JPH07313565A - Walk training machine having walk sensor - Google Patents

Abstract

PURPOSE:To provide a safety machine a human being leading machine follow-up type, and enhance a rehabilitation effect by seizing a movement of feet by which a user walks by sensors, and automatically controlling a movement of departure and stoppage and others of a machine body. CONSTITUTION:In basic constitution of a self-traveling type walk training machine, light sensors are used as sensors 5, and light is reflected by mirrors 6, and a motor and a speed reducer are used as motive power by using batteries 1 as electric power supply, and moving speed, turning, a forward-backward movement or the like are controlled by a control unit 4. Use of the walk training machine is taken into consideration, and only a forward movement and stoppage are automatically controlled (manual switching is also possible) by eliminating complicated automatic control, and the other operation is manually performed. Herein, besides the forward movement and the stoppage, walk speed, the direction and a backward movement can also be controlled by a kind or the number of sensors 5 or an installing method or the like. In this self-traveling walk training machine, the sensors 5 seize a movement of feet, and departure and stoppage and the others are automatically controlled according to a movement of the feet.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled walking training machine in which the movement of a user's foot is detected by a sensor to automatically control starting and stopping. It can also be applied to carrier machines.

[0002]

2. Description of the Related Art A non-self-propelled walking training machine is one in which a foot is moved while being held by a handrail on a slowly moving rotating belt (same condition as a belt conveyor). What the user pushes while pushing forward. As a self-propelled walking training machine, there is a self-propelled walking training machine in which a user uses forward and backward movements to move forward and backward, stop, and operate other switches.

[0003]

Among these, the present application aims to improve a self-propelled walking training machine, and has the following objects. In the conventional training machine, the user's step length and the number of steps are calculated by his / her head, and if the quick switch operation is not performed according to the calculation, the machine body goes too far forward or becomes insufficient. In other words, a high level of reflexes and skill in switch operation are required to synchronize the walking ability of the player with the amount of movement of the aircraft. Therefore, it is difficult for rifabilized patients and elderly people whose exercise capacity is deteriorated to be sufficiently matured and have a good effect. In order to solve this problem, we will provide a "human-led machine following type" safe machine in which the machine follows the movements of the legs of the user instead of the user adjusting to the movement of the machine, and enhance the refurbishment effect. With the goal.

[0004]

According to the first aspect of the present invention, the movement of the foot which the user walks is detected by the sensor, and the movement of the body such as start and stop is automatically controlled.

According to a second aspect, in the walking training machine according to the first aspect, the sensors are separately provided on the right and left sides so that the control method has selectivity.

According to a third aspect of the present invention, in the walking training machine according to the first aspect, when the vehicle hits a wall or the like while traveling and the traveling becomes difficult, the vehicle body can turn on the spot without returning. The outer contour of the plan view is circular. Note that the "in-situ turn" is to simultaneously drive a pair of driving wheels in different front and rear directions to change directions without moving the center of the aircraft body in plan view.

[0007]

According to the first aspect of the present invention, the sensor detects the movement of the foot, and automatically starts and stops the vehicle according to the movement of the foot.

With respect to claim 2, the following can be achieved by changing the selection of the set control method.
(A) The case of the both-foot detection mode “the process continues while both feet are being detected by the sensors, and stops when either one of the left and right feet or both feet are removed” will be described. In order to automatically control the movement of the user, it is necessary for the machine body to move forward (or reverse) by the distance the user has stepped on. However, in this case, it should be noted that if the body is moved forward (or backward) while the center of the body is not forward (or backward) even if only the legs are moving forward (or backward), the body is left behind However, the posture of the user becomes unstable, which is dangerous. Therefore, using a computer, the signals from the two sensors provided separately on the left and right sides are processed so as to operate under the above conditions, the approximate center of the human body is measured, and the aircraft is made to follow it.

(B) Next, the case of the one-leg detection mode "whether one of the legs is detected or only when the both legs are detected" will be described. If you achieve early training and can walk quickly with a large stride at a speed close to a healthy person, the distance between your left and right feet will increase,
The state of detection of both feet is reduced. In such a case, if the mode is switched to the one-foot detection mode, the operation is performed by detecting only one foot, so that the aircraft follows the fast walking with smooth movement.

According to the third aspect, when the vehicle hits a wall or an object during traveling and cannot move, it is possible to turn on the spot and change the direction without reversing and changing the direction.

[0011]

Embodiments will be described with reference to the drawings. FIG. 1 shows the basic configuration of the training machine. The sensor uses an optical sensor and is reflected by a mirror. It uses a battery-powered motor and a speed reducer for power, and is composed of a control unit that controls movement speed, turning, forward / backward movement, and the like. In this example, we carefully considered the usage of the walking training machine, omitted the complicated automatic control, and automatically controlled only forward movement and stop (manual switching is possible), and other operations were manual, but the type and number of sensors Depending on the mounting method, it is possible to control walking speed, direction, and backward as well as forward and stop.

With reference to FIG. 2, the function of the sensors separately provided on the right and left sides will be described. The solid line shows the position before the start of walking, and it is assumed that both legs and the aircraft are stopped. The broken line indicates a state in which the aircraft follows the left and right feet that have advanced step by step, and the aircraft also stops when the feet stop.

The control method is set to "continue to move forward while both feet are detected by the sensor and stop when either one of the left and right feet or both feet are disengaged."

Now, it is assumed that the person who is about to start walking is standing still at the foot position indicated by the solid line, and that the sensor detection line attached to the machine is in front of any toe of any foot. Since the sensor does not detect in this state, the aircraft is also stopped. Next, suppose that the left foot has advanced to the position of the broken line.
Even in this state, only the left side is detected, so the aircraft remains stopped. Next, it is assumed that the right foot is advanced to the position indicated by the broken line. At this point, both feet are detected, and the aircraft starts to move forward. Then, when the sensor detection line reaches a position beyond the broken toe of the right foot, the sensor of the right foot comes off, and the state of "detecting both feet" is released, so the aircraft stops. This position is almost in the center of the right and left feet,
It can be said to be at the center of the human body. If the switching mode is stopped only when both feet are out and the robot continues to move forward while detecting either one of the left and right legs, the aircraft will move to a position beyond the toe of the left foot of the broken line. Stop. This position is too far ahead of the center of the human body, and the body and the human body are separated from each other, resulting in an unstable posture. By adjusting the control method of the two sensors, the action of measuring the walking distance occurs, and this problem can be solved.

In addition, when many steps are taken in succession, the state of detection of both feet continues, so that the machine body continuously advances while following the human body. Then, when walking is stopped, the aircraft also stops when the detection line crosses the toes of the hind legs. In the case of continuous walking, if one foot moves irregularly, one foot may temporarily fall off the detection line, but in this case, to prevent the aircraft from immediately stopping, until it stops after detecting it stops. Then, adjust the switch so that it stops after a certain number of seconds. This is to prevent the movement of the aircraft from becoming jerky. By doing this, even if the detection of both feet is temporarily lost, if the hind legs come forward in a certain number of seconds before the stop starts, the aircraft will continue to advance without stopping and smooth It will be a movement. This is also the case when starting. At the same time when both feet are detected, the vehicle should start after a certain number of seconds so that it does not start immediately. If the vehicle starts at a slow speed and gradually shifts to a forward speed (normal speed set in advance), it is safe without giving the user any anxiety during starting.

As another control method, there is "whether one of the feet is detected, or the process is continued only while both feet are detected". This should be used by those who have achieved early training and who are able to walk at a large stride and close to a healthy person. If you walk quickly with a large stride, and the aircraft also moves forward accordingly, the distance between your left and right feet will increase in proportion to your speed, and the state of both feet detection will decrease,
Since the aircraft will follow the movement of only one foot, smooth movement can be obtained. Set this mode in advance,
It is good to use properly according to the level of the user.

The control unit is equipped with a microcomputer, and its main functions are as follows. Automatic control linked with the sensor ・ Turning (manual) ・ Interrupting the function of the sensor during turning ・ Slow start the first step, then run at a fast speed when continuously walking ・ For the walking ability of the user Adjust the traveling speed according to (manual) ・ Adjust the time difference between the detection of the sensor and the start or stop (manual) ・ Switch between forward and backward (manual) Then, each turns in the opposite direction and turns on the spot.

The "in-situ turn" described in claim 3 will be described with reference to FIGS. When a pair of left and right moving wheels are rotated at the same speed in different directions, the pair of left and right moving wheels turn around the centers of the two moving wheels. Therefore, by installing two moving wheels in the center of the circular cover (in this example, the chassis is also circular to match the circular cover), the outer contour of the machine rotates without changing the position, so that it does not touch the wall in contact. You can change direction without being disturbed. It is desirable that the driving wheel be located at the center of the chassis, but as a result of the experiment, some eccentricity does not pose any practical problem.

FIG. 3 corresponds to claim 3, and is a training machine in which a circular cover is provided below the machine body and is in a state of training. If you hit a wall or object, you can manually turn to move in another direction. The smart aircraft will also renew the image of training, inviting the user's aggressiveness and helping to improve the effect of refurbishment.

[0020]

According to the present invention, the natural movement of the user "walking out, stopping" is detected by the sensor, and the training machine is automatically controlled to move it forward or backward. Produce an effect. (A) In the conventional training machine, unless the user calculates the step length and the number of steps stepped on by the user and operates the switches quickly in accordance with the step length, the machine body may advance too much or become insufficient. In other words, a high level of reflexes and skill in switch operation are required to synchronize the walking ability of the player with the amount of movement of the aircraft. Therefore, it is difficult for the rehabilitation patient who has deteriorated athletic ability, the woman who is vulnerable to the machine, the elderly, and the handicapped user to be sufficiently mature and have a good effect. However, the present invention does not allow the user to move the machine,
Since the machine is a "human-led machine-following type" safe machine in which the machine follows the movements of the user's walking feet, anyone can use it easily and easily. (B) As described above, in the conventional training machine, the machine does not work as expected unless it is skilled in operation. For this reason, the user suffers from subtle psychological anxiety, and he is reluctant to train, which is not effective. However, since the present invention is automatically switched between advance and stop, the user can concentrate on walking. If you start walking, the aircraft will move, and if you stop because you feel tired or dangerous, the aircraft will also stop.
Since it is a "human-led machine following type" safe machine, it silently backs up the user's motivation and greatly enhances the refurbishment effect. It is a fun machine for users. Further, when the walking speed is improved as the training progresses, the moving speed of the aircraft may be adjusted to the ability level of the user.
This is also one of the "human-led machine following type" functions, and makes the training enjoyable to meet the expectations of the user. (C) In addition, if you manually operate forward and stop like a conventional machine, it may cause a runaway due to a malfunction when you are unfamiliar or panicked, but the automatic switch can also cause the aircraft to stop when the user stops. Since it stops, accidents due to operation mistakes can be prevented. (D) Further, as described above, the training machine that is easy to use, safe, and reliable reduces the burden on nurses and caregivers, and the refurbishment effect progresses within the autonomy and self-power of the user. (E) In the case where the right and left separate sensors of claim 2 are provided, different effects are produced depending on the control mode, but an appropriate mode can be selected according to the degree of recovery of the user. For example, in the both-foot detection mode, it is suitable for a pedestrian, and the user walks forward and stops while measuring the walking amount of the user and always following the center of the human body. In the one-leg detection mode, the user can smoothly follow a user who walks quickly with a large stride. It can be used as a walking aid when moving around in a hospital. (F) By special use, it can also be used as a muscle training machine for legs and arms. For example, the power is turned off and the user moves while pushing. This requires the force to push the empty car. In addition, turn off only the sensor and move while pressing. This requires the force to push and turn the motor. (G) In the case where the outer contour of the aircraft body of claim 3 has a circular outer shape in a plan view, "in-situ turning" is possible, so when the vehicle hits a wall or an object, it is operated in reverse to change the direction. You don't have to. The high ease of operation makes it easy to use and safe to use for refurbished patients with weakened motor skills, women who are vulnerable to machines, and the elderly. This also helps to enhance the re-fabrication effect. (H) Being able to "turn on the spot" further eliminates the need to repeat the backward movement and the forward movement when changing the direction, so that the vehicle can be operated in a narrow space. For example, in the case of a walking training machine, it is possible to invert not only in a specially large room but also in a room of a general household, a living room, or a corridor as narrow as the body width, and there are few restrictions on the use place. This is a great pleasure for patients with re-fabrication. Motivated people work harder to train without being constrained by time, thus accelerating the effect. In addition, even in the case of a carrier, even in a place like a long corridor where there is no space for changing direction in the conventional model, it is possible to carry the load to the end, turn over on the spot and return by forward.

[Brief description of drawings]

FIG. 1 is a perspective view showing a basic configuration of equipment of a walking training machine.

FIG. 2 is a diagram showing the operation of two sensors.

FIG. 3 is a diagram showing a usage situation of a walking training machine.

[Explanation of symbols]

 1 Battery 2 Chassis 3 Drive Wheel 4 Control Unit 5 Sensor 6 Mirror 7 Sensor Detection Line 8 Feet 9 Forward Distance

Claims (3)

[Claims] 1. A self-propelled walking training machine, characterized in that a movement of a foot walked by a user is detected by a sensor, and movements of a vehicle such as start and stop are automatically controlled. 2. The walking training machine according to claim 1,
By providing multiple sensors and giving the control method selectivity,
A walking training machine characterized by that. 3. The walking training machine according to claim 1, wherein when the vehicle hits a wall or the like while traveling and it becomes difficult to proceed, turning on the spot is possible without returning.
A walking training machine characterized in that the outer contour of the aircraft body in a plan view is circular to eliminate catching when turning.