JP7155765B2 - walking support device - Google Patents

Description

The present invention relates to a walking assistance device.

For users who can walk independently, it is very important that they do not lean on the walker, keep their trunk straight, and swing their arms correctly in sync with their legs. be.

For example, the wheelbarrow (corresponding to a walking support device) described in Patent Document 1 has a handle force that is a force that a user holds a handle bar (corresponding to a fixed handle) and pushes the wheelbarrow, and its direction. , an assist force is generated to assist movement of the handcart in the traveling direction. In addition, the handcart has a rotation angle sensor and an inclination angle sensor, and based on information such as the traveling direction and inclination angle of the vehicle body in various usage conditions, the user can stably push the handcart and walk. Drive the wheels as much as you can and move on.

JP 2017-12546 A

The wheelbarrow described in Patent Document 1 drives the wheels according to the force applied to the wheelbarrow on the premise that the user "pushes" or "pulls" the wheelbarrow. In other words, the pushcart advances by assisting the force applied to the pushcart by the user. Therefore, the user is always assisted by the handcart when using the handcart, and the burden on the body against the handcart is reduced. In particular, when elderly people or people who need assistance with walking walk, they often use a wheelbarrow equipped with such a walking assist function. However, while such a wheelbarrow increases walking opportunities and facilitates movement, it assists the force applied to the wheelbarrow by the user and reduces the physical load on the user, which reduces the user's muscle strength. It causes the physical strength to gradually decline.

The present invention has been invented in view of these points, and is intended to support the walking of the user and to suppress the attenuation of the user's physical strength (maintenance of physical strength) by applying an appropriate load. , to provide a walking support device capable of

In order to solve the above problems, a first invention includes a frame, an arm portion provided on the frame and having a grip portion that can be gripped by a user, and at least one driving wheel provided at the lower end of the frame. driving means for driving the driving wheels to move the walking support device forward or backward; a battery serving as a power supply for the driving means; and drive control means for controlling the driving means. , a walking support device that moves forward or backward together with a user who walks while holding the grip, wherein a training mode that applies a load to the user's body movement accompanying walking of the user; The walking support device has an operation mode switching means capable of switching between an assist mode for reducing the load on the user's body during walking and an operation mode switching means.

A second aspect of the invention is the walking assistance device according to the first aspect, wherein the state of the grip portion, the state of the walking assistance device, the physical state of the user, and the atmospheric state of the user's surroundings. state detection means for detecting at least one state, wherein in the training mode, the magnitude of the load is changed based on the detection signal from the state detection means, and in the assist mode, the state is changed. The walking support device has load amount/assistance amount changing means for changing the magnitude of the assisting force based on the detection signal from the detecting means.

A third invention is the walking support device according to the second invention, wherein in the assist mode, the load amount/assist amount changing means is configured so that the movement of the user's body that accompanies the user's walking is disabled. A walking support device that obtains an assist force for a motion in a loaded state, or an assist force for a motion of the user's body accompanying walking by a predetermined amount greater than an assist force for motion in a no-load state.

A fourth aspect of the invention is the walking assistance device according to the second aspect or the third aspect, wherein the state detection means includes grip portion state detection means for detecting a state of the grip portion, and the walking assistance device. body state detection means for detecting the state of the walking support device including the operation history of the body, body state detection means for detecting the body state including the user's body information history, and atmosphere for detecting the surrounding atmosphere of the user and a state detection means, wherein the load amount/assistance amount changing means, in the case of the training mode, determines the magnitude of the load based on the detection signal from the at least one detection means. and, in the case of the assist mode, changing the magnitude of the assist force based on the detection signal from the at least one detection means.

A fifth aspect of the present invention is the walking support device according to the fourth aspect, wherein the arm portion includes a left and right pair of handle guide means provided on the frame so as to extend along the front-rear direction of the frame. and each movable handle, which is each of the grips provided in each of the handle guide means and movable in the front-rear direction along the handle guide means, and the grip part state The detection means includes movable handle movement amount detection means for detecting at least one of an arm position, an arm swing speed, and an arm swing width when the user walks while holding the movable handle and swinging the arm; a movable handle acting force detection means for detecting a movable handle acting force, which is a force pushing the movable handle forward and a force pulling the movable handle held by the user backward, and In the walking support device, the state of the grip is determined based on at least one of the position of the arm, the speed of arm swing, the width of arm swing, and the acting force of the movable handle.

A sixth aspect of the invention is the walking support device according to the fourth aspect or the fifth aspect, wherein the gripping portion has a pair of left and right fixed handles fixed to the frame, and the gripping The unit state detection means has fixed handle acting force detection means for detecting the force acting on the fixed handle, which is the force by which the user pushes the fixed handle held by the user forward and the force by which the user pulls the fixed handle backward. and the state of the grip portion includes a state determined based on the acting force of the fixed handle.

A seventh invention is the walking support device according to any one of the fourth invention to the sixth invention, wherein the load amount/assist amount changing means detects using the atmosphere state detecting means. At least one of an ambient state of the user, an operation history of the walking assistance device detected by the vehicle body state detection means, and a physical state and physical information history of the user detected by the body state detection means. The walking assistance device comprises learning means for adjusting the magnitude of the load in the training mode and adjusting the magnitude of the assisting force in the assist mode, based on the above.

An eighth invention is the walking support device according to the second invention, wherein the state detection means comprises:
a motion state detecting means for detecting a motion state of an arm or a leg of a user; and index information representing a phase of one walking cycle based on the motion state of the arm or leg detected by the motion state detecting means. a walking state determining means for determining the time rate of the walking state in one walking cycle, wherein the load amount/assist amount changing means, in the case of the training mode, determines the one walking state determined by the walking state determining means; The walking support device changes the magnitude of the load according to the time rate of the walking state in the walking cycle.

A ninth invention is the walking support device according to the eighth invention, wherein the walking state determination means determines the movement of one leg based on the movement state of the arm or leg detected by the movement state detection means. is a walking support device that determines the time rate of the walking state in the one walking cycle of.

A tenth invention is the walking support device according to the eighth invention or the ninth invention, wherein the arm portions are provided in a left and right pair on the frame so as to extend along the front-rear direction of the frame. a handle guide means; and movable handles, which are the grip portions provided on the handle guide means and movable in the front-rear direction along the handle guide means. and the movement state detection means detects at least one of an arm position, an arm swing speed, and an arm swing width when the user walks while holding the movable handle and swinging the arm. detecting means, wherein the walking state determining means detects at least one of the arm position, the arm swing speed, and the arm swing width by the movable handle movement amount detecting means; The walking support device determines the time rate of the walking state in the one walking cycle based on at least one of the arm position, the arm swing speed, and the arm swing width detected by hand movement amount detection means. .

An eleventh invention is the walking support device according to any one of the fifth invention to the seventh invention and the tenth invention, wherein each of the pair of movable handles is the handle guide. and a pair of movable handle driving means for moving back and forth along the means, and the load amount/assist amount changing means, in the case of the training mode, drives the pair of movable handle driving means and the driving means. It is a walking support device that is driven to change the magnitude of the load.

A twelfth invention is the walking support device according to any one of the eighth invention to the eleventh invention, wherein the operating state detection means is provided on the frame and captures an image of the user's leg. An imaging means or an acceleration sensor carried by a user is provided, and the walking state determining means determines, based on the state of the leg imaged by the imaging means or the acceleration measured by the acceleration sensor, The walking support device determines the time rate of the walking state in one walking cycle.

A thirteenth invention is the walking support device according to the twelfth invention, wherein the grip part has a pair of left and right fixed handles fixed to the frame, and the state detection means A fixed handle acting force detection means for detecting a force acting on the fixed handle, which is a force pushing the fixed handle held by the person forward and a force pulling the fixed handle held by the person backward, and the walking state determining means , when the fixed handle acting force is detected by the fixed handle acting force detection means, the above-described A walking support device that determines the time rate of a walking state in one walking cycle.

A fourteenth invention is the walking support device according to any one of the second invention to the thirteenth invention, wherein the training mode includes a plurality of training modes in which the load is applied according to a preset load pattern. The load amount/assist amount changing means has a selection receiving means for receiving selection of one training type from the plurality of training types, and in the case of the training mode, the one received by the selection receiving means. is a walking support device that changes the magnitude of the load according to the load pattern corresponding to the training type.

A fifteenth invention is the walking support device according to the fourteenth invention, further comprising load pattern storage means for storing a plurality of load patterns set according to a plurality of purposes of improving walking conditions, The training type is a walking support device including a plurality of types of training set according to the plurality of types of purposes.

A sixteenth invention is the walking support device according to any one of the eighth invention to the thirteenth invention, wherein the training mode corresponds to the one walking cycle for each of a plurality of types of leg muscles. a plurality of training types for applying the load according to a set load pattern; In the case of the training mode, according to the load pattern corresponding to one of the training types received by the selection receiving means, the load is determined according to the time rate of the walking state in the one walking cycle determined by the walking state determining means. It is a walking support device that changes the size of

A seventeenth invention is the walking support device according to the sixteenth invention, in which a muscle-specific load pattern memory stores a plurality of load patterns set corresponding to the one walking cycle for each of a plurality of types of leg muscles. means, wherein the load pattern comprises a load applied to one muscle or a plurality of muscles with respect to the time rate of the walking state in the one walking cycle.

An eighteenth aspect of the invention is the walking support device according to the sixteenth aspect of the invention, wherein the walking cycle indicates the correlation between the time rate of the walking state in one walking cycle and the intensity of muscle activity for each of a plurality of types of leg muscles. muscle activity correlation information storage means for storing muscle activity correlation information; and load pattern creating means for creating the load pattern, wherein the load pattern is composed of a load applied to one muscle or a plurality of muscles with respect to the time rate of the walking state in the one walking cycle. be.

A nineteenth invention is the walking support device according to any one of the eighth invention to the eighteenth invention, wherein the load amount/assist amount changing means, in the case of the training mode, The first load corresponds to the time rate of walking state with only one foot on the ground in the cycle, and the time rate of the walking state in one gait cycle corresponds to the time rate of both feet with both feet on the ground. It is a walking support device that is set to be larger than 2 loads.

A twentieth invention is the walking support device according to any one of the second to nineteenth inventions, further comprising a tilt sensor provided on the frame for detecting a tilt of the frame, The load amount/assist amount changing means is a walking support device that, in the case of the training mode, adjusts the magnitude of the load according to the inclination of the frame detected by the inclination sensor.

A 21st invention is the walking support device according to any one of the 2nd invention to the 20th invention, wherein the load amount/assist amount changing means is set to the elapsed time set in the training mode. and, in the case of the training mode, changing the magnitude of the load according to the elapsed time measured by the training time measuring means.

A 22nd invention is the walking support device according to any one of the 2nd invention to the 21st invention, wherein the load amount/assist amount changing means detects a walking speed of the user. The walking support device includes detecting means, and in the case of the training mode, changes the magnitude of the load according to the user's walking speed detected by the walking speed detecting means.

A twenty-third invention is the walking support device according to any one of the second invention to the twenty-second invention, wherein the operation mode switching means switches between the training mode and the assist mode by a user's manual operation. Mode manual switching means for switching between modes, and the state of the grip portion, the state of the walking support device, the user's physical state, and the user's surrounding atmosphere state detected by the state detection means. and automatic mode switching means for automatically switching between the training mode and the assist mode based on at least one condition.

A twenty-fourth invention is the walking assistance device according to any one of the first invention to the sixth invention or the eighth invention to the twenty-third invention, wherein the operation mode switching means switches the The walking support device has display means for displaying at least operation mode information indicating which of the training mode and the assist mode is selected.

A twenty-fifth invention is the walking support device according to the seventh invention, wherein operation mode information indicating which of the training mode and the assist mode is selected by the operation mode switching means; a display that displays at least one of information on the physical state of the device, information on the physical information history of the user, information on the state of the atmosphere surrounding the user, and information on the operation history of the walking support device It is a walking support device having means.

A twenty-sixth invention is the walking support device according to any one of the first invention to the twenty-fifth invention, wherein in the case of the training mode, the motion of the user's body accompanying walking of the user is and a regenerative power recovery means for recovering regenerated power generated by applying the load to the battery.

According to the first invention, when the operation mode of the walking support device is switched to the training mode, and the user grips the grip portion to move the walking support device forward or backward, the walking support device is ready for walking. A load can be applied to the accompanying user's body motions (walking, arm swinging). In addition, when switching to the assist mode, when the user grips the grip and moves the walking support device forward or backward, the walking support device responds to the user's body motion (walking) accompanying walking. load can be reduced. As a result, it is possible to support the walking of the user and to suppress the attenuation of the user's physical strength (physical strength maintenance) by applying an appropriate load.

According to the second invention, the walking support device has the state detection means, and detects the state of the user holding the grip portion, the state of the walking support device, the physical state of the user, and the surroundings of the user. at least one of the atmospheric conditions can be obtained. The walking support device can change the magnitude of the load in the training mode and the magnitude of the assist force in the assist mode by the load amount/assist amount changing means based on the acquired information. As a result, the walking support device can appropriately support walking of the user according to various conditions, and can suppress the attenuation of physical strength.

According to the third aspect of the invention, the walking support device has an assist force that makes the motion of the user's body accompanying walking in a no-load state, or the motion of the user's body accompanying walking of the user. The load on the user is reduced by an assisting force that is greater than the assisting force for operation in the no-load state by a predetermined amount. As a result, in the assist mode, the user can easily move the walking support device forward or backward without receiving a load by holding the walking support device.

According to the fourth invention, the state detection means includes grip portion state detection means for detecting the state of the grip portion, vehicle body state detection means for detecting the state of the walking support device including the operation history of the walking support device, and At least one detecting means of a physical condition detecting means for detecting the physical condition including the physical information history of the user and an atmospheric condition detecting means for detecting the atmospheric condition around the user. Thereby, the load amount/assist amount changing means detects the state of the grip portion detected by these means, the state of the walking support device including the operation history of the walking support device, the user's physical information history, and the user's physical state. , the ambient conditions of the user's surroundings.

According to the fifth aspect of the present invention, the walking support device provides a position of the arm relative to the handle guide means when the user holds the movable handle and moves the arm by swinging the arm along the longitudinal direction of the handle guide means. , arm swing speed, arm swing width, and information on the force acting on the movable handle. As a result, the walking support device can proceed with the optimum load size in the training mode and the optimum assist force in the assist mode based on these pieces of information.

According to the sixth invention, when the user holds the fixed handle and pushes or pulls the fixed handle, the walking support device can detect the acting force on the fixed handle. As a result, a walking support device with an optimum load magnitude for the user's body movement accompanying walking in the training mode and an optimum assist force for the user's body movement accompanying the user's walking in the assist mode. can proceed.

According to the seventh invention, the walking support device measures the magnitude of the load in the training mode and It has learning means for adjusting the assist force. As a result, the magnitude of the user's load in the training mode and the assist force in the assist mode can be obtained from the current physical condition of the user, the history of the user's physical information, the operation history of the walking support device, and the operation state of the walking support device. The magnitude of the load in the mode and the assist force in the assist mode can be optimized.

According to the eighth invention, in the training mode, the walking support device detects the movement state of the user's arms or legs, and detects the walking in one walking cycle, which is the index information representing the phase of one walking cycle. Determine the rate of time for a state. Then, the walking support device can change the magnitude of the load in the training mode according to the time rate of the walking state in one walking cycle. As a result, the walking support device can change the load in the training mode according to the walking state of the walker, that is, the movement of the legs, and can effectively perform walking training.

According to the ninth invention, in the training mode, the walking support device detects the motion state of the user's arms or legs, and moves one leg at a time rate when one walking cycle is 100%. Determine the time rate of the walking state in one walking cycle. As a result, the measurement time required for determining the time rate of walking state in one walking cycle of one leg can be shortened compared to the case of determining the time rate of walking state in one walking cycle of left and right legs. can be done.

According to the tenth aspect of the invention, the walking support device regards one walking cycle as 100% based on at least one of the arm position, arm swing speed, and arm swing width detected by the movable handle movement amount detection means. The time rate of the walking state in one walking cycle is determined by the time rate when the state of walking is determined. In walking, arm swing and leg motion are related, so the state of the leg can be estimated from at least one of the arm position, arm swing speed, and arm swing width related to arm swing. Therefore, by using the information detected by the movable handle movement amount detecting means that can easily acquire information on arm swing, the time rate of the walking state in one walking cycle can be easily determined.

According to the eleventh invention, the walking support device comprises, in the training mode, a pair of movable handle drive means for moving each of the pair of movable handles in the front-rear direction along the handle guide means; and the driving means for driving the to change the magnitude of the load in the training mode. As a result, the walking support device can apply a load not only to the legs but also to the arms in the training mode, and can perform not only leg walking training but also arm swing training.

According to the twelfth aspect of the invention, the walking support device measures one walking cycle based on the state of the leg imaged by the imaging means provided in the frame or the acceleration measured by the acceleration sensor carried by the user. is 100%, the time rate of the walking state in one walking cycle is determined. As a result, the walking support device can apply the load at the optimum timing according to the movement of the user's leg, and the walking training can be performed more effectively.

According to the thirteenth invention, when the fixed handle acting force is detected by the fixed handle acting force detecting means, the walking support device detects the state of the leg imaged by the imaging means provided on the frame, or Based on the acceleration measured by the acceleration sensor carried by the user, the time rate of the walking state in one walking cycle is determined by the time rate when one walking cycle is assumed to be 100%. As a result, even when the user is walking while holding a fixed handle fixed to the frame, the walking support device can apply load at the optimum timing according to the movement of the leg, making walking training effective. can be done systematically.

According to the fourteenth invention, in the training mode, the walking support device changes the magnitude of the load according to the load pattern corresponding to one training type received by the selection receiving means from a plurality of training types. can. Thereby, the user can perform walking training with desired training contents by selecting one desired training type from a plurality of training types by the selection accepting means.

According to the fifteenth invention, the user selects a desired one training type from a plurality of training types set according to a plurality of types of walking condition improvement purposes by the selection receiving means, thereby meeting the desired purpose. gait training can be performed.

According to the sixteenth invention, in the training mode, the walking support device performs walking in one walking cycle determined by the walking condition determining means according to the load pattern corresponding to one type of training received by the selection receiving means. Change the size of the load according to the time rate of the state. Moreover, the load pattern is set corresponding to one walking cycle for each of a plurality of types of muscles. Thereby, the user can effectively train the muscle of the leg that the user wants to train by selecting one desired training type from among a plurality of training types by the selection receiving means.

According to the seventeenth invention, the walking support device reads out the load pattern corresponding to one training type received by the selection receiving means from the muscle-specific load pattern storage means, and the walking state determining means determines the load pattern according to the load pattern. In addition, the magnitude of the load is changed according to the time rate of the walking state in one walking cycle. Accordingly, the user selects a desired one training type from among a plurality of training types set for each of a plurality of types of muscles by the selection receiving means, thereby exercising one leg muscle or a plurality of muscles according to the load pattern. You can train effectively.

According to the eighteenth aspect of the invention, the walking support device is configured to improve leg muscle strength corresponding to one training type received by the selection receiving means based on the walking cycle/muscle activity correlation information stored in the muscle activity correlation information storage means. Create load patterns. Accordingly, the user selects a desired one training type from among a plurality of training types set for each of a plurality of types of muscles by the selection receiving means, thereby exercising one leg muscle or a plurality of muscles according to the load pattern. You can train effectively.

According to the nineteenth aspect of the invention, when only one foot is on the ground with one foot support, the body balance is more likely to be lost than when both feet are on the ground with both feet on the ground. Therefore, by setting the first load corresponding to the time rate of one-leg support to be larger than the second load corresponding to the time rate of both-leg support, the walking support device when only one leg is on the ground and supports one leg. can be stabilized, and falling can be suppressed to increase the safety of walking training.

According to the twentieth invention, the walking support device adjusts the magnitude of the load in the training mode according to the tilt of the frame detected by the tilt sensor. As a result, the walking support device can keep the load constant even on the inclined surface in the training mode, and can effectively train the leg muscles that the user wants to train.

According to the twenty-first invention, the walking support device can change the magnitude of the load in accordance with the elapsed time set in the training mode measured by the training time measuring means, thereby reducing leg muscle fatigue. can be trained effectively.

According to the twenty-second invention, the walking support device can change the magnitude of the load according to the user's walking speed. As a result, the walking support device can be changed to reduce the load when the walking speed of the user is slow, and to increase the load when the walking speed of the user is fast, You can train the muscles of your legs that you want to train more effectively.

According to the twenty-third invention, the walking support device is convenient because the user can manually switch between the assist mode and the training mode or automatically switch between the assist mode and the training mode. In addition, when the operation mode is automatically switched, the user can walk more comfortably because an excessive load is not applied to the user.

According to the twenty-fourth aspect of the present invention, the walking support device displays at least the operation mode information selected at the time of use by the display means, so that the user can easily confirm the operation mode, which is convenient.

According to the twenty-fifth invention, the walking support device displays the operation mode information selected at the time of use by the display means, the physical information history information, the physical state information, the ambient atmosphere state information, and the operation of the walking support device. Since at least one piece of history information is displayed, the user can easily check the information, which is convenient.

According to the twenty-sixth aspect of the invention, the walking support device can recover regenerated electric power generated by applying a load to the battery, so that the walking support device can be used for a longer time than the usable time due to charging.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view explaining the whole structure of the walking assistance apparatus which concerns on 1st Embodiment. FIG. 2 is a perspective view for explaining the structures and functions of a movable handle, a fixed handle, and rails; FIG. 3 is a cross-sectional view of the movable handle viewed from the III-III direction in FIG. 2; FIG. 3 is a cross-sectional view of the movable handle viewed from the direction IV-IV in FIG. 2; FIG. 3 is an enlarged perspective view of a fixed handle in FIG. 2; FIG. 6 is a cross-sectional view of the fixed handle viewed from the direction VI-VI in FIG. 5; 3 is a block diagram for explaining input/output of drive control means of the walking support device according to the first embodiment; FIG. It is a figure explaining the operation mode of a walking assistance apparatus determined based on the output of each detection means. FIG. 9 is a diagram showing conditions for shifting from the determination mode to each operation mode and conditions for returning to the determination mode in FIG. 8 ; 4 is a flowchart for explaining the procedure of overall processing of drive control means of the walking support device according to the first embodiment; 4 is a flowchart for explaining the procedure of processing in assist mode 1 and training mode 4 in drive control means of the walking support device; 4 is a flowchart for explaining a procedure of processing in assist mode 2 and training mode 3 in drive control means of the walking support device; 4 is a flowchart for explaining a procedure of processing in training mode 1 in drive control means of the walking support device; 4 is a flowchart for explaining a procedure of processing in training mode 2 in drive control means of the walking support device; 4 is a flow chart for explaining a procedure of a process of determining a turn in drive control means of the walking support device and determining a difference between the traveling speed of the walking support device and the user's walking speed. FIG. 4 is a diagram for explaining mode transition conditions for transitioning an operation mode based on a body state, an atmosphere state, and a vehicle body state; It is a figure explaining the conditions which shift to each operation mode in the case of switching an operation mode automatically. It is a perspective view explaining the whole structure of the walking support apparatus which concerns on 2nd Embodiment. FIG. 3 is a left side view showing an example of a user wearing a triaxial acceleration sensor; FIG. 9 is a block diagram for explaining input/output of drive control means of the walking support device according to the second embodiment; FIG. 10 is an explanatory diagram of one walking cycle from right heel contact to right heel contact again; It is a figure explaining an example of the load pattern classified by purpose. It is a figure explaining an example of the load pattern according to muscle. 9 is a flowchart for explaining the procedure of overall processing of drive control means of the walking support device according to the second embodiment; FIG. 11 is a sub-flowchart showing a procedure of sub-processing of “training type selection processing”; FIG. FIG. 11 is a sub-flowchart showing a procedure of sub-processing of “processing 2 in training mode 4”; FIG. FIG. 11 is a sub-flowchart showing a procedure of sub-processing of “processing 2 in training mode 3”; FIG. FIG. 11 is a sub-flowchart showing a procedure of sub-processing of “processing 2 in training mode 1”; FIG. It is a figure which shows an example of a training classification selection screen. It is a figure which shows an example of the training selection screen classified by purpose. It is a figure which shows an example of a training selection screen classified by muscle. FIG. 10 is a diagram showing an example of walking cycle/muscle activity correlation information stored in a storage unit of a walking support device according to another embodiment;

DETAILED DESCRIPTION OF THE INVENTION A first embodiment and a second embodiment embodying a walking support device according to the present invention will be described in detail below with reference to the drawings. First, a first embodiment will be described with reference to FIGS. 1 to 17. FIG. In addition, when the X-axis, the Y-axis, and the Z-axis are described in the figure, each axis is orthogonal to each other. 1, the Z-axis direction indicates the direction from the front wheel 60FR to the rear wheel 60RR, and the X-axis direction indicates the direction from left to right on the frame 50. As shown in FIG. In the frame 50, the X-axis direction is defined as "right", the direction opposite to the X-axis direction is defined as "left", the direction opposite to the Z-axis direction is defined as "front", and the Z-axis direction is defined as "rear". Also, the Y-axis direction is defined as "up", and the opposite direction to the Y-axis direction is defined as "down".

Angular velocities around each of the X-axis, Y-axis, and Z-axis are defined as the pitch angular velocity for rotation viewed from the X-axis direction, the yaw angular velocity for rotation viewed from the Y-axis direction, and the Z-axis direction. The roll angular velocity is defined as the angular velocity with respect to the rotation viewed from . It should be noted that the magnitude of each angular velocity is defined as the magnitude of the angular velocity for clockwise rotation when viewed from each direction of the X-axis, Y-axis, and Z-axis is "positive", and each of the X-, Y-, and Z-axes The magnitude of the angular velocity for counterclockwise rotation viewed from the direction of is assumed to be "negative".

● [Schematic overall configuration of the first embodiment (Fig. 1)]
A schematic configuration of a walking support device 10 according to a first embodiment for carrying out the present invention will be described with reference to FIG. FIG. 1 is a diagram illustrating a walking support device 10 according to the first embodiment. The walking support device 10 includes rails 30R and 30L (corresponding to arms and handle guide means), drive control means 40, frame 50, front wheels 60FR and 60FL, rear wheels 60RR and 60RL, drive means 64R, 64L (for example, an electric motor), a control panel 70, a battery B, and regenerative power recovery means 65.

As shown in FIG. 1, the frame 50 has a symmetrical shape with respect to the left-right direction. are provided respectively. A user enters between the rails 30R and 30L from the open side of the frame 50 and operates the walking support device 10. - 特許庁The front wheels 60FR and 60FL are driven wheels (rotatable caster wheels) provided at the front lower end of the frame 50 .

Further, the frame 50 is provided with an outside air temperature sensor 54 for detecting the outside air temperature, and a three-axis acceleration/angular velocity sensor 52 for detecting the inclination of the walking support device 10 in the respective axial directions of the X, Y, and Z axes. there is The rear wheels 60RR and 60RL are drive wheels provided at the rear lower end of the frame 50 and driven by drive means 64R and 64L via belts 62, respectively. In the example shown in FIG. 1, a pair of left and right rear wheels, which are driving wheels, are driven independently by a driving means. The rear wheels 60RR and 60RL allow the walking support device 10 to move forward, backward, turn right, and turn left.

The rail 30R has a movable handle 20R (corresponding to a grip portion) that can be gripped by the user and a fixed handle 20FR (corresponding to a grip portion). The rail 30L has a movable handle 20L (corresponding to the grip) that can be gripped by the user, and a fixed handle 20FL (corresponding to the grip). The movable handle 20R is provided on the rail 30R and is movable in the front-rear direction along the rail 30R in accordance with the swing of the user's arm while walking. In addition, the movable handle 20L is provided on the rail 30L and is movable in the front-rear direction along the rail 30L in accordance with the swing of the user's arm while walking.

The rails 30R, 30L of the frame 50 are provided with fixed handles 20FR, 20FL, respectively. In addition, the rails 30R and 30L are not limited to the upwardly concavely curved shape, and may have a linear shape.

As shown in FIG. 1, the control panel 70 is provided, for example, on the top of the frame 50 at a position where it is easy for the user to operate. The control panel 70 includes a main switch 72, an assist amount adjustment volume 74a, a load amount adjustment volume 74b, a manual mode switching means 76a, an automatic mode switching means switch 76b, and a monitor 78 (corresponding to display means). have.

The walking support device 10 has, as operation modes, a training mode in which a load is applied to the user's body motion accompanying walking of the user, and a load of the user's body motion accompanying walking in a reduced load. and an assist mode. The operation mode switching means 76 has a manual mode switching means 76a, an automatic mode switching means switch 76b, and an automatic mode switching means 76AT (see FIG. 7). The mode manual switching means 76a switches the operation mode of the walking support device 10 by manual operation of the user. The mode manual switching means 76a can select the state of four operation modes of "assist mode", "training mode 1", "training mode 2", and "training modes 3 and 4" (see FIG. 9).

The mode automatic switching means switch 76b is a switch that permits the drive control means 40 to automatically switch the operation mode. When the automatic mode switching means switch 76b is on, the automatic mode switching means 76AT in the drive control means 40 automatically switches the operation mode based on the information selected by the manual mode switching means 76a and the conditions shown in FIGS. switch to

The assist amount adjustment volume 74a is for adjusting the magnitude of the assist force (assist amount) in the assist mode, and the load amount adjustment volume 74b is for adjusting the magnitude of the load (load amount) in the training mode.

The monitor 78 is a monitor for displaying operation mode information. In addition to displaying the operation mode information, for example, the charge amount of the battery B, walking history, information on the user's physical condition, user's physical information history, ambient atmosphere condition, etc. , the amount of load/assistance, the operation history of the walking support device 10, the state of the vehicle body, and the like.

● [Detailed structure of walking support device 10 (Figs. 2 to 6)]
The structure of the walking support device 10 will be described in detail with reference to FIGS. 2 to 6. FIG. The walking support device 10 has a symmetrical structure on the left and right sides of the frame 50 except for the control panel 70, the drive control means 40, the battery B, and the regenerative power recovery means 65. The structure of is explained. FIG. 2 is a perspective view explaining the structure and function of the movable handle 20R, the fixed handle 20FR and the rail 30R. 3 is a cross-sectional view of the movable handle 20R viewed from the III-III direction in FIG. FIG. 4 is a cross-sectional view of the movable handle 20R viewed from the IV-IV direction in FIG. FIG. 5 is an enlarged perspective view of the fixed handle 20FR in FIG. FIG. 6 is a cross-sectional view of the fixed handle 20FR viewed from the VI-VI direction in FIG.

As shown in FIG. 2, the rail 30R has a movable handle 20R, pulleys PB and PF, and a wire W. As shown in FIG. The rail 30R has an upwardly concave curved shape, and has a rail slit portion 38 which is a movable range of the movable handle 20R and which opens upward along the front-rear direction. Further, the rail 30R is provided with pulleys PB and PF at both ends in the front-rear direction. The wire W is hooked on the pulley PF arranged in front and the pulley PB arranged in the rear, and the respective rotations are interlocked. In addition, the motor 32R, the right handle position detecting means 34R (for example, an encoder), and the handle movement limiting means 35R are provided coaxially with respect to the pulley PF. As shown in FIG. 4, the wire W is fixed to the wire connection portion WA of the anchor portion 22B, and the wire W is inserted through the wire hole WH without being fixed. A movable handle 20R is connected to the anchor portion 22B. Accordingly, the motor 32R rotates the pulley PF to rotate the wire W between the pulleys, thereby assisting the movement of the movable handle 20R or applying a load to the movement of the movable handle 20R. The right handle position detection means 34R outputs to the drive control means 40 the amount of rotation of the pulley PF accompanying the movement of the movable handle 20R on the rail 30R.

As shown in FIG. 3, the movable handle 20R has a handle shaft portion 21a, a shaft portion insertion hole 21b, a slider 22, a grip portion 26a, a switch grip portion 26b, and a brake lever BKL. ing. Further, the slider 22 is composed of a handle holding portion 22A and an anchor portion 22B.

As shown in FIG. 3, one end of the biasing means 24 is connected to the handle shaft portion 21a, and the other end is connected to the bottom portion of the shaft portion fitting hole 21b. A collar portion 21c is provided in the circumferential direction at the end portion of the handle shaft portion 21a to which the biasing means 24 is connected. An inner flange portion 20c is provided on the inner wall surface of the opening of the shaft fitting hole 21b. Thereby, the grip portion 26a can slide up and down along the longitudinal direction of the handle shaft portion 21a without being separated from the handle shaft portion 21a. That is, the movable handle 20R has an extension/contraction mechanism that enables extension/contraction in the projecting direction.

A handle support shaft JK is provided on the side of the handle shaft portion 21a to which the biasing means 24 is not connected. The handle support shaft JK has a substantially spherical tip, and forms a ball joint with a concave portion provided in the handle holding portion 22A. As a result, the movable handle 20R can be tilted forward, backward, left and right within a range restricted by the opening with respect to the handle holding portion 22A (see FIGS. 3 and 4). A right handle inclination detection means 33R for detecting the amount of inclination is provided in the opening of the handle holding portion 22A and arranged with respect to the handle support shaft JK from the front, back, left and right. The right handle inclination detecting means 33R may be, for example, a pressure sensor that detects pressure due to expansion and contraction of the spring provided between the side surface of the handle support shaft JK and the opening of the handle holding portion 22A.

As shown in FIG. 3, the switch grip portion 26b is provided so that a predetermined gap is formed between the grip portion 26a and the switch grip portion 26b by a grip biasing means 28 (for example, a spring). When the user grips the movable handle 20R, the switch grip portion 26b moves toward the grip portion 26a and the grip detection means 25R is turned on when pressure is applied, and is turned off when the pressure is removed. The grasp detection means 25R may be, for example, a pressure switch or a push switch.

As shown in FIG. 3, a heart rate body temperature sensor 27a is provided on a portion of the grip portion 26a. The heart rate and body temperature sensor 27a measures the user's heart rate and body temperature at predetermined intervals when the user holds the movable handle 20R (20L). The user's heart rate may be measured, for example, by measuring the blood flow in the gripped part of the hand using infrared rays. Also, the user's body temperature may be measured, for example, by measuring changes in the resistance of a thermistor that changes according to temperature changes, or by measuring changes in infrared rays emitted from a portion held by the user.

One end of the brake lever BKL is connected to the lower front side of the grip portion 26a. A mechanism that locks the rotation of the front wheels 60FR and 60FL and the rear wheels 60RR and 60RL when the user grasps the brake lever BKL and pulls it toward the grip portion 26a, maintains the locked state, and releases the lock when the user pulls the brake lever BKL further. (not shown).

As shown in FIG. 2, the rail 30R is provided with a handle movement restricting means 35R that permits and prohibits movement of the movable handle 20R with respect to the frame 50. As shown in FIG. For example, the handle movement restricting means 35R has a lock mechanism that locks the rotation of the motor 32R. , allows movement of the handle relative to the rail (ie, relative to the frame).

As shown in FIGS. 2 and 4, one wire W is inserted through the wire hole WH provided in the anchor portion 22B, and the other wire W is connected (fixed) to the wire connection portion WA. there). In addition, the movable handle 20R can move on the rail 30R by sliding the rail slit portion 38 at the constricted portion connecting the handle holding portion 22A and the anchor portion 22B.

One end of the signal cable 36 is connected to the anchor portion 22B, and the other end is connected to the drive control means 40. Detection signals from the grip detection means 25R and the right hand inclination detection means 33R are transmitted to the drive control means 40. do. The signal cable 36 may be, for example, a flexible cable such as a flexible cable. The drive control means 40 can detect the position of the movable handle 20R on the rail 30R based on the detection signal from the right handle position detection means 34R. The drive control means 40 can detect how much the movable handle 20R is tilted in the front, rear, left, and right direction based on the detection signal from the right hand tilt detection means 33R. The drive control means 40 can detect whether or not the movable handle 20R is being held by the user based on the detection signal from the holding detection means 25R.

As shown in FIG. 5, the fixed handle 20FR (20FL) has a grip portion 26Fa and a switch grip portion 26Fb. The heart rate and body temperature sensor 27b measures the user's heart rate and body temperature at predetermined intervals when the user holds the movable handle 20R. The measurement of the user's heart rate and body temperature by the heart rate and body temperature sensor 27b is the same as that of the heart rate and body temperature sensor 27a, so the description is omitted.

As shown in FIG. 6, the switch grip portion 26Fb is provided so that a predetermined gap is formed between the grip portion 26Fa and the switch grip portion 26Fb by a grip biasing means 28 (for example, a spring). When the user grips the fixed handle 20FR, the switch grip portion 26Fb moves toward the grip portion 26Fa and pressure is applied to the grip detection means 25FR. It turns off when it runs out. The grasp detection means 25FR may be any device that outputs a detection signal proportional to the applied pressure, such as a pressure sensor.

● [Functions of walking support device 10 and processing in each operation mode (FIGS. 7 to 17)]
Functions of the walking support device 10 and processing in each operation mode will be described in detail with reference to FIGS. 7 to 17. FIG.

[Input/output of drive control means 40 of walking support device 10 (FIG. 7)]
FIG. 7 is a block diagram for explaining input/output of the drive control means 40 (for example, a control device having a CPU) in the walking support device 10 (see FIG. 1). As shown in FIG. 7, the drive control means 40 controls the motors 32R and 32L, and the motors 32R and 32L based on input information from the state detection means 80, information stored in the storage means 44, and input information from the control panel 70. It controls the hand movement restricting means 35R, 35L and the driving means 64R, 64L.

The drive control means 40 controls the driving means 64R, 64L to achieve target traveling speeds (VR, VL), which are targets for advancing the walking support device 10, and drives the rear wheels 60RR, 60RL which are driving wheels. . Note that the target traveling speed VR is a target traveling speed for advancing the rear wheels 60RR of the walking support device 10 based on the user's motion, and the target traveling speed VL is the target traveling speed of the walking support device 10 based on the user's motion. This is the target traveling speed for advancing the rear wheels 60RL (see FIG. 1).

● [Configuration and function of state detection means 80]
As shown in FIG. 7, the state detection means 80 is composed of grip portion state detection means 81 , body state detection means 82 , vehicle body state detection means 83 , and atmosphere state detection means 84 .

The grip portion state detection means 81 is composed of a movable handle acting force detecting means 81a, a movable handle movement amount detecting means 81b, and a fixed handle acting force detecting means 81c.

The movable handle acting force detection means 81a includes grip detection means 25R and 25L, right handle inclination detection means 33R, and left handle inclination detection means 33L. The movable handle acting force detection means 81a detects whether or not the user is gripping the movable handles 20R and 20L (see FIG. 1), and the forward and rearward force pushing the movable handles 20R and 20L gripped by the user. It detects the force acting on the movable handle, which is a pulling force, and outputs a signal corresponding to the detected state to the drive control means 40 .

The movable handle movement amount detection means 81b has right handle position detection means 34R and left handle position detection means 34L. The movable handle movement amount detection means 81b detects the movement of the movable handles 20R and 20L relative to the rails 30R and 30L (see FIG. 1) for a predetermined time when the user walks while holding the movable handles 20R and 20L and swinging their arms. , and outputs a signal corresponding to the detected amount to the drive control means 40 .

The movable handle movement amount detection means 81b detects the movement of the movable handles 20R and 20L in the front-rear direction with respect to the rails 30R and 30L when the user walks while holding the movable handles 20R and 20L and swinging their arms. Certain movement widths DR and DL (corresponding to arm swing widths) are detected, and a signal corresponding to the detected state is output to the drive control means 40 .

The fixed handle acting force detection means 81c has grip detection means 25FR and 25FL. The fixed handle acting force detecting means 81c detects whether or not the fixed handles 20FR and 20FL are held by the user, the force pushing forward the fixed handle 20FR (20FL) (see FIG. 1) held by the user, and the It detects the force acting on the fixed handle, which is the force of pulling backward, and outputs a signal corresponding to the detected state to the drive control means 40 .

The physical condition detection means 82 is means for detecting the physical condition of the user, and has heart rate and body temperature sensors 27a and 27b and a physical information history 82a. The physical condition detection means 82 detects the user's physical condition, for example, the user's heart rate and body temperature, using the heart rate and body temperature sensors 27a and 27b, and outputs a signal corresponding to the detected condition to the drive control means 40.

The physical condition detection means 82 stores the user's physical information history (for example, heart rate, body temperature, number of steps) in the physical information history 82a. Note that the number of steps is calculated based on the information from the movable handle movement amount detecting means 81b, with the number of steps taken when the user swings his arm back and forth once in the forward and backward direction, for example, as two steps.

The vehicle body state detection means 83 is a means for detecting the state of the walking support device 10 including the operation history of the walking support device 10, and is a means for detecting the progressing speed acquisition means 56R, the progressing speed acquisition means 56L, and the triaxial acceleration/angular velocity sensor 52. , and operation history information 58 .

The traveling speed acquiring means 56R and the traveling speed acquiring means 56L are connected to the driving means 64R and 64L, respectively, and measure the traveling speed (VdR, VdL) of the rear wheels 60RR and 60RL (see FIG. 1) traveling forward or backward. to the drive control means 40.

The three-axis acceleration/angular velocity sensor 52 measures acceleration with respect to each of the three axes of the X, Y, and Z axes, and also measures angular velocity in rotation about each of the three axes. For example, when the walking support device 10 is traveling on an inclined surface, the three-axis acceleration/angular velocity sensor 52 outputs detection signals corresponding to the respective inclinations of the X, Y, and Z axes of the vehicle with respect to the inclined surface to the drive control means 40. output to The three-axis acceleration/angular velocity sensor 52 also detects changes in acceleration applied to the vehicle body of the walking support device 10 (impact to the vehicle body), and outputs a signal corresponding to the detected acceleration change to the drive control means 40. do. The three-axis acceleration/angular velocity sensor 52 also detects the pitch angular velocity, yaw angular velocity, and roll angular velocity of the vehicle body of the walking support device 10 and outputs a signal corresponding to the detected angular velocity to the drive control means 40 .

The vehicle body state detection means 83 stores the operation history (e.g., walking distance, walking time) of the walking support device 10 in the operation history information 58, and detects the state of the walking support device 10 (e.g., traveling speed of the walking support device, tilt, traveling speed) are detected.

The atmospheric state detection means 84 is means for detecting the atmospheric state (for example, outside temperature) around the user, and has the outside temperature sensor 54 . The atmospheric state detection means 84 detects the outside air temperature with the outside air temperature sensor 54 and outputs a signal corresponding to the detected state to the drive control means 40 .

● [Calculation of front evaluation speed VRhf, VLhf and rear evaluation speed VRhb, VLhb]
The drive control means 40 determines a forward evaluation speed (VRhf , VLhf) and the rear evaluation speeds (VRhb, VLhb), which are the speeds of movement of the movable handles 20R, 20L in the rearward direction with respect to the frame 50, are calculated. The moving speed of the movable handles 20R and 20L with respect to the frame 50 is "positive" when moving forward, and "negative" when moving backward.

The forward evaluation speeds (VRhf, VLhf) or rear evaluation speeds (VRhb, VLhb) are calculated, for example, from the moving speeds of the movable handles (20R, 20L) when the user swings his arms forward or backward. Specifically, it is derived according to the following procedure. Since the processing is the same for the left and right movable handles, only the forward evaluation speed (VRhf) and rearward evaluation speed (VRhb) for the right movable handle 20R will be described.

Derivation of the forward evaluation speed (VRhf) of the right movable handle 20R: The drive control means 40 obtains the moving speed of the movable handle 20R based on the amount of movement of the movable handle 20R measured at predetermined intervals. The drive control means 40 integrates (integrates) only the forward moving speed at which the movable handle 20R moves forward (the magnitude of the moving speed is "positive") among the determined moving speeds of the movable handle 20R. The drive control means 40 divides the integrated forward moving speed of the movable handle 20R by a predetermined time (average processing) to derive the forward evaluation speed (VRhf).

Derivation of the rear evaluation speed (VRhb) of the right movable handle 20R: The drive control means 40 obtains the moving speed of the movable handle 20R based on the amount of movement of the movable handle 20R measured at predetermined intervals. The drive control means 40 integrates (integrates) only the rearward movement speed (the magnitude of the movement speed is "negative") at which the movable handle 20R moves backward among the obtained movement speeds of the movable handle 20R. The drive control means 40 divides the integrated forward moving speed of the movable handle 20R by a predetermined time (average processing) to derive the rear evaluation speed (VRhb).

● [Change of load amount and magnitude of assist force by load amount/assistance amount changing means 74]
The load amount/assist amount changing means 74 has an assist amount adjustment volume 74a and a load amount adjustment volume 74b. The assist amount adjustment volume 74a outputs to the drive control means 40 a detection signal corresponding to the adjustment amount (assist adjustment amount) for adjusting the magnitude of the assist force (assist amount) in the assist mode. The load adjustment volume 74b outputs to the drive control means 40 a detection signal corresponding to the adjustment amount (load adjustment amount) for adjusting the load size (load amount) in the training mode. In the assist mode, the load amount/assist amount changing means 74 changes the assist amount based on the information from the state detecting means 80 and the assist adjustment amount. In the training mode, the load amount/assist amount changing means 74 changes the load amount based on the information from the state detecting means 80 and the load adjustment amount.

● [Function of learning means 74c in load amount/assistance amount changing means 74]
The load amount/assistance amount changing means 74 has a learning means 74c, and the atmosphere state around the user detected by the atmosphere state detection means 84 and the walking support device detected by the vehicle body state detection means 83 are detected. 10 and the physical condition of the user detected by the physical condition detecting means 82, the load amount is adjusted in the training mode, and the assist amount is adjusted in the assist mode. The learning means in the learning means 74c is, for example, the user's past usage history (walking time, walking distance, load amount, assist amount) stored in the storage means 44 and the user's past physical information history (heart rate , body temperature, and number of steps) to determine an appropriate amount of load and an appropriate amount of assistance. As a result, it is possible to more appropriately suppress the decrease in the user's physical strength (physical strength maintenance) because the user is not excessively assisted without excessively applying a load to the user.

● [Functions in storage means 44]
The storage means 44 is a means for storing information, and stores and reads information according to a request from the drive control means 40 . The storage means 44 stores the information acquired by the state detection means 80, the calculation result of the drive control means 40, the operation history of the walking support device 10, the amount of assistance in the past assist mode during walking of the user, the amount of load in the training mode, and the like. store the information of

● [Functions in control panel 70]
The control panel 70 provides switches and a monitor 78 necessary for the user to operate the walking assistance device 10 . By turning on the main switch 72, the user puts the walking support device 10 in a state in which it can proceed. The user can adjust the load amount in the training mode and the assist amount in the assist mode by the assist amount adjustment volume 74a and the load amount adjustment volume 74b. Also, the user can select a desired operation mode ("assist mode", "training mode 1", "training mode 2", and "training modes 3 and 4") by switching the mode manual switching means 76a. When the automatic mode switching means switch 76b is turned on, the drive control means 40 automatically switches the operation mode between the operation mode selected by the user and a predetermined operation mode.

● [Processing procedure in each operation mode in drive control means 40 (FIGS. 8 to 17)]
Determination of the operation mode of the walking support device 10 (see FIG. 1) by the drive control means 40 (see FIG. 7) and processing based on the determined operation mode will be described in detail with reference to FIGS. 8 to 17. FIG.

● [Overview of each operation mode and conditions for shifting to the operation mode (Figs. 8 to 10)]
FIG. 8 is a state transition diagram for explaining the operation modes of the walking support device 10 determined based on the output of each detection means. FIG. 9 is a diagram showing conditions for shifting from the determination mode JDM to each operation mode and conditions for returning to the determination mode JDM in FIG. FIG. 10 is a flowchart for explaining the overall processing procedure of the drive control means 40 of the walking support device 10. As shown in FIG.

● [Summary of operation and operation mode judgment at power ON/OFF]
FIG. 8 is a diagram for explaining the operation mode of the walking support device 10 determined based on the output of each detection means. As shown in FIG. 8, the walking support device 10 has a determination mode JDM, an assist mode 1 (AM1), an assist mode 2 (AM2), a training mode 1 (TR1), a training mode 2 (TR2), It has operation modes consisting of a training mode 3 (TR3) and a training mode 4 (TR4).

The drive control means 40 reads the operation history stored in the storage means 44 and writes it in the operation history information 58 when the main switch 72 (see FIG. 7) is turned on (power ON). After that, the drive control means 40 shifts the walking support device 10 to the determination mode JDM. After shifting to the determination mode JDM, the drive control means 40 obtains each state by the state detection means 80, and shifts the walking support device 10 to the operation mode based on each state obtained. When the main switch 72 is turned off (the power supply is turned off), the drive control means 40 stores information (for example, walking distance and walking time) related to the operation history in the operation history information 58 in the storage means 44 and performs the operation. finish.

● [Explanation of fixed handle gripping mode and movable handle gripping mode]
As shown in FIG. 8, the operation modes consist of a fixed handle gripping mode FXHM and a movable handle gripping mode FRHM. The fixed handle holding mode FXHM is a case where the user holds the fixed handles 20FR and 20FL (see FIG. 1) and advances the walking support device 10 to walk. The movable handle gripping mode FRHM is a case where the user grips the movable handles 20R and 20L (see FIG. 1) and advances the walking support device 10 to walk.

The fixed handle gripping mode FXHM is a non-swinging arm walking mode NHM1 in which the arms are not swung because the fixed handles 20FR and 20FL are used. The movable handle gripping mode FRHM is composed of a non-swinging walking mode NHM2 in which the user holds the movable handles 20R and 20L but does not swing the arm, and a walking mode YHM with swinging the arm in which the user swings the arm.

In the non-swinging walking mode NHM2 in the movable handle gripping mode FRHM, the user grips the movable handles 20R and 20L, which are fixed at predetermined positions on the rails 30R and 30L (see FIG. 1). This corresponds to the fixed hand gripping mode FXHM (walking mode NHM1 without swinging arms). The arm-swinging walking mode YHM is a case where the user walks while holding the movable handles 20R and 20L and moving the walking support device 10 forward and backward along the rails 30R and 30L.

The fixed hand grip mode FXHM consists of assist mode 1 (AM1) and training mode 4 (TR4). The arm-swing-less walking mode NHM2 in the movable handle gripping mode FRHM consists of an assist mode 2 (AM2) and a training mode 3 (TR3). The arm-swinging walking mode YHM in the movable hand gripping mode FRHM consists of a training mode 1 (TR1) and a training mode 2 (TR2).

● [Description of functions in training mode and assist mode (Fig. 8)]
Assist mode 1 (AM1) and assist mode 2 (AM2) can reduce the load of the user of the walking support device 10 due to physical movement. Specifically, the walking support device 10 is advanced with an assisting force that is a predetermined amount greater than the assisting force at which the motion (walking) of the user's body accompanying the user's walking is the motion (walking) in the no-load state. can be done. As a result, it is possible to reduce the load on the user's body movement (walking) accompanying the user's walking.

In training mode 1 (TR1), the walking support device 10 is advanced while the regenerative power recovery means 65 is operated. The regenerative power recovery means 65 is connected to the rear wheels 60RR and 60RL (see FIG. 1), converts rotational energy into power and recovers it (see FIGS. 1 and 7). In training mode 1 (TR1), the walking support device 10 can be advanced by applying a load to the forward and backward movement of the movable handles 20R and 20L by the motors 32R and 32L. This makes it possible to apply a load to the motion of the user's body (walking, arm swinging) that accompanies the user's walking.

In training mode 2 (TR2), there is no load on the movable handles 20R and 20L, and the user's body movement (walking) accompanying walking of the user is supported by an assist force that makes the movement in the no-load state. Device 10 can be advanced. As a result, it is possible to reduce the load on the user's body movement (walking) accompanying the user's walking.

In training mode 3 (TR3), the walking support device 10 is advanced while operating the regenerative power recovery means 65 . Therefore, the user needs to push or pull the walking support device 10 with a stronger force in order to advance the walking support device 10 compared to assist mode 2 (AM2). Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

In training mode 4 (TR4), the walking support device 10 is advanced while the regenerative power recovery means 65 is operated. Therefore, the user needs to push or pull the walking support device 10 with a stronger force in order to advance the walking support device 10 compared to assist mode 1 (AM1). Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

● [Judgment to each operation mode and judgment of transition to judgment mode JDM (Fig. 9)]
FIG. 9 is a diagram showing conditions for shifting from the determination mode JDM to each operation mode and conditions for returning to the determination mode JDM in FIG. In FIG. 9, conditions C1 to C6 are conditions for shifting from the judgment mode JDM in FIG. 8 to each operation mode, and conditions CR1 to CR6 are conditions for returning from each operation mode to the judgment mode JDM. In FIG. 9, "-" indicates that the state may be either "0" or "1".

The transition to each operation mode is performed by the mode manual switching means 76a (see FIG. 7), the state of the movable handles (20R, 20L) (see FIG. 1), and the state of the fixed handles (20FR, 20FL) (see FIG. 1). ) and is determined by Conditions for returning from each operation mode to the determination mode JDM are determined by the current operation mode, the state of the movable handles (20R, 20L), and the state of the fixed handles (20FR, 20FL).

In FIG. 9, the gripping state of the movable handle is "1=gripping" when the grip detecting means 25R, 25L (see FIG. 3) detects that the user is gripping either one of the movable handles 20R, 20L. When it is detected that both are not gripped, the result is "0=not gripped".

The fixed handle holding state is "1=holding" when the holding detection means 25FR, 25FL (see FIG. 6) detects that the user is holding either one of the fixed handles 20FR, 20FL. If it is detected that both are not gripped, then "0=not gripped".

The arm swing state of the movable handles 20R and 20L is determined by outputting a detection signal accompanying movement of the movable handles 20R and 20L from either the right handle position detection means 34R or the left handle position detection means 34L. If so, "1=yes", otherwise "0=no".

When any one of the conditions C1 to C6 is established, the drive control means 40 sets the operation mode to the operation mode corresponding to each condition. Determination of transition from the determination mode JDM to each operation mode will be described in detail below.

● [Judgment of assist mode (AM1, AM2)]
The selection of the mode manual switching means 76a is "assist mode", the movable handle grip state is "0=no grip", the arm swing state is "0=no", and the fixed handle grip state is "1=grip". If "Yes", the condition C1 is satisfied, and the drive control means 40 shifts the operation mode from the determination mode JDM to the assist mode 1 (AM1).

The selection of the mode manual switching means 76a is "assist mode", the movable handle gripping state is "1=gripped", the arm swing state is "0=no", and the fixed hand gripping state is "0=gripped". If "No", the condition C2 is established, and the drive control means 40 shifts the operation mode from the determination mode JDM to the assist mode 2 (AM2).

● [Judgment from judgment mode JDM to training mode (TR1 to TR4)]
The selection of the mode manual switching means 76a is "training mode 1", the movable handle grip state is "1=hold", the arm swing state is "1=yes", and the fixed hand grip state is "0= In the case of "not gripped", the condition C3 is established, and the drive control means 40 changes the operation mode from the determination mode JDM to the training mode 1 (TR1).

"Training mode 2" is selected by the mode manual switching means 76a, the movable handle gripping state is "1=holding", the arm swing state is "1=present", and the fixed hand holding state is "0= In the case of "not gripped", the condition C4 is established, and the drive control means 40 changes the operation mode from the determination mode JDM to the training mode 2 (TR2).

The selection of the mode manual switching means 76a is "training mode 3", the movable handle gripping state is "1=holding", the arm swing state is "0=no", and the fixed hand gripping state is "0= In the case of "not gripped", the condition C5 is established, and the drive control means 40 changes the operation mode from the determination mode JDM to the training mode 3 (TR3).

"Training mode 3" is selected by the mode manual switching means 76a, the movable handle grip state is "0=no grip", the arm swing state is "0=no grip", and the fixed handle grip state is "1=grip". In the case of "possible", the condition C6 is established, and the drive control means 40 changes the operation mode from the judgment mode JDM to the training mode 4 (TR4).

● [Judgment of transition to judgment mode (JDM) in each operation mode]
The drive control means 40 terminates the current operation mode (see FIG. 8) and shifts to the judgment mode JDM when any one of the conditions CR1 to CR6 is established. Determination to shift from each operation mode to the determination mode JDM will be described in detail below.

When the current mode is "assist mode 1 (AM1)" and the fixed handle grip state is "0=not gripped", the condition CR1 is established regardless of other states, and the drive control means 40 enters the operation mode. is changed from the assist mode 1 (AM1) to the determination mode JDM.

When the current mode is "assist mode 2 (AM2)" and the movable handle gripping state is "0=not gripped", condition CR2 is established regardless of other states, and the drive control means 40 enters the operation mode. is changed from the assist mode 2 (AM2) to the determination mode JDM.

When the current mode is "training mode 1 (TR1)" and the state of gripping the movable handle is "0=no gripping", the condition CR3 is satisfied regardless of other states, and the drive control means 40 enters the operation mode. from training mode 1 (TR1) to judgment mode JDM.

When the current mode is "training mode 2 (TR2)" and the state of gripping the movable handle is "0=no gripping", the condition CR4 is established regardless of other states, and the drive control means 40 enters the operation mode. from training mode 2 (TR2) to judgment mode JDM.

When the current mode is "training mode 3 (TR3)" and the state of gripping the movable handle is "0=no gripping", the condition CR5 is established regardless of other states, and the drive control means 40 enters the operation mode. from training mode 3 (TR3) to judgment mode JDM.

When the current mode is "training mode 4 (TR4)" and the state of gripping a fixed handle is "0=no gripping", condition CR6 is established regardless of other states, and the drive control means 40 enters the operation mode. from training mode 4 (TR4) to judgment mode JDM.

● [Flowchart explaining the overall processing procedure (Fig. 10)]
FIG. 10 is a flow chart for explaining the overall processing procedure in the drive control means 40 (see FIG. 7) of the walking support device 10 (see FIG. 1). A processing procedure of the drive control means 40 of the walking support device 10 will be described with reference to the flowchart of FIG. For the operation mode in each process, the reference numerals in FIG. 8 are omitted unless necessary for convenience of explanation.

The overall processing of the drive control means 40 consists of acquisition of each state by the state detection means 80 (step S100), determination of the operation mode based on each acquired state (step S200), and determination of the target advancing speed for advancing the walking support device 10. (Step S170, Steps S300 to S800), and a process of driving the rear wheels 60RR and 60RL (see FIG. 1) so as to achieve the target traveling speed (Step S180). . When activated, the drive control means 40 executes the entire process at predetermined time intervals (for example, several [ms] intervals).

● [Acquisition of each state by the state detection means 80 (step S100)]
Hereinafter, step S100 (acquisition of each state by the state detection means 80) will be described in detail.

In step S100, the drive control means 40 acquires information (detection signal) from the state detection means 80 (grip portion state detection means 81, body state detection means 82, vehicle body state detection means 83, atmosphere state detection means 84). Then, various detected states (input states) are stored in the storage means 44 . The drive control means 40 calculates front evaluated speeds VRhf, VLhf and rear evaluated speeds VRhb, VLhb based on the information acquired by the state detection means 80 , and stores them in the storage means 44 . The drive control means 40 terminates acquisition of each state by the state detection means (step S100), and returns to the overall processing.

For example, the drive control means 40 detects the following input states and stores them in the storage means 44 in step S100.
● [Grip part state (state of fixed handles 20FR, 20FL and movable handles 20R, 20L)]
Fixed handle holding state: whether or not the user is holding either one of the fixed handles 20FR and 20FL.
Fixed handle acting force: Force pushing forward and pulling backward the fixed handles 20FR and 20FL held by the user.
Movable handle holding state: whether the user is holding either one of the movable handles 20R and 20L.
Movable handle acting force: A force that pushes forward and a force that pulls backward the movable handles 20R and 20L held by the user.
Arm swing state: whether or not the user holds either one of the movable handles 20R and 20L and swings the arm back and forth.
Range of movement (DR, DL): The width of movement of the movable handles 20R, 20L in the front-rear direction with respect to the rails 30R, 30L when the user holds the movable handles 20R, 20L and swings his/her arms while walking. equivalent to amplitude).
Forward evaluation speed (VRhf, VLhf): forward moving speed of the movable handles 20R, 20L relative to the frame 50;
Backward evaluation speed (VRhb, VLhb): Moving speed of the movable handles 20R, 20L relative to the frame 50 in the rearward direction.
● [User's physical condition]
Heart rate, body temperature: Heart rate and body temperature when the user is using the walking support device 10 .
● [Vehicle state of walking support device 10]
Traveling speed (VdR, VdL): Traveling speed of each of the rear wheels 60RR, 60RL moving forward or backward.
Acceleration: Acceleration with respect to each of the three axes of the X, Y, and Z axes applied to the walking support device 10 .
Angular velocity: Angular velocity in rotation about each of the three directions of the X, Y, and Z axes.
Accumulated walking time: Accumulated walking time of the walking support device 10 of the user stored in the storage means 44 .
Cumulative walking distance: The cumulative walking distance of the walking support device 10 of the user stored in the storage means 44 .
● [Surrounding Atmosphere]
Outside temperature: the temperature of outside air around the walking support device 10 .
● [Output information from control panel 70]
State of main switch 72: The main switch of the walking support device 10, ON (operation) or OFF (stop) state.
State of mode manual switching means 76a: Operation mode of walking support device 10 selected by user.
State of the automatic mode switching means switch 76b: the state of the switch being ON (operation mode automatic switching operation) or OFF (operation mode automatic switching stop).
Assist adjustment amount: Adjustment amount for adjusting the magnitude of assist force in assist mode.
Load adjustment amount: Adjustment amount for adjusting the size of the load in training mode.

● [Determination of operation mode based on each acquired state (step S200)]
In step S200 (determination of the operation mode based on each acquired state), the drive control means 40 reads each state acquired by the state detection means stored in the storage means 44, and based on these information, according to FIG. The operation mode (see FIG. 8) that satisfies the condition is determined, and the process proceeds to step S110 (see FIG. 10).

In step S110, if the determined operation mode is assist mode 1 (AM1) (Yes), the drive control means 40 proceeds to step S300, and if not (No), proceeds to step S120. .

In step S120, if the determined operation mode is training mode 4 (TR4) (Yes), drive control means 40 proceeds to step S400, and if not training mode 4 (TR4) (No), proceeds to step S130. .

In step S130, if the determined operation mode is the assist mode 2 (AM2) (Yes), the drive control means 40 proceeds to step S500, and if not (No), the drive control means 40 proceeds to step S140. .

In step S140, if the determined operation mode is training mode 3 (TR3) (Yes), drive control means 40 proceeds to step S600, and if not training mode 3 (TR3) (No), proceeds to step S150. .

In step S150, if the determined operation mode is training mode 1 (TR1) (Yes), drive control means 40 proceeds to step S700, and if not training mode 1 (TR1) (No), proceeds to step S160. .

In step S160, if the determined operation mode is training mode 2 (TR2) (Yes), drive control means 40 proceeds to step S800, and if it is not training mode 2 (TR2) (No), proceeds to step S170. .

In step S170, the drive control means 40 sets the target traveling speed of the walking support device 10 to 0 (determination mode), and proceeds to step S180.

In step S180, the drive control means 40 sets the target traveling speeds (VR, VL) of the walking assistance device 10 to the target traveling speeds (VfdR, VfdL), which are the target traveling speeds for forward movement in the case of forward movement, and The driving means 64R and 64L are controlled so that the target reverse travel speeds (VbdR, VbdL), which are the target reverse travel speeds, are set to "0" otherwise, and the rear wheels 60RR and 60RL are driven. End the process.

● [Process in assist mode 1 (step S300)]
FIG. 11 is a flowchart for explaining the procedure of assist mode 1 (AM1) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7, and 8). Step S300 (processing in assist mode 1) will be described with reference to the flowchart of FIG.

In step S310, the drive control means 40, based on the information from the fixed handle acting force detection means 81c, if the force applied by the user to the fixed handles 20FR and 20FL is forward (Yes), the process proceeds to step S320. , the force applied to the fixed handles 20FR and 20FL by the user is not in the forward direction (No), the process proceeds to step S330.

In step S320, the drive control means 40 calculates the target forward speed (VfdR, VfdL) according to the force acting on the fixed handles 20FR, 20FL and the assist amount derived by the load amount/assist amount changing means 74. , the process in assist mode 1 (step S300) is terminated, and the process returns to the overall process.

In step S330, the drive control means 40 calculates the target reverse speed (VbdR, VbdL) according to the acting force on the fixed handles 20FR, 20FL and the assist amount derived by the load amount/assist amount changing means 74. , the process in assist mode 1 (step S300) is terminated, and the process returns to the overall process.

In assist mode 1 (AM1) (see FIG. 8), the motion of the user's body (walking) accompanying walking of the user is performed with an assist force that is a predetermined amount greater than the motion in the no-load state. can proceed. As a result, it is possible to reduce the load on the user's body movement (walking) accompanying the user's walking.

● [Processing in training mode 4 (step S400)]
FIG. 11 is a flowchart for explaining the procedure of training mode 4 (TR4) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7, and 8). Step S400 (processing in training mode 4) will be described with reference to the flowchart of FIG. Note that the regenerative power recovery means 65 is operated and does not generate an assist force to the walking support device 10 in accordance with the action force of the user.

In step S410, the drive control means 40, based on the information from the fixed handle acting force detection means 81c, if the force applied by the user to the fixed handles 20FR and 20FL is forward (Yes), the process proceeds to step S420. , the force applied to the fixed handles 20FR and 20FL by the user is not in the forward direction (No), the process proceeds to step S430.

In step S420, the drive control means 40 calculates the target forward speeds (VfdR, VfdL) according to the forces acting on the fixed handles 20FR, 20FL, ends the processing in training mode 4 (step S400), and Return to processing.

In step S430, the drive control means 40 calculates the target reverse speed (VbdR, VbdL) corresponding to the acting force on the fixed handles 20FR, 20FL, ends the processing in training mode 4 (step S400), and Return to processing.

In training mode 4 (TR4) (see FIG. 8), the walking support device 10 is advanced while the regenerative power recovery means 65 is operated. In order to proceed, it is necessary to push or pull the walking support device 10 with a stronger force. Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

● [Processing in assist mode 2 (step S500)]
FIG. 12 is a flowchart for explaining the procedure of assist mode 2 (AM2) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7, and 8). Step S500 (processing in assist mode 2) will be described with reference to the flowchart of FIG.

In step S510, the drive control means 40 drives the motors 32R and 32L to limit the movement on the rails 30R and 30L by the handle movement limiting means 35R and 35L and fix them at predetermined positions, and the process proceeds to step S520.

In step S520, the drive control means 40, based on the information from the movable handle acting force detection means 81a, if the user's acting force on the movable handles 20R and 20L is forward (Yes), the process proceeds to step S530. , the force acting on the movable handles 20R, 20L by the user is not in the forward direction (No), the process proceeds to step S540.

In step S530, the drive control means 40 calculates the target forward speed (VfdR, VfdL) according to the force acting on the movable handles 20R, 20L and the assist amount derived by the load amount/assist amount changing means 74. , the process in assist mode 2 (step S500) is terminated, and the process returns to the overall process.

In step S540, the drive control means 40 calculates the target reverse speed (VbdR, VbdL) according to the acting force on the movable handles 20R, 20L and the assist amount derived by the load amount/assist amount changing means 74. , the process in assist mode 2 (step S500) is terminated, and the process returns to the overall process.

In the assist mode 2 (AM2), the walking support device 10 can be advanced with an assist force that is a predetermined amount greater than the assist force at which the motion (walking) of the user's body accompanying walking is in a no-load state. can. As a result, it is possible to reduce the load on the user's body movement (walking) accompanying the user's walking.

● [Processing in training mode 3 (step S600)]
FIG. 12 is a flowchart for explaining the procedure of training mode 3 (TR3) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7 and 8). Step S600 (processing in training mode 3) will be described with reference to the flowchart of FIG. Note that the regenerative power recovery means 65 is operated and does not generate an assist force to the walking support device 10 in accordance with the action force of the user.

In step S610, the drive control means 40 drives the motors 32R and 32L to limit the movement on the rails 30R and 30L by the handle movement limiting means 35R and 35L and fix them at predetermined positions, and the process proceeds to step S620.

In step S620, the drive control means 40, based on the information from the movable handle acting force detection means 81a, if the force applied by the user to the movable handles 20R and 20L is in the forward direction (Yes), the process proceeds to step S630. , the force applied to the movable handles 20R, 20L by the user is not in the forward direction (No), the process proceeds to step S640.

In step S630, the drive control means 40 calculates the target forward speeds (VfdR, VfdL) according to the forces acting on the movable handles 20R, 20L, ends the processing in training mode 3 (step S600), and Return to processing.

In step S640, the drive control means 40 calculates the target reverse speed (VbdR, VbdL) according to the acting force on the movable handles 20R, 20L, ends the processing in the training mode 3 (step S600), and Return to processing.

In the training mode 3 (TR3) (see FIG. 8), the walking support device 10 is advanced while the regenerative power recovery means 65 is operated. In order to proceed, it is necessary to push or pull the walking support device 10 with a stronger force. Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

● [Processing in training mode 1 (step S700)]
FIG. 13 is a flowchart for explaining the procedure of training mode 1 (TR1) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7 and 8). Step S700 (processing in training mode 1) will be described with reference to the flowchart of FIG. The regenerative power recovery means 65 is in operation and does not generate an assisting force against the acting force of the user.

In step S705, the drive control means 40 acquires the traveling speed (VdR, VdL) of the walking support device 10 from the storage means 44, and proceeds to step S710.

In step S710, the drive control means 40 controls the motors 32R and 32L so as to apply the load amount derived by the load amount/assist amount changing means 74 to the movement of the movable handles 20R and 20L. Proceed to S715.

In step S715, the drive control means 40 determines that both the right movable handle 20R and the left movable handle 20L are moving based on the information from the movable handle movement amount detection means 81b. If there is a swing (Yes), the process proceeds to step S720, and if there is no swing of both the left and right arms (No), the process proceeds to step S725.

In step S720, the drive control means 40 calculates the forward evaluated speed Vhfd and the rearward evaluated speed Vhbd based on the evaluated speeds (VRhf, VRhb, VLhf, VLhb) of the left and right movable handles 20R and 20L. After making a decision, the process proceeds to step S1200 (determination of turning). When the amount of movement of the right movable handle 20R is "positive" and the amount of movement of the left movable handle 20L is "negative" (the user's right arm is swung forward and the left arm is When the vehicle is swung in the rear direction), the evaluated front speed Vhfd is determined as the evaluated front speed VRhf, and the evaluated speed Vhbd in the rear direction is determined as the evaluated rear speed VLhb. Also, when the amount of movement of the right movable handle 20R is "negative" and the amount of movement of the left movable handle 20L is "positive" (the left arm of the user is swung forward and the right arm is When the vehicle is swung in the rearward direction), the forward evaluated speed Vhfd is determined as the front evaluated speed VLhf, and the rearward evaluated speed Vhbd is determined as the rearward evaluated speed VRhb.

In step S725, the drive control means 40 determines that only the right movable handle 20R is moving based on the information from the movable handle movement amount detection means 81b, that is, if the right arm is being swung (Yes), The process proceeds to step S730, and if the right arm is not swung (No), the process proceeds to step S735.

In step S730, the drive control means 40 determines the forward evaluation speed (Vhfd=VRhf) and the rearward evaluation speed ( Vhbd=VRhb) is determined, and the process proceeds to step S760.

In step S735, the drive control means 40 determines the forward evaluation speed (Vhfd=VLhf) and the rearward evaluation speed ( Vhbd=VLhb) is determined, and the process proceeds to step S760.

In step S740, the driving control means 40 proceeds to step S745 if the traveling direction of the walking support device 10 is turning right (Yes), and proceeds to step S750 if the traveling direction is not turning right (No). move on.

In step S745, the drive control means 40 sets the target traveling speed VdR'=VdR-ΔVr (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and sets the rear wheel 60RR, which is the left drive wheel. The target traveling speed of the wheel 60RL is set to VdL'=VdL+.DELTA.Vr (predetermined speed), and the process proceeds to step S1300 (judgment of the difference between the traveling speed of the walking support device and the walking speed of the user). ΔVr is a predetermined speed corresponding to the traveling speed (VdR, VdL) and is stored in the storage means 44 in advance.

In step S750, the driving control means 40 proceeds to step S755 if the traveling direction of the walking support device 10 is turning left (Yes), and proceeds to step S760 if the traveling direction is not turning left (No).

In step S755, the drive control means 40 sets the target traveling speed VdR'=VdR+ΔVr (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, is set to VdL'=VdL-.DELTA.Vr (predetermined speed), and the process proceeds to step S1300 (judgment of deviation between the walking assist device's advancing speed and the user's walking speed).

In step S760, the drive control means 40 sets the target traveling speed VdR'=VdR of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and sets the target traveling speed VdL of the rear wheel 60RL, which is the left drive wheel. '=VdL, and the process proceeds to step S1300 (judgment of deviation between the traveling speed of the walking support device and the walking speed of the user).

In step S765, if the traveling speed of the walking assistance device 10 is the same as the walking speed of the user (Yes), the drive control means 40 proceeds to step S770, where the traveling speed of the walking assistance device 10 increases to the walking speed of the user. If not the same as the speed (No), the process proceeds to step S775.

In step S770, the drive control means 40 sets the target forward speed VfdR=VdR' of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and the target forward speed VfdL of the rear wheel 60RL, which is the left drive wheel. =VdL', the processing in training mode 1 (step S700) is terminated, and the overall processing is returned to.

In step S775, if the traveling speed of the walking support device 10 is lower than the walking speed of the user (Yes), the drive control means 40 proceeds to step S780, and the traveling speed of the walking support device 10 is higher than the walking speed of the user. If not (No), the process proceeds to step S785.

In step S780, the drive control means 40 sets the target forward speed VfdR=VdR'+ΔVd (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and the rear wheel 60RR, which is the left drive wheel. The target forward speed VfdL=VdL′+ΔVd (predetermined speed) of 60 RL is set, the processing in training mode 1 (step S700) is completed, and the overall processing is returned to. ΔVd is a predetermined speed corresponding to the target advancing speed (VdR', VdL') and is stored in the storage means 44 in advance.

In step S785, the drive control means 40 sets the target forward speed VfdR of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, to VfdR=VdR'-ΔVd, and sets the target forward speed of the rear wheel 60RL, which is the left drive wheel. The speed is set to VfdL=VdL'-ΔVd, the processing in training mode 1 (step S700) is terminated, and the overall processing is returned to.

In training mode 1 (TR1) (see FIG. 8), the walking support device 10 can be advanced by applying a load to the forward and backward movement of the movable handles 20R and 20L by the motors 32R and 32L. Thereby, a load can be applied to the movement of the user's body (arm swing) that accompanies the user's walking.

Even if either one of the movable handle 20R and the movable handle 20L in the movable handle acting force detection means 81a and the movable handle movement amount detection means 81b malfunctions, the drive control means 40 performs the above operation. With this control, the walking support device 10 can be advanced by the other movable handle.

When the user desires to turn the walking support device 10 to the right, the drive control means 40 swings the left movable handle 20L forward and backward more than the right movable handle 20R, and thus determines that the user is turning to the right. Then, the driving means 64L is controlled so that the rear wheel 60RL, which is the left driving wheel, is at a predetermined speed (ΔVr) higher than the target traveling speed, and the rear wheel 60RR, which is the right driving wheel, is controlled to be higher than the target traveling speed. Also, the driving means 64R is controlled so that the speed (.DELTA.Vr) increases by a predetermined speed.

When the user desires to turn the walking support device 10 to the left, the drive control means 40 swings the right movable handle 20R forward and backward more than the left movable handle 20L, and therefore determines that the user is turning left. Then, the driving means 64R is controlled so that the right driving wheel, the rear wheel 60RR, exceeds the target traveling speed by a predetermined speed (ΔVr), and the left driving wheel, the rear wheel 60RL, exceeds the target traveling speed. The driving means 64L is controlled so as to increase a predetermined speed (ΔVr).

Even if either one of the movable handle 20R and the movable handle 20L in the movable handle acting force detection means 81a and the movable handle movement amount detection means 81b malfunctions, the drive control means 40 performs the above operation. With this control, it is possible to correct the difference between the traveling speed of the walking support device 10 and the user's walking speed by the other movable handle.

When the traveling speed (VdR, VdL) of the walking support device 10 and the walking speed of the user are the same, and the swing speed of the arm swinging back and forth by the user is the same, the forward evaluation speed Vhfd and the backward evaluation speed Vhbd are the same. On the other hand, when the walking speed of the walking support device 10 is smaller than the walking speed of the user, the difference between the walking speed of the user and the walking speed of the walking support device 10 causes the evaluation speed Vhfd in the forward direction to decrease in the backward direction. It becomes larger than the magnitude of the evaluated speed Vhbd. Therefore, the drive control means 40 corrects the difference between the traveling speed of the walking assistance device and the walking speed of the user. The target traveling speed of the rear wheel 60RR, which is the right driving wheel, is set to VdR′=VdR′+ΔVd (predetermined speed), and the target traveling speed of the rear wheel, 60RL, which is the left driving wheel, is set to VdL′=VdL′+ΔVd (predetermined speed). speed). This makes it possible to correct the difference between the traveling speed of the walking support device and the user's walking speed.

● [Processing in training mode 2 (step S800)]
FIG. 14 is a flowchart for explaining the procedure of training mode 2 (TR2) processing in the drive control means 40 of the walking support device 10 (see FIGS. 1, 7, and 8). Step S800 (processing in training mode 2) will be described with reference to the flowchart of FIG. The processing in training mode 2 is the same as step S700 (processing in training mode 1) except for the control of the motors (32R, 32L) (step S710) so as to apply load to the movement of the movable handle.

In step S805, the drive control means 40 acquires the traveling speed (VdR, VdL) of the walking support device 10 from the storage means 44, and proceeds to step S815.

In step S815, the drive control means 40 determines that both the right movable handle 20R and the left movable handle 20L are moving based on the information from the movable handle movement amount detection means 81b. If there is a swing (Yes), the process proceeds to step S820, and if there is no swing of both the left and right arms (No), the process proceeds to step S825.

In step S820, the drive control means 40 calculates the forward evaluated speed Vhfd and the rearward evaluated speed Vhbd based on the evaluated speeds (VRhf, VRhb, VLhf, VLhb) of the left and right movable handles 20R and 20L. After making a decision, the process proceeds to step S1200 (determination of turning). When the amount of movement of the right movable handle 20R is "positive" and the amount of movement of the left movable handle 20L is "negative" (the user's right arm is swung forward and the left arm is When the vehicle is swung in the rear direction), the evaluated front speed Vhfd is determined as the evaluated front speed VRhf, and the evaluated speed Vhbd in the rear direction is determined as the evaluated rear speed VLhb. Also, when the amount of movement of the right movable handle 20R is "negative" and the amount of movement of the left movable handle 20L is "positive" (the left arm of the user is swung forward and the right arm is When the vehicle is swung in the rearward direction), the forward evaluated speed Vhfd is determined as the front evaluated speed VLhf, and the rearward evaluated speed Vhbd is determined as the rearward evaluated speed VRhb.

In step S825, the drive control means 40 determines that only the right movable handle 20R is moving based on the information from the movable handle movement amount detection means 81b, that is, if the right arm is being swung (Yes), The process proceeds to step S830, and if the right arm is not swung (No), the process proceeds to step S835.

In step S830, the drive control means 40 determines the forward evaluation speed (Vhfd=VRhf) and the rearward evaluation speed ( Vhbd=VRhb) is determined, and the process proceeds to step S860.

In step S835, the drive control means 40 determines the forward evaluated speed (Vhfd=VLhf) and the backward evaluated speed ( Vhbd=VLhb) is determined, and the process proceeds to step S860.

In step S840, the driving control means 40 proceeds to step S845 if the traveling direction of the walking support device 10 is turning right (Yes), and proceeds to step S850 if the traveling direction is not turning right (No). move on.

In step S845, the drive control means 40 sets the target traveling speed VdR′=VdR−ΔVr (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and sets the rear wheel 60RR, which is the left drive wheel. The target traveling speed of the wheel 60RL is set to VdL'=VdL+.DELTA.Vr (predetermined speed), and the process proceeds to step S1300 (judgment of the difference between the traveling speed of the walking support device and the walking speed of the user). ΔVr is a predetermined speed corresponding to the traveling speed (VdR, VdL) and is stored in the storage means 44 in advance.

In step S850, the driving control means 40 proceeds to step S855 if the traveling direction of the walking support device 10 is turning left (Yes), and proceeds to step S860 if the traveling direction is not turning left (No).

In step S855, the drive control means 40 sets the target traveling speed VdR'=VdR+ΔVr (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and the rear wheel 60RL, which is the left drive wheel. is set to VdL'=VdL-.DELTA.Vr (predetermined speed), and the process proceeds to step S1300 (judgment of deviation between the walking assist device's advancing speed and the user's walking speed).

In step S860, the drive control means 40 sets the target traveling speed VdR'=VdR of the rear wheel 60RR, which is the right driving wheel of the walking support device 10, and sets the target traveling speed VdL of the rear wheel 60RL, which is the left driving wheel. '=VdL, and the process proceeds to step S1300 (judgment of deviation between the traveling speed of the walking support device and the walking speed of the user).

In step S865, if the traveling speed of the walking assistance device 10 is the same as the walking speed of the user (Yes), the drive control means 40 proceeds to step S870, and the traveling speed of the walking assistance device 10 changes to the walking speed of the user. If not the same as the speed (No), the process proceeds to step S875.

In step S870, the drive control means 40 sets the target forward speed VfdR of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, to VdR', and sets the target forward speed VfdL of the rear wheel 60RL, which is the left drive wheel, to VfdL. =VdL', the process in training mode 2 (step S800) is terminated, and the process returns to the overall process.

In step S875, if the traveling speed of the walking support device 10 is lower than the walking speed of the user (Yes), the drive control means 40 proceeds to step S880, where the traveling speed of the walking support device 10 is higher than the walking speed of the user. If not (No), the process proceeds to step S885.

In step S880, the drive control means 40 sets the target forward speed VfdR=VdR'+ΔVd (predetermined speed) of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, and the rear wheel 60RR, which is the left drive wheel. The target forward speed VfdL=VdL'+ΔVd (predetermined speed) of 60 RL is set, the processing in training mode 2 (step S800) is terminated, and the overall processing is returned to. ΔVd is a predetermined speed corresponding to the target advancing speed (VdR', VdL') and is stored in the storage means 44 in advance.

In step S885, the drive control means 40 sets the target forward speed VfdR of the rear wheel 60RR, which is the right drive wheel of the walking support device 10, to VfdR=VdR'-ΔVd, and sets the target forward speed of the rear wheel 60RL, which is the left drive wheel. The speed is set to VfdL=VdL'-ΔVd, the processing in training mode 2 (step S800) is terminated, and the overall processing is returned to.

In training mode 2 (TR2) (see FIG. 8), no load is applied to the movable handles 20R and 20L, and the motion of the user's body (walking) accompanying the user's walking becomes motion in the no-load state. The walking support device 10 can be advanced with the assist force.

Even if either one of the movable handle 20R and the movable handle 20L in the movable handle acting force detection means 81a and the movable handle movement amount detection means 81b malfunctions, the drive control means 40 performs the above operation. With this control, the walking support device 10 can be advanced by the other movable handle.

When the user desires to turn the walking support device 10 to the right, the drive control means 40 swings the left movable handle 20L forward and backward more than the right movable handle 20R, and thus determines that the user is turning to the right. Then, the drive means 64L is controlled so that the left rear wheel 60RL is driven at a predetermined speed (ΔVr) higher than the target traveling speed, and the right rear wheel 60RR is driven at a predetermined speed (ΔVr) higher than the target traveling speed. The driving means 64R is controlled so that

The drive control means 40 controls the movement of either the movable handle 20R or the movable handle 20L in the movable handle acting force detection means 81a and the movable handle movement amount detection means 81b even if there is a problem with the information of either the movable handle 20R or the movable handle 20L. By the control described above, it is possible to correct the difference between the traveling speed of the walking support device 10 and the walking speed of the user based on the information of the other movable handle.

When the traveling speed (VdR, VdL) of the walking support device 10 and the walking speed of the user are the same, and the swing speed of the arm swinging back and forth by the user is the same, the forward evaluation speed Vhfd and the backward evaluation speed Vhbd are the same. On the other hand, when the walking speed of the walking support device 10 is smaller than the walking speed of the user, the difference between the walking speed of the user and the walking speed of the walking support device 10 causes the evaluation speed Vhfd in the forward direction to decrease in the backward direction. It becomes larger than the magnitude of the evaluated speed Vhbd. Therefore, the drive control means 40 corrects the difference between the traveling speed of the walking assistance device and the walking speed of the user. The target traveling speed of the rear wheel 60RR, which is the right driving wheel, is set to VdR′=VdR′+ΔVd (predetermined speed), and the target traveling speed of the rear wheel, 60RL, which is the left driving wheel, is set to VdL′=VdL′+ΔVd (predetermined speed). speed). This makes it possible to correct the difference between the traveling speed of the walking support device and the user's walking speed.

● [Determination of turn (step S1200)]
FIG. 15 is a flow chart for explaining the procedure of turning determination processing in the drive control means 40 of the walking support device 10 (see FIGS. 1 and 7). Step S1200 (turn determination) will be described with reference to the flowchart of FIG.

In step S1210, the drive control means 40 acquires the movement width DR of the right movable handle 20R and the movement width DL of the left movable handle 20L from the storage means 44, and proceeds to step S1220.

In step S1220, the drive control means 40 determines if the absolute value of the difference |DR-DL| is not smaller than the preset Derr (No), the process proceeds to step S1240. Note that Derr is a predetermined value, which is stored in the storage means 44 .

In step S1230, the drive control means 40 sets the traveling direction of the walking support device 10 to "straight ahead", ends the turn determination (step S1200), and proceeds to step S740 when called in step S700. , if called in step S800, the process proceeds to step S840.

In step S1240, if the movement width DR is greater than the movement width DL (Yes, it is determined to be a left turn), the drive control means 40 proceeds to step S1250, and if the movement width DR is not greater than the movement width DL (No, right turn). turning), the process proceeds to step S1260.

In step S1250, the drive control means 40 sets the traveling direction of the walking support device 10 to turn left, ends the turn determination (step S1200), and proceeds to step S740 when called in step S700, If called in step S800, the process proceeds to step S840.

In step S1260, the drive control means 40 sets the traveling direction of the walking support device 10 to turn right, ends the turn determination (step S1200), and proceeds to step S740 when called in step S700. , if called in step S800, the process proceeds to step S840.

When the user desires to turn the walking support device 10 to the right, the drive control means 40 swings the left movable handle 20L forward and backward more than the right movable handle 20R, and thus determines that the user is turning to the right. do. Further, when the user desires to turn the walking support device 10 to the left, the drive control means 40 swings the right hand movable handle 20R back and forth more than the left movable hand 20L. I judge.

● [Determination of the difference between the traveling speed of the walking support device and the walking speed of the user (step S1300)]
FIG. 15 is a flow chart for explaining the procedure for determining the difference between the traveling speed of the walking support device 10 and the walking speed of the user in the drive control means 40 of the walking support device 10 (see FIGS. 1 and 7). Step S1300 (determining the deviation between the traveling speed of the walking support device and the walking speed of the user) will be described with reference to the flowchart of FIG.

In step S1320, the drive control means 40 determines whether or not the absolute value |Vhfd+Vhbd| of the difference between the forward evaluation speed Vhfd and the rearward evaluation speed Vhbd, which is the first determination condition, is smaller than a preset ΔVerr. to determine. If the absolute value |Vhfd+Vhbd| is smaller than ΔVerr, the drive control means 40 determines “Yes” for the first determination condition, and otherwise determines “No”. Further, based on the information from the grip portion state detection means 81, the drive control means 40 determines that the movable handles 20R and 20L, which is the second determination condition, are in the vicinity of the front end of the rail slit portion 38 of the rails (30R and 30L) or It is determined whether or not the object has moved to the vicinity of the rear end. If both the movable handles 20R and 20L have not moved near the front end or near the rear end of each rail slit portion 38, the drive control means 40 determines "Yes" for the second determination condition. If not, it is judged as "No". If the first determination condition is "Yes" and the second determination condition is "Yes" (Yes), the drive control means 40 proceeds to step S1330; otherwise (No), the process proceeds to step S1340. move on. Since the forward evaluation velocity Vhfd is "positive" and the rearward evaluation velocity Vhbd is "negative", the difference between them is the sum of them (Vhfd+Vhbd).

In step S1330, the drive control means 40 sets the traveling speed of the walking assistance device to "same as the walking speed of the user", and determines the difference between the traveling speed of the walking assistance device and the walking speed of the user (step S1300). ) is terminated, and if called at step S700, the process proceeds to step S765, and if called at step S800, the process proceeds to step S865.

In step S1340, the drive control means 40 determines whether or not the absolute value |Vhfd| of the evaluated velocity in the forward direction, which is the first determination condition, is greater than the absolute value |Vhbd| of the evaluated velocity in the backward direction. The drive control means 40 determines “Yes” for the first determination condition when determining that the absolute value |Vhfd| is greater than the absolute value |Vhbd|, otherwise determines “No”. Further, based on the information from the grip portion state detection means 81, the drive control means 40 determines whether the movable handle 20R or the movable handle 20L, which is the second determination condition, is the rail of each rail (30R, 30L). It is determined whether or not it has moved to the vicinity of the front end of the slit portion 38 . When the movable handle 20R or the movable handle 20L has moved to the vicinity of the front end of each rail slit portion 38, the drive control means 40 determines "Yes" for the second determination condition, Otherwise, "No" is determined.

In step S1350, the drive control means 40 sets the traveling speed of the walking support device to "less than the walking speed of the user", and determines the difference between the traveling speed of the walking support device and the user's walking speed (step S1300). ) is terminated, and if called at step S700, the process proceeds to step S765, and if called at step S800, the process proceeds to step S865.

In step S1360, the drive control means 40 sets the advancing speed of the walking support device to "greater than the walking speed of the user", and determines the difference between the advancing speed of the walking support device and the user's walking speed (step S1300). ) is terminated, and if called at step S700, the process proceeds to step S765, and if called at step S800, the process proceeds to step S865.

Note that the determinations in steps S1320 and S1340 may be made based only on the first determination condition or the second determination condition.

When the traveling speed (VdR, VdL) of the walking support device 10 and the walking speed of the user are the same, and the swing speed of the arm swinging back and forth by the user is the same, the forward evaluation speed Vhfd and the backward evaluation speed Vhbd are the same. On the other hand, when the walking speed of the walking support device 10 is smaller than the walking speed of the user, the difference between the walking speed of the user and the walking speed of the walking support device 10 causes the evaluation speed Vhfd in the forward direction to decrease in the backward direction. It becomes larger than the magnitude of the evaluated speed Vhbd. When the travel speed of the walking support device 10 is higher than the walking speed of the user, the difference between the walking speed of the user and the travel speed of the walking support device 10 causes the magnitude of the forward evaluation speed Vhfd to increase to the backward evaluation speed. smaller than the magnitude of Vhbd. When the traveling speed (VdR, VdL) of the walking assistance device 10 is lower than the walking speed of the user, the drive control means 40 increases the traveling speed (VdR, VdL) of the walking assistance device 10 to make the walking assistance device 10 move faster. When the traveling speed is higher than the user's walking speed, the walking assistance device 10 reduces the traveling speed. As a result, the difference between the traveling speed of the walking support device 10 and the walking speed of the user is corrected, and the walking supporting device 10 of the pedestrian is properly advanced according to the swing speed of the user's arm swinging back and forth. You can control it.

● [Processing when the operation mode is automatically switched (Fig. 16, Fig. 17)]
FIG. 16 is a diagram for explaining mode transition conditions for transitioning the operation mode based on the body state, atmosphere state, and vehicle body state. FIG. 17 is a diagram illustrating conditions for shifting to each operation mode when the operation mode is automatically switched. When the automatic mode switching means switch 76b is on, the drive control means 40 determines the operation mode based on the information selected by the manual mode switching means 76a in step S200 of FIG. The operation mode is determined according to the conditions shown in FIGS. 9, 16, and 17. FIG.

When any one of the conditions S1 to S6 is established, the drive control means 40 sets the operation mode to the operation mode corresponding to each condition. 16 and 17, "-" indicates that the state may be either "0" or "1".

In FIG. 16, the mode transition condition is determined based on the physical condition, atmosphere condition, and vehicle body condition. The drive control means 40 sets the mode transition condition to "1=abnormal" only when all the states are "1", and sets the mode transition condition to "0=abnormal" when any condition is "0". .

The physical condition is, for example, the user's heart rate and body temperature. The drive control means 40 compares the heart rate and body temperature acquired by the heart rate and body temperature sensors 27a and 27b with predetermined values stored in advance in the storage means 44, and if the predetermined values are exceeded, "abnormal = 0" is detected. ” and “Normal=1” otherwise.

The atmospheric condition is, for example, the outside temperature. The drive control means 40 compares the outside air temperature acquired by the outside air temperature sensor 54 with a predetermined value stored in advance in the storage means 44, and if it exceeds the predetermined value, "discomfort = 0", otherwise The case of "comfort = 1".

The vehicle body state is, for example, the inclination of the vehicle body, impact on the vehicle body (change in acceleration applied to the body), walking distance, and walking time. Based on the information acquired by the three-axis acceleration/angular velocity sensor 52, the drive control means 40 compares the information with the predetermined value stored in advance in the storage means 44, and if the tilt of the vehicle body exceeds the predetermined value, " "Yes=0" and otherwise "No=1". Based on the information acquired by the three-axis acceleration/angular velocity sensor 52, the drive control means 40 compares the information with the predetermined conditions stored in advance in the storage means 44, and if the conditions are met, the impact on the vehicle body is 0”, and “none=1” otherwise.

Based on the history of walking distances stored in the storage means 44, the driving control means 40 sets "long = 0" when the walking distance is longer than a predetermined distance, and sets "short = 1" otherwise. do. Based on the walking time history stored in the storage means 44, the drive control means 40 sets "long = 0" if the walking time is longer than a predetermined time, and sets "short = 1" otherwise. do.

In FIG. 17, the drive control means 40 controls assist mode 2 (AM2) and training mode 3 (TR3) during assist mode 1 (AM1) and training mode 4 (TR4) in FIG. 8 based on conditions S1 to S6. ) or between training mode 1 (TR1) and training mode 2 (TR2).

Condition S1 and condition S2 are conditions for switching operation mode determination between training mode 1 (TR1) and training mode 2 (TR2). The mode manual switching means 76a is "training mode 1", the movable handle gripping state is "1 = gripped", the arm swing state is "1 = gripped", and the fixed hand gripping state is "0 = not gripped". , and the mode transition condition is "1=no abnormality", the condition S1 is established, and the drive control means 40 transitions the operation mode from the training mode 2 (TR2) to the training mode 1 (TR1). The mode manual switching means 76a is "training mode 1", the movable handle gripping state is "1 = gripped", the arm swing state is "1 = gripped", and the fixed hand gripping state is "0 = not gripped". , and the mode transition condition is "0=abnormal", the condition S2 is established, and the drive control means 40 transitions the operation mode from training mode 1 (TR1) to training mode 2 (TR2).

Condition S3 and condition S4 are conditions for switching operation mode determination between assist mode 2 (AM2) and training mode 3 (TR3). The mode manual switching means 76a is "training mode 3", the movable handle gripping state is "1 = gripped", the arm swing state is "0 = not gripped", and the fixed hand gripping state is "0 = not gripped". , and the mode transition condition is "1=no abnormality", the condition S3 is established, and the drive control means 40 transitions the operation mode from the assist mode 2 (AM2) to the training mode 3 (TR3). The mode manual switching means 76a is "training mode 3", the movable handle gripping state is "1 = gripped", the arm swing state is "0 = not gripped", and the fixed hand gripping state is "0 = not gripped". , and the mode transition condition is "0=abnormal", the condition S4 is established, and the drive control means 40 transitions the operation mode from the training mode 3 (TR3) to the assist mode 2 (AM2).

Condition S5 and condition S6 are conditions for switching operation mode determination between assist mode 1 (AM1) and training mode 4 (TR4). The mode manual switching means 76a is "training mode 3", the movable handle grip state is "0=not gripped", the arm swing state is "0=no", and the fixed handle grip state is "1=hold". , and the mode transition condition is "1=no abnormality", the condition S5 is established, and the drive control means 40 transitions the operation mode from the assist mode 1 (AM1) to the training mode 4 (TR4). The mode manual switching means 76a is "training mode 3", the movable handle grip state is "0=not gripped", the arm swing state is "0=no", and the fixed handle grip state is "1=hold". , and the mode transition condition is "0=abnormal", the condition S6 is established, and the drive control means 40 transitions the operation mode from the training mode 4 (TR4) to the assist mode 1 (AM1).

● [Second embodiment]
Next, a second embodiment embodying a walking support device according to the present invention will be described with reference to FIGS. 18 to 31. FIG. In the following description, the same reference numerals as those of the configuration of the walking support device 10 according to the first embodiment shown in FIGS. is shown.

● [Schematic overall configuration of the second embodiment (Fig. 18)]
A schematic configuration of a walking support device 85 according to a second embodiment for carrying out the present invention will be described with reference to FIG. FIG. 18 is a diagram illustrating a walking support device 85 according to the second embodiment. As shown in FIG. 18, the configuration, control processing, etc. of the walking support device 85 according to the second embodiment are substantially the same as the configuration, control processing, etc. of the walking support device 10 according to the first embodiment. However, in the walking support device 85 according to the second embodiment, the camera 55 functioning as an example of an imaging device for imaging the movement of the user's legs is arranged at the upper end of the housing housing the drive control means 40. . Also, the camera 55 is electrically connected to the drive control means 40 as described later (see FIG. 20).

As the camera 55, it is possible to use a depth camera that captures normal images and also measures depth information from the camera 55 to the legs of the user in real time. Specifically, as the camera 55, for example, a camera equipped with an RGB color image camera, an infrared camera for depth measurement, and an infrared light emitting unit can be used. By using a depth camera as the camera 55 in this way, the movement of the user's leg, that is, the RGB image of the walking state is captured, and the depth information from the camera 55 to the user's leg is measured in real time. becomes possible.

As a result, as will be described later, the walking state determining unit 86 (see FIG. 20) provided in the drive control means 40 processes the image processing result of the user's walking image input from the camera 55 and the user's walking image from the camera 55. Based on the depth information up to the legs of the user, the time rate of the walking state in one walking cycle of one leg of the user, for example, the right leg (see FIG. 21) is determined.

Here, the "time rate" of the walking state in one walking cycle is index information indicating to which phase in one walking cycle the movement state of the leg of the walker corresponds. For example, as shown in FIG. 21, a numerical value from "0%" to "100%" from the starting point where the right heel of one walking cycle of the right leg touches the ground to the end point where the right heel touches the ground again. Use the time rate as an index. Then, the walking state determination unit 86 (see FIG. 20) provided in the drive control means 40 acquires the image based on the image processing result of the walking image of the user and the depth information from the camera 55 to the legs of the user. By determining what percentage of numerical data (phase) in one walking cycle the movement state of the right leg corresponds to, the time rate of the walking state in one walking cycle is determined.

Numerical data corresponding to the motion state of the leg may be converted into numerical values by filtering the captured image of the camera 55 . In addition, the time rate representing the phase in one walking cycle is not limited to the numerical expression of "0%" to "100%", but can indicate which phase in one walking cycle the leg motion state corresponds to. If possible, other numerical expressions may be used. Also, the time rate of the walking state in one walking cycle is not necessarily a numerical index, and may be a symbolic index such as characters or matching of non-numerical/non-symbolic data such as images.

Further, as shown in FIG. 19, instead of the camera 55 or together with the camera 55, a three-axis acceleration sensor 96 may be attached to the waist of the user 95 of the walking support device 85 by means of a belt 97 or the like. . The three-axis acceleration sensor 96 is configured to be able to measure each acceleration in the front-rear direction, left-right direction, and vertical direction of the waist during walking of the user 95 . The three-axis acceleration sensor 96 is configured to transmit the measurement results of the front-rear direction, left-right direction, and vertical direction acceleration of the waist during walking of the user 95 to the drive control means 40 in real time by radio or the like. You may

In addition, the drive control means 40 may be configured to be able to receive measurement results of acceleration in the front-rear direction, left-right direction, and vertical direction of the waist during walking of the user 95 from the three-axis acceleration sensor 96 (Fig. 20). Then, the walking state determination unit 86 (see FIG. 20) provided in the drive control means 40 determines the motion of the user based on the front-rear direction, left-right direction, and vertical direction acceleration of the waist during walking of the user 95. Obtain the motion state of one leg, for example the right leg.

Then, the walking state determination unit 86 provided in the drive control means 40 determines what percentage of the numerical data (phase) in one walking cycle corresponds to the acquired motion state of the right leg. It is also possible to determine the time rate of the walking state in the walking cycle (see FIG. 21). In addition, the drive control means 40 receives from the three-axis acceleration sensor 96 and arithmetically processes the numerical data of the acceleration in the front-back direction, the left-right direction, and the vertical direction of the waist during walking of the user 95, and performs one walking cycle. You may make it determine the time rate of the walking state in.

[Input/output of drive control means 40 of walking support device 85 (Fig. 20)]
FIG. 20 is a block diagram illustrating inputs and outputs of the drive control means 40 in the walking support device 85 (see FIG. 18). As shown in FIG. 20, the input/output configuration of the drive control means 40 of the walking support device 85 is substantially the same as that of the drive control means 40 of the walking support device 10 according to the first embodiment. However, it differs from the drive control means 40 of the walking support device 10 according to the first embodiment in the following points.

In the walking support device 85, the grip portion state detection means 81 constituting the state detection means 80 includes a movable handle acting force detecting means 81a, a movable handle movement amount detecting means 81b, and a fixed handle acting force detecting means 81c. , and the camera 55 . The camera 55 is electrically connected to the drive control means 40 . The camera 55 outputs the image processing result of the user's walking image and the depth information from the camera 55 to the user's leg to the drive control means 40 as described above. In addition, the right handle position detection means 34R and the left handle position detection means 34L, which constitute the movable handle movement amount detection means 81b, detect the movement positions of the movable handles 20R and 20L with respect to the rails 30R and 30L at predetermined time intervals. , the amount of movement, and the movement speed are output to the drive control means 40 .

As shown in FIG. 20, the grip portion state detection means 81 may include a three-axis acceleration sensor 96 (see FIG. 19) attached to the waist of the user 95 with a belt 97 or the like. Also, the three-axis acceleration sensor 96 may be connected to the drive control means 40 wirelessly or the like. As described above, the three-axis acceleration sensor 96 outputs the measurement results of the front-rear direction, left-right direction, and vertical direction acceleration of the waist of the user 95 while walking to the drive control means 40 by radio or the like. may

Further, the drive control means 40 determines the walking state time rate (see FIG. 21) in one walking cycle of one leg of the user, for example, the right leg, when one walking cycle is "100%". It has a walking state determination unit 86 for determination. The walking state determination unit 86 determines whether the user can determine each movable handle based on the movement position, movement amount, and movement speed of each of the movable handles 20R and 20L with respect to the rails 30R and 30L input from the movable handle movement amount detection means 81b. The time rate of the walking state in one walking cycle is the time rate when one walking cycle of one leg, for example, the right leg, is "100%" when walking while holding 20R and 20L and swinging the arm (Fig. 21).

For example, as shown in FIG. 21, the walking state determination unit 86 determines that when the left movable handle 20L moves forward and the moving speed first becomes "0", the user's right heel is on the ground. In other words, the initial value of the time rate when one walking cycle is "100%", and the time rate of the walking state in one walking cycle is set to "0%". Then, when the right movable handle 20R moves forward and the movement speed becomes "0", the walking state determination unit 86 determines that the left heel of the user is in contact with the ground, that is, one walking cycle is completed. The median value of the rate of time when "100%" is set, and the rate of time in the walking state in one walking cycle is set to "50%".

After that, when the left movable handle 20L moves forward and the movement speed becomes "0", the walking state determination unit 86 determines that the right heel of the user is in contact with the ground, that is, one walking cycle. The maximum value of the time rate when "100%" is set, and the time rate of the walking state in one walking cycle is set to "100%". Then, the walking state determination unit 86 repeats this to determine the movement position (corresponding to the position of the arm), the movement amount (corresponding to the arm swing width), and the movement speed of each of the movable handles 20R and 20L with respect to the rails 30R and 30L. Based on (corresponding to the arm swing speed), the time rate (%) of the walking state in one walking cycle is determined with the time rate when one leg, for example, the right leg, is taken as "100%". Therefore, the time rate (%) is defined as "100%" for one walking cycle.

Here, the time rate of the walking state of one leg of the user, for example, the right leg, in one walking cycle will be described with reference to FIG. Since one walking cycle of the left leg is delayed by half a cycle from one walking cycle of the right leg, the one walking cycle of the right leg will be described below. As shown in FIG. 21, one walking cycle of the right leg starts when the right heel touches the ground and continues until the right heel touches the ground again. When one walking cycle is "100%", the rate of time (hereinafter simply referred to as the rate of time) is defined as the stance phase from "0%" to "60%", and the right foot is in contact with the ground. . The free leg period is defined as the period from "60%" to "100%", in which the right foot is off the ground and the left foot is in contact with the ground.

Therefore, as shown in FIG. 21, when the time rate of the walking state in one gait cycle of the right leg is from "0%" to "10%", the walking state is a state where both the left and right feet are in contact with the ground. Also, when the time rate of the walking state in one gait cycle of the right leg is from "10%" to "50%", the walking state is one-leg supported walking state in which the left foot is off the ground and only the right foot is in contact with the ground. Also, when the time rate of the walking state in one walking cycle of the right leg is from "50%" to "60%", it is again in the walking state with both the left and right feet on the ground. When the time rate of the walking state in one gait cycle of the right leg is from "60%" to "100%", it is a one-leg supported walking state in which the right foot is off the ground and only the left foot is in contact with the ground.

Further, as shown in FIG. 20, the walking state determining unit 86 determines whether the user is walking based on the image processing result of the walking image of the user input from the camera 55 and the depth information from the camera 55 to the leg of the user. The walking state time of one leg, for example, the right leg in one walking cycle when walking while holding the fixed handles 20FR and 20FL or when the movement of the movable handles 20R and 20L is locked. Determine the rate (see Figure 21).

For example, when the user's right leg moves forward and the right heel first touches the ground, the walking state determining unit 86 sets the time rate of the walking state to "0%" in one walking cycle. Then, when the user's right leg moves forward and the left heel touches the ground, the walking state determining unit 86 sets the time rate of the walking state to "50%" in one walking cycle. Subsequently, the walking state determining unit 86 sets the time rate of the walking state in one walking cycle to "60%" when the user's right leg moves backward and the toe lifts off. After that, when the user's right leg moves forward and the right heel touches the ground, the walking state determining unit 86 sets the time rate of the walking state in one walking cycle to "100%", and repeats this. The time rate (%) of the walking state in one walking cycle of the leg, for example the right leg, is determined.

In addition, the walking state determination unit 86 determines the fixed holding position of the user based on the acceleration of the waist in the front-rear direction, the left-right direction, and the vertical direction during walking of the user 95, which is input by radio from the three-axis acceleration sensor 96 or the like. When walking while holding the hands 20FR and 20FL, or when the movement of each movable handle 20R and 20L is locked, the time rate of the walking state in one walking cycle of one leg, for example, the right leg (Fig. 21) may be determined. Here, the method of determining the rate of walking state (see FIG. 21) in one walking cycle of one leg, for example, the right leg, using the three-axis acceleration sensor 96 attached to the waist of the user is known (see FIG. 21). For example, see Japanese Patent Application Laid-Open No. 2017-148287), and the description is omitted.

The walking state determination unit 86 determines whether the user will walk based on the movement position, movement amount, and movement speed of each of the movable handles 20R and 20L with respect to the rails 30R and 30L, which are input from the movable handle movement amount detection means 81b. The time rate of the walking state in one walking cycle may be determined by the time rate when one walking cycle for each of the actual left leg and right leg is "100%". Further, the walking state determining unit 86 determines whether the user is walking based on the image processing result of the user's walking image input from the camera 55 and the depth information from the camera 55 to the user's left leg and right leg. The time rate of the walking state in one walking cycle may be determined by the time rate when one walking cycle for each of the left leg and the right leg is "100%".

Furthermore, the walking state determination unit 86 determines the acceleration of the user's walking in the front-back direction, the left-right direction, and the vertical direction of the waist during walking of the user 95 , which is input by radio or the like from the three-axis acceleration sensor 96 . The time rate of the walking state in one walking cycle may be determined by the time rate when one walking cycle for each of the left leg and the right leg is "100%". As a result, the walking state determination unit 86 can determine the time rate of the walking state in one walking cycle for each of the left leg and the right leg when the user walks. It is possible to grasp the walking state and body state of the person with high accuracy.

Further, as shown in FIG. 20, a touch panel 77 is arranged on the display screen of the monitor 78 and electrically connected to the drive control means 40 . The touch panel 77 is arranged on the display screen of the monitor 78, and employs a pressure detection method, a resistive film method, a capacitance method, an electromagnetic induction method, or the like. Therefore, when the touch panel 77 detects that a user's finger or the like touches the touch panel 77, the coordinate position on the display screen of the monitor 78 touched by the finger or the like is detected by pressure, electric resistance, capacitance, and elastic wave. A change in energy or the like is detected and output to the drive control means 40 .

The drive control means 40 also has a training type determination section 87 that determines the training type selected by the user from among the plurality of training types displayed on the monitor 78 . For example, as will be described later, the user presses the desired training type among the plurality of training types displayed on the monitor 78, and then presses the confirmation button 90A (see FIG. 29). As a result, the training type determination unit 87 determines (determines) that the user has selected the training type displayed at the position where the touch panel 77 is pressed, and stores it in the RAM (not shown) as the training type to be executed. (See FIG. 25).

The storage unit 44 also has a purpose-specific load pattern storage unit 44A and a muscle-specific load pattern storage unit 44B. The target load pattern storage unit 44A stores a plurality of target load patterns corresponding to one walking cycle, which are set in advance for each training target type. For example, as shown in FIG. 22, the purpose-specific load pattern storage unit 44A stores a plurality of purpose-specific load patterns set for a plurality of purposes for improving walking conditions.

Specifically, the purpose-specific load pattern storage unit 44A stores a target load pattern 101A for the purpose of "preventing stumbling", a target load pattern 101B for the purpose of "improving walking speed", and a target load pattern 101B for the purpose of "preventing knee bending". A target load pattern 101C and the like are stored. Specifically, for example, the target load pattern 101A for the purpose of "prevention of stumbling" has a walking state time rate of 0% to about 3% and 50% to about 53% in one walking cycle of the right leg. at about 3% to about 8% and about 53% to about 58% after a sudden increase in load, and then at about 8% to about 15% and about 58%. % to about 65%, the load drops off sharply.

Therefore, the target load pattern 101A for the purpose of "prevention of stumbling" is set so that the load is applied when both legs are supported as shown in FIG. As a result, the walking support device 85 can be stabilized when both legs are supported, and falling or the like when shifting from both legs support to one leg support can be prevented, and walking training can be safely performed.

In addition, the target load pattern 101B for the purpose of "improving walking speed" has a load when the time rate of the walking state in one walking cycle of the right leg is 20% to about 50% and 70% to about 100%. After a sequential increase, there is a sharp decrease in load from about 50% to about 53% and from about 0% to about 3%. Therefore, in the target load pattern 101B for the purpose of "improving walking speed", the load when supporting one leg in which only the left or right foot is on the ground is greater than the load when supporting both feet in which both feet are on the ground. is set to

As a result, when only one foot is on the ground with one foot support, it is easier to lose body balance than when both feet are on the ground when both feet are on the ground. (second load), the walking support device 85 can be stabilized when one leg is supported. As a result, it is possible to prevent overturning during walking training in which the walking speed of the user is increased, and to improve the safety of walking training.

In addition, the muscle-specific load pattern storage unit 44B stores a plurality of load patterns corresponding to one walking cycle preset for each type of leg muscle. For example, as shown in FIG. 23, each muscle load pattern storage unit 44B stores a plurality of muscle load patterns 102A set for each leg muscle for the purpose of individually training the left and right leg muscles. 102E and the like are stored. For example, the muscle load pattern 102A aims to train the "vastis medialis and vastus lateralis" of the left and right legs, and the muscle load pattern 102B aims to train the "rectus femoris" of the left and right legs. The purpose of the muscle load pattern 102C is to train the "biceps femoris" of the left and right legs. The muscle load pattern 102D aims to train the "tibialis anterior" of the left and right legs, and the muscle load pattern 102E aims to train the "soleus" of the left and right legs.

Specifically, for example, in the muscle load pattern 102A, the load abruptly increased when the time rate of the walking state in one walking cycle of the right leg was 0% to about 3% and 50% to about 53%. After that, the load gradually increases from about 3% to about 12% and from about 53% to about 62%, and then from about 12% to about 15% and from about 62% to about 65%. is sharply decreasing. Therefore, the muscle load pattern 102A, as shown in FIG. 21, is set so that a load is applied in the state of supporting on both legs and when transitioning to supporting on one leg.

● [Flowchart explaining the overall processing procedure (Fig. 24)]
Next, the processing procedure of the drive control means 40 of the walking support device 85 configured as described above will be described with reference to the flow charts of FIGS. 24 to 28. FIG. FIG. 24 is a diagram showing the overall processing in the drive control means 40 of the walking support device 85. As shown in FIG. As shown in FIG. 24, the overall processing executed by the drive control means 40 of the walking support device 85 is substantially the same as the overall processing (see FIG. 10) executed by the drive control means 40 of the walking support device 10 according to the first embodiment. It is the same processing procedure.

However, in step S120, if the determined operation mode is training mode 4 (TR4) (S120: YES), the drive control means 40 proceeds to step S210 instead of step S400. In step S210, drive control means 40 executes a sub-process of "training type selection process" to be described later, and then proceeds to step S1400. In step S1400, drive control means 40 differs in that it proceeds to step S180 after executing a sub-process of "process 2 in training mode 4" described later.

Further, in step S140, if the determined operation mode is training mode 3 (TR3) (S140: YES), the drive control means 40 proceeds to step S210 instead of step S600. In step S210, drive control means 40 executes a sub-process of "training type selection process" to be described later, and then proceeds to step S1500. In step S1500, drive control means 40 differs in that it proceeds to step S180 after executing a sub-process of "process 2 in training mode 3", which will be described later.

Further, in step S150, when the determined operation mode is training mode 1 (TR1) (S150: YES), the drive control means 40 proceeds to step S210 instead of step S700. In step S210, drive control means 40 executes a sub-process of "training type selection process" to be described later, and then proceeds to step S1600. In step S1600, drive control means 40 differs in that it proceeds to step S180 after executing a sub-process of "process 2 in training mode 1", which will be described later.

● [Training type selection processing (step S210)]
Next, the sub-process of the "training type selection process" executed by the drive control means 40 in step S210 will be described with reference to FIG. As shown in FIG. 25, in step S1011, the drive control means 40 determines whether or not a training type has been selected. Specifically, the drive control means 40 stores a normal flag indicating selection of normal training from a RAM (not shown), a purpose-based flag indicating selection of purpose-based training, a muscle-based flag indicating selection of muscle-based training, is read, and it is determined whether or not any flag is set to "ON".

The driving control means 40 of the walking support device 85 sets the normal flag, the purpose-specific flag, and the muscle-specific flag to "OFF" at the time of activation, and stores them in a RAM (not shown). Further, the drive control means 40 of the walking support device 85 sets the normal flag, the purpose-specific flag, and the muscle mode when the operation mode of the walking support device 85 is switched by the manual operation of the mode manual switching means 76a by the user. Another flag is set to "OFF" and stored again in the RAM (not shown).

Then, when the drive control means 40 determines that the training type has been selected, that is, it determines that any one of the normal flag, purpose-specific flag, and muscle-specific flag is set to ON. If so (S1011: YES), the sub-processing ends.

On the other hand, if it is determined that the training type has not been selected, that is, if it is determined that the normal flag, purpose-specific flag, and muscle-specific flag are all set to OFF (S1011: NO), the drive control means 40 proceeds to step S1012. In step S1012, the drive control means 40 displays the training type selection screen 88A (see FIG. 29) on the monitor 78. FIG.

An example of the training type selection screen 88A will now be described with reference to FIG. As shown in FIG. 29, on the display screen of the monitor 78, the letters "normal training," "purpose-specific training," and "muscle-specific training" are displayed in a vertically arranged manner. . Further, selection buttons 91A to 91C are arranged to the left of each character of "normal training", "training by purpose", and "training by muscle", and displayed as white circles. In addition, a confirm button 90A is arranged and displayed at the lower right of the characters "training by muscle".

For example, "normal training" is training performed by the walking support device 10 according to the first embodiment, and is training in which a constant load is applied while the user is walking. “Training by purpose” is training set for a plurality of types of purposes for the purpose of improving the walking condition. “Training by muscle” is training set for each of a plurality of types of leg muscles for the purpose of individually training leg muscles.

Further, when one of the selection buttons 91A to 91C is pressed via the touch panel 77 (see FIG. 20), the drive control means 40 displays a black dot inside the pressed selection button. , to inform the user that the training displayed on the right side of the black circle has been selected.

Subsequently, as shown in FIG. 25, in step S1013, the drive control unit 40 determines whether or not the confirm button 90A has been pressed via the touch panel 77 (see FIG. 20). Then, when it is determined that the confirmation button 90A has not been pressed (S1013: NO), the drive control means 40 executes the processes from step S1012 onward again.

On the other hand, if it is determined that the confirmation button 90A has been pressed via the touch panel 77 (S1013: YES), the drive control means 40 selects the right side of the selection button displayed with a black circle among the selection buttons 91A to 91C. After the training displayed in , is stored in a RAM (not shown) as the selected training, the process proceeds to step S1014. For example, as shown in FIG. 29, when the selection button 91A is pressed to display a black circle and the confirmation button 90A is pressed, the drive control means 40 selects the training for which "normal training" is selected. , and the process proceeds to step S1014. Therefore, the processing of steps S1012 and S1013 functions as an example of the training type determination unit 87 (see FIG. 20).

In step S1014, the drive control means 40 reads out the selected training from the RAM (not shown) and determines whether or not it is "normal training". Then, when it is determined that the selected training is "normal training" (S1014: YES), the drive control means 40 proceeds to step S1015. In step S1015, the drive control means 40 reads out the normal flag from the RAM (not shown), sets the normal flag to ON, stores it in the RAM (not shown) again, and then terminates the sub-process.

On the other hand, when it is determined that the selected training is not "normal training" (S1014: NO), the drive control means 40 proceeds to step S1016. In step S1016, the drive control means 40 determines whether or not the selected training is "training by purpose". Then, when it is determined that the selected training is "training by purpose" (S1016: YES), the drive control means 40 proceeds to step S1017. In step S1017, the drive control unit 40 reads out the purpose flag from the RAM (not shown), sets the purpose flag to ON, and stores it in the RAM (not shown) again, and then proceeds to step S1018.

In step S<b>1018 , the drive control means 40 displays the purpose-based training selection screen 88</b>B (see FIG. 30 ) on the monitor 78 . An example of the purpose-based training selection screen 88B will now be described with reference to FIG. As shown in FIG. 30, the display screen of the monitor 78 displays a plurality of types of training objectives arranged in the vertical direction for the purpose of improving the walking condition.

For example, the letters "prevention of stumbling", "improvement of walking speed", and "prevention of knee buckling" representing the purpose of the training are arranged and displayed in the vertical direction. Further, selection buttons 92A to 92C are arranged to the left of each of the letters "Prevent stumbling", "Improve walking speed", and "Prevent knee bending" and are displayed as white circles. Furthermore, a confirm button 90A is displayed and arranged at the lower right of the characters "Knee Bending Prevention".

Further, when one of the selection buttons 92A to 92C is pressed via the touch panel 77 (see FIG. 20), the drive control means 40 displays a black dot inside the pressed selection button. , to inform the user that the training objective displayed on the right side of the black circle has been selected.

Subsequently, as shown in FIG. 25, in step S1019, the drive control means 40 determines whether or not the confirmation button 90A has been pressed via the touch panel 77 (see FIG. 20). Then, when it is determined that the confirm button 90A has not been pressed (S1019: NO), the drive control means 40 executes the processes from step S1018 onward again.

On the other hand, if it is determined that the confirmation button 90A has been pressed via the touch panel 77 (S1019: YES), the drive control means 40 selects the right side of the selection button displayed with a black circle among the selection buttons 92A to 92C. is stored in a RAM (not shown) as the selected training goal, and then the process proceeds to step S1020. For example, as shown in FIG. 30, when the selection button 92A is pressed and a black circle is displayed, and the confirmation button 90A is pressed, the drive control means 40 selects "prevention of stumbling" for the selected training. After storing in a RAM (not shown) for the purpose of , the process proceeds to step S1020.

In step S 1020 , the drive control means 40 reads out the selected training purpose from the RAM again, and stores the target load pattern preset corresponding to the training purpose in the purpose-specific load pattern provided in the storage means 44 . After reading from the storage unit 44A (see FIG. 20) and storing it in a RAM (not shown) as a target load pattern to be executed, the sub-process is terminated. For example, as shown in FIG. 30, when the selected training purpose is "prevention of stumbling", the drive control means 40 selects a target load pattern 101A corresponding to "prevention of stumbling" as shown in FIG. The target load pattern is read from the target load pattern storage unit 44A (see FIG. 20) and stored in the RAM (not shown) as the target load pattern to be executed, and then the sub-process is terminated.

On the other hand, when it is determined in step S1016 that the selected training is not the "training by purpose" (S1016: NO), the drive control means 40 proceeds to step S1021. In step S1021, the drive control means 40 reads muscle flags from the RAM (not shown), sets the muscle flags to ON, stores them in the RAM (not shown) again, and proceeds to step S1022.

In step S1022, the drive control means 40 displays the muscle-specific training selection screen 88C (see FIG. 31) on the monitor 78. FIG. An example of the muscle-specific training selection screen 88C will now be described with reference to FIG. As shown in FIG. 31, in the central part of the display screen of the monitor 78, the names of muscles that are the targets of a plurality of types of training aimed at individually training leg muscles are arranged in the vertical direction and can be selected. A selection window 88D is displayed.

For example, in the selection window 88D, each muscle such as "vastis medialis and vastus lateralis", "rectus femoris", "biceps femoris", "tibialis anterior", "soleus", etc. representing the muscles to be trained is displayed. Muscle names are arranged vertically and displayed in a selectable manner. In addition, the selection buttons 93A to 93E and the like are used to select the names of muscles such as "vastis medialis and vastus lateralis", "rectus femoris", "biceps femoris", "tibialis anterior", and "soleus". It is located on the left side and is displayed as a white circle. In addition, a confirmation button 90A is arranged and displayed at the lower right of the selection window 88D.

Further, when one of the selection buttons 93A to 93E, etc., is pressed via the touch panel 77 (see FIG. 20), the drive control means 40 displays a black dot in the pressed selection button. Then, the user is notified that the leg muscle with the muscle name displayed on the right side of the black circle has been selected as a training target.

Subsequently, as shown in FIG. 25, in step S1023, the drive control unit 40 determines whether or not the enter button 90A has been pressed via the touch panel 77 (see FIG. 20). Then, when it is determined that the confirmation button 90A has not been pressed (S1023: NO), the drive control means 40 executes the processes from step S1022 onward again.

On the other hand, if it is determined that the enter button 90A has been pressed via the touch panel 77 (S1023: YES), the drive control means 40 selects one of the selection buttons 93A to 93E to the right of the selection button indicated by the black circle. After storing the leg muscle with the muscle name displayed in , in a RAM (not shown) as the selected training target muscle, the process proceeds to step S1024. For example, as shown in FIG. 31, when the select button 93A is pressed to display a black circle and the confirmation button 90A is pressed, the drive control means 40 selects the "vast medialis and vastus lateralis". is stored in the RAM (not shown) as the selected muscle to be trained, and then the process proceeds to step S1024.

In step S 1024 , the drive control means 40 reads out the selected training target muscle again from the RAM, stores the muscle load pattern for the purpose of training the training target muscle, and stores the load for each muscle provided in the storage means 44 . After reading from the pattern storage unit 44B (see FIG. 20) and storing in a RAM (not shown) as a muscle load pattern to be executed, the sub-processing is finished. For example, as shown in FIG. 31, if the selected muscles to be trained are the “vast medialis and vastus lateralis”, the drive control means 40 will display “the vastus medialis and vastus lateralis” as shown in FIG. The muscle load pattern 102A corresponding to the "large muscle" is read out from the muscle-specific load pattern storage unit 44B (see FIG. 20) and stored in the RAM (not shown) as the muscle load pattern to be executed, after which the sub-process is terminated.

● [Process 2 in training mode 4 (step S1400)]
Next, the sub-processing of "process 2 in training mode 4" executed by drive control means 40 in step S1400 will be described with reference to FIG. Note that the regenerative power recovery means 65 is operated and does not generate an assist force to the walking support device 85 according to the user's acting force.

As shown in FIG. 26, in step S1411, the drive control means 40 reads a normal flag indicating selection of normal training from a RAM (not shown), and determines whether or not the normal flag is set to "ON". Then, when it is determined that the normal flag is set to "ON" (S1411: YES), the drive control means 40 proceeds to step S1412.

In steps S1412 to S1414, after executing the processes of steps S410 to S430 (see FIG. 11), the drive control means 40 terminates the sub-processes and returns to the overall process (see FIG. 24).

Therefore, when the user selects "normal training" in step S210, the drive control means 40 activates the regenerative power recovery means 65 (see FIG. 20) in training mode 4 (TR4) (see FIG. 8). The walking support device 85 is advanced with a constant load while being operated. As a result, the user walks by pushing or pulling the walking support device 85 with a stronger force in order to advance the walking support device 85 compared to assist mode 1 (AM1) (see FIG. 8). There is a need to. Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

On the other hand, if it is determined in step S1411 that the normal flag is set to "OFF" (S1411: NO), the drive control means 40 proceeds to step S1415. In step S1415, the driving control means 40 (walking state determination unit 86 (see FIG. 20)) processes the image processing result of the walking image of the user input from the camera 55 (see FIG. 20) and the user's walking image from the camera 55. Based on the depth information up to the leg, the time rate of the walking state in one walking cycle of one leg, for example, the right leg when the user walks while holding the fixed handles 20FR and 20FL (see FIG. 21). is stored in a RAM (not shown) as the time rate of the current walking state, and then the process proceeds to step S1416.

The driving control means 40 (walking state determination unit 86 (see FIG. 20)) controls the longitudinal and lateral directions of the waist of the user 95 during walking, which are input by radio or the like from the three-axis acceleration sensor 96 (see FIG. 20). , and each acceleration in the vertical direction, when the user walks while holding the fixed handles 20FR and 20FL, the time rate of the walking state in one walking cycle of one leg, for example, the right leg (FIG. 21 ) is determined and stored in a RAM (not shown), the process may proceed to step S1416.

In step S1416, the drive control unit 40 reads out a purpose-specific flag indicating selection of purpose-specific training from a RAM (not shown), and determines whether or not the purpose-specific flag is set to "ON". Then, when it is determined that the purpose flag is set to "ON" (S1416: YES), the drive control means 40 proceeds to step S1417. In step S1417, the drive control means 40 determines whether or not the force applied by the user to each of the fixed handles 20FR and 20FL is in the forward direction based on the information from the fixed handle acting force detection means 81c.

Then, when it is determined that the user's force acting on each of the fixed handles 20FR and 20FL is in the forward direction based on the information from the fixed handle acting force detection means 81c (S1417: YES), the drive control means 40 goes to step S1418. At step S1418, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1415. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the target load pattern stored in the RAM (not shown) in step S1020, and the target forward speed (VfdR, VfdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

On the other hand, if it is determined that the force applied by the user to the fixed handles 20FR and 20FL is not in the forward direction, that is, in the rearward direction (S1417: NO ), the drive control means 40 proceeds to step S1419. At step S1419, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1415. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the target load pattern stored in the RAM (not shown) in step S1020, and the target reverse speed (VbdR, VbdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

Therefore, when the user selects a training purpose in steps S1018 and S1019, the drive control means 40 controls the regenerative power recovery means 65 ( 20), the walking support device 85 is advanced with a load corresponding to the time rate of the current walking state.

As a result, in order to advance the walking support device 85, the user grasps the fixed handles 20FR and 20FL and pushes or pulls the walking support device 85 according to the load according to the training purpose. need to walk. Accordingly, by selecting a training purpose such as "prevention of stumbling", the user can apply a load to the leg muscles corresponding to the desired training purpose at the optimum timing, thereby enabling the leg muscles corresponding to the training purpose. muscles can be effectively trained.

On the other hand, if it is determined in step S1416 that the purpose flag is set to "OFF" (S1416: NO), the drive control means 40 determines that the muscle flag is set to "ON". Then, the process proceeds to step S1420. In step S1420, the drive control means 40 determines whether or not the force applied by the user to each of the fixed handles 20FR and 20FL is in the forward direction based on the information from the fixed handle acting force detection means 81c.

Then, when it is determined that the user's acting force on each of the fixed handles 20FR and 20FL is in the forward direction based on the information from the fixed handle acting force detection means 81c (S1420: YES), the drive control means 40 goes to step S1421. At step S1421, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1415. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the muscle load pattern stored in the RAM (not shown) in step S1024, and the target forward speed (VfdR, VfdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

On the other hand, if it is determined that the force applied by the user to each of the fixed handles 20FR and 20FL is not in the forward direction, that is, in the rearward direction (S1420: NO ), the drive control means 40 proceeds to step S1422. At step S1422, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1415. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the muscle load pattern stored in the RAM (not shown) in step S1024, and the target reverse speed (VbdR, VbdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

Therefore, when the user selects a muscle to be trained in steps S1022 and S1023, the drive control means 40 recovers regenerative power based on the muscle load pattern corresponding to the selected muscle to be trained. While operating the means 65 (see FIG. 20), the walking support device 85 is advanced with a load corresponding to the time rate of the current walking state.

As a result, in order to advance the walking support device 85, the user grasps the fixed handles 20FR and 20FL and pushes or pulls the walking support device 85 according to the load corresponding to the muscles to be trained. It is necessary to walk on the ground. As a result, the user can select leg muscles to be trained such as "vast medialis and vastus lateralis" to apply a load to the leg muscles to be trained at optimum timing. You can train your muscles effectively.

● [Processing 2 in training mode 3 (step S1500)]
Next, the sub-processing of "process 2 in training mode 3" executed by drive control means 40 in step S1500 will be described with reference to FIG. Note that the regenerative power recovery means 65 is operated and does not generate an assist force to the walking support device 85 according to the user's acting force.

As shown in FIG. 27, in step S1511, the drive control means 40 executes the process of step S610, and proceeds to step S1512. Specifically, the drive control means 40 drives the handle movement restricting means 35R, 35L to restrict (lock) the movement of the movable handles 20R, 20L relative to the rails 30R, 30L, that is, relative to the frame 50. ) to fix it at a predetermined position, and the process advances to step S1512.

In step S1512, the drive control means 40 reads a normal flag indicating selection of normal training from a RAM (not shown), and determines whether or not the normal flag is set to "ON". Then, when it is determined that the normal flag is set to "ON" (S1512: YES), the drive control means 40 proceeds to step S1513. In steps S1513 to S1515, after executing the processes of steps S620 to S640 (see FIG. 11), the drive control means 40 terminates the sub-processes and returns to the overall process (see FIG. 24).

Therefore, when the user selects "normal training" in step S210, the drive control means 40 activates the regenerative power recovery means 65 (see FIG. 20) in training mode 3 (TR3) (see FIG. 8). The walking support device 85 is advanced with a constant load while being operated. As a result, the user walks by pushing or pulling the walking support device 85 with a stronger force in order to advance the walking support device 85 compared to assist mode 2 (AM2) (see FIG. 8). There is a need to. Thereby, a load can be applied to the movement (walking) of the user's body that accompanies the user's walking.

On the other hand, if it is determined in step S1512 that the normal flag is set to "OFF" (S1512: NO), the drive control means 40 proceeds to step S1516. In step S1516, the drive control means 40 (walking state determination unit 86 (see FIG. 20)) processes the image processing result of the walking image of the user input from the camera 55 (see FIG. 20) and Based on the depth information up to the leg, the time rate of the walking state in one walking cycle of one leg, for example, the right leg when the user walks while holding the movable handles 20R and 20L (see FIG. 21). is stored in a RAM (not shown) as the time rate of the current walking state, and then the process proceeds to step S1517.

The driving control means 40 (walking state determination unit 86 (see FIG. 20)) controls the longitudinal and lateral directions of the waist of the user 95 during walking, which are input by radio or the like from the three-axis acceleration sensor 96 (see FIG. 20). , and each acceleration in the vertical direction, when the user walks holding the movable handles 20R and 20L, the time rate of the walking state in one walking cycle of one leg, for example, the right leg (FIG. 21 ) is determined and stored in a RAM (not shown), and then the process may proceed to step S1517.

In step S1517, the drive control unit 40 reads a purpose-specific flag indicating selection of purpose-specific training from a RAM (not shown), and determines whether or not the purpose-specific flag is set to "ON". Then, when it is determined that the purpose flag is set to "ON" (S1517: YES), the drive control means 40 proceeds to step S1518. In step S1518, the drive control means 40 determines whether or not the force applied by the user to each of the movable handles 20R and 20L is forward based on the information from the movable handle acting force detection means 81a.

Then, when it is determined that the user's acting force on each of the movable handles 20R and 20L is forward based on the information from the movable handle acting force detection means 81a (S1518: YES), the drive control means 40 goes to step S1519. At step S1519, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1516. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the target load pattern stored in the RAM (not shown) in step S1020, and the target forward speed (VfdR, VfdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

On the other hand, if it is determined that the user's acting force on each of the movable handles 20R and 20L is not in the forward direction, that is, in the rearward direction, based on the information from the movable handle acting force detection means 81a (S1518: NO ), the drive control means 40 proceeds to step S1520. At step S1520, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1516. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the target load pattern stored in the RAM (not shown) in step S1020, and the target reverse speed (VbdR, VbdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

Therefore, when the user selects a training purpose in steps S1018 and S1019, the drive control means 40 controls the regenerative power recovery means 65 ( 20), the walking support device 85 is advanced with a load corresponding to the time rate of the current walking state.

As a result, in order to advance the walking support device 85, the user grasps the fixed movable handles 20R and 20L and pushes the walking support device 85 according to the load according to the training purpose, or It is necessary to pull and walk. Accordingly, by selecting a training purpose such as "prevention of stumbling", the user can apply a load to the leg muscles corresponding to the desired training purpose at the optimum timing, thereby enabling the leg muscles corresponding to the training purpose. muscles can be effectively trained.

On the other hand, if it is determined in step S1517 that the purpose flag is set to "OFF" (S1517: NO), the drive control means 40 determines that the muscle flag is set to "ON". Then, the process proceeds to step S1521. In step S1521, the drive control means 40 determines whether or not the force applied by the user to each of the movable handles 20R and 20L is forward based on the information from the movable handle acting force detection means 81a.

Then, when it is determined that the user's acting force on each of the movable handles 20R and 20L is forward based on the information from the movable handle acting force detection means 81a (S1521: YES), the drive control means 40 goes to step S1522. At step S1522, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1516. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the muscle load pattern stored in the RAM (not shown) in step S1024, and the target forward speed (VfdR, VfdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

On the other hand, if it is determined that the force applied by the user to each of the movable handles 20R and 20L is not in the forward direction, that is, in the rearward direction (S1521: NO ), the drive control means 40 proceeds to step S1523. At step S1523, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1516. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the muscle load pattern stored in the RAM (not shown) in step S1024, and the target reverse speed (VbdR, VbdL) corresponding to the load. ) is calculated and stored in a RAM (not shown), the sub-process is terminated, and the process returns to the overall process (see FIG. 24).

Therefore, when the user selects a muscle to be trained in steps S1022 and S1023, the drive control means 40 recovers regenerative power based on the muscle load pattern corresponding to the selected muscle to be trained. While operating the means 65 (see FIG. 20), the walking support device 85 is advanced with a load corresponding to the time rate of the current walking state.

As a result, in order to advance the walking support device 85, the user holds the fixed movable handles 20R and 20L and presses the walking support device 85 in accordance with the load corresponding to the muscles to be trained. It is necessary to walk by pushing or pulling. As a result, the user can select leg muscles to be trained such as "vast medialis and vastus lateralis" to apply a load to the leg muscles to be trained at optimum timing. You can train your muscles effectively.

● [Process 2 in training mode 1 (step S1600)]
Next, the sub-processing of "process 2 in training mode 1" executed by drive control means 40 in step S1600 will be described with reference to FIG. Note that the regenerative power recovery means 65 is operated and does not generate an assisting force with respect to the force applied by the user. As shown in FIG. 28, in step S1611, the drive control means 40 executes the process of step S705, and proceeds to step S1612. Specifically, the drive control means 40 acquires the traveling speed (VdR, VdL) of the walking support device 85 from the storage means 44, stores them in a RAM (not shown), and then proceeds to step S1612.

In step S1612, drive control means 40 reads a normal flag indicating selection of normal training from a RAM (not shown), and determines whether or not the normal flag is set to "ON". Then, when it is determined that the normal flag is set to "ON" (S1612: YES), the drive control means 40 proceeds to step S1613. In step S1613, the drive control unit 40 executes the process of step S710, and then proceeds to step S1618, which will be described later. Specifically, the drive control means 40 controls each motor 32R so as to apply a load amount derived by the load amount/assist amount changing means 74 (see FIG. 20) to the movement of each of the movable handles 20R and 20L. , 32L, and proceeds to step S1618, which will be described later.

Therefore, when the user selects "normal training" in step S210, the drive control means 40 activates the regenerative power recovery means 65 (see FIG. 20) in training mode 1 (TR1) (see FIG. 8). Along with the operation, the motors 32R and 32L apply a constant load to the movement of the movable handles 20R and 20L in the front-rear direction to move the walking support device 85 forward.

As a result, compared to training mode 2 (TR2) (see FIG. 8), the user needs to move each movable handle 20R, 20L back and forth with stronger force in order to advance the walking support device 85. be. Thereby, a load can be applied to the motion of the user's body (arm-swinging walking) that accompanies the user's walking. In addition, it is possible to simulate the state of walking with poles such as Nordic walking, and by synchronizing with the legs and swinging the arms correctly, it is possible to train the muscles of the legs through higher-quality natural walking. can be done.

On the other hand, if it is determined in step S1612 that the normal flag is set to "OFF" (S1612: NO), the drive control means 40 proceeds to step S1614. In step S1614, the drive control means 40 (walking state determination section 86 (see FIG. 20)) determines the movement positions of the movable handles 20R and 20L with respect to the rails 30R and 30L input from the movable handle movement amount detection means 81b. , the amount of movement, and the speed of movement, the time rate of the walking state in one walking cycle of one leg (for example, the right leg) when the user walks by holding the movable handles 20R and 20L and swinging his/her arms (Fig. 21) is determined and stored in a RAM (not shown) as the time rate of the current walking state, and then the flow advances to step S1615.

In step S1615, the drive control unit 40 reads a purpose-specific flag indicating selection of purpose-specific training from a RAM (not shown), and determines whether or not the purpose-specific flag is set to "ON". Then, when it is determined that the purpose flag is set to "ON" (S1615: YES), the drive control means 40 proceeds to step S1616.

At step S1616, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1614. Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the target load pattern stored in the RAM (not shown) in step S1020. Subsequently, the drive control means 40, while operating the regenerative power recovery means 65 (see FIG. 20), applies a load corresponding to the time rate of the current walking state to the movement of each of the movable handles 20R and 20L. The motors 32R and 32L are controlled so as to do so, and the process proceeds to step S1618, which will be described later.

Therefore, when the user selects a training purpose in steps S1018 and S1019, the drive control means 40 controls the regenerative power recovery means 65 ( 20), the motors 32R and 32L apply a load corresponding to the time rate of the current walking state to the movement of the movable handles 20R and 20L in the front-rear direction. Advance 85.

As a result, in order to advance the walking support device 85, the user walks by moving the movable handles 20R and 20L back and forth according to the load according to the purpose of training, and moves the walking support device 85 forward. need to press. Accordingly, by selecting a training purpose such as "prevention of stumbling", the user can apply a load to the leg muscles corresponding to the desired training purpose at the optimum timing, thereby enabling the leg muscles corresponding to the training purpose. muscles can be effectively trained. In addition, it is possible to simulate the state of walking with poles such as Nordic walking, and by synchronizing with the legs and swinging the arms correctly, a higher quality and natural walking will help the leg muscles to respond to the training purpose. can be trained effectively.

On the other hand, if it is determined in step S1615 that the purpose flag is set to "OFF" (S1615: NO), the drive control means 40 determines that the muscle flag is set to "ON". Then, the process proceeds to step S11617. At step S11617, the drive control means 40 reads out the time rate of the current walking state stored in the RAM (not shown) at step S1614.

Then, the drive control means 40 reads the load corresponding to the time rate of the current walking state from the muscle load pattern stored in the RAM (not shown) in step S1024. Subsequently, the drive control means 40, while operating the regenerative power recovery means 65 (see FIG. 20), applies a load corresponding to the time rate of the current walking state to the movement of each of the movable handles 20R and 20L. The motors 32R and 32L are controlled so as to do so, and the process proceeds to step S1618, which will be described later.

Therefore, when the user selects a muscle to be trained in steps S1022 and S1023, the drive control means 40 recovers regenerative power based on the muscle load pattern corresponding to the selected muscle to be trained. While operating the means 65 (see FIG. 20), each motor 32R, 32L applies a load corresponding to the time rate of the current walking state to the forward and backward movement of each movable handle 20R, 20L, The walking support device 85 is advanced.

As a result, in order to advance the walking support device 85, the user walks by moving the movable handles 20R and 20L back and forth according to the load corresponding to the muscles to be trained, and using the walking support device 85. You have to push forward. As a result, the user can select leg muscles to be trained such as "vast medialis and vastus lateralis" to apply a load to the leg muscles to be trained at optimum timing. You can train your muscles effectively. In addition, it is possible to simulate the state of walking with poles such as Nordic walking, and by synchronizing with the legs and swinging the arms correctly, a higher quality and natural walking can effectively train the leg muscles. You can train to train.

Subsequently, as shown in FIG. 28, in steps S1618 to S1622, the drive control means 40 executes the processes of steps S715 to S735 (see FIG. 13). Then, in step S1623, the drive control means 40 executes the process of step S1200 (see FIG. 15). Thereafter, in steps S1624 to S1628, the drive control means 40 executes the processes of steps S740 to S760 (see FIG. 13).

Then, in step S1629, the drive control means 40 executes the process of step S1300 (see FIG. 15). Subsequently, in steps S1630 to S1634, after executing the processes of steps S765 to S785 (see FIG. 13), the drive control means 40 terminates the sub-processes and returns to the overall process (see FIG. 24). .

● [Effect of the present invention]
As described above, when the operation mode of the walking support device is switched to the training mode, when the user grips the grip portion to move the walking support device forward or backward, the walking support device moves along with walking. A load can be applied to the motion of the user's body (walking, arm swing). In addition, when switching to the assist mode, when the user grips the grip and moves the walking support device forward or backward, the walking support device responds to the user's body motion (walking) accompanying walking. load can be reduced. As a result, it is possible to support the walking of the user and to suppress the attenuation of the user's physical strength (physical strength maintenance) by applying an appropriate load.

The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the first embodiment and the second embodiment, and may be modified in various ways without changing the gist of the present invention. Addition and deletion are possible.

(A) In the first embodiment and the second embodiment, the examples in which the walking support devices 10 and 85 are four-wheeled vehicles and two driving wheels are provided are described. Two wheels on either side may be used as drive wheels, and the remaining one wheel may be used as a caster wheel. The present invention can also be applied to walkers that assist independent walking, silver cars that assist elderly people in walking and can carry luggage, and pushcarts.

(B) In the description of the first embodiment and the second embodiment, the evaluation speed was calculated using integration, but it may be obtained by other methods.

(C) In the walking support device 85 according to the second embodiment, the drive control means 40 detects the inclination angle of the inclined surface on which the walking support device 85 is traveling by means of the 3-axis acceleration/angular velocity sensor 52 . Then, when the walking support device 85 is traveling on an inclined surface, the drive control means 40 in each of the training modes 1, 3 and 4 tilts the load by the regenerative power recovery means 65 and the motors 32R and 32L. You may make it adjust according to the inclination-angle of a surface.

For example, when the walking support device 85 is traveling on an upsloping surface, the drive control means 40 reduces the load from the regenerative power recovery means 65 and the motors 32R and 32L in training modes 1, 3 and 4. Depending on the angle of inclination, the load may be reduced more than the load corresponding to the time rate of the current walking state.

Further, when the walking support device 85 is traveling on a downward slope, the drive control means 40 reduces the load of the regenerative power recovery means 65 and the motors 32R and 32L in each training mode 1, 3 and 4. Depending on the inclination angle, the load may be increased more than the load corresponding to the time rate of the current walking state. As a result, the walking support device 85 can keep the load in each training mode 1, 3, and 4 constant even on the inclined surface, and can effectively train the leg muscles that the user wants to train.

(D) In the walking support device 85 according to the second embodiment, the drive control means 40 reads the walking distance, walking time, or elapsed time in each of training modes 1, 3, and 4 from the operation history information 58. . Then, the drive control means 40 may adjust the loads of the regenerative power recovery means 65 and the motors 32R and 32L according to the walking distance, walking time, or elapsed time.

For example, when the walking time in each training mode 1, 3, 4 exceeds a predetermined time (for example, about 15 minutes), the load of the regenerative power recovery means 65 and the motors 32R, 32L is reduced from about 50% to about 50%. It may be reduced to 30%. As a result, the drive control means 40 can change the magnitude of the load according to the elapsed time in each of the training modes 1, 3, and 4, enabling effective training according to fatigue of the leg muscles. can.

(E) In the walking support device 85 according to the second embodiment, the drive control means 40 uses the forward traveling speed detected by the traveling speed acquiring means 56R and the traveling speed acquiring means 56L as the user's walking speed (not shown). may be stored in the RAM. In each training mode 1, 3 and 4, the drive control means 40 may change the loads of the regenerative power recovery means 65 and the motors 32R and 32L according to the walking speed of the user.

For example, in training modes 1, 3, and 4, when the walking speed of the user is fast, that is, when the traveling speed of the walking support device 85 is a predetermined speed or more, for example, 3 km to 4 km/h or more, regenerative power recovery The load applied by the means 65 and the motors 32R and 32L may be increased by about 30% to 50% from the load corresponding to the time rate of the current walking state. Further, for example, in each of training modes 1, 3, and 4, when the walking speed of the user is slow, that is, when the advancing speed of the walking support device 85 is less than a predetermined speed, for example, less than 1 km/h, regenerative power recovery The load applied by the means 65 and the motors 32R and 32L may be reduced by about 30% to 50% from the load corresponding to the time rate of the current walking state.

As a result, the drive control means 40 changes the load so as to decrease when the walking speed of the user is slow in each of the training modes 1, 3 and 4, and increases the load when the walking speed of the user is fast. It is possible to change it so that it becomes possible to train the muscles of the legs that you want to train more effectively.

(F) Further, for example, the walking support device 85 according to the second embodiment stores the walking cycle/muscle activity correlation information 103 shown in FIG. It may be stored in (muscle activity correlation information storage means) 44 .

Then, in step S1024, the drive control means 40 reads out the selected training target muscle from the RAM again. Subsequently, the drive control means 40 sets the muscle load pattern for the purpose of exercising the training target muscle to the "intensity of muscle activity" of the training target muscle stored in the gait cycle/muscle activity correlation information 103. and stored in a RAM (not shown) as a muscle load pattern to be executed, the sub-processing of the training type selection processing may be ended.

Here, the walking cycle/muscle activity correlation information 103 will be described with reference to FIG. As shown in FIG. 32, the gait cycle/muscle activity correlation information 103 includes multiple types of muscles representing the "intensity of muscle activity" with respect to the time rate of the walking state in one gait cycle of each muscle set for each of a plurality of types of leg muscles. muscle activity patterns 103A, 103B, . . .

For example, the muscle activity pattern 103A is the "strength of muscle activity" with respect to the time rate of the walking state of the "tibialis anterior" in one walking cycle. Specifically, the muscle activity pattern 103A is a time rate in which one gait cycle is set to "100%", and the time rate of the walking state in one gait cycle is about 50% to about 58%, which is the stance phase. After a sudden increase in the strength of muscle activity, the strength of muscle activity decreases sharply from about 58% in the stance phase to about 63% in the swing phase.

The muscle activity pattern 103B is the "intensity of muscle activity" with respect to the time rate of the walking state of the "soleus muscle" in one walking cycle. Specifically, the muscle activity pattern 103B is a time rate with one walking cycle as "100%", and the time rate of the walking state in one walking cycle is about 20% to about 51%, which is the swing phase. After an increase in activity intensity, there is a sharp decrease in muscle activity intensity during the swing phase, about 51% to about 53%.

Next, an example of creating a muscle load pattern for the purpose of training the target muscle for training based on the "intensity of muscle activity" of the target muscle for training stored in the gait cycle/muscle activity correlation information 103. Description will be made based on FIGS. 23 and 32. FIG.

For example, when creating the muscle load pattern 102D of the "tibialis anterior" muscle load pattern 102D shown in FIG. It is defined as the time rate of the walking state in one walking cycle of the leg. Then, the drive control means 40 sets a load pattern for the right leg in which the load sharply increases at the time rate of about 50% to about 58% and then decreases sharply at the time rate of about 58% to about 63%. (see muscle load pattern 102D in FIG. 23).

Subsequently, the drive control means 40 delays the load pattern for the right leg by half a cycle, and after the load increases sharply at the time rate of about 0% to about 8%, the load pattern increases from about 8% to about 13%. A load pattern for the left leg, in which the load drops sharply at 10%, may be created and stored in a RAM (not shown) as the muscle load pattern 102D of the "tibialis anterior muscle". That is, the drive control means 40 superimposes the load pattern for the right leg and the load pattern for the left leg to create the muscle load pattern 102D of the "tibialis anterior muscle" and stores it in a RAM (not shown). may

As a result, the user selects leg muscles on the muscle-specific training selection screen 88C in steps S1022 and S1023, thereby automatically creating a muscle load pattern executed by the drive control means 40. The muscles of the selected left leg and right leg can be effectively trained.

The walking support device 85 according to the second embodiment may include a communication device (not shown) capable of communicating with an external server (not shown) or the like via the Internet or the like. Alternatively, an external server (not shown) may be configured to store the walking cycle/muscle activity correlation information 103 shown in FIG.

Then, in step S1024, the drive control means 40 reads out the selected training target muscle from the RAM again. Subsequently, the drive control means 40 acquires the data of the "intensity of muscle activity" of the gait cycle/muscle activity correlation information 103 corresponding to the muscles to be trained from an external server or the like via a communication device (not shown). It may be configured to After that, the drive control means 40 creates a muscle load pattern for the purpose of training the muscles to be trained based on the "intensity of muscle activity" of the muscles to be trained obtained from an external server or the like, After the muscle load pattern to be executed is stored in a RAM (not shown), the sub-processing of the training type selection processing may be terminated.

An external server or the like (not shown) stores, for multiple types of muscles of the left leg and the right leg, the time rate of the walking state of each muscle in one walking cycle, and the muscle activity corresponding to the time rate of the walking state in one walking cycle. Machine learning (supervised learning) may be performed from a large amount of data consisting of combinations of strengths of Then, an external server or the like learns the characteristics in the combination of these large amounts of data, and the muscle activity rate for each walking state time rate in one walking cycle that constitutes the walking cycle/muscle activity correlation information 103 shown in FIG. Muscle activity patterns 103A, 103B, etc. may be generated.

(G) Further, for example, in the walking support device 85 according to the second embodiment, "0%" to "100%" is used as an index indicating which phase in one walking cycle the leg walking state corresponds to. Although the time rate is used as a numerical index, character data (symbol data) such as "stance phase" and "swing phase" shown in FIG. 21 may be used as indices. For example, the time rate of the walking state in one walking cycle may be determined by assuming that the walking state of the leg is in the "early stance phase" in one walking cycle.

Also, matching of non-numerical/non-symbolic data such as images may be used as an index indicating which phase in one walking cycle the walking state of the leg corresponds to. As the matching of non-numerical and non-symbolic data, for example, image data of the walking state of the leg at each phase in one walking cycle as shown in FIG. The walking image of the user thus obtained may be collated, and the time rate of the walking state in one walking cycle may be determined according to which image data in one walking cycle is most similar. Further, the feature amount extracted or converted from the image (for example, the outline of the leg, etc.) may be used instead of the image data of the walking state. Non-numerical and non-symbolic data other than images may be used as long as it is possible to identify which phase in one walking cycle the walking state corresponds to.

(H) Further, for example, in the walking support device 85 according to the second embodiment, as shown in FIG. Although one walking cycle is used, other walking states may be used as the starting point and the ending point. The drive control means 40 defines one walking cycle of the left leg as one walking cycle of the left leg, not limited to one walking cycle of the right leg. You may make it determine the time rate of the walking state in.

10, 85 walking support device 20R, 20L movable handle 20FR, 20FL fixed handle 21a handle shaft portion 21b shaft portion insertion hole 22 slider 22A handle holding portion 22B anchor portion 24 biasing means 25R, 25L grip detection means 25FR, 25FL grip detection means 26a grip portion 26Fa grip portion 26b switch grip portion 26Fb switch grip portion 27a, 27b heart rate body temperature sensor 28 grip biasing means 30R, 30L rail (handle guide means)
32R, 32L motor (assist means or load means)
33R Right handle inclination detection means 33L Left handle inclination detection means 34R Right handle position detection means 34L Left handle position detection means 35R, 35L Handle movement restriction means 36 Signal cable 38 Rail slit portion 40 Drive control means 44 Storage means 44A Purpose-specific load pattern storage unit 44B Muscle-specific load pattern storage unit 50 Frame 52 3-axis acceleration/angular velocity sensor 54 Outside temperature sensor 55 Camera 56R Advance speed acquisition means 56L Advance speed acquisition means 58 Operation history information 60FR, 60FL Front wheels 60RR, 60RL Rear wheel 62 Belts 64R, 64L Driving means 65 Regenerative power recovery means 70 Control panel 72 Main switch 74 Load amount/assistance amount changing means 74a Assist amount adjustment volume 74b Load amount adjustment volume 74c Learning means 76 Operation mode switching means 76a Mode manual switching Means 76b Mode automatic switching means switch 76AT Mode automatic switching means 77 Touch panel 78 Monitor 80 State detection means 81 Grip state detection means 81a Movable handle force detection means 81b Movable handle movement amount detection means 81c Fixed handle force detection means 82 Physical state detection means 82a Physical information history 83 Vehicle state detection means 84 Atmosphere state detection means 86 Walking state determination unit 87 Training type determination unit 96 Triaxial acceleration sensor 101A to 101C Target load pattern 102A to 102E Muscle load pattern 103A, 103B Muscle Activity pattern B Battery BKL Brake lever JK Handle support shaft PF, PB Pulley W Wire WA Wire connection part WH Wire hole JDM Judgment mode AM1 Assist mode 1
TR4 training mode 4
AM2 assist mode 2
TR1 training mode 1
TR2 training mode 2
TR3 training mode 3
C1 condition C2 condition C3 condition C4 condition C5 condition C6 condition CR1 condition CR2 condition CR3 condition CR4 condition CR5 condition CR6 condition FXHM Fixed hand grip mode FRHM Movable hand grip mode NHM1 Non-swinging walking mode NHM2 Non-swinging walking mode YHM Arm Swing walking mode

Claims (27)

a frame;
an arm portion provided on the frame and having a grip portion that can be gripped by a user;
a plurality of wheels including at least one driving wheel provided at the lower end of the frame;
a driving means for driving the driving wheels to move the walking support device forward or backward;
a battery that serves as a power source for the driving means;
drive control means for controlling the drive means;
A walking support device that moves forward or backward together with a user walking while holding the grip,
An operation mode that can be switched between a training mode that applies a load to the user's body movement accompanying walking and an assist mode that reduces the load of the user's body movement accompanying walking. has a switching means ,
The arm portions are a pair of right and left handle guide means provided on the frame so as to extend along the front-rear direction of the frame, and the arm portions are provided on each of the handle guide means and extend along the handle guide means. and each movable handle that is each of the gripping portions that is movable in the front-rear direction,
When the user who enters between the pair of left and right handle guide means grasps the movable handle and walks by swinging his or her arms, the forward and backward direction of each of the movable handles with respect to each of the handle guide means. Movable handle movement amount detection means having handle position detection means for detecting the position and swing width of the user's arm based on the position and movement width of the
The drive control means controls the drive means according to the arm position and the arm swing width.
Walking support device. The walking support device according to claim 1,
state detection means for detecting at least one of the state of the grip portion, the state of the walking support device, the physical state of the user, and the state of the atmosphere around the user;
In the case of the training mode, the size of the load is changed based on the detection signal from the state detection means, and in the case of the assist mode, the size of the assist force is changed based on the detection signal from the state detection means. and has load amount/assist amount changing means,
Walking support device. The walking support device according to claim 2,
In the case of the assist mode, the load amount/assist amount changing means
Assist force that makes the movement of the user's body as the user walks in a no-load state,
Alternatively, an assist force that is greater than the assist force at which the motion of the user's body as the user walks is in a no-load state by a predetermined amount;
ask for
Walking support device. The walking support device according to claim 2 or 3,
The state detection means is
gripping portion state detection means for detecting the state of the gripping portion;
vehicle body state detection means for detecting a state of the walking support device including an operation history of the walking support device;
physical condition detecting means for detecting physical conditions including a user's physical information history;
atmospheric state detection means for detecting the atmospheric state around the user;
at least one detection means for
The load amount/assist amount changing means includes:
In the case of the training mode, the magnitude of the load is changed based on the detection signal from the at least one detection means, and in the case of the assist mode, the load is changed based on the detection signal from the at least one detection means. change the size of the assist force,
Walking support device. The walking support device according to claim 4,
The grip portion state detection means includes:
The movable handle for detecting the arm swing speed, the arm position and the arm swing width, or the arm position and the arm swing width when the user holds the movable handle and swings the arm while walking. hand movement amount detection means;
a movable handle acting force detecting means for detecting a movable handle acting force, which is a force pushing the movable handle forward and a force pulling the movable handle held by the user backward;
and
The state of the gripping portion is
The arm position and the arm swing width, or the arm position, the arm swing width, and the arm swing speed, or the arm position, the arm swing width, and the force acting on the movable handle, or the arm position A state obtained based on the arm swing width, the arm swing speed, and the movable handle acting force ,
Walking support device. The walking support device according to claim 5,
a pair of movable handle drive means for moving each of the pair of movable handles in the front-rear direction along the handle guide means;
The load amount/assist amount changing means includes:
In the case of the training mode, driving a pair of the movable handle driving means and the driving means to change the magnitude of the load;
Walking support device. The walking support device according to any one of claims 4 to 6 ,
The grip part has a pair of left and right fixed handles fixed to the frame,
The grip portion state detection means includes:
A fixed handle acting force detection means for detecting a fixed handle acting force, which is a force pushing the fixed handle held by the user forward and a force pulling the fixed handle rearward,
The state of the gripping portion is
including a determined state based on said fixed handle force;
Walking support device. The walking support device according to any one of claims 4 to 7 ,
The load amount/assist amount changing means includes:
Atmospheric conditions around the user detected by the atmospheric condition detecting means;
an operation history of the walking support device detected by the vehicle body state detection means;
the user's physical condition and physical information history detected by the physical condition detecting means;
based on at least one of
Learning means for adjusting the magnitude of the load in the case of the training mode and adjusting the magnitude of the assist force in the case of the assist mode,
Walking support device. The walking support device according to claim 2,
The state detection means is
motion state detection means for detecting the motion state of the user's arms or legs;
walking state determination means for determining a time rate of the walking state in one walking cycle, which is index information representing a phase of one walking cycle, based on the motion state of the arm or leg detected by the motion state detecting means;
has
The load amount/assist amount changing means includes:
In the case of the training mode, the magnitude of the load is changed according to the time rate of the walking state in the one walking cycle determined by the walking state determining means.
Walking support device. The walking support device according to claim 9 ,
The walking state determination means determines the time rate of the walking state of one leg in the one walking cycle based on the motion state of the arm or leg detected by the motion state detection means.
Walking support device. The walking support device according to claim 9 or 10 ,
The operating state detection means is
The movable handle for detecting the arm swing speed, the arm position and the arm swing width, or the arm position and the arm swing width when the user holds the movable handle and swings the arm while walking. Having hand movement amount detection means,
When the arm position and the arm swing width or the arm position, the arm swing width and the arm swing speed are detected by the movable handle movement amount detecting means, the walking state determining means determines the Based on the arm position and the arm swing width or the arm position, the arm swing width and the arm swing speed detected by the movable handle movement amount detection means, the walking state time in the one walking cycle is calculated. determine the rate,
Walking support device. The walking support device according to claim 11 ,
a pair of movable handle drive means for moving each of the pair of movable handles in the front-rear direction along the handle guide means;
The load amount/assist amount changing means includes:
In the case of the training mode, driving a pair of the movable handle driving means and the driving means to change the magnitude of the load;
Walking support device. The walking support device according to any one of claims 9 to 12 ,
The operating state detection means has imaging means provided in the frame for imaging the legs of the user, or an acceleration sensor carried by the user,
The walking state determination means determines the time rate of the walking state in the one walking cycle based on the state of the leg imaged by the imaging means or the acceleration measured by the acceleration sensor.
Walking support device. The walking support device according to claim 13 ,
The grip part has a pair of left and right fixed handles fixed to the frame,
The state detection means is
A fixed handle acting force detection means for detecting a fixed handle acting force, which is a force pushing the fixed handle held by the user forward and a force pulling it backward,
When the fixed handle acting force is detected by the fixed handle acting force detecting means, the walking state determining means determines the state of the leg imaged by the imaging means or the state of the leg measured by the acceleration sensor. Determining the time rate of the walking state in the one walking cycle based on the acceleration;
Walking support device. The walking support device according to any one of claims 2 to 14 ,
The training mode includes a plurality of training types that apply the load according to a preset load pattern,
The load amount/assist amount changing means includes:
having a selection receiving means for receiving selection of one training type from the plurality of training types;
in the case of the training mode, changing the magnitude of the load according to the load pattern corresponding to one of the training types received by the selection receiving means;
Walking support device. The walking support device according to claim 15 ,
load pattern storage means for storing a plurality of load patterns set for a plurality of purposes of improving walking conditions;
The plurality of training types include a plurality of training types set for each of the plurality of types of purposes,
Walking support device. The walking support device according to any one of claims 9 to 14 ,
The training mode includes a plurality of training types in which the load is applied according to a load pattern set corresponding to the one walking cycle for each of a plurality of types of leg muscles,
The load amount/assist amount changing means includes:
having a selection receiving means for receiving selection of one training type from the plurality of training types;
In the case of the training mode, according to the load pattern corresponding to the one training type received by the selection receiving means, the time rate of the walking state in the one walking cycle determined by the walking state determining means change the size of the load,
Walking support device. The walking support device according to claim 17 ,
a load pattern storage means for each muscle that stores a plurality of load patterns set corresponding to the one walking cycle for each of a plurality of types of leg muscles;
The load pattern is composed of a load applied to one muscle or a plurality of muscles with respect to the time rate of the walking state in the one walking cycle.
Walking support device. The walking support device according to claim 17 ,
muscle activity correlation information storage means for storing gait cycle/muscle activity correlation information indicating the correlation between the rate of walking state in one gait cycle and the strength of muscle activity for each of a plurality of types of leg muscles;
load pattern creating means for creating the load pattern of the leg muscles corresponding to the one training type received by the selection receiving means based on the gait cycle/muscle activity correlation information;
has
The load pattern is composed of a load applied to one muscle or a plurality of muscles with respect to the time rate of the walking state in the one walking cycle.
Walking support device. The walking support device according to any one of claims 9 to 14 or claims 17 to 19 ,
The load amount/assist amount changing means includes:
In the case of the training mode, the first load corresponding to the time rate of the walking state in one gait cycle is the time rate in which only one foot is on the ground with one leg supported, and the time rate in the walking state in the one gait cycle is the time rate in which both feet are on the ground. set to be larger than the second load corresponding to the time rate of both foot support,
Walking support device. The walking support device according to any one of claims 2 to 20 ,
a tilt sensor provided on the frame for detecting a tilt of the frame;
The load amount/assist amount changing means includes:
in the case of the training mode, adjusting the magnitude of the load according to the tilt of the frame detected by the tilt sensor;
Walking support device. The walking support device according to any one of claims 2 to 21 ,
The load amount/assist amount changing means includes:
Having training time measuring means for measuring the elapsed time set in the training mode,
In the case of the training mode, changing the magnitude of the load according to the elapsed time measured by the training time measuring means;
Walking support device. The walking support device according to any one of claims 2 to 22 ,
The load amount/assist amount changing means includes:
Having walking speed detection means for detecting the walking speed of the user,
In the case of the training mode, changing the magnitude of the load according to the walking speed of the user detected by the walking speed detecting means;
Walking support device. The walking support device according to any one of claims 2 to 23 ,
The operation mode switching means is
Mode manual switching means for switching between the training mode and the assist mode by a user's manual operation;
The training is performed based on at least one of the state of the grip portion, the state of the walking support device, the physical state of the user, and the state of the atmosphere around the user detected by the state detection means. automatic mode switching means for automatically switching between the mode and the assist mode;
have,
Walking support device. The walking support device according to any one of claims 1 to 7 and claims 9 to 24 ,
display means for displaying at least operation mode information indicating which of the training mode and the assist mode is selected by the operation mode switching means;
Walking support device. The walking support device according to claim 8 ,
operation mode information indicating which of the training mode and the assist mode is selected by the operation mode switching means;
information about the physical condition of the user;
Information on the physical information history of the user;
information about the atmospheric conditions surrounding the user;
display means for displaying at least one of information about the operation history of the walking support device;
Walking support device. The walking support device according to any one of claims 1 to 26 ,
regenerative power recovery means for recovering, in the battery, regenerative power generated by applying the load to the movement of the user's body as the user walks in the training mode;
Walking support device.

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