JP4210044B2 - Walking training device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a gait training apparatus, and more particularly to a gait training apparatus that enables elderly people with weak legs to perform gait training safely.
[0002]
[Prior art]
As a conventional walking training apparatus, there is a so-called treadmill having a walking part provided with an endless track belt. In this walking training apparatus, the endless track belt is driven at a set constant speed, and the trainee is placed on the endless track belt and performs walking training in accordance with the driving speed of the endless track belt.
[0003]
Further, as described in Japanese Patent Application Laid-Open No. 7-124208, there is a belt in which an endless track belt is separated for a trainee's right foot and left foot. In such a walking training apparatus, the left and right endless track belts are driven at different speeds, and there is an advantage that even a patient with one leg paralysis can perform walking training in a standing position in accordance with the speed of the endless track belt.
[0004]
[Problems to be solved by the invention]
However, in the above-mentioned conventional technology, the endless track belt moves only at a set constant speed, so that it is meaningful for the trainee to perform gait training at a constant pace to improve muscle strength. It is not enough to perform so-called fall prevention training in which the trainee corrects himself.
[0005]
An object of the present invention is to provide a walking training apparatus that allows a trainee to perform a fall prevention training during walking training.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, the present invention controls a walking section in which an endless track belt is provided and a trainee performs walking training on the endless track belt, a drive means for driving the endless track belt, and a drive means. And a control means for adjusting the speed of the endless track belt, the control means having a function of changing the speed of the endless track belt regardless of the consciousness of the trainee.
[0007]
According to the above configuration, the speed of the endless track belt can be changed irrespective of the consciousness of the trainee, that is, when the trainee is not expecting, so that the trainee can prevent falling while walking training. Training can also be conducted.
[0008]
The endless track belt may be one endless track belt on which the trainee puts both feet, or may be composed of two endless track belts separated for the right and left feet of the trainee. Good.
[0009]
A data input section to which data such as the speed of the endless belt and the timing for changing the speed is input can be connected to the control means. In this way, the endless track belt can be driven at the speed set by the data input unit, and the speed of the endless track belt can be changed at the timing set by the data input unit. In this case, it is assumed that the trainee is walking at a constant pace. A person may change the timing of changing the speed of the endless track belt in accordance with the pace of the trainee.
[0010]
The control means can be connected to a detection unit that detects the timing at which the foot of the trainee lands on the endless track belt and the timing at which the legs of the trainee swing freely from the endless track belt. Then, the control means changes the speed of the endless track belt when the detection signal from the detection unit is input. In this way, even when the trainee does not walk at a constant pace, the trainee's pace can be detected by the detector, and the timing for changing the speed of the endless track belt can be automatically corrected.
[0011]
Furthermore, it is possible to provide an image unit that gives a visual stimulus to the trainee. In this way, the trainee can perform walking training while watching the video displayed on the video section, and can strengthen the balance reaction.
[0012]
Also, a body support means for supporting the body of the trainee can be provided. In this way, even if the trainee is likely to fall during walking training, the trainee is supported by the body support means and will not fall, so it is very safe.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 shows the overall configuration of a walking training apparatus according to the present invention. The walking training apparatus 1 includes a walking unit 20 having an endless track belt 2, a drive unit 3 that drives the endless track belt 2, and a control unit 4 that controls the drive unit 3 to adjust the speed of the endless track belt 2. It has. The control unit 4 is connected to a data input unit 5 to which data such as the speed of the endless track belt 2 and timing for changing the speed are input.
[0014]
FIG. 2 shows a detailed configuration of the walking unit 20. The endless track belt 2 is separated into a trainee's right foot belt 2a and left foot belt 2b. The drive unit 3 is also divided into a right drive unit 3a and a left drive unit 3b. The right drive unit 3a drives the right foot belt 2a, and the left drive unit 3b drives the left foot belt 2b. The right drive unit 3a and the left drive unit 3b are composed of actuators such as servo motors. Position detectors 30a and 30b such as pulse encoders are attached to the right drive unit 3a and the left drive unit 3b, respectively, and the position detectors 30a and 30b output pulses along with the rotation of the drive units 3a and 3b. The signal is input to the control unit 4.
[0015]
The control unit 4 is mainly provided with a CPU (central processing unit) and a pulse counter that counts pulse signals from the position detectors 30a and 30b. Based on the count data of the pulse counter, the drive units 3a and 3 The current rotational speed of 3b is calculated, and the control current supplied to the driving units 3a and 3b is adjusted so that the endless track belts 2a and 2b have the speed set by the data input unit 6. In the present embodiment, the data input unit 5 is constituted by a personal computer, and the data input unit 5 and the control unit 4 are connected by serial communication means of the RS-232C standard.
[0016]
By the way, as a cause of a person falling down during walking, the person's sense of equilibrium is dull, and in recent years it is easy to fall down if there is a large variation in the time of one step (one walking cycle time) from stepping on one foot to landing another foot. It has been reported. On the other hand, enhancement of sensory integration of lower limb nerves is a factor that stabilizes walking, and foot tactile receptors are particularly important.
[0017]
Therefore, in the present embodiment, the control unit 4 is provided with a function for allowing the trainee to change the speeds of the right foot belt 2a and the left foot belt 2b. With such a function, a disturbance different from that of normal walking is given to the trainee, and by repeating this for a certain period, sensory integration of the lower limb nerves is strengthened and falls are prevented. Hereinafter, this point will be described with reference to FIG.
[0018]
In FIG. 3 (a), the speed of the endless track belt is unexpectedly reduced shortly after the foot has landed. As a result, a sudden disturbance such as a stumbling is given to the trainee. This example shows a state where the endless belt is stopped (speed index 0%) from a state where the endless track belt is driven at a set speed (speed index 100%). In FIG. 3B, the timing at which the foot swings from the endless track belt is detected, and the speed of the endless track belt is unexpectedly accelerated in the latter half of the swing leg. As a result, the trainee is given an unexpected disturbance as if his feet were slipped. This example shows a state where the endless belt is driven at a set speed (speed index 100%) from a state where the endless track belt is driven at 10% of the set speed (speed index 10%).
[0019]
By repeatedly giving the trainee the unexpected disturbance as described above, the trainee is trained to maintain a balanced balance, and as a result, the sensory integration of the lower limb nerves is strengthened and falls are prevented. . The timing of whether or not the foot has landed or whether or not to swing freely is confirmed by the helper by checking the pace of the trainee and manually inputting a timing signal to the data input unit 5.
[0020]
Contrary to FIG. 3, the speed of the endless track belt may be suddenly accelerated shortly after the foot has landed, and the speed of the endless track belt is decelerated unexpectedly in the second half when the foot swings from the endless track belt. May be. Furthermore, an arbitrary value can be selected as the speed index.
[0021]
(Embodiment 2)
In the first embodiment, the assistant manually inputs the timing signal to change the speed of the trackless belt. However, the data input unit 5 is configured by a personal computer, for example, so that the endless track belt with respect to time elapses. It is also possible to program the speed change rules 2a and 2b in advance and automatically change the speed of the endless track belts 2a and 2b. That is, as shown in FIG. 4, landing detectors 9 a and 9 b for detecting the landing of the foot are attached to the left and right frames of the walking unit 20, for example. The reason why two landing detectors 9a and 9b are provided is that the feet do not always land at the same place and may vary, so the landing can be detected by either one of the two landing detectors 9a and 9b. It is a configuration that can always be detected.
[0022]
When the landing of the foot is detected by either of the landing detectors 9a and 9b, the detection signal is input to the data input unit 5 via the OR gate 11, and the data input unit 5 receives the signal shown in FIG. As shown, a control signal for changing the speed of the endless track belt is output. Further, when it is detected by one of the landing detectors 9a and 9b that the leg is swinging, the detection signal is also input to the data input unit 5 via the OR gate 11, and the data input unit 5 receives the signal shown in FIG. As shown in b), a control signal for changing the speed of the endless track belt is output. In addition, in order to detect the timing at which the foot swings, the average pace of trainee (average time from landing to getting out of bed) is measured in advance at the start of walking training, and based on the measurement result Do. In the present embodiment, the speed of the endless track belt is changed at a certain point in the second half of the landing time.
[0023]
In the first embodiment and the second embodiment, the endless track belt 2 is separated into the endless track belt 2a for the right foot and the endless track belt 2b for the left foot. An endless track belt may also be used.
[0024]
(Embodiment 3)
In the present embodiment, as shown in FIG. 1, a video unit 8 is provided in front of the walking unit. The video unit 8 gives a visual stimulus to the trainee. The trainee performs walking training while watching the screen of the video section 8. As an example to be displayed on the video unit 8, a figure serving as a gaze point of the trainee is periodically moved within the screen or the background color is periodically changed. As a result, a visual stimulus is given to the trainee, leading to enhancement of sensory integration, and an effect equivalent to the stimulus to the foot tactile receptor is obtained.
[0025]
(Embodiment 4)
The walking training apparatus according to the first to third embodiments provides a fall prevention training by causing a sudden disturbance to a trainee and inducing a fall. However, if a sudden disturbance is given to the trainee, the trainee may actually fall.
[0026]
Therefore, in the present embodiment, as shown in FIG. 1, the assistance unit 6 that supports the body of the trainee, and the waist belt 7 is attached to the waist of the trainee, and the waist is attached to the tip of the assistance unit 6. Connect the belt 7. As a result, when the trainee is about to fall during training, the body is supported by the waist belt 7 and the assistance unit 6, so that the trainee is safe without falling.
[0027]
(Embodiment 5)
In the present embodiment, as shown in FIG. 5, an acceleration detector 10 is provided to be attached to a trainee who is training. This acceleration detecting means 10 detects acceleration in three directions of the trainee in the front-rear direction (X direction), left-right direction (Y direction), and up-down direction (Z direction), and outputs the level as a voltage signal. is there. The acceleration detector 10 is a commercially available semiconductor piezoelectric acceleration sensor.
[0028]
The voltage signal from the acceleration detector 10 is input to the data input unit (personal computer) 5 through an A / D (analog / digital) converter. As shown in FIG. 6, the input signal is displayed on the monitor device 5a (see FIG. 1). The monitor device 5a has an acceleration level display section 5b. The acceleration level display section 5b displays the input signal in a graph with the horizontal axis representing time and the vertical axis representing acceleration level. The monitor device 5a has a trajectory display unit 5c, and a two-dimensional Lissajous figure is displayed on the trajectory display unit 5c with the acceleration levels in the front-rear direction and the left-right direction as trajectories with respect to time.
[0029]
According to the present embodiment, data collection is periodically performed using the magnitude of the acceleration level as the magnitude of the body shake of the trainee, and it is confirmed that the acceleration level decreases with the progress of walking training. If possible, it can be judged that there was an improved effect on the gait which is difficult to fall.
[0030]
【The invention's effect】
As described above, according to the present invention, the speed of the endless track belt can be changed regardless of the consciousness of the trainee, so that the trainee can also perform fall prevention training during walking training. Become.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a walking training apparatus according to the present invention.
FIG. 2 is a configuration diagram of a walking unit.
FIGS. 3A and 3B show examples of changing the speed of the endless track belt. FIG. 3A is a timing chart when the foot is landed, and FIG. 3B is a timing chart when the foot is swinging.
FIG. 4 is a diagram showing an example in which means for detecting the landing of a foot or the timing of a free leg is provided.
FIG. 5 is a diagram showing an example in which an acceleration detector is provided.
FIG. 6 is a diagram illustrating an example of an acceleration level.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Walking training apparatus 2 Endless track belt 2a Belt for right foot 2b Belt for left foot 3 Drive part 3a Belt drive part for right foot 3b Belt drive part for left foot 4 Control part 5 Data input part 6 Assistance part 7 Waist belt 8 Video part 9a, 9b Landing detector 10 Acceleration detector 20 Walking section

Claims (6)

Two endless track belts on which the trainee puts his right foot and left foot are provided, a walking section on which the trainee performs walking training on the endless track belt, drive means for driving the endless track belt, and the drive means Control means for controlling and adjusting the speed of the endless track belt, and the control means has a function of changing the speed of the endless track belt regardless of the consciousness of the trainee. apparatus. The gait training apparatus according to claim 1 , wherein a data input unit is connected to the control means, and data such as a speed of the endless belt and a timing for changing the speed are input to the data input unit. A walking training device characterized by that. 2. The walking training apparatus according to claim 1 , wherein the control means is connected to a detection unit that detects a timing at which a foot of the trainee lands on the endless track belt and a timing at which the legs of the trainee swing freely from the endless track belt. The walking training apparatus is characterized in that the control means changes the speed of the walking unit when a detection signal from the detection unit is input. The gait training apparatus according to any one of claims 1 to 3 , further comprising a video unit that gives a visual stimulus to the trainee. The gait training apparatus according to any one of claims 1 to 4 , further comprising body support means for supporting the body of the trainee. The gait training apparatus according to any one of claims 1 to 5 , wherein the control means is connected to an acceleration detection means for detecting a shake of a trainee's body during gait training. Walking training device.

Images