Walking training apparatus and state determination method
AssigneeToyota Jidosha Kabushiki Kaisha
InventorIssei Nakashima
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Abstract
A walking training apparatus 1 includes a leg robot 2 attached to a leg of a walking trainee, a motor 261 configured to rotationally drive a knee joint 22 of the leg robot 2, a control unit 332 configured to control the motor 261 so that the motor 261 rotationally drives the knee joint 22 in a leg-idling period in a gait motion of the walking trainee, a motor torque detection unit 262 configured to detect a motor torque, the motor torque being a torque generated by the motor 261, and a determination unit 333 configured to determine whether or not the walking trainee is in a spasticity state or a rigidity state by using a value of the motor torque detected in the leg-idling period by the motor torque detection unit 262.
Claims7
A walking training apparatus comprising:
- a leg robot attached to a leg of a walking trainee;
- a motor configured to rotationally drive a knee joint of the leg robot;
- controller configured to control the motor so that the motor rotationally drives the knee joint in a leg-idling period in a gait motion of the walking trainee;
- motor torque detection unit configured to detect a motor torque, the motor torque being a torque generated by the motor;
- and
- determination unit configured to determine whether or not the walking trainee is in a spasticity state or a rigidity state by using a value of the motor torque detected by the motor torque detection unit in the leg-idling period.
A state determination method for determining whether or not a walking trainee is in a spasticity state or a rigidity state in a walking training apparatus by which the walking trainee does a walking training with a leg robot attached to a leg of the walking trainee, the state determination method comprising:
- controlling a motor so that the motor rotationally drives a knee joint of the leg robot in a leg-idling period in a gait motion of the walking trainee;
- detecting a motor torque in the leg-idling period and determining whether or not the walking trainee is in a spasticity state or a rigidity state by using a value of the motor torque detected in the leg-idling period, the motor torque being a torque generated by the motor.
Dependencies are inferred from the claim text.