JP6232613B2 - Walking training device for hemiplegic patients - Google Patents

Description

  The present invention relates to a training apparatus for a patient whose one half is paralyzed due to stroke or the like.

It is widely practiced that hemiplegic patients undergo functional recovery training called rehabilitation. In general, a doctor or occupational therapist performs occupational therapy on the lower limb for one patient by hand. This places a heavy burden on doctors and occupational therapists and is not efficient.
In recent years, various function recovery training apparatuses have been proposed for the purpose of assisting doctors and occupational therapists and reducing the burden (see, for example, Patent Document 1 (FIG. 3)).

In Patent Document 1, external force is applied to the lower limbs of a patient laid on a bed to promote functional recovery.
Most of the conventional function recovery training apparatuses for the lower limbs are trained in a state in which the patient is laid down as in Patent Document 1. This training is intended to enable the patient to walk, and it is desirable to train while walking.

In view of this, an apparatus capable of training while walking has been proposed (see, for example, Patent Document 2 (FIG. 5)). A person with lower limb movement disorder wears a training device and performs walking training while being caught by a handrail.
According to FIG. 5 of Patent Document 2, the training device includes a backpack carried by the patient, a lower limb orthosis attached to the lower limb, an acceleration sensor attached to the lower limb orthosis, a DC motor, and a potentiometer.

  Such a training device is a heavy burden on the lower limb movement disorder person (hereinafter referred to as a patient) even if it is a heavy object that does not suffer for a healthy person. As a result, the patient dislikes wearing and hinders training.

  From the viewpoint of encouraging training, a training device that can reduce the burden on the patient is desired.

Japanese Patent Laid-Open No. 10-258102 JP 2007-130172 A

  An object of the present invention is to provide a walking training device for hemiplegic patients that can be trained while walking and can reduce the burden on the patient.

The invention according to claim 1 is a walking aid in which a handrail is provided at the top of the frame, and a free wheel is provided under the frame;
A walking training device for hemiplegic patients, which is attached to this walking aid, and includes an exercise mechanism that promotes functional recovery of the paralyzed lower limb of a patient whose one half is paralyzed,
The walking aid is provided with a vertical rail, and a slider is fitted to the vertical rail so as to be movable up and down, and the motion mechanism is attached to the slider, and the vertical rail or the walking aid and the slider or the motion mechanism are connected to each other. In addition, a gas spring that supports the motion mechanism and allows the slider to move up and down is stretched,
The gas spring includes a cylinder, a piston movably accommodated in the cylinder, a piston rod extending from the piston, and a compressed gas sealed in the cylinder and above and below the piston. Is provided with a small hole called an orifice, and when an external force is applied to the motion mechanism, the compressed gas moves through the orifice, so the motion mechanism moves.
The exercise mechanism is rotated by the first worm, the first servomotor attached to the walking aid on the left or right of the patient, the first worm attached to the motor shaft of the first servomotor, and the first worm. And a first wheel that passes through the center of the thigh of the patient, a swing arm that is swung up and down by the first wheel and bypasses the left or right flank of the patient, and the paralysis in front view. A first member that is lowered from the swing arm at a center position of the thigh, a first wrapping tool that is provided on the first member and is wound around an upper portion of the thigh, and the first wrapping along the body side A second member lowered from the device, a second wrapping device provided on the second member and wound around the lower part of the thigh, and attached to the lower part of the second member so as to be swingable back and forth. A tie plate, a third member attached to the lower part of the tie plate for swinging back and forth, a third wrapping tool and a fourth wrapping tool that are wound around the upper and lower parts of the crus provided on the third member, A second servo comprising: a second wheel fixed to the tie plate on a connecting shaft between the second member and the tie plate; and a second worm fixed to the second member and meshing with the second wheel on a motor shaft. A motor, a third wheel fixed to the tie plate on a connecting shaft of the tie plate and the third member, and a third worm fixed to the third member and meshing with the third wheel on the motor shaft. A third servo motor provided;
A first torque detecting mechanism for detecting a first torque applied to the first worm from the first wheel; a second torque detecting mechanism for detecting a second torque applied to the second worm from the second wheel; A third torque detecting mechanism for detecting a third torque applied to the third worm from three wheels,
A first auxiliary torque corresponding to the first torque is generated by the first servo motor, a second auxiliary torque corresponding to the second torque is generated by the second servo motor, and a first auxiliary torque corresponding to the third torque is generated. Control is performed by a control unit that collectively performs control for generating three auxiliary torques by the third servo motor.

In the invention according to claim 2, claim 1 Symbol placement hemiplegic patient walking training device, the characterized in that it comprises a stimulation imparting mechanism that imparts at least one of electrical stimulation and mechanical stimulation to the lower leg To do.

In the invention according to claim 3 , the walking aid is provided with a bracket on the side on which the motion mechanism is attached, in addition to the four universal wheels arranged on the front, rear, left and right, and the auxiliary wheel is attached to the bracket. A curved member that supports the patient's side is arranged above the bracket,
The lateral sag prevention mechanism comprising the curved member, the bracket, and the auxiliary wheel prevents the patient and the walking aid from falling over and swaying.

  In the invention which concerns on Claim 1, since the walking assistance tool was made into one component, the patient can perform training, walking similarly to the conventional walking training. At this time, since the motion mechanism is supported by the gas spring, there is no fear that the load of the motion mechanism is applied to the patient, and even if it is added, it is slight. In other words, the entire load can be supported by the gas spring during the torsional motion and the torsional motion, and most of the load can be supported by the gas spring when moving at a small angle in the lateral direction. As a result, a walking training apparatus for hemiplegic patients that can be trained while walking and that can reduce the burden on the patient is provided.

Furthermore, in the first aspect of the invention, the first to third torque detection mechanisms detect small movements of the patient's lower limbs, and the controller that has obtained this information generates auxiliary torque using the first to third servo motors. And move the lower limbs greatly. Training can be performed efficiently.

In the invention which concerns on Claim 2 , an autonomous exercise | movement is encouraged to a patient by giving a stimulus to a leg. Small movements of the lower limbs caused by autonomous movement are converted into large movements by the movement mechanism of the present invention, and training is performed. That is, when the patient moves the lower limb, the movement mechanism starts a desired operation. Thus, patient motivation can be increased.

In the invention which concerns on Claim 3 , a walking assistance tool is provided with the horizontal sag prevention mechanism which consists of a bending member, a bracket, and an auxiliary wheel.
During manual training, it is difficult to maintain the center of gravity of the body on the non-paralyzed foot side due to the weakness of the gluteus medius supporting the left and right rotation of the thigh of the non-paralyzed foot. The trainee's feet suddenly get confused and lie down on the paralyzed side or lie down, or lie down and walk sideways for a few steps. The lateral behavior in this case is called “horizontal stagger”.
According to the present invention, since the side sag prevention mechanism is provided, it is possible to prevent the patient and the walking aid from falling over and side swaying. The walking aids are less likely to fall and more difficult to sway, and stable training can be continued.

It is a perspective view of the walking training apparatus for hemiplegic patients according to the present invention. It is a perspective view of a vertical rail and a gas spring. It is a perspective view of an exercise | movement mechanism. It is a block diagram of a 1st drive unit. It is an effect | action figure of a torque detection mechanism. It is a 6-6 arrow line view of FIG. It is a block diagram of the 2nd and 3rd drive unit. It is an operation view of the second and third drive units. It is an effect | action figure of the gait training apparatus for hemiplegia patients. It is a figure which shows the example of a change of a walking aid. It is a figure which shows the example of a change of the swing arm shown in FIG.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. In the description, the front / rear, left / right are based on the patient being trained.

  As shown in FIG. 1, a hemiplegic patient walking training apparatus 10 includes a walking aid 20 and an exercise that is attached to the walking aid 20 and promotes functional recovery of a paralyzed lower limb of a patient whose one half is paralyzed. Mechanism 40.

  The walking aid 20 is provided with a U-shaped handrail 22 having an open rear part at the top of a frame 21, and four free wheels 23L, 23L, 23R, 23R (L is viewed from the patient) under the frame 21. Left and right, R is a subscript indicating the same. The walking aid 20 may be any walking tool (walker) that is always available in a hospital or the like, and its shape and structure are arbitrary.

A left horizontal bar 24 is passed to the frame 21, a vertically long plate 25 is fixed to the left horizontal bar 24, and a subframe 26 extending upward is fixed to the plate 25. A bending member 27 that supports the left side is fixed.
In the embodiment, the hemiplegic patient walking training apparatus 10 for a patient whose left lower limb is paralyzed is shown, but a plate 25 is attached to the right lateral bar 28 for a patient whose right lower limb is paralyzed.

As shown in FIG. 2, two vertical rails 31, 31 are attached to the inner surface (the patient-side surface) of the plate 25. Sliders 32, 32 are fitted to the vertical rails 31, 31, the slider sliders 32, 32 are fixed to a horizontally long stay 33, and a first drive unit 41 is attached to the front portion of the stay 33.
A gas spring 34 is passed between the stay 33 and the plate 25.

  The gas spring 34 is employed, for example, as a support member for a vehicle hatchback, that is, a rear door, and includes a cylinder 35, a piston 36 movably accommodated in the cylinder 35, and a piston rod 37 extending downward from the piston 36. And compressed gas 38, 38 enclosed in the cylinder 35 and above and below the piston 36. The piston 36 is provided with a small hole called an orifice 39.

As is well known, an upward force and a downward force due to the compressed gas 38, 38 are applied to the piston 36, and the piston 36 is stationary with respect to a certain load. This state is called a balance state.
When an upward external force is applied to the stay 33 from this balanced state, the compressed gas 38 moves through the orifice 39, so that the stay 33 moves upward. Further, when a downward external force is applied to the stay 33, the stay 33 moves downward.

The plate 25 is integrally provided with the vertical rail 31 and is fixed to the walking aid (FIG. 1, reference numeral 20). Therefore, the gas cylinder 34 can be connected to the vertical rail 31 or the walking aid in addition to connecting one end to the plate 25.
Further, the stay 33 is integrally provided with sliders 32 and 32 and is integrally provided with a motion mechanism (FIG. 3, reference numeral 40). Therefore, the gas cylinder 34 can be connected to the slider 33 or the motion mechanism in addition to connecting the other end to the stay 33.

  As shown in FIG. 3, the exercise mechanism 40 includes a swing arm 42 extending from the first drive unit 41, a first member 43 lowered from the swing arm 42, and a thigh provided on the first member 43. A first wrapping tool 44 wound around the upper part of the body, a second member 45 lowered from the first wrapping tool 44 along the body side, and a second wrapping tool 46 provided on the second member 45 and wound around the lower part of the thigh. A tie plate 47 attached to the lower part of the second member 45 so as to be able to swing back and forth, a third member 48 attached to the lower part of the tie plate 47 to swing back and forth, and a crus provided on the third member 48 A third wrapping tool 49 and a fourth wrapping tool 51 are respectively wound around the upper and lower parts.

  The 1st winding tool 44 consists of a U-shaped member and a belt. The same applies to the second to fourth winding tools 46, 49, 51.

  The second member 45 includes a second drive unit 80, and the third member 48 includes a third drive unit 100. The internal structure of the second and third drive units 80 and 100 will be described later.

  As shown in FIG. 4, the first drive unit 41 detects the motor rotation angle attached to the first case 52, the first servo motor 53 fixed to the first case 52, and the first servo motor 53. The first encoder 54, the first worm 56 attached to the motor shaft 55 of the first servomotor 53, and the first wheel 64 that meshes with the first first worm 56. The swing arm 42 is fixed to the rotation shaft 65 of the first wheel 64. By rotating the first servo motor 53, the first worm 56 is rotated, the first wheel 64 is rotated, and the swing arm 42 swings up or down.

  Further, a first torque detection mechanism 58 that detects a load torque applied to the swing arm 42 is attached to the first drive unit 41. The first torque detection mechanism 58 includes a cross member 59 attached to the motor shaft 55, torque detection bars 61 and 61 having one end fixed to the first case 52 and the other end fixed to the end of the cross member 59, torque It consists of strain gauges 63 and 63 attached to the constricted portions 62 and 62 of the detection bars 61 and 61.

The operation of the first torque detection mechanism 58 will be described with reference to FIG.
In FIG. 5, the first worm 56 is basically a driving side member and the first wheel 64 is a driven member. However, load torque may be applied to the first wheel 64 due to the load indicated by the white arrow. . In the case of an ordinary gear set, the driving gear is rotated by the driven gear, but the first worm 56 is not rotated by the first wheel 64 in the worm gear. This phenomenon is called self-floc (self-braking function).

  Since the first worm 56 is not rotated, the motor shaft 55 slightly moves or compressively deforms in the axial direction in response to the rotation of the first wheel 64. This slight movement or compression causes the cross member 59 to bend slightly upward. Although the torque detection bar 61 is attached to the cross member 59 at a right angle, this right angle does not change. As a result, the torque detection bar 61 is bent at the constricted portion 62 and deformed into a character shape. In response to this deformation, the strain gauge 63 generates an electrical signal corresponding to the deformation.

  Although it is possible to measure the load torque by attaching the strain gauge 63 to the swing arm 42, in the present embodiment, the torque detection bar 61 can increase the minute displacement to a sufficiently large displacement, and the load torque can be detected accurately. Will increase dramatically.

  As shown in FIG. 6, the swing arm 42 includes a cylindrical member 67 that is fixed to the rotation shaft 65 of the first wheel 64, a saddle member 68 that is detachably attached to the cylindrical member 67, and the saddle member 68. And a sub-slider 71 movably fitted to the horizontal rail 69. A first member 43 is attached to the sub-slider 71 so as to be rotatable around a shaft extending in the front-rear direction.

  The first and second wrapping tools 44 and 46 shown in FIG. 3 are wound around the paralyzed thigh 72 shown by a circle. As a result, the position of the second member (FIG. 3, reference numeral 45) is determined with respect to the thigh 72. In addition, since the sub-slider 71 moves laterally on the horizontal rail 69, the first member 43 moves to the center 73 of the thigh 72 when viewed from the front of the patient. During training, the thigh 72 swings left and right, but this swing is allowed by the movement of the sub-slider 71.

In the front-rear direction, it is desirable that the rotation shaft 65 of the first wheel 64 passes through the center 73 of the thigh 72. Therefore, the lock dial (or lock lever) 74 is loosened, the saddle type member 68 is moved forward or backward with respect to the cylindrical member 67, and is aligned with the center 73 of the thigh 72, and the lock dial 74 is tightened. As a result, the front and rear positions are determined.
During training, the thigh 72 is raised and lowered, which is absorbed by the vertical movement of the swing arm 42.

Next, the second member 45 will be described. As shown in FIG. 7, the second member 45 includes a second drive unit 80 and an extension plate 81 extending upward from the second drive unit 80.
The second drive unit 80 has substantially the same structure as the first drive unit 41 described above, and includes a second case 82, a second servo motor 83 fixed to the second case 82, and the second servo motor. 83, a second encoder 84 for detecting the motor rotation angle, a second worm 86 attached to the motor shaft 85 of the second servo motor 83, a second wheel 92 meshing with the second worm 86, and a second torque And a detection mechanism 87.

The second wheel 92 is fixed to the upper portion of the tie plate 47 with a set screw 93.
The second torque detection mechanism 87 includes a cross member 88, torque detection bars 89 and 89, and strain gauges 91 and 91.

Next, the third member 48 will be described. As shown in FIG. 7, the third member 48 includes a third drive unit 100 and an extension plate 101 extending downward from the third drive unit 100.
The third drive unit 100 includes a third case 102, a third servo motor 103 fixed to the third case 102, a second encoder 104 attached to the third servo motor 103 and detecting a motor rotation angle, A third worm 106 attached to the motor shaft 105 of the third servo motor 103, a third wheel 112 that meshes with the third worm 106, and a third torque detection mechanism 107 are provided.

The third wheel 112 is fixed to the lower portion of the tie plate 47 with a set screw 113.
The third torque detection mechanism 107 includes a cross member 108, torque detection bars 109 and 109, and strain gauges 111 and 111.

As shown in FIG. 8, when the second servo motor 83 is rotated, the second member 45 rotates, for example, clockwise in the drawing with the second wheel 92 as a reference.
Further, when the third servo motor 103 is rotated, the third member 48 rotates, for example, in the counterclockwise direction with reference to the third wheel 112.
Thus, the patient can bend the knee.

As shown in FIG. 9A, a harness 116 extending from the first to third drive units 41, 80, 100 is connected to the control unit 115. In the case of wireless, the harness 116 is not necessary.
For example, an electrode 117 for applying electrical stimulation as a stimulus applying mechanism is attached to the thigh 72 and the electrode 117 is connected to the control unit 115. The stimulus applying mechanism 117 may be a mechanical stimulus mechanism represented by a vibrator for applying vibration or a rubber hammer for applying impact.

  The first winding portion 44 and the second winding portion 46 are wound around the thigh 72, and the third winding portion 49 and the fourth winding portion 51 are wound around the crus 118.

  When the electrode 117 is energized, the thigh 72 is stimulated and the muscle expands and contracts and moves slightly to the bent side. This movement is detected as a first torque by a first torque detection mechanism built in the first drive unit 41, detected as a second torque by a second torque detection mechanism built in the second drive unit 80, and the third drive unit 100. Is detected as a third torque by a third torque detection mechanism built in the motor.

  Then, the control unit 115 generates the first auxiliary torque corresponding to the first torque in the first drive unit 41, and generates the second auxiliary torque corresponding to the second torque in the second drive unit 80 to generate the third torque. The third driving unit 100 generates a third auxiliary torque corresponding to the above.

  As a result, a bent posture that protrudes forward as shown in FIG. 9B is obtained. By repeating FIGS. 9A and 9B, walking training is performed.

  It is said that the effect of training is poor even when the patient flexes the lower limbs mechanically when the patient does not apply force to the lower limbs (weakness state). In this respect, according to the present embodiment, training is performed and the effect of training is enhanced when the patient autonomously applies power to the lower limbs by applying electrical stimulation.

Next, a more preferable modification will be described.
As shown in FIG. 10, the walking aid 20B includes V-shaped brackets 119 and 119 on the side on which the motion mechanism is attached in addition to the four free wheels 23L, 23L, 23R, and 23R arranged on the front, rear, left, and right. The auxiliary wheels 120 and 120 are attached to these V-shaped brackets 119 and 119. A bending member 27 that supports the left side of the patient is disposed above the V-shaped bracket 119.

  When the weight of the patient is applied to the bending member 27, there is a concern that a rotational moment that may cause a rollover or a side sway may occur depending on the direction in which the force is applied. However, in this example, the rotational moment can be offset by the force from the ground through the bending member 27 supported from the bottom to the top, and as a result, it is possible to effectively prevent the overturn and the side sway.

Structurally, the bending member 27 may be disposed above the free wheel 23L and the auxiliary wheel 120 in a front view. A triangle having the bending member 27 as a vertex, the free wheel 23L as one of the lower vertices, and the auxiliary wheel 120 as the remaining vertex can be drawn. The downward force applied to the bending member 27 is stably supported by the free wheel 23L and the auxiliary wheel 120.
Therefore, the bending member 27, the V-shaped bracket 119, the free wheel 23L, and the auxiliary wheel 120 constitute a side-shake prevention mechanism, making it difficult for the walking aid to fall over and side-shake, giving the patient a sense of security. Stable training can be continued.

In the above explanation, the emphasis was placed on the movement of the lower limbs, but the walking is accompanied by the rotation of the hips called the hip movement.
Therefore, as shown in FIG. 11, the force sensor 112 and the sub servo motor 113 are attached to the sub slider 71, and the second horizontal rail 124 is fixed to the rotating shaft 65 of the first wheel 64. The second sub slider 125 is fitted so as to be movable back and forth, and the force sensor 126 and the second sub servo motor 127 are attached to the second sub slider 125.
With this configuration, auxiliary torque can be applied to hip rotation, torsional rotation of the hip joint, left-right rotation, and the like.

According to the walking training apparatus 10 for hemiplegic patients of the present invention described above, the following effects can be obtained.
(1) The user (patient) is not burdened with the load of the exercise mechanism (so-called mounting unit).
(2) Does not interfere with the ups and downs of the waist when walking.
(3) It has active muscle strength assistance (so-called power assist).
(4) It does not interfere with the movement of the knee joint and the three-degree-of-freedom rotational movement.
(5) Adaptable to individual differences such as foot length.
(6) Prevent lateral fall on the affected foot side.
(7) It has an electrical stimulation function and a mechanical stimulation mechanism.

  In FIG. 3, four wrapping tools 44, 46, 49 and 51 are shown as preferred examples. However, the wrapping tools 44 and 46 are unified into one wide wrapping tool, and the wrapping tools 49 and 51 are combined into one wrapping tool. There is no problem in unifying wide wrapping tools. However, considering the mounting stability, there are four wrapping tools 44, 46, 49, 51.

  The training device of the present invention is suitable for functional recovery training for patients who have sequelae in the left or right leg.

  DESCRIPTION OF SYMBOLS 10 ... Walking training apparatus for hemiplegic patients, 20, 20B ... Walking aid, 21 ... Frame, 22 ... Hand rail, 23 ... Swivel wheel, 27 ... Curve member, 31 ... Vertical rail, 32 ... Slider, 34 ... Gas spring , 40 ... motion mechanism, 41 ... first drive unit, 42 ... swing arm, 43 ... first member, 44 ... first wrapping tool, 45 ... second member, 46 ... second wrapping tool, 47 ... tie plate, 48 ... 3rd member, 49 ... 3rd winding tool, 51 ... 4th winding tool, 53 ... 1st servo motor, 55 ... Motor shaft of 1st servo motor, 56 ... 1st worm, 58 ... 1st torque detection mechanism, 64: First wheel, 65: Rotating shaft of the first wheel, 72: Thigh, 73: Center of thigh, 80 ... Second drive unit, 83 ... Second servo motor, 86 ... Second worm, 8 DESCRIPTION OF SYMBOLS 2nd torque detection mechanism, 100 ... 3rd drive unit, 103 ... 3rd servo motor, 106 ... 3rd worm, 107 ... 3rd torque detection mechanism, 112 ... 3rd wheel, 115 ... Control part, 118 ... Lower leg Part, 120 ... auxiliary wheel.

Claims (3)

A walking aid provided with a handrail at the top of the frame and provided with a free wheel under the frame;
A walking training device for hemiplegic patients, which is attached to this walking aid, and includes an exercise mechanism that promotes functional recovery of the paralyzed lower limb of a patient whose one half is paralyzed,
The walking aid is provided with a vertical rail, and a slider is fitted to the vertical rail so as to be movable up and down, and the motion mechanism is attached to the slider, and the vertical rail or the walking aid and the slider or the motion mechanism are connected to each other. In addition, a gas spring that supports the motion mechanism and allows the slider to move up and down is stretched,
The gas spring includes a cylinder, a piston movably accommodated in the cylinder, a piston rod extending from the piston, and a compressed gas sealed in the cylinder and above and below the piston. Is provided with a small hole called an orifice, and when an external force is applied to the motion mechanism, the compressed gas moves through the orifice, so the motion mechanism moves.
The exercise mechanism is rotated by the first worm, the first servomotor attached to the walking aid on the left or right of the patient, the first worm attached to the motor shaft of the first servomotor, and the first worm. And a first wheel that passes through the center of the thigh of the patient, a swing arm that is swung up and down by the first wheel and bypasses the left or right flank of the patient, and the paralysis in front view. A first member that is lowered from the swing arm at a center position of the thigh, a first wrapping tool that is provided on the first member and is wound around an upper portion of the thigh, and the first wrapping along the body side A second member lowered from the device, a second wrapping device provided on the second member and wound around the lower part of the thigh, and attached to the lower part of the second member so as to be swingable back and forth. A tie plate, a third member attached to the lower part of the tie plate for swinging back and forth, a third wrapping tool and a fourth wrapping tool that are wound around the upper and lower parts of the crus provided on the third member, A second servo comprising: a second wheel fixed to the tie plate on a connecting shaft between the second member and the tie plate; and a second worm fixed to the second member and meshing with the second wheel on a motor shaft. A motor, a third wheel fixed to the tie plate on a connecting shaft of the tie plate and the third member, and a third worm fixed to the third member and meshing with the third wheel on the motor shaft. A third servo motor provided;
A first torque detecting mechanism for detecting a first torque applied to the first worm from the first wheel; a second torque detecting mechanism for detecting a second torque applied to the second worm from the second wheel; A third torque detecting mechanism for detecting a third torque applied to the third worm from three wheels,
A first auxiliary torque corresponding to the first torque is generated by the first servo motor, a second auxiliary torque corresponding to the second torque is generated by the second servo motor, and a first auxiliary torque corresponding to the third torque is generated. It said third auxiliary torque third you being controlled control to be generated by the servo motor control unit for collectively hemiplegic patient gait training device. Claim 1 Symbol placement hemiplegic patient walking training device, the lower limb to electrical stimulation and mechanical stimulation of the at least one that has a stimulus imparting mechanism that imparts characterized hemiplegic patient walking training device . In addition to the four universal wheels arranged on the front, rear, left and right, the walking aid is provided with a bracket on the side on which the motion mechanism is attached, and an auxiliary wheel is attached to the bracket, and the patient is placed above the bracket. A curved member that supports the side of the
In the lateral staggering preventing mechanism consisting of the curved member and said bracket and said auxiliary wheel, according to claim 1 or claim 2 Symbol is characterized in that so as to prevent lateral collapse and horizontal staggering of the patient and the walking aid A walking training device for hemiplegic patients.

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