JPH07236669A - Walk training device - Google Patents

Abstract

PURPOSE:To provide a walk training device in which a long-time and long- distance walk training can be performed while keeping the holding force of the body of a testee substantially constant without adding a load to the testee. CONSTITUTION:When a testee gets on a doughnut walking plate 1, load sensors 2a-2d convert the face loads of the walking plate 1 into electric signals. The electric signals are supplied to an arithmetic means 7A, and compared with a target value, and according to the excess or shortage, the fastening force of a wire 11 is changed. Thus, the holding force of the body of the testee is kept constant through a suspending member 13. On the other hand, since a mast body 18 is rotated in a prescribed direction with a rotating speed according to the degree of trouble of the testee or the progress of the training, the testee can continue the training on the endless track traveling plate 1 for a long time as far as his physical strength permits.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training apparatus used for so-called rehabilitation of a subject such as a person with lower limb disorder.

[0002]

2. Description of the Related Art Conventionally, as this type of device, for example, those shown in FIGS. 5 and 6 have been known. The one shown in FIG. 5 is the most primitive one, and a walking board 100 having a predetermined walking distance is provided on the floor surface while the walking board 100 is provided.
Walking aid member 101 composed of handrail bars substantially parallel to both sides of the
By providing 102, the subject 103 placed on the walking board 100 with the assistance of a physical therapist or the like is configured to be able to walk along the extending direction of the walking auxiliary members 101, 102. There is.

Further, as shown in FIG. 6, a subject 103 placed on a walking board 100 has a suspension member 105 suspended from a ceiling 104 to hold the upper half of the body and the suspension member 1 is suspended.
It is configured to perform walking training so that the movement of 05 follows the extension direction of the walking board 100.

However, in any of the configurations shown in FIGS. 5 and 6, it may be necessary for the subject to support his / her own weight during training, or sometimes a large load is applied to a specific part of the lower limb. Therefore, in addition to causing a lot of pain to the subject, the training distance is 100%.
It is not suitable for long-distance and long-term training because it is limited by the length of the. Further, it requires a person who constantly assists, which is not preferable in terms of human management.

As a remedy for this, a rod body having a center portion in the lengthwise direction supported in a seesaw shape is prepared, a lifting member capable of lifting a subject is attached to one end side of the rod body, and a counter is attached to the other end side. It has been proposed that the weight is used as a balancer.

[0006]

However, in such a configuration, since the holding force of the subject's trunk by the lifting member is obtained only based on the gravitational balance between the subject's own weight and the weight, the holding force is increased. Is so-called vibrational. In other words, with such a configuration of the related art, it is not possible to desire a constant holding force, which can be obtained, for example, by walking in water while the subject is standing. It should be noted that, as a reminder, in such underwater walking training, the subject directly enters the water, so the burden on the subject and the caregiver not only during the training but also after the training is extremely heavy.

The present invention has been made to solve the above-mentioned problems of the prior art, and does not impose a burden on the subject, and while keeping the holding force of the subject's core substantially constant,
It is an object of the present invention to provide a walking training device capable of long-distance walking training for a long time.

[0008]

The main constitution of the present invention for achieving the above object is to provide a walking board having at least an annular walking surface, and to stand upright at the center of the walking board, and to set its axial direction. A mast-shaped member rotatable around a wire, wire driving means attached to the mast-shaped member for moving the wire in the longitudinal direction, and a wire attached to the mast-shaped member and slidably supporting the wire. A supporting member, a lifting member that is attached to the tip of the wire and that can be arranged above the walking plate; and a mechanical-electrical conversion unit that converts a surface load applied to the walking plate into an electric signal, According to the excess / deficiency amount, the excess / deficiency amount of the surface load and the preset surface load is calculated by receiving the output of the mechanical-electrical conversion means, and the calculated output is supplied to the wire driving means. The above Calculating means for controlling the tension of the ear, the mast-like body in a predetermined rotational direction, and characterized by comprising a rotation drive means for rotating at a predetermined rotational speed.

[0009]

For example, when a subject is placed on a donut plate-shaped walking board, the mechanical-electrical conversion means converts the surface load of the walking board into an electric signal. The electric signal is calculated by the calculation means, and the surface load and the target are calculated. The tension of the wire changes depending on the excess and deficiency of the value of the set surface load. As a result, the holding force of the subject's trunk is always kept constant via the lifting member. On the other hand, the mast body rotates in a predetermined direction at a rotation speed according to the degree of disability of the subject and the progress of training, etc., so that the subject continues training for a long time as long as physical strength allows on the tracked track. can do.

[0010]

1 and 2 show an embodiment of the present invention, in which a donut plate-shaped walking plate 1 is provided below the walking plate 1 in the front-rear direction (direction of arrow D) and in the left-right direction (direction of arrow R). direction)
Load sensors (mechanical-electrical conversion means) 2a to 2d for detecting the respective surface loads of the load sensors 2a to 2d are provided.
a to 2d are connected to the first to fourth adding operational amplifiers 4a to 4d via the input resistors 3a to 3h. The output side of each operational amplifier 4a, 4b and 4c, 4d is the first
And the second differential operational amplifiers 5a and 5b, and the output sides of both operational amplifiers 5a and 5b are connected to the A / D converter 6.

The output side of the A / D converter 6 is connected to a personal computer 7, and the output side of the arithmetic means 7A constituting the personal computer 7 is balance-controlled via a drive circuit 8 and an amplifier 9. Motor 1
It is connected to 0. The driving force of the motor 10 is the wire 1
1 is transmitted as the tension force of the wire 11, and the tip of the wire 11 is a wire support member (pulley 12a, 1a).
2b) is connected to the lifting member 13, and the lifting member 13 is attached to the subject 14. The output side of the amplifier 9 is connected to the A / D converter 6 and a predetermined monitor device (not shown).

On the other hand, the output side of the rotation drive means 7B constituting the personal computer 7 is connected to a mast rotation motor 17 via a drive circuit 15 and an amplifier 16. Here, as shown in FIG. 2, the rotational force of the motor 17 is transmitted to a drive gear 19 fixed to the mast-shaped body 18, and the axial direction 18 of the mast-shaped body 18 is transmitted.
The rotation angle θ around “a” corresponds to the rotation angle θ of the wire support member (including the other arm 20 of the pulleys 12a and 12b) attached to the mast-shaped body 18.

Further, as shown in FIG. 2, the walking board 1 is composed of a plurality of regions 1a, 1b, 1c, ..., Which can be easily assembled and disassembled. In the description of the above embodiment, the walking board 1 is formed of a donut board, but it is sufficient if the walking board 1 has at least an annular walking surface, so that the entire walking board has a disc shape. It may be configured.

Next, the operation of this embodiment constructed as described above will be described with reference to FIG.

The outputs of the load sensors 2a to 2d provided below the donut-shaped walking board are the four outputs R _CB , R _CF , D _CR and D of the first to fourth summing operational amplifiers 4a to 4d.
Obtained as _CL , these outputs are further divided into two sets and input to the first and second differential operational amplifiers 5a and 5b,
Outputs Rc and Dc from both operational amplifiers 5a and 5b, respectively.
Obtained as.

After the two outputs Rc and Dc are A / D converted, the two outputs Rc and Dc are respectively compared with preset target values in the calculating means 7A, and a new core holding force coordinate signal (R) is obtained.
c, Dc) is obtained. The core holding force coordinate signal is supplied to the balance control motor 10 via the drive circuit 8 and the amplifier 9, and the tension of the wire 11 is changed via the drive force converting means 10A. As a result, the holding force of the trunk of the subject 14 is always kept constant via the lifting member 13.

On the other hand, the mast-shaped body 8 is rotated by the rotation driving means 7B at a rotation speed set according to the degree of the obstacle of the subject 14 and the progress of training, and in a predetermined direction, for example, a counterclockwise direction. Therefore, the lifting member 13 and the like also rotate around the axial direction 18a of the mast-shaped body 8 in synchronization therewith,
The subject 14 can continue the exercise for a long time on the walking board 1 having an endless track as long as his / her physical strength permits.

FIG. 3 shows the change state of the surface load on the walking board,
In the case of general walking (Fig. 3a), in the case of underwater walking (Fig. 3a)
b) and the case of the present embodiment (FIG. 7C). This figure shows that in the case of general walking, the surface load changes minutely in response to the step of landing on the walking board and its stepping-off process. It shows that the load is substantially constant. Then, in the case of the present embodiment, the trunk holding force is the target value F.
Since it is adjusted by comparison with o, it can be understood that the surface load is always constant.

On the other hand, the core holding force coordinate signal can be constantly monitored by a predetermined display device or the like, and the change state thereof can be sequentially recorded and analyzed.

FIG. 4 shows an example of the lifting member 13 to be attached to the subject. For example, used ski pants are used as the main body portion 13a, and the fastener 13b is attached so as to be easily attached and detached. It is configured to be attached.

In the above embodiment, one subject was trained. However, by preparing a plurality of sets with the wire 11 to the lifting member 13 as a unit, for example, a plurality of groups having a similar obstacle level can be provided. It is also possible to configure the subjects to train simultaneously.

[0023]

As described above, according to the invention of claim 1, a walking board having at least an annular walking surface,
A mast-shaped body that is erected in the center of the walking board and is rotatable around its axial direction, and is attached to the mast-shaped body,
Wire driving means for moving the wire in the longitudinal direction, a wire support member attached to the mast-like body and slidably supporting the wire, and attached to the tip of the wire, and the walking board body , A lifting member that can be disposed above, a mechanical-electrical conversion unit that converts the surface load applied to the walking board into an electric signal, and the surface load and a preset surface load that receives the output of the mechanical-electrical conversion unit. And a calculation means for controlling the tension force of the wire according to the excess / deficiency amount by calculating the excess / deficiency amount of the wire and supplying the calculated output to the wire driving means. In the rotation direction of, and a rotation driving means for rotating at a predetermined rotation speed,
This makes it possible to carry out walking training for a long time and a long distance without at least imposing an excessive burden on the subject and maintaining the subject's trunk holding power substantially constant.

According to the invention of claim 2, the wire driving means is capable of moving a plurality of the wires, so that a plurality of test subjects can be simultaneously trained.

According to the third aspect of the present invention, since the walking board can be disassembled into a plurality of areas, the assembling and disassembling operations can be easily performed, and the versatility is excellent.

[Brief description of drawings]

FIG. 1 is a schematic block configuration diagram showing an overall configuration of an embodiment of a walking training device according to the present invention.

FIG. 2 is a perspective view showing the main part of FIG. 1 in more detail.

FIG. 3 is a graph comparing the surface load of the walking board between the case of the conventional technique and the case of the present embodiment.

FIG. 4 is a perspective view showing an example of a lifting member.

FIG. 5 is a schematic perspective view showing an example of conventional walking training.

FIG. 6 is a schematic perspective view showing another conventional walking training example.

[Explanation of symbols]

 1 walking board, 2a-2d load sensor, 7A arithmetic means, 7B rotation drive means, 10 motor, 13 lifting member, 14 test subject, 17 motor.

Claims (3)

[Claims] 1. A walking board having at least an annular walking surface, a mast-shaped body that is erected at the center of the walking board and rotatable around its axial direction, and is attached to the mast-shaped body. A wire driving means for moving the wire in the longitudinal direction, a wire support member attached to the mast-like body and slidably supporting the wire, and attached to a tip end portion of the wire, and the walking board A lifting member that can be disposed above the body, a mechanical-electrical conversion unit that converts the surface load applied to the walking board into an electric signal, and the surface weight and a preset surface that receives the output of the mechanical-electrical conversion unit. A calculation means for calculating an excess or deficiency with respect to the load, and supplying the calculated output to the wire driving means to control the tension of the wire according to the excess or deficiency; Predetermined rotation A walking training apparatus comprising: a rotation driving unit that rotates in a predetermined direction at a predetermined rotation speed. 2. The walking training device according to claim 1, wherein the wire driving means is capable of moving a plurality of the wires. 3. The walking training device according to claim 1, wherein the walking board can be disassembled into a plurality of regions.