JP7531911B2 - Walking assistance device and walking assistance system - Google Patents

Description

This invention relates to a walking assistance device and a walking assistance system.

In recent years, technology to assist in improving walking has been attracting attention for the purpose of rehabilitation and improving physical functions. For example, a gait training machine disclosed in Patent Document 1 and an immersive walking sensation presentation device disclosed in Patent Document 2 have been proposed.

The gait training machine disclosed in Patent Document 1 includes a base, a drive module, a sensor module, a controller, and a signal processing module. The drive module includes a drive circuit, a drive motor, and two movable platforms. The sensor module includes a left pedal, a right pedal, a plurality of pressure sensors, and a position sensor. The controller is electrically connected to the drive circuit, the plurality of pressure sensors, and the position sensor. The signal processing module is disposed in the controller and includes a gait detection unit and a gait judgment unit. The gait judgment unit stores center of gravity calculation logic and gait judgment logic. With the above-mentioned technical features, the gait training machine can determine whether the weight placed on the left and right pedals and the center of gravity positions of the left and right pedals are accurate, thereby allowing the user to grasp and adjust conditions such as ankle joint movement and body center of gravity during gait training, and to learn healthy walking and posture.

The immersive walking sensation presentation device disclosed in Patent Document 2 combines an immersive display device with a walking sensation presentation device, and the immersive display device is equipped with a screen that covers the user's field of view at 270 degrees horizontally and 60 degrees vertically, and a projection device. The walking sensation presentation device presents the foot movement trajectory of the user's feet, and is equipped with a foot rest with foot pads on which the soles of the feet are placed, and this foot rest is movable in the front-back and up-down directions to move along the foot walking movement trajectory, and is equipped with a force sensor that detects the force applied to the soles of the feet due to body weight, etc., and this force sensor detects the user's walking state and can control the foot walking movement trajectory based on this detection.

Patent No. 6771075 JP 2008-220580 A

Here, assistive devices used to improve walking are desired to have a function that allows them to achieve movements close to those of actual walking. For this reason, assistive devices are required to have a function that allows them to achieve movements that combine movement in the walking direction and movement in the height direction. However, conventional devices with the above function tend to be large due to an increase in the number of drive parts, etc.

In addition, gait improvement is difficult for a user to implement alone, and may be implemented under the guidance of a walking assistant, such as a medical therapist or trainer. In this case, if a large assistive device is used, it is difficult for the walking assistant to directly provide instruction to the user, and there is also a concern that the user may become entangled in the device's drive unit, etc.

In this regard, Patent Document 1 does not anticipate a function that can realize a movement that combines movement in the walking direction and movement in the height direction, and is therefore unable to realize movements that are close to those of actual walking.

In addition, in Patent Document 2, the link mechanism and lifting mechanism are provided at a higher position than the footrest. This makes it difficult for the walking assistant to directly instruct the user, and there is a concern that there is a high possibility of the walking assistant becoming entangled in the drive unit of the device. Therefore, there is a need to create an environment that is suitable for direct instruction to the user.

The present invention was devised in consideration of the above-mentioned problems, and its purpose is to provide a walking assistance device and walking assistance system that can create an environment suitable for direct instruction to the user.

A walking assist device according to a first aspect of the present invention is a walking assist device used for improving walking, comprising: a footrest mechanism for supporting the feet of a user; a connection mechanism provided at a position lower than the footrest mechanism and connected to the footrest mechanism; and a drive mechanism provided at a position lower than the footrest mechanism and moving the footrest mechanism in a walking direction via the connection mechanism, the footrest mechanism includes a right footrest section and a left footrest section provided spaced apart from each other, the connection mechanism includes a right side connection section connected to the right footrest section and showing a link structure , and a left side connection section spaced apart from the right side connection section and connected to the left footrest section and showing a link structure , the drive mechanism applies a load independently to each of the right side connection sections in the walking direction, thereby controlling the walking direction and height. the link structure includes a pair of right-side drive units that move the right footrest in at least one of the walking direction and the height direction, and a pair of left-side drive units that move the left footrest in at least one of the walking direction and the height direction by independently applying a load in the walking direction to the left connection unit, the link structure including a height that changes in response to the load applied from the drive mechanism, the link structure including a first support unit and a second support unit that are connected to the footrest mechanism and the drive mechanism at different positions, and a pivot shaft that extends in the width direction and is connected to the first support unit and the second support unit, and a structure in which the position of the footrest mechanism in the height direction changes in response to the angle between the first support unit and the second support unit, centered on the pivot shaft .

The walking assistance device according to the second invention is the first invention, characterized in that, when viewed from the walking direction, the right connection part is provided inside both side surfaces of the right footrest, and the left connection part is provided inside both side surfaces of the left footrest.

A walking assistance device according to a third invention is characterized in that, in the first invention, the connection mechanism includes a link mechanism that is connected to the footrest mechanism and the pivot axis and rotates about an axis along the walking direction, and when viewed from the height direction, the connection position between the link mechanism and the footrest mechanism overlaps with the connection position between the link mechanism and the pivot axis.

The walking assistance device of the fourth invention is characterized in that, in the first invention, the right foot rest portion and the left foot rest portion include a first hole portion into which the tip portion of the first support portion is inserted and which extends in the walking direction, and a second hole portion into which the tip portion of the second support portion is inserted and which is spaced apart from the first hole portion and extends in the walking direction.

The walking assistance device of the fifth invention is characterized in that, in the first invention, at least one of the pair of right-side drive units and the pair of left-side drive units includes an endless belt connected to the connecting mechanism and extending in the walking direction, and a motor that applies a load to the connecting mechanism in the walking direction via the endless belt.

The walking assistance device of the sixth invention is the same as the first invention, further comprising a right side rail connected to the right connection part and fixed to the floor surface along the walking direction, and a left side rail connected to the left connection part and fixed to the floor surface along the walking direction, wherein, when viewed from the walking direction, the right side rail is located inside both side surfaces of the right footrest, and the left side rail is located inside both side surfaces of the left footrest.

A walking assist system according to a seventh aspect of the present invention is a walking assist system used for improving walking, comprising: a walking assist device; and a control device for controlling the walking assist device, wherein the walking assist device includes a footrest mechanism for supporting feet of a user, a connection mechanism provided at a position lower than the footrest mechanism and connected to the footrest mechanism, and a drive mechanism provided at a position lower than the footrest mechanism and for moving the footrest mechanism in a walking direction via the connection mechanism, wherein the footrest mechanism includes a right footrest section and a left footrest section provided spaced apart from each other, the connection mechanism includes a right side connection section connected to the right footrest section, and a left side connection section spaced apart from the right side connection section and connected to the left footrest section, and the drive mechanism includes a right side connection section connected to the right footrest section, The footrest mechanism includes a pair of right-side drive units that move the right footrest in at least one of the walking direction and height direction by applying a load in the walking direction to the side connection unit, and a pair of left-side drive units that move the left footrest in at least one of the walking direction and height direction by applying a load in the walking direction to the left connection unit, the control device independently controls the pair of right-side drive units and the pair of left -side drive units, the footrest mechanism includes an auxiliary jig to which the walking assistant applies a load directly, and a detection unit that detects the load applied through the auxiliary jig, and the control device controls the drive mechanisms based on the detection results of the detection units .

According to the first to sixth aspects of the present invention, the connection mechanism and the drive mechanism are provided at a position lower than the footrest mechanism. In other words, no mechanism for moving the footrest mechanism is provided at a position higher than the footrest mechanism. This makes it easier for the walking assistant to come into contact with the user and provide direct guidance, and prevents the walking assistant from becoming entangled in the drive mechanism, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user.

According to the first to sixth aspects of the invention, the pair of right drive units independently apply a load to the right connection unit in the walking direction, thereby moving the right footrest unit in at least one of the walking direction and the height direction. The pair of left drive units independently apply a load to the left connection unit in the walking direction, thereby moving the left footrest unit in at least one of the walking direction and the height direction. That is, the pair of drive units apply a load to each connection unit in the same direction (walking direction), thereby realizing movement of each footrest unit in the walking direction and the height direction. This makes it possible to reduce the configuration required for controlling the footrest mechanism. This makes it possible to realize a compact device.

In particular, according to the second invention, when viewed from the walking direction, the right-side connection part is provided inside both side surfaces of the right footrest, and the left-side connection part is provided inside both side surfaces of the left footrest. This makes it possible to prevent contact with the connection mechanism when the walking assistant directly guides the user from the side. This makes it possible to improve safety.

In particular, according to the first aspect of the present invention, the link structure has a structure in which the height changes in response to the load applied from the drive mechanism, which allows the structure of the connection mechanism to be simplified, thereby enabling further miniaturization of the device to be achieved.

In particular, according to the first aspect of the present invention, the position of the footrest mechanism in the height direction changes according to the angle between the first support and the second support around the pivot axis. This allows the position control to be set with higher accuracy than when the position of the footrest mechanism is changed by directly applying a load in the height direction. This makes it possible to set walking conditions suitable for the user with high accuracy.

In particular, according to the third aspect of the present invention, the connection position between the link mechanism and the footrest mechanism overlaps with the connection position between the link mechanism and the pivot shaft when viewed from the height direction, so that when controlling the footrest mechanism, tilting with respect to the floor surface can be suppressed, thereby improving stability during operation.

In particular, according to the fourth aspect of the present invention, the right footrest and the left footrest include the first hole and the second hole, which makes it easier to control the upper surface of each footrest to be parallel to the floor surface, thereby enabling the walking conditions suitable for the user to be set with even greater accuracy.

In particular, according to the fifth aspect of the present invention, at least one of the pair of right drive units and the pair of left drive units includes an endless belt and a motor, so that the movement range of the footrest mechanism in the walking direction can be contained within the extension range of the endless belt, making it possible to easily control the movement range of the footrest mechanism.

In particular, according to the sixth aspect of the present invention, the right rail is provided on the inside of both side surfaces of the right footrest, and the left rail is provided on the inside of both side surfaces of the left footrest. Therefore, when the walking assistant directly guides the user from the side, contact with each rail can be suppressed. This makes it possible to improve safety. In addition, when the connection mechanism moves in the walking direction, fluctuation in the width direction can be suppressed. This makes it possible to improve stability during operation.

According to the seventh aspect of the present invention , the connection mechanism and the drive mechanism are provided at a position lower than the footrest mechanism. In other words, no mechanism for moving the footrest mechanism is provided at a position higher than the footrest mechanism. This makes it easier for the walking assistant to come into contact with the user and provide direct guidance, and prevents the walking assistant from being entangled in the drive mechanism, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user.

According to the seventh aspect of the present invention , the control device controls the pair of right drive units and the pair of left drive units independently. At this time, the pair of right drive units independently apply a load to the right connection unit in the walking direction, thereby moving the right footrest unit in at least one of the walking direction and the height direction. The pair of left drive units independently apply a load to the left connection unit in the walking direction, thereby moving the left footrest unit in at least one of the walking direction and the height direction. That is, the pair of drive units apply a load to each connection unit in the same direction (walking direction), thereby realizing the movement of each footrest unit in the walking direction and the height direction. Therefore, the configuration required for controlling the footrest mechanism can be reduced. This makes it possible to realize a compact device.

In particular, according to the seventh aspect of the present invention, the footrest mechanism includes a detector that detects the load applied via the auxiliary tool. The control device controls the drive mechanism based on the detection result of the detector. Therefore, the walking assistant can control the drive mechanism using the auxiliary tool based on the user's condition. This makes it possible to easily control the operation of the device.

FIG. 1 is a schematic diagram showing an example of a walking assistance system and a walking assistance device according to the present embodiment. 2(a) is a schematic top view showing an example of a walking assistance device in this embodiment, FIG. 2(b) is a schematic side view showing an example of a walking assistance device in this embodiment, and FIG. 2(c) is a schematic rear view showing an example of a walking assistance device in this embodiment. Figure 3(a) is a schematic oblique view showing an example of a right-side connection portion in this embodiment, Figure 3(b) is a schematic oblique view showing an example of a first right-side support portion, Figure 3(c) is a schematic oblique view showing an example of a second right-side support portion, and Figure 3(d) is a schematic oblique view showing an example of a right-side rotation shaft. 4(a) and 4(b) are schematic diagrams showing the first connection points, and FIGS. 4(c) and 4(d) are schematic diagrams showing the second connection points. 5(a) and 5(b) are schematic side views showing an example of the right-side connection portion. 6(a) to 6(c) are schematic diagrams showing an example of a link mechanism. FIG. 7 is a schematic diagram showing an example of a cross slider structure and a spring. 8(a) to 8(c) are schematic diagrams showing an example of a rail. FIG. 9 is a schematic side view showing an example of an auxiliary jig. FIG. 10A is a schematic diagram showing an example of the configuration of a control device, and FIG. 10B is a schematic diagram showing an example of the function of the control device. FIG. 11 is a flowchart showing an example of the operation of the walking assistance system in this embodiment.

Below, an example of a walking assistance device and a walking assistance system according to an embodiment of the present invention will be described with reference to the drawings. In each figure, the direction in which the user's feet move back and forth is the walking direction X, the direction in which the user's feet move up and down is the height direction Z, and the direction intersecting the walking direction X and the height direction Z is the width direction Y. In addition, the configurations in each figure are shown diagrammatically for the purpose of explanation, and for example, the size of each component and the comparison of sizes between components may differ from those shown in the figures.

(Embodiments: Walking assistance system 100, walking assistance device 1)
Fig. 1 is a schematic diagram showing an example of a walking assistance system 100 and a walking assistance device 1 in this embodiment. Fig. 2(a) is a schematic top view showing the example of the walking assistance device 1 in this embodiment, Fig. 2(b) is a schematic side view showing the example of the walking assistance device 1 in this embodiment, and Fig. 2(c) is a schematic back view showing the example of the walking assistance device 1 in this embodiment.

(Walking assistance system 100)
1 , the walking assistance system 100 is used to improve the walking of a user 9. The walking assistance system 100 includes a walking assistance device 1 and a control device 50.

The walking assistance device 1 executes the operations required for walking assistance, for example, based on control information transmitted from the control device 50. The control device 50 may acquire information regarding the load applied by the walking assistance user, for example, via the walking assistance device 1, and set the control conditions of the walking assistance device 1 based on the acquired information.

(Walking assistance device 1)
The walking assistance device 1 includes a foot rest mechanism 10, a connection mechanism 20, and a drive mechanism 30. The foot rest mechanism 10 supports the feet of a user 9. The connection mechanism 20 is provided at a position lower than the foot rest mechanism 10, and is connected to the foot rest mechanism 10 and the drive mechanism 30. The drive mechanism 30 is provided at a position lower than the foot rest mechanism 10, and moves the foot rest mechanism 10 in the walking direction X via the connection mechanism 20.

As described above, the connection mechanism 20 and the drive mechanism 30 are provided at a position lower than the footrest mechanism 10 in the height direction Z. In other words, no mechanism for moving the footrest mechanism 10 is provided at a position higher than the footrest mechanism 10. This allows the walking assistant to come into contact with the user 9 and provide direct guidance, while preventing the walking assistant from becoming entangled in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user 9.

The walking assistance device 1 may include a known assistance mechanism such as a safety frame 80 or a body weight relieving device 90. The walking assistance device 1 is used in a state where, for example, a part of the drive mechanism 30 is fixed to the floor surface 8 and the connection mechanism 20 can be moved in the walking direction X.

The footrest mechanism 10 includes a right footrest section 11 and a left footrest section 12, as shown in, for example, Figures 2(a) to 2(c). The right footrest section 11 and the left footrest section 12 are spaced apart from each other.

The connection mechanism 20 moves the footrest mechanism 10 in the height direction Z. The connection mechanism 20 is structured to be displaced in the height direction Z based on a load applied along the walking direction X, for example. As the connection mechanism 20, a link structure such as a pantograph structure or a ramp tongue structure may be used, or a cam structure such as a plate cam structure or a linear cam structure may be used. Note that the term "link structure" includes a "pantograph structure."

The connection mechanism 20 includes a right-side connection part 21 and a left-side connection part 22. The right-side connection part 21 is connected to the right footrest part 11 and is spaced apart from the left footrest part 12. The left-side connection part 22 is connected to the left footrest part 12 and is spaced apart from the right footrest part 11 and the right-side connection part 21. Each connection part 21, 22 is formed by an independent link structure, cam structure, or the like.

The drive mechanism 30 moves the connection mechanism 20 in the walking direction X. The drive mechanism 30 includes, for example, an endless belt and a motor. In this case, the drive mechanism 30 applies a load from the motor to the connection mechanism 20 via the endless belt to move it in the X direction. The drive mechanism 30 may include, for example, a cylinder such as a hydraulic cylinder or an air cylinder.

The drive mechanism 30 includes a pair of right drive units 31 and a pair of left drive units 32. The pair of right drive units 31 and the pair of left drive units 32 are spaced apart from each other.

The pair of right side drive units 31 apply a load independently to the right side connection unit 21 in the walking direction X, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left side drive units 32 apply a load independently to the left side connection unit 22 in the walking direction X, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z.

For example, when only one of the pair of right-side drive units 31 applies a load to the right-side connection unit 21, the right footrest unit 11 moves in the height direction Z. When the pair of right-side drive units 31 apply the same load to the right-side connection unit 21, the right footrest unit 11 moves in the walking direction X. When the pair of right-side drive units 31 apply different loads to the right-side connection unit 21, the right footrest unit 11 moves in the walking direction X and the height direction Z. Note that the pair of left-side drive units 32 also have the same characteristics as the pair of right-side drive units 31, so a description thereof will be omitted.

As described above, the pair of right-side drive units 31 independently apply a load to the right-side connection unit 21 in the walking direction X, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left-side drive units 32 independently apply a load to the left-side connection unit 22 in the walking direction X, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z. That is, the pair of drive units 31, 32 apply a load to each connection unit 21, 22 in the same direction (walking direction X), thereby realizing movement of each footrest unit 11, 12 in the walking direction X and the height direction Z. This makes it possible to reduce the configuration required for controlling the footrest mechanism 10. This makes it possible to realize a compact device.

Details about each component are provided below.

<Footrest mechanism 10>
The footrests 11, 12 are spaced apart, for example, about shoulder width apart from each other along the width direction Y. The shape of each footrest 11, 12 may be, for example, a plate shape, and may be any shape on which the soles of the feet of the user 9 can be placed. Note that, for example, a known configuration for fixing the feet of the user 9 may be provided on the upper surface of each footrest 11, 12, or the feet of the user 9 may be supported in a state spaced apart from the upper surface of each footrest 11, 12.

The footrest mechanism 10 may include, for example, a hole extending in the walking direction X. In this case, a part of the connection mechanism 20 is connected to the hole. For example, each footrest 11, 12 may include a first hole 11a, 12a and a second hole 11b, 12b spaced apart in the walking direction X. Each hole 11a, 11b, 12a, 12b may be provided on a side surface of each footrest 11, 12 along the walking direction X, for example, as shown in FIG. 2(b), and may be provided on both side surfaces 11s, 12s.

<Connection mechanism 20>
2A, the connection mechanism 20 overlaps with the footrest mechanism 10 when viewed from the height direction Z. As shown in FIG. 2B, the connection mechanism 20 moves in the walking direction X in contact with the floor surface 8.

For example, as shown in FIG. 2(c), when viewed from the walking direction X, the right connection part 21 is provided inside both side surfaces 11s of the right footrest part 11. Also, when viewed from the walking direction X, the left connection part 22 is provided inside both side surfaces 12s of the left footrest part 12. In this case, when the walking assistant directly guides the user 9 from the side, contact with the connection mechanism 20 can be suppressed. This makes it possible to improve safety.

The right-side connection portion 21 and the left-side connection portion 22 are link structures such as a pantograph structure. The link structure has a structure in which the height changes in response to the load applied from the drive mechanism 30.

For example, the right-side connection portion 21 and the left-side connection portion 22 represent a pair of pantograph structures arranged side by side in the width direction Y. In this case, the pair of pantograph structures rotate with the same movement around the axis of the width direction Y. Therefore, the variation in the movement of each footrest portion 11, 12 relative to the width direction Y can be suppressed via the pair of pantograph structures. This makes it possible to improve stability during operation.

Each of the connection parts 21, 22 showing the link structure includes, for example, a number of support parts and a rotation axis. For example, the number of support parts and the number of rotation axes included in each of the connection parts 21, 22 are equal. Below, the right connection part 21 will be mainly described, but since the same configuration and effect can be obtained for the left connection part 22, the description will be omitted as appropriate.

As shown in FIG. 3(a), the right-side connection portion 21 includes a first right-side support portion 21a, a second right-side support portion 21b, and a right-side pivot shaft 21c. The first right-side support portion 21a and the second right-side support portion 21b support the right footrest portion 11.

The first right support part 21a is connected to the right footrest part 11 and one of the pair of right drive parts 31. The first right support part 21a includes a pair of first links 21aa and a first shaft part 21ab, as shown in FIG. 3(b), for example. The pair of first links 21aa are provided in parallel to each other and are connected via the first shaft part 21ab. The first shaft part 21ab is provided, for example, on one end side of each of the first links 21aa.

The first right support portion 21a may include, for example, at least one of the wheel portion 21ac, the insertion portion 21ad, and the first tip portion 21ae. The wheel portion 21ac, the insertion portion 21ad, and the first tip portion 21ae are provided, for example, on each of the pair of first links 21aa.

The wheel portion 21ac may be provided on each end of the first shaft portion 21ab, or multiple wheel portions may be provided, for example, on each end. Providing the wheel portion 21ac allows the right connection portion 21 to move smoothly.

The insertion portion 21ad is provided, for example, near the center of gravity of the first link 21aa. The insertion portion 21ad is used as the center for rotating the first link 21aa by inserting the right-side pivot shaft 21c (described later).

The first tip 21ae is provided as a connection point for the right footrest 11. The first tip 21ae is provided, for example, on the end (other end) side separated from the first shaft 21ab.

The first tip 21ae is inserted into the first hole 11a, for example. At this time, as the first right support part 21a rotates, the first tip 21ae moves along the first hole 11a, changing the connection position between the right footrest part 11 and the first right support part 21a. This makes it easier to control the movement of the right footrest part 11 in the height direction Z compared to when the connection point between the right footrest part 11 and the right connection part 21 is fixed.

The second right support part 21b is connected to the right footrest part 11 and the other of the pair of right drive parts 31. As shown in FIG. 3(c), the second right support part 21b includes a pair of second links 21ba and a second shaft part 21bb, and may include at least one of the wheel part 21bc, the insertion part 21bd, and the second tip part 21be.

The details of the second right support portion 21b are similar to those of the first right support portion 21a described above, and therefore will not be described as appropriate. The second tip portion 21be is inserted, for example, into the second hole portion 11b.

For example, as shown in FIG. 3(a), the first tip 21ae is inserted into the first hole 11a, and the second tip 21be is inserted into the second hole 11b. At this time, as each right support part 21a, 21b rotates, each tip 21ae, 21be moves along each hole 11a, 11b, changing the connection position between the right footrest 11 and the right connection part 21. Therefore, regardless of the position of the right footrest 11 in the height direction Z, the load acting from the right footrest 11 to each right support part 21a, 21b can be made uniform. This makes it easier to control the upper surface of the right footrest 11 to be parallel to the floor surface 8.

For example, each tip portion 21ae, 21be and each hole portion 11a, 11b may be provided in pairs along the width direction Y. In this case, it is possible to improve stability in the width direction Y.

The right-side pivot shaft 21c extends in the width direction Y. The right-side pivot shaft 21c is connected to the first right-side support part 21a and the second right-side support part 21b as a center of rotation in a plane intersecting with the width direction Y. The right-side pivot shaft 21c is inserted through the insertion parts 21ad and 21bd provided on the right-side support parts 21a and 21b.

Each of the right support parts 21a, 21b is connected to a different pair of right drive parts 31. The first right support part 21a has a first connection point 21f that is connected to one of the right drive parts 31a, as shown in Figures 4(a) and 4(b), for example. The first connection point 21f may be provided on the first shaft part 21ab, for example, or may be located at any position that allows the first right support part 21a to move along the walking direction X.

The second right support part 21b has a second connection point 21s that is connected to the other right drive part 31b, as shown in Figs. 4(c) and 4(d), for example. The second connection point 21s is provided, for example, on the second shaft part 21bb, at a position separated from the first connection point 21f in the width direction Y. The second connection point 21s may be located at any position that allows the second right support part 21b to move along the walking direction X.

When the above-mentioned right support parts 21a, 21b and right pivot shaft 21c are used, as shown in Figures 5(a) and 5(b), the position (e.g., H1, H2) of the right footrest 11 in the height direction Z changes with the angle (e.g., θ1, θ2) between the first right support part 21a and the second right support part 21b, centered on the right pivot shaft 21c.

For example, when the angle θ1 changes to angle θ2 as the right support parts 21a, 21b rotate, the position of the right footrest 11 changes from height H1 to height H2. At this time, a load is applied to each of the right support parts 21a, 21b in the walking direction X, so the effects of the footrest's own weight can be suppressed compared to when a load is applied directly in the height direction Z. Therefore, position control can be set with higher accuracy compared to when a load is applied directly in the height direction Z to change the position. This makes it possible to set walking conditions suitable for the user 9 with higher accuracy. Note that the above-mentioned angle indicates, for example, the angle formed between the right footrest 11 and the right rotation shaft 21c.

The connection mechanism 20 may include a known link structure in addition to the pantograph structure shown in FIG. 3(a) and the like. For example, the right connection part 21 may have a ramp tongue structure in which multiple right support parts 21a, 21b are connected. In this case, as with the pantograph structure, it is possible to set walking conditions suitable for the user 9 with high precision.

The connection mechanism 20 may include a link mechanism 20g, for example, as shown in Figures 6(a) to 6(c). The link mechanism 20g is connected to the footrest mechanism 10 and a rotation axis, and rotates about an axis along the walking direction X.

The link mechanism 20g includes a right link mechanism 21g and a left link mechanism 22g, which are provided independently at each connection portion 21, 22. The right link mechanism 21g is connected to the right footrest 11 and the right pivot shaft 21c. The left link mechanism 22g is connected to the left footrest 12 and the left pivot shaft 22c.

When viewed from the height direction, the connection position between the right side link mechanism 21g and the right footrest 11 overlaps with the connection position between the right side link mechanism 21g and the right pivot shaft 21c (see the arrow extending in the height direction Z in FIG. 6(c)). When viewed from the height direction, the connection position between the left side link mechanism 22g and the left footrest 12 overlaps with the connection position between the left side link mechanism 22g and the left pivot shaft 22c. Therefore, when controlling the footrest mechanism 10, tilt with respect to the floor surface 8 can be suppressed. This makes it possible to further improve safety during operation.

The connection mechanism 20 may include a spring 26, for example as shown in FIG. 7. The spring 26 is used to increase the amount of change in the height direction Z of the footrest mechanism 10 in response to a load from the drive mechanism 30.

For example, the spring 26 is connected to the first right support part 21a and the second right support part 21b, and expands and contracts along the walking direction X. For example, when the spring 26 acts in a direction that brings the first right support part 21a and the second right support part 21b closer to each other, the load that moves the right footrest part 11 upward can be reduced. Therefore, by including the spring 26 in the connection mechanism 20, the amount of load acting from the drive mechanism 30 when moving the footrest mechanism 10 in the height direction Z can be reduced. This makes it possible to realize a compact drive mechanism 30.

The above-mentioned connection mechanism 20 may include a cross slider structure 25 instead of the spring 26, for example, or may include both the spring 26 and the cross slider structure 25. The cross slider structure 25, like the spring 26, is used to increase the amount of change in the height direction Z of the footrest mechanism 10 in response to the load from the drive mechanism 30. For this reason, by including at least one of the spring 26 and the cross slider structure 25 in the connection mechanism 20, the amount of load acting from the drive mechanism 30 when moving the footrest mechanism 10 in the height direction Z can be reduced. This makes it possible to realize a reduction in the size of the drive mechanism 30. The spring 26 and the cross slider structure 25 may be publicly known.

<Drive mechanism 30>
The drive mechanism 30 applies a load to the connection mechanism 20 using a set of an endless belt and a motor. In this case, an independent endless belt and motor are used for each of the pair of right drive units 31 and the pair of left drive units 32. The drive mechanism 30 may apply a load to the connection mechanism 20 without including an endless belt, for example. In this case, a motor directly connected to the connection mechanism 20 is used for at least one of the pair of right drive units 31 and the pair of left drive units 32. Not including an endless belt improves safety by reducing the number of drive points, and makes it possible to reduce the size of the entire device.

<Rail 40>
The walking assistance device 1 may further include rails 40 fixed to, for example, the floor surface 8. As shown in Fig. 8(a) for example, the rails 40 include a right rail 41 and a left rail 42. The rails 41, 42 are provided independently of each other.

The right rail 41 is connected to the right connector 21 and is fixed to the floor surface 8 along the walking direction X. When viewed from the walking direction X, the right rail 41 is provided inside both side surfaces 11s of the right footrest 11. The left rail 42 is connected to the left connector 22 and is fixed to the floor surface 8 along the walking direction X. When viewed from the walking direction X, the left rail 42 is provided inside both side surfaces 12s of the left footrest 12.

As shown in Figs. 8(b) and 8(c), for example, each rail 41, 42 fits into a protrusion 21h, 22h that protrudes from shafts 21ab, 22ab, etc., that extend in the width direction Y at each connection 21, 22. In this case, when each connection 21, 22 moves in the walking direction X, movement in the width direction Y can be suppressed. This makes it possible to improve safety during operation.

<Auxiliary jig 15>
The footrest mechanism 10 may include an auxiliary tool 15, as shown in Fig. 9, for example. The auxiliary tool 15 is used by the walking assistant to directly apply a load.

The auxiliary jigs 15 include, for example, a right auxiliary jig 15a and a left auxiliary jig 15b. Each auxiliary jig 15a, 15b is provided, for example, on the outer side surface of each footrest 11, 12. By providing the auxiliary jigs 15, the walking assistant can move the footrest mechanism 10 to any position.

The footrest mechanism 10 may include, for example, a detection unit. The detection unit detects the load acting via the auxiliary jig 15 and transmits the detection result to, for example, the control device 50. The detection unit is provided, for example, in the auxiliary jig 15. For example, a known force sensor or the like is used as the detection unit.

(Control device 50)
The control device 50 indicates an electronic device such as a personal computer (PC) or a tablet terminal, and may be operated by, for example, a walking assistance person, etc. At least a part of the control device 50 may be built into, for example, the walking assistance device 1.

Figure 10(a) is a schematic diagram showing an example of the configuration of the control device 50, and Figure 10(b) is a schematic diagram showing an example of the function of the control device 50.

As shown in FIG. 10(a), the control device 50 includes a housing 51, a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, and I/Fs 105 to 107. The components 101 to 107 are connected by an internal bus 110.

The CPU 101 controls the entire control device 50. The ROM 102 stores the operation code of the CPU 101. The RAM 103 is a working area used when the CPU 101 is operating. The storage unit 104 stores various information such as the control parameters of the walking assistance device 1. As the storage unit 104, for example, a data storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) is used.

The I/F 105 is an interface for transmitting and receiving various information to and from the walking assistance device 1, etc. The I/F 106 is an interface for transmitting and receiving information to and from the input unit 108. For example, a keyboard is used as the input unit 108, and the walking assistance person, etc. inputs control commands for the walking assistance device 1, etc. via the input unit 108. The I/F 107 is an interface for transmitting and receiving various information to and from the display unit 109. The display unit 109 displays the various information stored in the storage unit 104. A display is used as the display unit 109.

Fig. 10(b) is a schematic diagram showing an example of the functions of the control device 50. The control device 50 includes an acquisition unit 111, a calculation unit 112, an output unit 113, and a storage unit 114. Each function shown in Fig. 10(b) is realized by the CPU 101 using the RAM 103 as a working area to execute a program stored in the storage unit 104 or the like.

The acquisition unit 111 acquires various pieces of information detected via the walking assistance device 1. The acquisition unit 111 acquires, for example, information on the load applied to the footrest mechanism 10. In this case, the acquisition unit 111 acquires the load information from, for example, a detection unit provided in the footrest mechanism 10 of the walking assistance device 1.

The calculation unit 112 calculates the control conditions of the walking assistance device 1 based on the various information acquired by the acquisition unit 111. The calculation unit 112 calculates the drive conditions of the drive mechanism 30 using, for example, past data stored in the storage unit 104.

The output unit 113 outputs the control conditions calculated by the calculation unit 112 to the walking assistance device 1, etc. The memory unit 114 stores various information in the storage unit 104. The memory unit 114 stores, for example, the detection results acquired by the acquisition unit 111 and the control conditions calculated by the calculation unit 112 in the storage unit 104.

(Embodiment: Operation of walking assistance system 100)
Next, a description will be given of an example of the operation of the walking assistance system 100 in this embodiment. Fig. 11 is a flowchart showing an example of the operation of the walking assistance system 100 in this embodiment.

The walking assistance system 100 includes an acquisition step S110 and a control step S120.

<Acquisition step S110>
In the acquisition step S110, the detection result is acquired for the load applied by the walking assistant. For example, the acquisition unit 111 acquires the detection result of the detection unit. Note that the timing when the acquisition unit 111 acquires the detection result and the capacity of the detection result can be set arbitrarily.

<Control Step S120>
The control step S120 controls the drive mechanism 30 based on the detection result. For example, the calculation unit 112 calculates the drive conditions of the drive mechanism 30 based on the detection result. The drive conditions include parameters for each of the pair of right drive units 31 and the pair of left drive units 32, which are necessary to reproduce the load applied by the walking assistant via the assistive tool 15, for example.

Then, the output unit 113 outputs, for example, the drive conditions of the drive mechanism 30 to the walking assistance device 1. This controls the drive mechanism 30 in the walking assistance device 1. For example, by controlling the drive mechanism 30, a load can be applied to the connection mechanism 20, which causes the footrest mechanism 10 to move in the walking direction X and the height direction Z.

By carrying out each of the steps described above, the operation of the walking assistance system 100 is completed.

According to this embodiment, the connection mechanism 20 and the drive mechanism 30 are provided at a position lower than the footrest mechanism 10. In other words, no mechanism for moving the footrest mechanism 10 is provided at a position higher than the footrest mechanism 10. This makes it easier for the walking assistant to come into contact with the user 9 and provide direct guidance, and prevents the walking assistant from becoming entangled in the drive mechanism 30, etc. This makes it possible to realize an environment suitable for providing direct guidance to the user 9.

In addition, according to this embodiment, the pair of right-side drive units 31 independently apply a load to the right-side connection unit 21 in the walking direction X, thereby moving the right footrest unit 11 in at least one of the walking direction X and the height direction Z. The pair of left-side drive units 32 independently apply a load to the left-side connection unit 22 in the walking direction X, thereby moving the left footrest unit 12 in at least one of the walking direction X and the height direction Z. That is, the pair of drive units 31, 32 apply a load to each connection unit 21, 22 in the same direction (walking direction X), thereby realizing the movement of each footrest unit 11, 12 in the walking direction X and the height direction Z. This makes it possible to reduce the configuration required for controlling the footrest mechanism 10. This makes it possible to realize a compact device.

In addition, according to this embodiment, when viewed from the walking direction X, the right connection part 21 is provided inside both side surfaces 11s of the right footrest 11, and the left connection part 22 is provided inside both side surfaces 12s of the left footrest 12. Therefore, when the walking assistant directly guides the user 9 from the side, contact with the connection mechanism 20 can be suppressed. This makes it possible to improve safety.

In addition, according to this embodiment, the link structure has a structure in which the height changes in response to the load applied by the drive mechanism 30. This allows the structure of the connection mechanism 20 to be simplified. This makes it possible to further miniaturize the device.

In addition, according to this embodiment, the position of the footrest mechanism 10 in the height direction Z changes with the angle between the first support part and the second support part, centered on the pivot shafts 21c and 22c. Therefore, position control can be set with high accuracy compared to when the position of the footrest mechanism 10 is changed by directly applying a load in the height direction Z. This makes it possible to set walking conditions suitable for the user 9 with high accuracy.

In addition, according to this embodiment, when viewed from the height direction Z, the connection position between the link mechanism 20g and the footrest mechanism 10 overlaps with the connection position between the link mechanism 20g and the pivot shafts 21c and 22c. Therefore, when controlling the footrest mechanism 10, tilting with respect to the floor surface 8 can be suppressed. This makes it possible to improve stability during operation.

Furthermore, according to this embodiment, the right footrest 11 and the left footrest 12 include first holes 11a, 12a into which the tip of the first support is inserted and which extend in the walking direction X, and second holes 11b, 12b into which the tip of the second support is inserted and which extend in the walking direction X away from the first holes 11a, 12a. This makes it easier to control the upper surfaces of the footrests 11, 12 to be parallel to the floor surface 8. This makes it possible to set walking conditions suitable for the user 9 with even greater precision.

In addition, according to this embodiment, the connection mechanism 20 includes at least one of a cross slider structure 25 and a spring 26. Therefore, when the footrest mechanism 10 is moved in the height direction Z, the load acting from the drive mechanism 30 can be reduced. This makes it possible to reduce the size of the drive mechanism 30.

In addition, according to this embodiment, at least one of the pair of right drive units 31 and the pair of left drive units 32 includes an endless belt and a motor. Therefore, the movement range of the footrest mechanism 10 in the walking direction X can be contained within the range in which the endless belt extends. This makes it possible to easily control the movement range of the footrest mechanism 10.

In addition, according to this embodiment, the right rail 41 is provided inside both side surfaces 11s of the right footrest 11, and the left rail 42 is provided inside both side surfaces 12s of the left footrest 12. Therefore, when the walking assistant directly guides the user 9 from the side, contact with each rail 41, 42 can be suppressed. This makes it possible to improve safety. Also, when the connection mechanism 20 moves in the walking direction X, movement in the width direction Y can be suppressed. This makes it possible to improve stability during operation.

Furthermore, according to this embodiment, the footrest mechanism 10 includes a detection unit that detects the load applied via the auxiliary tool 15. Furthermore, the control device 50 controls the drive mechanism 30 based on the detection results of the detection unit. Therefore, the walking assistant can use the auxiliary tool 15 to control the drive mechanism 30 based on the state of the user 9. This makes it possible to easily control the operation of the device.

Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims.

1: Walking assistance device 10: Footrest mechanism 11: Right footrest section 11a, 12a: First hole section 11b, 12b: Second hole section 11s, 12s: Side surface 12: Left footrest section 15: Assisting tool 20: Connection mechanism 20g: Link mechanism 21: Right connection section 21a: First right support section 21b: Second right support section 21c: Right pivot shaft 21f: First connection point 21s: Second connection point 22: Left connection section 25: Cross slider structure 26: Spring 30: Drive mechanism 31: Right drive section 32: Left drive section 40: Rail 50: Control device 8: Floor surface 80: Safety frame 9: User 90: Body weight relief device 100: Walking assistance system S110: Acquisition step S120: Control step X: Walking direction Y : Width direction Z : Height direction

Claims (7)

A walking assistance device used to improve walking,
a footrest mechanism for supporting the user's feet;
a connection mechanism provided below the footrest mechanism and connected to the footrest mechanism;
a drive mechanism provided below the footrest mechanism and configured to move the footrest mechanism in a walking direction via the connection mechanism;
Equipped with
The footrest mechanism includes a right footrest portion and a left footrest portion spaced apart from each other,
The connection mechanism includes:
A right-side connection portion connected to the right footrest portion and showing a link structure ;
a left connection portion spaced apart from the right connection portion and connected to the left footrest portion , the left connection portion having a link structure ;
Including,
The drive mechanism includes:
a pair of right drive units that independently apply a load in the walking direction to the right connection unit to move the right footrest unit in at least one of the walking direction and the height direction;
a pair of left side drive units that apply a load to the left side connection unit independently in the walking direction to move the left footrest unit in at least one of the walking direction and the height direction;
The link structure includes:
a first support section and a second support section whose height changes in response to a load applied from the drive mechanism and whose height is connected to the footrest mechanism and the drive mechanism at different positions;
A rotation shaft extending in a width direction and connected to the first support portion and the second support portion;
Including,
a structure in which a position of the footrest mechanism in the height direction changes according to an angle between the first support part and the second support part around the rotation axis;
A walking assistance device comprising: Viewed from the walking direction,
The right connection portion is provided on the inside of both side surfaces of the right footrest portion,
The walking assistance device according to claim 1 , wherein the left side connection portion is provided on the inside of both side surfaces of the left footrest portion. the connection mechanism includes a link mechanism that is connected to the footrest mechanism and the pivot shaft and pivots about an axis along the walking direction,
2. The walking assistance device according to claim 1 , wherein, when viewed from the height direction, a connection position between the link mechanism and the footrest mechanism overlaps with a connection position between the link mechanism and the pivot shaft. The right foot rest and the left foot rest are
A first hole portion into which a tip portion of the first support portion is inserted and which extends in the walking direction;
A second hole portion into which a tip portion of the second support portion is inserted and which is spaced apart from the first hole portion and extends in the walking direction;
The walking assistance device according to claim 1 , further comprising: At least one of the pair of right drive units and the pair of left drive units is
An endless belt connected to the connection mechanism and extending in the walking direction;
a motor that applies a load to the connection mechanism in the walking direction via the endless belt;
The walking assistance device according to claim 1 , further comprising: A right rail connected to the right connection portion and fixed to a floor surface along the walking direction;
a left rail connected to the left connection portion and fixed to the floor surface along the walking direction;
Further equipped with
Viewed from the walking direction,
The right rail is provided on the inside of both side surfaces of the right footrest,
2. The walking assistance device according to claim 1, wherein the left rail is provided on the inside of both side surfaces of the left footrest. A walking assistance system used to improve walking, comprising:
A walking aid;
A control device that controls the walking assistance device;
Equipped with
The walking assistance device includes:
a footrest mechanism for supporting the user's feet;
a connection mechanism provided below the footrest mechanism and connected to the footrest mechanism;
a drive mechanism provided below the footrest mechanism and configured to move the footrest mechanism in a walking direction via the connection mechanism;
Including,
The footrest mechanism includes a right footrest portion and a left footrest portion spaced apart from each other,
The connection mechanism includes:
a right connection portion connected to the right footrest portion;
a left connection portion spaced apart from the right connection portion and connected to the left footrest portion;
Including,
The drive mechanism includes:
a pair of right drive units that apply a load in the walking direction to the right connection unit to move the right footrest unit in at least one of the walking direction and a height direction;
a pair of left side drive units that apply a load in the walking direction to the left side connection unit to move the left footrest unit in at least one of the walking direction and the height direction;
Including,
The control device independently controls the pair of right drive units and the pair of left drive units,
The footrest mechanism includes:
An auxiliary tool for a walking assistant to directly apply load;
A detection unit that detects a load applied via the auxiliary jig;
Including,
The control device controls the drive mechanism based on a detection result of the detection unit.
A walking assistance system characterized by:

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