CN113317967A

CN113317967A - Walking training device, control method thereof, and computer-readable medium

Info

Publication number: CN113317967A
Application number: CN202110141922.4A
Authority: CN
Inventors: 永末纯一
Original assignee: Toyota Motor Corp
Current assignee: Toyota Motor Corp
Priority date: 2020-02-12
Filing date: 2021-02-02
Publication date: 2021-08-31
Anticipated expiration: 2041-02-02
Also published as: JP7314829B2; CN113317967B; JP2021126244A

Abstract

A walking training device, a control method thereof, and a computer-readable medium. The walking training device is provided with a belt motor for driving an endless belt forming a walking surface, and a belt control unit for controlling the belt motor. The walking training device is provided with: a sitting section that enables a user on the walking surface to sit in a walking space on the walking surface; and a support portion that supports the seat portion so as to be capable of switching a state of the seat portion between a seating capable state in which the user can sit on the seat portion when the seat portion is located in the walking space and a seating incapable state in which the user cannot sit on the seat portion when the seat portion is retracted from the walking space.

Description

Walking training device, control method thereof, and computer-readable medium

Technical Field

The invention relates to a walking training device, a control method thereof and a computer readable medium.

Background

Patent document 1 (japanese patent No. 6052234 specification) discloses a walking training device in which a user walks on a treadmill with a walking assistance device attached to the affected leg of the user.

Disclosure of Invention

The walking training device of patent document 1 does not take special care of the rest of the user.

The present invention aims to provide a technique relating to a rest of a user in a walking training device.

According to a first aspect of the present invention, there is provided a walking training device comprising: an endless belt forming a walking surface; a belt support body that supports the belt so that the belt runs along a predetermined circulating track; a belt motor that drives the belt; a belt control unit that controls the belt motor; a sitting section that enables a user on the walking surface to sit in a walking space on the walking surface; and a support portion that supports the seat portion so as to be capable of switching a state of the seat portion between a seatable state and a non-seatable state, the seatable state being a state of the seat portion in which the user can sit on the seat portion by the seat portion being located in the walking space, the non-seatable state being a state of the seat portion in which the user cannot sit on the seat portion by the seat portion being retracted from the walking space. According to the above configuration, the user can effectively take a rest on the walking surface even without going down from the walking surface.

Preferably, the walking training device further includes a state detection unit capable of detecting a state of the sitting unit, and the belt control means stops the operation of the belt when the sitting unit is switched from the non-seatable state to the seatable state while the belt is operating. According to the above configuration, the user walking on the walking surface of the belt does not contact the sitting portion.

Preferably, the walking training device further includes a lock unit capable of prohibiting the seating unit from being switched from the unsettable state to the seatable state. With the above configuration, the seating portion can be maintained in the state where the seat portion cannot be seated.

Preferably, the walking training device further includes a lock control unit for controlling the lock unit. The lock control portion controls the lock portion so as to prohibit the seating portion from being switched from the unsettable state to the seatable state when the belt starts to operate or when the belt is operating. According to the above configuration, the user walking on the walking surface of the belt does not contact the sitting portion.

Preferably, the walking training device further includes a lock control unit for controlling the lock unit. The lock control portion controls the lock portion to allow the seating portion to switch from the unsettable state to the seatable state when operation of the belt is stopped or when the belt is not operated. According to the above configuration, the user can rest on the walking surface.

Preferably, the walking training device further includes: a switching actuator that switches the state of the seating portion so as to switch the state of the seating portion between the seatable state and the unsettable state; and a seating control unit that controls the switching actuator. According to the above configuration, the task of switching the state of the seat section is simplified.

Preferably, the seating control portion controls the switching actuator so as to switch the state of the seating portion from the seatable state to the unsettable state when the operation of the belt is started and to switch the state of the seating portion from the unsettable state to the seatable state when the operation of the belt is stopped. According to the above configuration, the user walking on the walking surface of the belt does not contact the sitting portion.

According to a second aspect of the present invention, there is provided a control method for a walking training device, the walking training device including: an endless belt forming a walking surface; a belt support body that supports the belt so that the belt runs along a predetermined circulating track; a belt motor that drives the belt; a belt control unit that controls the belt motor; a sitting section that enables a user walking on the walking surface to sit in a walking space on the walking surface; and a support portion that supports the seat portion so as to be capable of switching a state of the seat portion between a seatable state and a non-seatable state, the seatable state being a state of the seat portion in which the user can sit on the seat portion by the seat portion being located in the walking space, the non-seatable state being a state of the seat portion in which the user cannot sit on the seat portion by the seat portion being retracted from the walking space, wherein in the control method, the state of the seat portion is detected, and when the seat portion is switched from the non-seatable state to the seatable state while the belt is operating, the operation of the belt is stopped. According to the above method, the user can effectively rest on the walking surface even without going down from the walking surface.

Also, a computer-readable medium is provided that stores a program for causing a computer to execute the control method described above.

According to the present invention, the user can effectively take a rest on the walking surface without falling from the walking surface.

The above and other objects, features and advantages of the present disclosure will be more fully understood from the detailed description given below and the accompanying drawings, which are given by way of illustration only, and thus should not be taken as limiting the present disclosure.

Drawings

Fig. 1 is a perspective view of a walking training device. (first embodiment)

Fig. 2 is a perspective view of the walking assistance device. (first embodiment)

Fig. 3 is a perspective view of the seating unit. (first embodiment)

Fig. 4 is a front view of the seating unit. (first embodiment)

FIG. 5 is a functional block diagram of a walking training device. (first embodiment)

Fig. 6 is a control flow of the walking training device. (first embodiment)

FIG. 7 is a functional block diagram of a walking training device. (second embodiment)

Fig. 8 is a control flow of the walking training device. (second embodiment)

Detailed Description

(first embodiment)

Embodiments of the present invention will be described below with reference to fig. 1 to 6.

Fig. 1 is a perspective view showing a schematic configuration of a walking training device 1 according to the present embodiment. The walking training device 1 of the present embodiment is a device for performing walking training of a user such as a stroke hemiplegia patient, for example. The walking training device 1 includes a walking assistance device 2 attached to the leg of a user and a training device 3 for performing walking training of the user.

The walking assistance device 2 is attached to, for example, an affected leg of a user who performs walking training, and assists the user in walking. As shown in fig. 2, the walking assistance device 2 includes a thigh frame 21, a lower leg frame 23 connected to the thigh frame 21 via a knee joint portion 22, a sole frame 25 connected to the lower leg frame 23 via an ankle joint portion 24, a motor unit 26 for driving the knee joint portion 22 to rotate, and an adjustment mechanism 27 for adjusting a movable range of the ankle joint portion 24. The configuration of the walking assistance device 2 is an example, and is not limited to this. For example, the walking assistance device 2 may include a motor unit that rotationally drives the ankle portion 24.

The thigh frame 21 is attached to the thigh of the user's leg, and the lower leg frame 23 is attached to the lower leg of the user's leg. The thigh frame 21 is provided with a thigh harness 212 for fixing a thigh to the thigh frame 21, for example. The thigh frame 21 is provided with a laterally long first frame 211 extending in the left-right direction for connecting a wire 36 of a first pulling section 33 described later.

The connection portion of the first pulling portion 33 is an example, and is not limited to this. For example, the wire 36 of the first pulling section 33 may be connected to the thigh harness 212, and the pulling point of the first pulling section 33 may be provided at any position of the walking assistance device 2.

The motor unit 26 assists walking of the user by rotationally driving the knee joint portion 22 in accordance with the walking motion of the user. The configuration of the walking assistance device 2 is an example, and is not limited to this. Any walking assistance device that can be attached to the leg of a user and that can assist the user in walking can be applied.

Returning to fig. 1, the training device 3 includes a treadmill 31, a frame body 32, a first pulling section 33, a second pulling section 34, and a walking training control section 35.

The treadmill 31 includes an endless belt 311 forming the walking surface M, a belt support 312 supporting the belt 311 so that the belt 311 runs along a predetermined circulating track, and a belt motor 313 driving the belt 311. The belt support 312 is typically constituted by 2 pulleys arranged parallel to each other. The belt motor 313 drives the belt 311 by rotationally driving one of the 2 pulleys. A walking space S is formed on the walking surface M of the belt 311. The walking space S is a space in which users walking on the walking surface M of the belt 311 are accommodated. The walking space S is typically a rectangular parallelepiped space. The walking space S is a space inside the outline of the walking surface M of the belt 311 in a plan view. The user station performs walking training on the walking surface M of the belt 311 in a state of being accommodated in the walking space S according to the operation of the belt 311.

The frame body 32 includes 2 pairs of pillar frames 321 erected on the treadmill 31, a pair of front and rear frames 322 connected to the pillar frames 321 and extending in the front-rear direction, and 3 left and right frames 323 connected to the front and rear frames 322 and extending in the left-right direction. The structure of the frame body 32 is not limited to this. The frame body 32 may have any frame structure as long as the first pulling section 33 and the second pulling section 34, which will be described later, can be appropriately fixed.

The front left and right frames 323 are provided with first pulling portions 33 that pull the wires 36 upward and forward. The first pulling section 33 is configured by, for example, a mechanism for winding and rewinding the wire 36, a front winding motor 62 (see fig. 5) for driving the mechanism, and the like. One end of the wire 36 pulled by the first pulling section 33 is connected to the walking assistance device 2. The first pulling section 33 pulls the walking assistance device 2 upward and forward via the wire 36.

The vertically upper component of the tensile force of the first tensile section 33 supports the weight of the walking assistance device 2. The leg is assisted to be stepped out by the horizontally forward component of the pulling force of the first pulling section 33. This can reduce the walking load of the user during walking training.

The second pulling section 34 is provided in the rear left and right frames 323, and pulls the wire 37 upward. One end of the wire 37 is connected to, for example, a belt fitted near the waist of the user. The second pulling section 34 is configured by, for example, a mechanism for winding and rewinding the wire 37, a rear winding motor 63 (see fig. 5) for driving the mechanism, and the like. The second pulling section 34 pulls the waist of the user upward via the wire 37. This can reduce the load due to the user's own weight.

The training device 3 further includes a seating unit 40. The seating unit 40 is disposed on the back side as viewed from the user who performs walking training using the training apparatus 3. That is, the seating unit 40 is disposed on the downstream side of the walking surface M. As shown in fig. 3, the seating unit 40 is typically supported by the pillar frame 321 and the treadmill 31. Instead of this, the seating unit 40 may be supported only by one of the column frame 321 and the treadmill 31.

As shown in fig. 3 and 4, the seating unit 40 includes a seating portion 41 and a support portion 42 that supports the seating portion 41. As shown in fig. 4, in the present embodiment, the seating unit 40 further includes a storage detection sensor 43 and a lock mechanism 44.

The seat portion 41 is tiltably supported by the support portion 42. The seat portion 41 is supported by the support portion 42 so as to be switchable between a seating enabled state and a seating disabled state.

The seat portion 41 is an elongated plate body, and is supported by the support portion 42 so as to be tiltable around a tilting shaft 45. The seating portion 41 has a seating surface 46 that faces upward when the seating portion 41 extends horizontally, a distal end surface 47 that is an end surface farthest from the tilt shaft 45, and a proximal end surface 48 that is an end surface closest to the tilt shaft 45. A lock hole 49 is formed in the distal end surface 47.

The support portion 42 is rectangular and extends in the vertical direction. The support portion 42 has a walking space facing surface 50 facing the walking space S. The walking space facing surface 50 is formed with an accommodating recess 51 capable of accommodating the seat unit 41. The support portion 42 has an opposing inner surface 52 which is an inner surface of the housing recess 51 and which faces the walking space S, and a top surface 53 which is an inner surface of the housing recess 51 and faces downward. The opposing inner surface 52 is a surface orthogonal to the horizontal. The top surface 53 is a surface perpendicular to the vertical direction.

In fig. 4, the seating portion 41 in the seatable state is shown by a solid line as the seating portion 41P, and the seating portion 41 in the unsettable state is shown by a two-dot chain line as the seating portion 41Q.

As shown in fig. 4, the seating enabled state is a state of the seating portion 41 in which the longitudinal direction of the seating portion 41 is horizontal, and the seating portion 41 extends so as to cross the walking space S in the left-right direction. That is, the sitting-possible state is a state of the sitting portion 41 in which the sitting portion 41 is located in the walking space S and the user can sit on the sitting portion 41. When the seating portion 41 is in the seatable state, the user on the walking surface M can sit on the seating portion 41 in the walking space S on the walking surface M.

On the other hand, the unsettled state is a state in which the seating portion 41 is vertical in the longitudinal direction of the seating portion 41, and is a state in which the seating portion 41 is accommodated in the accommodation recess 51. That is, the sitting portion 41 is in a state in which the sitting portion 41 is retracted from the walking space S and the sitting portion 41 is not located in the walking space S, so that the user cannot sit on the sitting portion 41. When the seating part 41 is in the non-seating state, the user on the walking surface M cannot sit on the seating part 41 in the walking space S on the walking surface M.

The storage detection sensor 43 is provided to the opposing inner surface 52. The storage detection sensor 43 is a sensor that detects that the seating portion 41 is stored in the storage recess 51 so that the seating portion 41 cannot be seated, and the seating portion 41 is stored in the storage recess 51. The storage detection sensor 43 can typically be constituted by a momentary switch. When the storage detection sensor 43 detects that the seating section 41 is stored in the storage recess 51, it outputs a storage detection signal to the walking training control section 35. The storage detection sensor 43 outputs a storage undetected signal to the walking training control unit 35 when the storage of the seating unit 41 in the storage recess 51 is not detected.

The lock mechanism 44 is an example of a lock portion, and is provided on the top surface 53. The lock mechanism 44 permits or prohibits the tilting of the seating portion 41Q accommodated in the accommodating recess 51. That is, the lock mechanism 44 can prohibit the seat section 41 from being switched from the unsettable state to the seatable state. The lock mechanism 44 includes a rod 60 extending in the vertical direction and a rod actuator 61 that drives the rod 60 to advance and retract in the vertical direction. When the lever actuator 61 drives the lever 60 downward in a state where the seating portion 41 is accommodated in the accommodation recess 51, the lever 60 is inserted into the lock hole 49, and tilting of the seating portion 41 is prohibited. On the other hand, the lever 60 is driven upward by the lever actuator 61, and the lever 60 is pulled out from the lock hole 49, so that the tilting of the seating portion 41 is allowed.

Returning to fig. 1, the training device 3 further includes a display 65, a training start button 66, and a training stop button 67.

As shown in fig. 5, the walking training control Unit 35 includes a CPU35a (Central Processing Unit) as a Central Processing Unit, a Read-write free RAM35b (Random Access Memory), and a Read Only ROM35c (Read Only Memory). The CPU35a reads and executes a control program stored in the ROM35c, and the control program causes hardware such as the CPU35a to function as the display control unit 70, the tape control unit 71, the winding control unit 72, the lock control unit 73, and the training control unit 74.

The display control unit 70 controls the display of the display 65.

The belt control unit 71 controls the rotation of the belt motor 313.

The winding controller 72 performs winding control of the first and second pulling

sections

33 and 34.

The lock control unit 73 controls the forward and backward movement of the rod actuator 61.

The training control unit 74 controls the walking training of the training apparatus 3.

The training start button 66, the training stop button 67, and the storage detection sensor 43 are electrically connected to the walking training control unit 35.

The monitor 65, the belt motor 313, the front winding motor 62, the rear winding motor 63, and the lever actuator 61 are electrically connected to the gait training control unit 35.

(action)

Next, the operation of the walking training device 1 will be described with reference to fig. 6. Since the winding control of the first and second pulling

sections

33 and 34 by the winding control section 72 is well known, the description thereof is omitted.

First, the training control unit 74 waits until the training start button 66 is pressed (S100: no), and when the training start button 66 is pressed, advances the process to S110 (S100: yes).

Next, the training control unit 74 determines whether or not the sitting unit 41 is in the seatable state based on the signal from the storage detection sensor 43 (S110). When it is determined that the sitting section 41 is in the seatable state (yes in S110), the training control section 74 instructs the user to store the sitting section 41 in the storage recess 51 via the display 65 (S120), and the process returns to S100.

When determining that the seat unit 41 is not in the seating enabled state (S110: no), the training control unit 74 prohibits the seat unit 41 from being switched from the seating disabled state to the seating enabled state via the lock control unit 73 (S130).

Next, the training control unit 74 starts control of the walking training by the training device 3 (S140). Specifically, the running speed of the belt 311 is appropriately increased or decreased via the belt control unit 71 according to the skill of the user, and an image of a street or the like is displayed on the display 65.

Next, the training control unit 74 determines whether or not the sitting unit 41 is in the seatable state based on the signal from the storage detection sensor 43 (S150). When it is determined that the sitting section 41 is in the sitting state (yes in S150), the training control section 74 urgently stops the operation of the belt 311 (S160). On the other hand, when determining that the sitting section 41 is in the no-sitting state (S150: no), the training control section 74 advances the process to S170.

The training control unit 74 determines whether or not the training stop button 67 is pressed (S170). When it is determined that the training stop button 67 has not been pressed (no in S170), the training control unit 74 returns the process to S150. On the other hand, when it is determined that the training stop button 67 is pressed (yes in S170), the training control unit 74 stops the walking training by stopping the operation of the belt 311 (S180). Then, the training controller 74 unlocks the seat unit 41 so as to allow the seat unit 41 to be switched from the unsettable state to the seatable state (S190), and returns the process to S100.

Therefore, since the falling of the seat section 41 is prohibited during the walking training, that is, during the operation of the belt 311 (S130), the seat section 41 does not fall and can be seated. Therefore, the sitting portion 41 does not hinder the walking training.

In addition, in the case where the sitting portion 41 falls down to be in the sitting state (yes in S150) during walking training, that is, during the operation of the belt 311, the operation of the belt 311 is stopped urgently (S160), and therefore the user does not come into contact with the sitting portion 41.

The first embodiment of the present invention has been described above, and the first embodiment has the following features.

The walking training device 1 includes: an endless belt 311 forming a walking surface M; a belt support 312 that supports the belt 311 so that the belt 311 runs along a predetermined circulating track; with motor 313, drive belt 311; and a tape control unit 71 (tape control unit) for controlling the tape motor 313.

The walking training device 1 includes: a sitting section 41 on which a user on the walking surface M can sit in the walking space S on the walking surface M; and a support portion 42 that supports the seat portion 41 so as to be capable of switching a state of the seat portion 41 between a seating capable state in which the seat portion 41 is positioned in the walking space S and the user can sit on the seat portion 41, and a seating incapable state in which the seat portion 41 is retracted from the walking space S and the user cannot sit on the seat portion 41.

With the above configuration, the user can effectively rest on the walking surface M without falling from the walking surface M.

The walking training device 1 further includes a storage detection sensor 43 (state detection unit) capable of detecting the state of the sitting unit 41. When the seat unit 41 is switched from the seating-disabled state to the seating-enabled state while the belt 311 is running, the belt control unit 71 stops the running of the belt 311 (S150 and S160). According to the above configuration, the user walking on the walking surface M of the belt 311 does not contact the sitting portion 41.

The walking training device 1 further includes a lock mechanism 44 (lock portion) that can prohibit the seat portion 41 from being switched from the unsettable state to the seatable state. With the above configuration, the seating section 41 can be maintained in the non-seating state.

The walking training device 1 further includes a lock control unit 73 that controls the lock mechanism 44. The lock control unit 73 controls the lock mechanism 44 to prohibit the seat unit 41 from being switched from the unsettable state to the seatable state when the belt 311 starts operating or when the belt 311 is operating. According to the above configuration, the user walking on the walking surface M of the belt 311 does not contact the sitting portion 41.

The walking training device 1 further includes a lock control unit 73 that controls the lock mechanism 44. The lock control unit 73 controls the lock mechanism 44 to allow the seat unit 41 to be switched from the unsettable state to the seatable state when the operation of the belt 311 is stopped or when the belt 311 is not operated. With the above configuration, the user can rest on the walking surface M.

(second embodiment)

A second embodiment of the present invention will be described below with reference to fig. 7 and 8. Hereinafter, the present embodiment will be described mainly in terms of differences from the first embodiment, and redundant description will be omitted.

As shown in fig. 4, the walking training device 1 according to the first embodiment includes a lock mechanism 44 that can prohibit the seat unit 41 from being switched from the unsettable state to the seatable state.

In contrast, the walking training device 1 of the present embodiment includes a switching actuator 81 for switching the state of the seat unit 41 between the seating enabled state and the seating disabled state, and a seating control unit 82 for controlling the switching actuator 81.

The switching actuator 81 is an actuator for tilting the seating portion 41 about the tilting axis 45, and is typically an electric motor, an electric cylinder, or a hydraulic cylinder.

The seating control unit 82 is implemented by software in the walking training control unit 35, for example, in the same manner as the winding control unit 72. The seating control section 82 controls the switching actuator 81 so as to switch the state of the seating section 41 from the seatable state to the unsettable state when the operation of the belt 311 is started and to switch the state of the seating section 41 from the unsettable state to the seatable state when the operation of the belt 311 is stopped.

(action)

Next, the operation of the walking training device 1 will be described with reference to fig. 8. The winding controller 72 controls the first and second pulling

sections

33 and 34 in a well-known manner, and therefore, the description thereof is omitted.

First, the training control unit 74 waits until the training start button 66 is pressed (S300: no), and when the training start button 66 is pressed, advances the process to S310 (S300: yes).

Next, the seating control unit 82 controls the switching actuator 81 to switch the state of the seating unit 41 from the seating enabled state to the seating disabled state (S310). In a straightforward manner, the seating control portion 82 stores the seat portion 41 in the storage recess 51 of the support portion 42.

Next, the training control unit 74 starts control of the walking training by the training device 3 (S320). Specifically, the operating speed of the belt 311 is appropriately increased or decreased via the belt control unit 71 according to the skill of the user, and an image or the like is displayed on the display 65.

Next, the training control unit 74 determines whether or not the sitting unit 41 is in the seatable state based on the signal from the storage detection sensor 43 (S330). When it is determined that the sitting section 41 is in the sitting state (yes in S330), the training control section 74 urgently stops the operation of the belt 311 (S340). On the other hand, when determining that the sitting section 41 is in the no-sitting state (no in S330), the training controller 74 advances the process to S350.

The training control unit 74 determines whether or not the training stop button 67 is pressed (S350). If it is determined that the training stop button 67 has not been pressed (no in S350), the training control unit 74 returns the process to S330. On the other hand, when it is determined that the training stop button 67 is pressed (yes in S350), the training control unit 74 stops the operation of the belt 311 to stop the walking training (S360). Then, the training control unit 74 controls the switching actuator 81 so as to switch the state of the seat unit 41 from the unsellable state to the seatable state (S370). In a straightforward manner, the training controller 74 deploys the seat unit 41 into the walking space S (S370). Then, the training control unit 74 returns the process to S300.

Therefore, during walking training, that is, during operation of the belt 311, the sitting section 41 is set to the unsettlable state (S310), and therefore the sitting section 41 does not hinder the walking training.

In addition, in the case where the sitting portion 41 falls down to be in the sitting state (yes in S330) during walking training, that is, during the operation of the belt 311, the operation of the belt 311 is stopped urgently (S340), and therefore the user does not come into contact with the sitting portion 41.

As described above, the second embodiment of the present invention has the following features.

That is, the walking training device 1 further includes: a switching actuator 81 that switches the state of the seat section 41 so as to switch the state of the seat section 41 between a seating capable state and a seating incapable state; and a seating control unit 82 for controlling the switching actuator 81. With the above configuration, the task of switching the state of the seat unit 41 is simplified.

The seating control unit 82 controls the switching actuator 81 so as to switch the state of the seating unit 41 from the seating enabled state to the seating disabled state when the operation of the belt 311 is started and to switch the state of the seating unit 41 from the seating disabled state to the seating enabled state when the operation of the belt 311 is stopped. According to the above configuration, the user walking on the walking surface M of the belt 311 does not contact the sitting portion 41.

In the above-described example, the control program can be saved and supplied to the computer using various types of non-transitory computer readable media. The non-transitory computer readable medium includes various types of recording media (readable storage medium) having entities. Examples of non-transitory computer readable media include magnetic recording media (e.g., floppy disks, tapes, hard drives), magneto-optical recording media (e.g., magneto-optical disks). Examples of non-transitory computer readable media also include CD-ROM (Read Only Memory), CD-R, CD-R/W, semiconductor Memory (e.g., mask ROM). Examples of the non-transitory computer readable medium further include PROMs (Programmable ROM), EPROMs (Erasable PROM), flash ROMs, and RAMs (random access memories). In addition, the program may also be supplied to the computer through various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The computer-readable medium can temporarily supply the program to the computer via a wired communication path such as an electric wire or an optical fiber, or a wireless communication path.

From the disclosure thus described, it will be obvious that the embodiments of the disclosure may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the following claims.

Claims

1. A walking training device is provided with:

an endless belt forming a walking surface;

a belt support body that supports the belt so that the belt runs along a predetermined circulating track;

a belt motor that drives the belt;

a belt control unit that controls the belt motor;

a sitting section that enables a user on the walking surface to sit in a walking space on the walking surface; and

a support portion that supports the seat portion so as to be capable of switching a state of the seat portion between a seatable state in which the seat portion is positioned in the walking space and the user can sit on the seat portion and a seatable state in which the seat portion is retracted from the walking space and the user cannot sit on the seat portion.

2. The walking training device of claim 1,

further comprises a state detection unit capable of detecting the state of the sitting unit,

the belt control means stops the operation of the belt when the seating section is switched from the unsettable state to the seatable state while the belt is operating.

3. The walking training device of claim 1,

the seat unit is further provided with a lock unit capable of prohibiting the seat unit from being switched from the unsettable state to the seatable state.

4. The walking training device of claim 3,

further comprises a lock control part for controlling the locking part,

the lock control portion controls the lock portion so as to prohibit the seating portion from being switched from the unsettable state to the seatable state when the belt starts to operate or when the belt is operating.

5. The walking training device of claim 3,

further comprises a lock control part for controlling the locking part,

the lock control portion controls the lock portion to allow the seating portion to switch from the unsettable state to the seatable state when operation of the belt is stopped or when the belt is not operated.

6. The walking training device according to claim 1, further comprising:

a switching actuator that switches the state of the seating portion so as to switch the state of the seating portion between the seatable state and the unsettable state; and

a seating control unit that controls the switching actuator.

7. The walking training device of claim 6,

the seating control portion controls the switching actuator so as to switch the state of the seating portion from the seatable state to the unsettable state when the operation of the belt is started and to switch the state of the seating portion from the unsettable state to the seatable state when the operation of the belt is stopped.

8. A control method for a walking training device, the walking training device comprising:

an endless belt forming a walking surface;

a belt motor that drives the belt;

a belt control unit that controls the belt motor;

a sitting section that enables a user walking on the walking surface to sit in a walking space on the walking surface; and

a support portion that supports the seat portion so as to be capable of switching a state of the seat portion between a seatable state in which the seat portion is positioned in the walking space and the user can be seated on the seat portion and a seatable state in which the seat portion is retracted from the walking space and the user cannot be seated on the seat portion,

wherein, in the control method,

detecting a state of the seating portion,

when the seating section is switched from the unsettable state to the seatable state while the belt is operating, the operation of the belt is stopped.

9. A computer-readable medium storing a program for causing a computer to execute the control method according to claim 8.