと、を含む、ことを特徴とする歩容状態判定方法であってもよい。この一態様によれば、歩行補助装置が装着された脚部の振出し開始を精度よく判定できる。
上記目的を達成するための本発明の一態様は、前記脚部を、直接的に、又は前記歩行補助装置を介して、上方かつ前方に引張する第1引張手段と、前記第1引張手段による引張力の鉛直上方成分が前記歩行補助装置の重量を低減するように前記第1引張手段を制御する制御手段と、上記歩容状態判定装置と、を備え、前記制御手段は、前記歩容状態判定装置により前記脚部の前方への振出し開始のタイミングと判定されたとき、前記第1引張手段に前記引張力に加えて追加の引張力を発生させる、ことを特徴とする歩行訓練装置であってもよい。この一態様によれば、精度よく判定された振出し開始時に第1引張手段による引張力を増加さることで、脚部の振出し開始時における慣性力を軽減することができる。
図1は、本発明の実施形態に係る歩行訓練装置の概略的な構成を示す斜視図である。本実施形態に係る歩行訓練装置1は、例えば、脳卒中片麻痺患者などのユーザの歩行訓練を行うための装置である。歩行訓練装置1は、ユーザの脚部に装着された歩行補助装置2と、ユーザの歩行訓練を行う訓練装置3と、を備えている。
制御装置35は、例えば、第1引張部33を制御する脚部免荷制御ユニット351と、第2引張部34を制御する人免荷制御ユニット352と、歩行補助装置2を制御する脚部制御ユニット353と、トレッドミル31を制御するトレッドミル制御ユニット354と、これらユニットを制御するコンピュータ(PersonalComputer)355と、コンピュータ355を操作するための操作パネル356と、から構成されている。操作パネル356は、訓練指示、訓練メニュー、訓練情報(歩行速度、生体情報等)などの情報を表示する。操作パネル356は、例えば、タッチパネルとして構成されており、ユーザは操作パネル356を介して各種の情報(第1及び第2引張部33、34の引張力など)を入力できる。
したがって、この慣性力の負担を軽減するために、歩行補助装置が装着された脚部の振出し開始を精度よく判定し、その振出し開始時に、慣性力を軽減するように引張手段の引張力を増加させるのが好ましい。
例えば、図6に示す如く、足平フレーム25の足裏の中心を原点としたXY座標系が設定されている。そして、XY座標系の足裏において、爪先領域、中間領域、及び踵領域が夫々設定されている。足裏において、X座標の値が爪先領域判定閾値以上となる領域が、爪先領域(斜線部)となる。X座標の値が踵領域判定閾値以下となる領域が、踵領域(斜線部)となる。X座標の値が踵領域判定閾値より大きく、かつ爪先領域判定閾値よりも小さい領域(爪先領域と踵領域との間の領域)が、中間領域となる。なお、上記爪先領域判定閾値及び踵領域判定閾値は、例えば、予め実験的に求められ、上記ROMやRAMなどに設定されている。また、上記爪先領域判定閾値及び踵領域判定閾値は、例えば、操作パネル356などを介して、ユーザが任意に設定変更できる。
動作判定部357は、歩行補助装置2の荷重センサ28により検出された足平フレーム25の足裏の荷重に基づいて、歩行補助装置2が装着された脚部が立脚状態であるか否かを判定する(ステップS101)。
動作判定部357は、歩行補助装置2の荷重センサ28により検出された足平フレーム25の足裏の荷重に基づいて、歩行補助装置2が装着された脚部が立脚状態であるか否かを判定する(ステップS201)。
さらに、引張力計算部358は、動作判定部357により、歩行補助装置2が装着された脚部の振出しを開始したと判定されると、第1引張部33による引張力fを増加させるように第1引張部33を制御する。
これにより、振出し期間において、その振出し方向に継続して通常よりも大きな引張力を付加することができる。したがって、慣性力に負荷だけなく、振出し動作全体の負担を軽減できる。
Claims (2)
- 歩行を補助する歩行補助装置が脚部に装着されたユーザの歩容状態を判定する歩容状態判定装置であって、
前記歩行補助装置に設けられ、ユーザの足部に装着される足部装着部と、前記足部装着部に設けられ、該ユーザの足裏に生じる荷重を検出する荷重検出手段と、
前記荷重検出手段により検出された足裏の荷重に基づいて、ユーザの歩容動作中の足裏に掛かる荷重中心位置を連続的に算出する荷重中心算出手段と、
前記荷重中心算出手段により算出された荷重中心位置が前記足裏の踵領域内に位置した状態から爪先領域内へ推移したとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定する動作判定手段と、を備える前記歩容状態判定装置と、
前記脚部を、直接的に、又は前記歩行補助装置を介して、上方かつ前方に引張する第1引張手段と、
前記第1引張手段による引張力の鉛直上方成分が前記歩行補助装置の重量を低減するように前記第1引張手段を制御する制御手段と、
を備え、
前記動作判定手段は、前記荷重中心位置が前記足裏の踵領域内から爪先領域内に推移し、該爪先領域内に所定時間以上継続してあるとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定し、
前記制御手段は、前記歩容状態判定装置により前記脚部の前方への振出し開始のタイミングと判定されたとき、前記第1引張手段に前記引張力に加えて追加の引張力を発生させる、
ことを特徴とする歩行訓練装置。 - 歩行を補助する歩行補助装置が脚部に装着されたユーザの歩容状態を判定する歩容状態判定装置であって、
前記歩行補助装置に設けられ、ユーザの足部に装着される足部装着部と、前記足部装着部に設けられ、該ユーザの足裏に生じる荷重を検出する荷重検出手段と、
前記荷重検出手段により検出された足裏の荷重に基づいて、ユーザの歩容動作中の足裏に掛かる荷重中心位置を連続的に算出する荷重中心算出手段と、
前記荷重中心算出手段により算出された荷重中心位置が前記足裏の踵領域内に位置した状態から爪先領域内へ推移したとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定する動作判定手段と、を備える前記歩容状態判定装置と、
前記脚部を、直接的に、又は前記歩行補助装置を介して、上方かつ前方に引張する第1引張手段と、
前記第1引張手段による引張力の鉛直上方成分が前記歩行補助装置の重量を低減するように前記第1引張手段を制御する制御手段と、
を備える歩行訓練装置の歩行訓練方法であって、
前記動作判定手段は、前記荷重中心位置が前記足裏の踵領域内から爪先領域内に推移し、該爪先領域内に所定時間以上継続してあるとき、前記歩行補助装置が装着された脚部の前方への振出し開始のタイミングと判定し、
前記制御手段は、前記歩容状態判定装置により前記脚部の前方への振出し開始のタイミングと判定されたとき、前記第1引張手段に前記引張力に加えて追加の引張力を発生させる、
ことを特徴とする歩行訓練装置の歩行訓練方法。
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EP16179940.8A EP3132784B1 (en) | 2015-08-17 | 2016-07-18 | Gait state determination apparatus and walking training apparatus |
CN201610643267.1A CN106466219B (zh) | 2015-08-17 | 2016-08-08 | 步态状态确定设备、步态状态确定方法以及步行训练设备 |
US15/230,578 US10874576B2 (en) | 2015-08-17 | 2016-08-08 | Gait state determination apparatus, gait state determination method, and walking training apparatus |
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JP6958374B2 (ja) * | 2018-01-18 | 2021-11-02 | トヨタ自動車株式会社 | 歩行訓練装置、及びその制御方法 |
KR102631409B1 (ko) | 2018-02-20 | 2024-01-31 | 삼성전자주식회사 | 운동 보조 장치 |
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