JP7512958B2 - 歩行訓練システム - Google Patents
歩行訓練システム Download PDFInfo
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- JP7512958B2 JP7512958B2 JP2021099387A JP2021099387A JP7512958B2 JP 7512958 B2 JP7512958 B2 JP 7512958B2 JP 2021099387 A JP2021099387 A JP 2021099387A JP 2021099387 A JP2021099387 A JP 2021099387A JP 7512958 B2 JP7512958 B2 JP 7512958B2
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- Rehabilitation Tools (AREA)
Description
図1は、実施の形態1に係る歩行訓練装置の一構成例を示す全体概念図である。本実施形態に係る歩行訓練装置100は、訓練者(ユーザ)900のリハビリ(リハビリテーション)を支援するリハビリ支援装置の一具体例であって、特に歩行訓練を支援する歩行訓練装置の一具体例である。歩行訓練装置100は、一方の脚に麻痺を患う片麻痺患者である訓練者900が、訓練スタッフ901の指導に従って歩行訓練を行うための装置である。ここで、訓練スタッフ901は、例えば療法士(理学療法士)又は医師とすることができ、訓練者の訓練を指導又は介助などにより補助することから、訓練指導者、訓練介助者、訓練補助者などと称することもできる。歩行訓練装置100は、歩行訓練システムということもできる。なお、以下の説明における上下方向、左右方向、前後方向は、訓練者900の向きを基準とする方向である。
図2に示すように、トレッドミル131は、リング状のベルト1311、プーリー1312、及び、図示しないモータを少なくとも備える。また、ベルト1311の内側(訓練者900が搭乗する面のベルト1311の下側)には、ベルト1311に連動しないように荷重分布センサ222が設置されている。但し、荷重分布センサ222は、ベルト1311の上側に、当該ベルト1311に連動するように設けられてもよい。なお、荷重分布センサ222は、重心位置検出部225の一例である。重心位置検出部225の他の例については後述する。
図3は、歩行補助装置120の一構成例を示す概略斜視図である。歩行補助装置120は、主に、制御ユニット121と、患脚の各部を支える複数のフレームと、を備える。なお、歩行補助装置120は、ロボット脚とも称す。
続いて、図4を用いて、歩行訓練装置100のシステム構成例について説明する。
図4は、歩行訓練装置100のシステム構成例を示すブロック図である。
例えば、歩行フェーズ毎に麻痺体部の動作量と基準とを比較することによって訓練結果の判定が行われてもよい。なお、歩行フェーズとは、患脚(又は健脚)についての1歩行周期(1歩行サイクル)を、立脚状態にある立脚期、立脚期から遊脚状態にある遊脚期への移行期、遊脚期、遊脚期から立脚期への移行期などに分類したものである。どの歩行フェーズであるかは、例えば荷重分布センサ222による検出結果などから分類(判定)することができる。なお、歩行サイクルは、上述のように、立脚期、移行期、遊脚期、移行期で1サイクルとして取り扱うことができるが、どの時期を開始期と定義するかは問わない。その他、歩行サイクルは、例えば、両脚支持状態、単脚(患脚)支持状態、両脚支持状態、単脚(健脚)支持状態で1サイクルとして取り扱うこともでき、この場合にもどの状態を開始状態と定義するかは問わない。
まず、図5の例では、訓練スタッフ901による訓練者900へのサポートが行われていないため、実際の重心位置CPと、訓練者900の姿勢から推定された重心位置CPxと、の差分が実質的にゼロとなっている。このとき、判定部210eは、実際の重心位置CPと、訓練者900の姿勢から推定された重心位置CPxと、の差分が所定値T1以下であるため、訓練スタッフ901による訓練者900へのサポートが過剰でない、と判定する。そのため、通知部227による通知は行われない。
110 装具
110a 連結フック
111 ハーネスワイヤ
112 ハーネス引張部
120 歩行補助装置
121 制御ユニット
122 上腿フレーム
123 下腿フレーム
124 足平フレーム
126 調整機構
127 前側連結フレーム
127a 連結フック
128 後側連結フレーム
128a 連結フック
129 上腿ベルト
130 フレーム
130a 手摺り
131 トレッドミル
133 制御盤
134 前側ワイヤ
135 前側引張部
136 後側ワイヤ
137 後側引張部
138 訓練用モニタ
139 管理用モニタ
140 カメラ
210 全体制御部
210a 歩行評価部
210b 訓練判定部
210c 歩行状態判別部
210d 重心位置推定部
210e 判定部
211 トレッドミル駆動部
212 操作受付部
213 表示制御部
214 引張駆動部
215 ハーネス駆動部
216 画像処理部
217 姿勢センサ
218 手摺りセンサ
219 通信接続IF
220 補助制御部
221 関節駆動部
222 荷重分布センサ
223 角度センサ
225 重心位置検出部
226 姿勢検出部
227 通知部
229 通信接続IF
232 非常停止ボタン
900 訓練者
901 訓練スタッフ
1311 ベルト
1312 プーリー
Claims (5)
- トレッドミルと、
前記トレッドミルのベルトに搭乗した訓練者の足裏から受ける荷重から、当該訓練者の重心位置を検出する重心位置検出部と、
前記訓練者の姿勢を検出する姿勢検出部と、
前記姿勢検出部によって検出された前記訓練者の姿勢から、前記訓練者の重心位置を推定する重心位置推定部と、
前記重心位置検出部によって検出された重心位置と、前記重心位置推定部によって推定された重心位置と、の差分が所定値を超えた場合に、介助者による前記訓練者へのサポートが過剰であると判定する判定部と、
前記判定部によって前記介助者による前記訓練者へのサポートが過剰であると判定された場合にその旨を前記介助者に通知する通知部と、
を備えた、歩行訓練システムであって、
前記所定値は、前記介助者による前記訓練者へのサポートが行われていない場合における、前記重心位置検出部によって検出された重心位置と、前記重心位置推定部により推定された重心位置と、の差分が相殺されるように、決定される、
歩行訓練システム。 - 前記重心位置検出部は、前記トレッドミルのベルトの下側に当該ベルトに連動しないように設置され、前記トレッドミルのベルトに搭乗した前記訓練者の足裏から受ける荷重の分布を検出する荷重分布センサである、
請求項1に記載の歩行訓練システム。 - 前記重心位置検出部は、
前記訓練者の右脚及び左脚のそれぞれの足裏に取り付けられた一組の荷重センサと、
前記訓練者の右脚及び左脚を少なくとも撮影する第1撮影部と、
を備え、
前記一組の荷重センサによって検出された荷重と、前記第1撮影部による撮影映像から特定される前記訓練者の右脚及び左脚のそれぞれの位置と、に基づいて、前記訓練者の重心位置を検出する、
請求項1に記載の歩行訓練システム。 - 前記姿勢検出部は、
前記訓練者を撮影する第2撮影部と、
前記第2撮影部による前記訓練者の撮影映像から、前記訓練者の姿勢に関する情報を抽出する姿勢情報抽出部と、を有し、
前記重心位置推定部は、前記姿勢情報抽出部によって抽出された前記訓練者の姿勢から前記訓練者の重心位置を推定する、
請求項1~3の何れか一項に記載の歩行訓練システム。 - 前記姿勢検出部は、
赤外線センサと、
前記赤外線センサによる前記訓練者の検知結果から、前記訓練者の姿勢に関する情報を抽出する姿勢情報抽出部と、を有し、
前記重心位置推定部は、前記姿勢情報抽出部によって抽出された前記訓練者の姿勢から前記訓練者の重心位置を推定する、
請求項1~3の何れか一項に記載の歩行訓練システム。
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