JP6973789B2 - Walking training device - Google Patents

Description

The present invention relates to a walking training device for recovering walking function, and more particularly to a walking training device for improving a left-right asymmetric walking state due to unilateral paralysis or the like.

Conventionally, it has an annular belt for the right foot and the left foot of the trainee, and the left and right annular belts are driven at separately set speeds, and the trainee is in a state of asymmetric walking due to unilateral paralysis or the like. There is known a walking training device capable of performing walking training in a standing position by keeping pace with the speed of an annular belt. For example, in the walking training device described in Patent Document 1, as a fall prevention training, the deceleration rate fixed from the start is 20% / 40% / 60% / 100% for one of the rotating annular belts. It is possible to decelerate by changing the deceleration rate.

Further, in the walking training device described in Patent Document 2, when the target speeds of the walking surfaces on both the left and right sides are input by input means such as a keyboard and switches, the left and right motors operate the walking surfaces at the target speeds. A voltage is applied to the motor, and while the rotation speed of each motor is fed back, the voltage is properly applied to maintain the target speed.

Japanese Patent No. 5024697 (paragraph 0019) Japanese Patent No. 5493121 (paragraphs 0019, 0023)

By the way, in order to more effectively improve the walking of the trainee who is in an asymmetric walking state, it is important that the trainee does not feel the speed difference between the left and right belts. In each of the above-mentioned conventional walking training devices, the left and right belt speeds can be set independently, but when the left and right belt speeds are set individually in this way, the left and right belt speeds are set separately. It is not easy to prevent the trainee from feeling the speed difference between the left and right belts because it can only be changed.

Therefore, an object of the present invention is to provide a walking training device capable of simultaneously setting the left and right belt speeds so that the trainee does not feel the speed difference between the left and right belts.

In the walking training device of the present invention, the left and right annular belts on which the trainee rests his / her left foot and right foot, the left and right driving portions for driving the left and right annular belts, and the speed setting for setting the operating speeds of the left and right annular belts, respectively. The speed ratio setting unit that sets the speed ratio of the left and right annular belts, and the left and right drive units are controlled so that the operating speed of the left and right annular belts is the speed set by the speed setting unit, and the speed ratio. When the speed ratio is set by the setting unit, the left and right drive so that the operating speed of the left and right annular belts accelerates and decelerates at the same rate with respect to the set speed to obtain the speed ratio set by the speed ratio setting unit. It has a control unit that controls the unit.

According to the walking training device of the present invention, when the operating speeds of the left and right annular belts are set, the left and right annular belts are driven at this set speed (hereinafter referred to as "set speed"), and the left and right annular belts are driven. When the speed ratio of is set, the speeds of the left and right annular belts are accelerated and decelerated at the same rate based on the set speed and driven at the set speed ratio, so that the trainee does not feel the difference in speed between the left and right. It is possible to accelerate or decelerate the operating speed of the left and right annular belts at the same time.

Here, the speed ratio setting unit sets the speed ratio by the first speed ratio up / down setting button that raises / lowers the speed ratio in 10% units, the second speed ratio up / down setting button that raises or lowers the speed ratio in 1% units, and the speed ratio. It is desirable to have a third speed ratio up / down setting button that moves up and down in 0.1% increments. This makes it possible to change the speed ratio of the left and right annular belts in units of 10%, 1%, or 0.1%.

(1) The left and right annular belts on which the trainee rests his left and right feet, the left and right drive units that drive the left and right annular belts, the speed setting unit that sets the operating speed of the left and right annular belts, and the left and right. The speed ratio setting unit that sets the speed ratio of the annular belt and the left and right drive units are controlled so that the left and right annular belts have the speed set by the speed setting unit, and the speed ratio is set by the speed ratio setting unit. Then, with the control unit that controls the left and right drive units so that the operating speeds of the left and right annular belts accelerate and decelerate at the same rate based on the set speed to the speed ratio set by the speed ratio setting unit. With this configuration, it is possible to accelerate or decelerate the operating speed of the left and right annular belts at the same time so that the trainee does not feel the difference in speed between the left and right, and the trainee can change the operating speed of the left and right annular belts. It is possible to more potentially intervene and improve the asymmetrical walking condition more effectively.

(2) The speed ratio setting unit sets the speed ratio to the first speed ratio up / down setting button that raises / lowers the speed ratio in 10% increments, the second speed ratio up / down setting button that raises or lowers the speed ratio in 1% increments, and the speed ratio. By having a third speed ratio up / down setting button that moves up and down in 0.1% units, it is possible to change the speed ratio of the left and right annular belts in 10% units, 1% units or 0.1% units. , The speed ratio can be changed drastically or finely at once, and the operability is good.

It is a schematic block diagram of the walking training apparatus in embodiment of this invention. It is a block diagram of the walking training apparatus of FIG. It is a figure which shows the example of the basic operation screen of the walking training apparatus of FIG.

FIG. 1 is a schematic configuration diagram of the walking training device according to the embodiment of the present invention, and FIG. 2 is a block diagram of the walking training device of FIG.

As shown in FIGS. 1 and 2, the walking training device 1 according to the embodiment of the present invention has left and right annular belts 2L and 2R on which the trainee rests his / her left foot and right foot, respectively, and left and right annular belts 2L and 2R. The left and right drive units 3L and 3R to be driven, the control unit 4 that controls the left and right drive units 3L and 3R to adjust the speeds of the left and right annular belts 2L and 2R, and the speeds of the left and right annular belts 2L and 2R, etc. It is provided with an operation panel 5 as an input display unit for inputting and displaying an operating state.

FIG. 3 shows an example of the basic operation screen of the walking training device 1 of FIG. As shown in FIG. 3, on the basic operation screen 10 of the operation panel 5, the left side display unit 20 for displaying information on the left foot side, the right side display unit 30 for displaying information on the right foot side, the left side display unit 20 and the right side are displayed. It has a basic belt speed display unit 40 provided between the display unit 30 and the display unit 30.

On the right side of the basic operation screen 10, the same speed mode button 11 for designating the same speed mode in which the operating speeds of the left and right annular belts 2L and 2R are the same, and the operating speeds of the left and right annular belts 2L and 2R are set. The distribution mode button 12 that specifies the distribution mode that changes one speed faster and the other slower at the same rate based on the speed, and the operating speeds of the left and right annular belts 2L and 2R are operated at the set speed. It has an individual mode button 13 for designating an individual mode for changing the other speed with respect to the speed.

Further, below the distribution mode button 12, the operation speed changed by the distribution mode button 12 is set to the left speed increase right deceleration (L> R) mode or the left deceleration right speed increase (L <R) mode. It has a distribution reference switching button 14 for switching whether to perform or not. Below the individual mode button 13, there is a left / right reference switching button 15 for switching between the left foot reference (L reference) mode and the right foot reference (R reference) mode for the operating speed changed by the individual mode button 13.

The basic belt speed display unit 40 has a speed setting unit 6 for setting the operating speeds of the left and right annular belts 2L and 2R. The speed setting unit 6 sets the set speed display unit 60 for displaying the speed (set speed) set as the operating speed, the first speed up / down setting button 61 for increasing / decreasing the set speed in 1 km / h units, and the set speed. It has a second speed up / down setting button 62 that moves up and down in units of 0.1 km / h.

The first speed up / down setting button 61 is composed of a pair of up and down buttons, and each time the operator taps the up or down button, the set speed is increased or decreased in 1 km / h units, and the set speed display unit 60 is displayed. Is displayed. The second speed up / down setting button 62 consists of a pair of up and down buttons, and each time the operator taps the up or down button, the set speed goes up or down in units of 0.1 km / h, and the set speed display unit. It is displayed at 60.

Further, the basic belt speed display unit 40 has a speed ratio setting unit 7 for setting the speed ratios of the left and right annular belts 2L and 2R. The speed ratio setting unit 7 includes a speed ratio display unit 70 that displays the speed ratios of the left and right annular belts 2L and 2R that are set, a first speed ratio up / down setting button 71 that raises / lowers the speed ratio in units of 10%, and the like. It has a second speed ratio up / down setting button 72 for raising / lowering the speed ratio in 1% units, and a third speed ratio up / down setting button 73 for raising / lowering the speed ratio in 0.1% units.

The first speed ratio up / down setting button 71, the second speed ratio up / down setting button 72, and the third speed ratio up / down setting button 73 consist of a pair of up and down buttons, respectively, and the operator can use the up and down buttons. Each time you tap, the speed ratios of the left and right annular belts 2L and 2R move up and down in units of 10%, 1% and 0.1%, respectively, and the set speed ratio is displayed on the speed ratio display unit 70. ..

Further, in the walking training device 1 of the present embodiment, the operating speeds of the left and right annular belts 2L and 2R are individually changed on the left side display unit 20 and the right side display unit 30 of the basic operation screen 10 of the operation panel 5. It has a left speed ratio setting unit 21 and a right speed ratio setting unit 31. The left speed ratio setting unit 21 and the right speed ratio setting unit 31 each have the same configuration as the speed ratio setting unit 7 described above.

The drive units 3L and 3R are composed of actuators such as DC servo motors. Further, a corner position sensor is attached to each of the drive units 3L and 3R, and the control unit 4 calculates the current rotation speed of the drive units 3L and 3R based on the detection result of the corner position sensor and has the same speed. When the same speed mode is specified by the mode button 11, the drive unit is driven by adjusting the DC current flowing through the drive units 3L and 3R so that the operating speeds of the left and right annular belts 2L and 2R become the set speed. Controls 3L and 3R.

Further, when the distribution mode is specified by the distribution mode button 12, the control unit 4 follows the L> R mode or the L <R mode specified by the distribution reference switching button 14, and the left and right are left and right with reference to the set speed. By adjusting the DC current flowing through the left and right drive units 3L and 3R so that the operating speeds of the annular belts 2L and 2R accelerate and decelerate at the same rate to the speed ratio set by the speed ratio setting unit 7, the drive unit Controls 3L and 3R.

Further, when the individual mode is designated by the individual mode button 13, the control unit 4 sets one of the left and right annular belts 2L and 2R according to the L reference mode or the R reference mode designated by the left and right reference switching button 15. The left and right drive units 3L and 3R are set to the speed ratio set by the left speed ratio setting unit 21 or the right speed ratio setting unit 31 by accelerating or decelerating the other speed based on that speed. The drive units 3L and 3R are controlled by adjusting the flowing DC current.

Next, the operation of the walking training device 1 having the above configuration will be described.
First, the trainee puts his left foot and right foot on the left and right annular belts 2L and 2R, respectively, and the operator sets the set speed to, for example, 3.0 km / h by the speed setting unit 6, and the same speed by the same speed mode button 11. When the mode is specified, the control unit 4 adjusts the direct current flowing through the drive units 3L and 3R, and the left and right annular belts 2L and 2R operate at the same set speed of 3.0 km / h. In this way, with the left and right annular belts 2L and 2R operating at the same speed, the trainee walks on the left and right annular belts 2L and 2R to confirm the laterality of the trainee in normal walking. be able to.

Next, the operator designates the distribution mode by the distribution mode button 12, and sets the speed ratio to, for example, 50% by the speed ratio setting unit 7 based on the left-right difference in the normal walking of the trainee. Here, when the L> R mode is specified by the distribution reference switching button 14, the control unit 4 sets the left annular belt 2L to 25 with reference to the set speeds of the left and right annular belts 2L and 2R of 4.0 km / h. The speed is increased by% and the direct current flowing through the left and right drive units 3L and 3R is adjusted so as to decelerate the right annular belt 2R by 25%. As a result, the operating speeds of the left and right annular belts 2L and 2R accelerate and decelerate at the same time, the left annular belt 2L operates at 4.0 × 1.25 = 5.0 km / h, and the right annular belt 2R operates at 4.0 × 4.0 ×. It operates at 0.75 = 3.0 km / h.

In this way, when the operating speeds of the left and right annular belts 2L and 2R are accelerated and decelerated at the same time by setting the speed ratio, the trainee is less likely to feel that a speed difference has occurred between the left and right annular belts 2L and 2R, and the trainee is informed. On the other hand, it is possible to more potentially intervene in the shifting operation of the operating speeds of the left and right annular belts 2L and 2R. As a result, the trainee can perform motor learning based on the recognition that the left-right difference is occurring, but the left-right asymmetric walking state is more effective. It is possible to improve the situation.

Further, in the walking training device 1 of the present embodiment, the first speed ratio up / down setting button 71 that raises / lowers the speed ratio in 10% units and the second speed ratio up / down setting button 72 that raises or lowers the speed ratio in 1% units. And a third speed ratio up / down setting button 73 that raises and lowers the speed ratio in units of 0.1%, and the speed ratio of the left and right annular belts 2L and 2R is in units of 10%, 1% or 0. It is possible to change in 1% increments. This makes it possible to change the speed ratios of the left and right annular belts 2L and 2R at a stretch or finely, and the operability is good.

Further, in the walking training device 1 of the present embodiment, the individual mode is designated by the individual mode button 13, and the operating speeds of the left and right annular belts 2L and 2R are set by the left speed ratio setting unit 21 and the right speed ratio setting unit 31. It is also possible to set the speed ratio based on one of the left and right set speeds according to the L> R mode or the L <R mode designated by the distribution reference switching button 14.

At this time, when the speed ratios of the left and right annular belts 2L and 2R are set by the left speed ratio setting unit 21 and the right speed ratio setting unit 31, the control unit 4 has the L reference mode designated by the left / right reference switching button 15. Alternatively, according to the R reference mode, the operating speeds of the left and right annular belts 2L and 2R are individually accelerated / decelerated based on the set speed of one of the left and right, and the speed set by the left speed ratio setting unit 21 and the right speed ratio setting unit 31. The drive units 3L and 3R are controlled by adjusting the DC currents flowing through the left and right drive units 3L and 3R so as to have a ratio.

The walking training device of the present invention relates to a walking training device for recovering walking function, and is particularly useful as a walking training device for improving a left-right asymmetric walking state due to unilateral paralysis or the like.

1 Walking training device 2L, 2R Circular belt 3L, 3R Drive unit 4 Control unit 5 Operation panel 6 Speed setting unit 7 Speed ratio setting unit 10 Basic operation screen 11 Same speed mode button 12 Distribution mode button 13 Individual mode button 14 Distribution Reference switching button 15 Left / right reference switching button 20 Left display unit 30 Right display unit 40 Basic belt speed display unit 60 Setting speed display unit 61, 62 Speed up / down setting button 70 Speed ratio display unit 71,72,73 Speed ratio up / down setting button

Claims (2)

The left and right annular belts on which the trainee rests his left and right feet, respectively.
The left and right drive units that drive the left and right annular belts, respectively,
A speed setting unit that sets the operating speed of the left and right annular belts,
A setting button for setting the percentage of the distribution mode that changes the operating speed of the left and right annular belts at the same rate based on the speed set by the speed setting unit, one faster and the other slower .
It is set when the left and right drive units are controlled so that the operating speed of the left and right annular belts becomes the speed set by the speed setting unit , and% of the distribution mode is set by the setting button. Walking with a control unit that controls the left and right drive units so that the operating speed of the left and right annular belts is accelerated or decelerated by half of the% of the distribution mode set by the setting button based on the speed. Training equipment. The setting button, first and configuration button for lowering the percent of the sorting mode in units of 10%, a second setting button for lowering the percent of the sorting mode in 1% increments, the sorting walking training device according to claim 1, further comprising a third setting button to the upper and lower percent mode 0.1% increments.

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