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CN107374916A - 行走辅助装置和行走训练方法 - Google Patents

行走辅助装置和行走训练方法 Download PDF

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Publication number
CN107374916A
CN107374916A CN201710167672.5A CN201710167672A CN107374916A CN 107374916 A CN107374916 A CN 107374916A CN 201710167672 A CN201710167672 A CN 201710167672A CN 107374916 A CN107374916 A CN 107374916A
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CN
China
Prior art keywords
leg
walking
state
stimulus
trainee
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Granted
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CN201710167672.5A
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CN107374916B (zh
Inventor
中岛诚
中岛一诚
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

一种行走辅助装置，包括：刺激施加装置，该刺激施加装置用于对安装有行走辅助装置的腿部施加刺激；和状态检测装置，该状态检测装置用于检测安装有行走辅助装置的腿部的支撑腿状态和抬起腿状态。刺激施加装置在状态检测装置已检测到安装有行走辅助装置的腿部处于抬起腿状态时向该腿部施加第一刺激，并且刺激施加装置在状态检测装置已检测到安装有行走辅助装置的腿部处于支撑腿状态时不对该腿部施加刺激或者对该腿部施加比第一刺激弱的第二刺激。

Description

行走辅助装置和行走训练方法
背景技术
已知安装在受训者的腿部上并辅助受训者的行走操作以进行行走训练的行走辅助装置(参见例如日本未经审查的专利申请公报No.2012-095793)。
同时，为了向患有麻痹症状比如其腿部痉挛或僵硬的受训者提供用于缓解腿部麻痹的治疗，行走训练需要被暂时或间歇地中断。这导致完成行走训练所需的时间增长的问题，鉴于效率而需要改进该时间。已经进行有对受训者的安装有行走辅助装置的腿部施加刺激以缓解麻痹的治疗。然而，当在行走训练期间对受训者的腿部只是简单地进行这样的治疗时，可能会出现受训者失去其平衡的问题。
发明内容
本发明是鉴于上述问题做出的，并且本发明的目的在于提供一种能够进行下述用于缓解麻痹的治疗的行走辅助装置和行走训练方法：通过该治疗，使得受训者在行走训练期间的行走变得稳定，同时使得在不中断行走训练的情况下提高行走训练的效率。
用以实现上述目的的本发明的一个方面是一种行走辅助装置，其被构造成安装在受训者的腿部上并对使所述腿部的支撑腿状态和抬起腿状态重复发生的行走操作进行辅助，该行走辅助装置包括：
刺激施加装置，该刺激施加装置用于对安装有行走辅助装置的腿部施加刺激；以及
状态检测装置，该状态检测装置用于对安装有行走辅助装置的腿部是处于支撑腿状态还是处于抬起腿状态进行检测，其中：
刺激施加装置在状态检测装置已检测到安装有行走辅助装置的腿部处于抬起腿状态时对该腿部施加第一刺激，以及
刺激施加装置在状态检测装置已检测到安装有行走辅助装置的腿部处于支撑腿状态时不对该腿部施加刺激或者对该腿部施加比第一刺激弱的第二刺激。
在这方面，
刺激施加装置是用于使小腿框架相对于安装在受训者的腿部的大腿上的大腿框架以可旋转的方式移动的驱动装置，小腿框架经由膝关节部件联接至大腿框架并且安装在所述腿部的小腿上，以及
刺激施加装置可以利用由膝关节部件的驱动所产生的振动来对安装有行走辅助装置的腿部施加刺激。
用以实现上述目的的本发明的一个方面可以是一种行走训练方法，该行走训练方法用于将行走辅助装置安装在受训者的腿部上并对使所述腿部的支撑腿状态和抬起腿状态重复发生的行走操作进行辅助，该行走训练方法包括：
对安装有行走辅助装置的腿部的支撑腿状态和抬起腿状态进行检测；
当检测到安装有行走辅助装置的腿部处于抬起腿状态时，对该腿部施加第一刺激；以及
当检测到安装有行走辅助装置的腿部处于支撑腿状态时，不对该腿部施加刺激或者对该腿部施加比第一刺激弱的第二刺激。
根据本发明，可以提供能够进行用于缓解麻痹的治疗的行走训练装置和行走训练方法，通过该行走训练装置和行走训练方法，使得受训者在行走训练期间的行走变得稳定且同时提高了行走训练的效率。
通过下文给出的详细描述以及仅作为示例说明给出并且因此不被认为限制本发明的附图，本发明的以上及其他目的、特征和优点将得以更充分理解。
附图说明
图1是示出了根据本发明的第一实施方式的行走训练系统的示意性构型的立体图；
图2是示出了根据本发明的第一实施方式的行走训练系统的示意性系统配置的框图；
图3是示出了根据本发明的第一实施方式的行走辅助装置的示意性构型的立体图；
图4是示出了根据本发明的第一实施方式的控制装置的示意性系统配置的框图；
图5是示出了生成最终膝角度指令值以产生振动的方法的一个示例的曲线图；
图6是示出了其中产生有振动的振动刺激施加段的一个示例的图表；以及
图7是示出了对根据本发明的第一实施方式的行走辅助装置进行控制的方法流程的流程图。
具体实施方式
第一实施方式
图1是示出了根据本发明的第一实施方式的行走训练系统的示意性构型的立体图。图2是示出了根据本发明的第一实施方式的行走训练系统的示意性系统配置的框图。根据第一实施方式的行走训练系统1例如是对受训者(例如，由于中风而患有偏瘫的患者)进行行走训练的设备。行走训练系统1包括安装在受训者腿部上的行走辅助装置2和对受训者进行行走训练的训练装置3。
根据第一实施方式的行走辅助装置2例如安装在进行行走训练的受训者的病腿上并辅助受训者的行走(图3)。该行走辅助装置2包括：大腿框架21、经由膝关节部件22连接至大腿框架21的小腿框架23、经由踝关节部件24连接至小腿框架23的脚底框架25、以可旋转的方式驱动膝关节部件22的马达单元26以及调节踝关节部件24的可动范围的调节机构27。行走辅助装置2的所述结构仅是一个示例并且其结构不限于上述结构。行走辅助装置2可以包括例如以可旋转的方式驱动踝关节部件24的马达单元。
大腿框架21固定至受训者的腿部的大腿部分，并且小腿框架23固定至受训者的腿部的小腿部分。大腿框架21例如设置有用以固定大腿部分的大腿装置212。
大腿框架21设置有第一框架211，该第一框架211形成为横长形状并且沿水平方向延伸，使得第一框架211连接至后面描述的第一牵拉单元35的线34。小腿框架23设置有第二框架231，该第二框架231形成为横长形状并且沿水平方向延伸，使得第二框架231连接至后面描述的第二牵拉单元37的线36。
脚底框架25设置有载荷传感器28。载荷传感器28例如是对施加至脚底框架25的脚底的竖向载荷进行检测的竖向载荷传感器。载荷传感器28将已检测到的施加至脚底框架25的脚底的载荷值输出至控制装置33。
马达单元26是驱动装置的一个具体示例。马达单元26通过根据受训者的行走操作以可转动的方式驱动膝关节部件22来辅助受训者的行走。行走辅助装置2的结构仅是一个示例并且不限于上述结构。可以应用安装在受训者的腿部上并且能够辅助受训者的行走的期望的行走辅助装置。
训练装置3包括活动平板31、框架体32、控制装置33、第一牵拉单元35、第二牵拉单元37和第三牵拉单元38。活动平板31使环形带311转动。在活动平板31的两侧沿着带311设置有一对扶手312。受训者站在带311上、根据带311的移动而行走并且在需要时抓住设置在活动平板31的两侧的扶手312，从而进行行走训练。
框架体32包括安装在活动平板31上的两对柱框架321、连接至相应的柱框架321并沿纵向方向延伸的一对纵向框架322以及连接至纵向框架322并沿水平方向延伸的三个横向框架323。框架体32的构型不限于上述构型。框架体32可以具有任意框架构型，只要框架体32能够适当地支承将在后面描述的第一牵拉单元35、第二牵拉单元37和第三牵拉单元38以允许第一牵拉单元35、第二牵拉单元37和第三牵拉单元38移动即可。
位于训练装置3的前侧的横向框架323设置有将线34向训练装置3的上侧和前侧牵拉的第一牵拉单元35。位于训练装置3的后侧的横向框架323设置有将线36向训练装置3的上侧和后侧牵拉的第二牵拉单元37。
第一牵拉单元35和第二牵拉单元37包括例如分别对线34和36进行卷绕及重新卷绕的机构以及驱动这些机构的马达。由第一牵拉单元35牵拉的线34的一端和由第二牵拉单元37牵拉的线36的一端连接至行走辅助装置2。第一牵拉单元35经由线34将行走辅助装置2向训练装置3的上侧和前侧牵拉。第二牵拉单元37经由线36将行走辅助装置2向训练装置3的上侧和后侧牵拉。第一牵拉单元35和第二牵拉单元37通过控制马达的驱动扭矩来控制线34和36的牵拉力。
由第一牵拉单元35和第二牵拉单元37产生的牵拉力在竖向向上方向上的分量减轻了行走辅助装置2的载荷。由第一牵拉单元35和第二牵拉单元37产生的牵拉力在水平方向上的分量辅助腿部运动的开始。因此，可以使受训者在行走训练时的行走载荷减小。
第三牵拉单元38设置在中间横向框架323中并且将线39向训练装置3的上侧牵拉。线39的一端连接至例如下述带，该带附接至围绕受训者的腰部的部件。第三牵拉单元38包括例如用于对线39进行卷绕或展开的机构以及用于驱动该机构的马达。第三牵拉单元38通过线39将受训者的腰部向上牵拉。该结构可以使由于受训者的重量而引起的载荷减小。
在框架体32的前侧部上设置有受训者用第一显示单元41、控制装置33和电源43等，其中，第一显示单元41显示诸如训练指令、训练菜单和训练信息(行走速度和生物信息等)之类的信息。扶手312设置有理疗师用第二显示单元42，该第二显示单元42显示诸如训练指令、训练菜单和训练信息之类的信息。第一显示单元41和第二显示单元42构造成例如触摸板，并且受训者、理疗师等可以经由第一显示单元41和第二显示单元42输入各种信息项。第一显示单元41和第二显示单元42连接至控制装置33。
控制装置33对第一牵拉单元35、第二牵拉单元37和第三牵拉单元38的牵拉力中的每个牵拉力进行控制并且对活动平板31的驱动和行走辅助装置2的驱动进行控制。控制装置33具有主要包括例如微型计算机的硬件配置，该微型计算机由中央处理单元(CPU)33a、只读存储器(ROM)33b、随机存取存储器(RAM)33c和接口单元(I/F)33d等形成，其中，中央处理单元(CPU)33a执行操作处理、控制处理等；只读存储器(ROM)33b存储控制程序、由CPU33a执行的操作程序等；随机存取存储器(RAM)33c存储各种数据项；接口单元(I/F)33d执行向外部的信号输出/来自外部的信号输入。CPU 33a、ROM 33b、RAM 33c和接口单元33d经由数据总线33e连接至彼此。
同时，为了向患有麻痹症状比如其腿部痉挛或僵硬的受训者提供用于缓解腿部麻痹的治疗，行走训练需要被暂时或间歇地中断。这导致完成行走训练所需的时间增长的问题，鉴于效率而需要改进该时间。如果在行走训练期间只是对受训者的处于支撑腿状态(在后面进行说明)的腿部简单地进行对受训者的腿部施加刺激的治疗，则可能会出现受训者失去其平衡的问题。
另一方面，在第一实施方式中，在检测到安装有行走辅助装置2的腿部处于支撑腿状态(在后面进行说明)时施加至该腿部的刺激比在检测到安装有行走辅助装置2的腿部处于抬起腿状态(在后面进行说明)时施加至该腿部的刺激小。
因此，可以在行走训练期间在不中断行走训练的情况下对安装有行走辅助装置2的腿部施加刺激，从而在进行用于缓解麻痹的治疗的同时提高训练效率。另外，通过对处于抬起腿状态的腿部施加常规的或大的刺激，可以有效地进行用于缓解麻痹的治疗，其中，所述抬起腿状态是腿部不支承受训者的重量的状态。另外，通过对处于支撑腿状态的腿部不施加刺激或者施加小的刺激，可以使受训者的行走操作变得稳定，其中，所述支撑腿状态是腿部支承受训者的重量的状态。换言之，可以进行下述用于缓解麻痹的治疗：通过该治疗，使得受训者在行走训练期间的行走变得稳定，同时使得在不中断行走训练的情况下提高行走训练的效率。
例如，当行走辅助装置2检测到安装有行走辅助装置2的腿部是处于抬起腿状态时，行走辅助装置2对该腿部施加第一刺激。另一方面，当行走辅助装置检测到安装有行走辅助装置2的腿部处于支撑腿状态时，行走辅助装置2不对该腿部施加任何刺激。在这种情况下，行走辅助装置2对处于抬起腿状态的腿部施加第一刺激，在所述抬起腿状态下，该腿部不支承受训者的重量，并且行走辅助装置2不对处于支撑腿状态的腿部施加任何刺激，所述支撑腿状态是该腿部支承受训者的重量的状态，由此，可以进行使得受训者在行走训练期间的行走变得稳定的用于缓解麻痹的治疗。换言之，可以进行下述用于缓解麻痹的治疗：通过该治疗，使得使受训者在行走训练期间的行走变得稳定，同时在不中断行走训练的情况下提高了行走训练的效率。
图4是示出了根据第一实施方式的控制装置的示意性系统配置的框图。根据第一实施方式的控制装置33包括状态检测器331和控制器332，其中，状态检测器331检测受训者的安装有行走辅助装置2的腿部是处于支撑腿状态还是抬起腿状态，控制器332对马达单元26进行控制。
状态检测器331是状态检测装置的一个具体示例。状态检测器331基于例如从设置在行走辅助装置2的脚底框架25上的载荷传感器28输出的载荷值来检测腿部是处于支撑腿状态还是抬起腿状态。当在脚底框架25中设置有多个载荷传感器28时，可以将从各载荷传感器28输出的载荷值的平均值例如设定为载荷值。
更具体地，当从载荷传感器28输出的载荷值等于或大于载荷阈值时，状态检测器331检测到安装有行走辅助装置2的腿部处于支撑腿状态。另一方面，当从载荷传感器28输出的载荷值小于载荷阈值时，状态检测器331检测到安装有行走辅助装置2的腿部处于抬起腿状态。因此，可以使用设置在行走辅助装置2中的载荷传感器28容易地检测出腿部是处于支撑腿状态还是抬起腿状态。
上述预定值可以例如是在开始行走训练之前由载荷传感器28预先测得的在腿部处于支撑腿状态和抬起腿状态时的载荷值，并且该预定值被设定在ROM 33b、RAM 33c等中。状态检测器331将腿部是处于支撑腿状态还是抬起腿状态的检测结果输出至控制器332。
控制器332根据从状态检测器331发送的检测结果来对行走辅助装置2的马达单元26进行控制。控制器332将表示膝关节角度的膝角度指令值发送至行走辅助装置2的马达单元26。马达单元26根据从控制器332发送的膝角度指令值来驱动膝关节部件22。
当控制器332接收到来自状态检测器331的已检测到支撑腿状态的检测结果时，控制器332生成常规膝角度指令值并将所生成的值输出至行走辅助装置的马达单元26。在这种情况下，马达单元26根据该常规膝角度指令值在不产生振动的情况下以常规方式驱动膝关节部件22。如上所述，不对处于支撑腿状态的腿部施加振动刺激，所述支撑腿状态是腿部支承受训者的重量的状态，由此，可以防止由受训者在行走训练期间进行的行走变得不稳定的情形。
另一方面，当控制器332接收到来自状态检测器331的已检测到抬起腿状态的检测结果时，控制器332生成例如通过将常规膝角度指令值(a)与脉冲式振动指令值(b)(图5)相结合而获得的最终膝角度指令值(c)并将所生成的值输出至行走辅助装置2的马达单元26。马达单元26根据来自控制器332的最终膝角度指令值(c)以振动方式驱动膝关节部件。因此，可以使行走辅助装置2振动并对安装有行走辅助装置2的腿部施加振动刺激，从而进行用于缓解腿部麻痹的治疗。尽管马达单元26被构造成根据来自控制器332的最终膝角度指令值(c)来以振动方式驱动膝关节部件22，但是马达单元26的构造不限于此。马达单元26可以包括例如以机械方式使膝关节部件22振动的构型(使膝关节部件22偏心地旋转的构型)。
如上所述，通过仅对处于抬起腿状态的腿部施加振动刺激，可以进行用于缓解腿部麻痹的治疗而不使得受训者在行走训练期间的行走变得不稳定，其中，在所述抬起腿状态下，腿部不支承受训者的重量。
此外，如上所述，可以通过下述方式使行走辅助装置2振动：将常规膝角度指令值与脉冲式振动指令值相结合并生成膝角度指令值来生成最终膝角度指令值。在这种情况下，不需要在行走辅助装置2中设置专门的振动发生器或类似物，由此，可以使行走辅助装置2的尺寸和重量进一步减小。
例如，可以在行走辅助装置2的预定部位(例如，大腿框架21、膝关节部件22、小腿框架23、踝关节部件24或脚底框架25)中设置振动发生器(刺激施加装置的一个具体示例)，以使行走辅助装置2更有力地振动。可以设置有多个振动发生器。当控制器332接收到来自状态检测器331的已检测到抬起腿状态的检测结果时，控制器332对振动发生器进行控制以使行走辅助装置2的振动发生器振动。在这样的构型中，振动发生器设置在特别需要施加刺激的麻痹腿部的附近，由此可以将刺激集中地施加至麻痹部位，从而更有效地进行用于缓解麻痹的治疗。
如图6中所示，当从载荷传感器28输出的载荷值变为小于载荷阈值时，状态检测器331检测到安装有行走辅助装置2的腿部处于抬起腿状态，并且控制器332在抬起腿期间(振动刺激施加段)生成将常规膝角度指令值(a)与脉冲式振动指令值(b)相结合的最终膝角度指令值(c)并将所生成的值输出至行走辅助装置2的马达单元26。马达单元26能够根据来自控制器332的最终膝角度指令值(c)以振动方式驱动膝关节部件22并且能够对安装有行走辅助装置2的腿部施加具有振动(例如，约100Hz)的刺激。因此，可以缓解受训者的麻痹症状，比如，痉挛或僵硬。在第一实施方式中，通过调节振动指令值可以在例如50Hz到150Hz的范围内调节以上振动。
图7是示出了根据该实施方式的行走训练方法的过程流的流程图。图7中示出的控制流例如是以预定的时间间隔重复地执行的。
设置在行走辅助装置2的脚底框架25中的载荷传感器28对施加至脚底框架25的脚底的载荷值进行检测，并将检测到的值输出至控制装置33(步骤S101)。
控制装置33的状态检测器331基于从载荷传感器28输出的载荷值来检测安装有行走辅助装置2的腿部是处于支撑腿状态还是抬起腿状态(步骤S102)。
当控制装置33的状态检测器331检测到安装有行走辅助装置2的腿部处于支撑腿状态时(步骤S102)，状态检测器331将已检测到支撑腿状态的检测结果输出至控制器332(步骤S103)。当接收到来自状态检测器332的已检测到支撑腿状态的检测结果时，控制器332生成常规膝角度指令值并将所生成的值输出至行走辅助装置2的马达单元26(步骤S104)。马达单元26根据来自控制器332的常规膝角度指令值在不产生振动的情况下以常规方式驱动膝关节部件22(步骤S105)。
另一方面，当控制装置33的状态检测器331检测到安装有行走辅助装置2的腿部处于抬起腿状态时(步骤S102)，状态检测器331将已检测到抬起腿状态的检测结果输出至控制器332(步骤S106)。
当控制器332接收到来自状态检测器331的已检测到抬起腿状态的检测结果时，控制器332生成通过将常规膝角度指令值与脉冲式振动指令值相结合而获得的最终膝角度指令值并将所生成的值输出至行走辅助装置2的马达单元26(步骤S107)。马达单元26根据来自控制器332的最终膝角度指令值以振动方式驱动膝关节部件22(步骤S108)。
第二实施方式
在根据本发明的第二实施方式中，当行走辅助装置2检测到安装有行走辅助装置2的腿部处于抬起腿状态时，行走辅助装置2对该腿部施加第一刺激，该第一刺激的值被设定为第一刺激值。另一方面，当行走辅助装置2检测到安装有行走辅助装置2的腿部处于支撑腿状态时，行走辅助装置2向该腿部施加第二刺激，该第二刺激的值被设定为比第一刺激值小的第二刺激值。
在这种情况下，特别是出于进行用于缓解麻痹的治疗的目的，对处于抬起腿状态的腿部施加大的刺激，而对处于支撑腿状态的腿部施加不对行走操作产生影响的小刺激，其中，所述抬起腿状态是腿部不支承受训者的重量的状态，所述支撑腿状态是腿部支承受训者的重量的状态。因此，可以在行走训练期间对安装有行走辅助装置2的腿部不断地施加刺激，由此。可以有效地进行用于缓解麻痹的治疗。同样在这种情况下，对处于支撑腿状态的腿部施加小的刺激，由此，可以在进行用于缓解麻痹的治疗的同时使受训者的行走操作变得稳定，其中，所述支撑腿状态是腿部支承受训者的重量的状态。
将上述第一刺激值和第二刺激值设定在例如ROM 33b或RAM33c中，使得受训者等能够改变已被设定的所述值。受训者等鉴于腿部的麻痹状态来改变已设定的第一刺激值和第二刺激值。
更具体地，在腿部的麻痹状态已相对恢复并且行走操作稳定时，将第一刺激值和第二刺激值(特别是第二刺激值)增大。因此，可以特别出于进行用于缓解麻痹的治疗的目的而对腿部施加刺激。另一方面，当腿部的麻痹状态尚未令人满意地恢复并且行走操作仍不稳定时，将第一刺激值和第二刺激值(特别是第二刺激值)减小。因此，可以在对腿部施加刺激的同时给予行走操作的稳定性更高的优先级。如上所述，根据第二实施方式，通过根据受训者的状态例如腿部的麻痹状态来改变已设定的第一刺激值和第二刺激值，可以在有效地进行用于缓解麻痹的治疗的同时使受训者在行走训练期间的行走操作稳定。
本发明不限于上述实施方式，而是可以在不背离本发明的精神的情况下进行适当的改型。
在以上实施方式中，通过使行走辅助装置2振动来对安装有行走辅助装置2的腿部施加振动刺激，以进行用于缓解腿部麻痹的治疗。然而，本发明不限于这种情况。可以对安装有行走辅助装置2的腿部施加电刺激或磁刺激来进行用于缓解腿部麻痹的治疗。
在以上实施方式中，在行走辅助装置2包括以旋转的方式驱动踝关节部件24的马达单元时，可以以与对膝关节部件22的马达单元26的控制相类似的方式来控制踝关节部件24的马达单元。
在以上实施方式中，当控制装置33的控制器332接收到来自状态检测器331的已检测到抬起腿状态的检测结果时，控制器332可以对第一牵拉单元35和第二牵拉单元37进行控制并使第一牵拉单元35的线34和第二牵拉单元37的线36振动，从而使行走辅助装置2振动。
尽管在以上实施方式中控制装置33的状态检测器331通过将从设置在行走辅助装置2的脚底框架25上的载荷传感器28输出的载荷值与预定值进行比较来检测腿部是处于支撑腿状态还是抬起腿状态，但是由状态检测器331执行的检测方法不限于这种情况。状态检测器331可以基于从载荷传感器28输出的载荷值来计算受训者的重心并基于已计算出的重心来检测腿部是处于支撑腿状态还是抬起腿状态。例如，预先计算出腿部处于支撑腿状态和抬起腿状态时的重心区域。然后，状态检测器331通过检测受训者的基于从载荷传感器28输出的载荷值计算出的重心落入哪个区域中来检测腿部是处于支撑腿状态还是抬起腿状态。
控制装置33的状态检测器331可以基于由设置在行走辅助装置2的膝关节部件中的角度传感器检测到的膝关节部件的角度的时间变化来检测安装有行走辅助装置2的腿部是处于支撑腿状态或抬起腿状态。更具体地，状态检测器331在其基于由角度传感器检测到的膝关节部件的角度的时间变化判定被检测到的角度已进入对应于支撑腿状态或抬起腿状态的改变范围时检测该腿部是处于支撑腿状态还是抬起腿状态。
控制装置33的状态检测器331可以基于通过活动平板31的带311的移动速度计算出的使用者的行走周期来检测安装有行走辅助装置2的腿部是处于支撑腿状态还是抬起腿状态。行走周期与活动平板31的带311的移动速度之间的关系(例如，行走周期是以活动平板31的带311的移动速度作为变量的单调递减函数)可以预先通过实验获得。检测支撑腿状态或抬起腿状态的以上方法仅仅是一个示例。检测方法不限于上述检测方法，而是可以应用任意检测方法。
因此，通过如此描述的本发明，将明显的是，本发明的实施方式可以以许多方式来改变。这样的变型不被认为偏离本发明的精神和范围，并且对于本领域技术人员明显的所有这些改型旨在包括在所附权利要求的范围内。

Claims (3)

1.一种行走辅助装置，所述行走辅助装置构造成安装在受训者的腿部上并对使所述腿部的支撑腿状态和抬起腿状态重复发生的行走操作进行辅助，所述行走辅助装置包括：
刺激施加装置，所述刺激施加装置用于对安装有所述行走辅助装置的所述腿部施加刺激；以及
状态检测装置，所述状态检测装置用于检测安装有所述行走辅助装置的所述腿部是处于所述支撑腿状态还是处于所述抬起腿状态，其中：
所述刺激施加装置在所述状态检测装置已检测到安装有所述行走辅助装置的所述腿部处于所述抬起腿状态时对所述腿部施加第一刺激，以及
所述刺激施加装置在所述状态检测装置已检测到安装有所述行走辅助装置的所述腿部处于所述支撑腿状态时不对所述腿部施加刺激或者施加比所述第一刺激弱的第二刺激。
2.根据权利要求1所述的行走辅助装置，其中：
所述刺激施加装置是用于使小腿框架相对于安装在所述受训者的所述腿部的大腿上的大腿框架以可旋转的方式移动的驱动装置，所述小腿框架经由膝关节部件联接至所述大腿框架并且安装在所述腿部的小腿上，以及
所述刺激施加装置利用由所述膝关节部件的驱动所产生的振动来对安装有所述行走辅助装置的所述腿部施加刺激。
3.一种行走训练方法，所述行走训练方法用于将行走辅助装置安装在受训者的腿部上并对使所述腿部的支撑腿状态和抬起腿状态重复发生的行走操作进行辅助，所述行走训练方法包括：
对安装有所述行走辅助装置的所述腿部的所述支撑腿状态和所述抬起腿状态进行检测；
当检测到安装有所述行走辅助装置的所述腿部处于所述抬起腿状态时，对所述腿部施加第一刺激；以及
当检测到安装有所述行走辅助装置的所述腿部处于所述支撑腿状态时，不对所述腿部施加刺激或者对所述腿部施加比所述第一刺激弱的第二刺激。
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