Walking training apparatus and walking training method therefor

A walking training method comprising:

• providing a walking training apparatus, the walking training apparatus including a walking assistance apparatus attached to a leg of a user, the walking assistance apparatus being configured to assist the user to walk, a first pulling unit including a first wire configured to be attached to the leg of the user at a first end of the first wire so as wherein a vertically-upward component of a pulling force applied by the first pulling unit reduces a weight of the walking assistance apparatus, and a controller;
• detecting a start of forward swinging of the leg in a walking motion of the user to, the start of forward swinging of the leg being a timing at which the user reverses a motion of the leg of the user from a backward motion to a forward motion;
• generating with the first pulling unit, when the start of forward swinging of the leg in the walking motion of the user has not been detected, a first pulling force;
• and
• generating with the first pulling unit, when the start of forward swinging of the leg in the walking motion of the user has been detected, an additional pulling force in addition to the first pulling force for a predetermined time period, and generating, with the first pulling unit, the first pulling force after the predetermined time period has elapsed, the predetermined time period being determined by using information detected by at least one of a joint angle sensor, disposed in the walking assistance apparatus, to detect an angle of a knee joint part, and a camera to take an image of the leg of the user.

A walking training apparatus comprising:

• a walking assistance apparatus attached to a leg of a user, the walking assistance apparatus being configured to assist the user to walk;
• a first means for pulling the leg upward and forward directly or through the walking assistance apparatus;
• means for controlling the first pulling means so that a vertically-upward component of a pulling force applied by the first pulling means reduces a weight of the walking assistance apparatus;
• and
• at least one of means for detecting a joint angle, disposed in the walking assistance apparatus, to detect an angle of a knee joint part, and means for taking an image of the leg of the user,
• wherein the means for controlling is configured to:
• detect a start of forward swinging of the leg in a walking motion of the user, the start of forward swinging of the leg being a timing at which the user reverses a motion of the leg of the user from a backward motion to a forward motion,
• when the control means does not detect the start of forward swinging of the leg in the walking motion of the user, control the first means for pulling to generate a first pulling force, and
• when the control means does detect the start of forward swinging of the leg in the walking motion of the user, make the first means for pulling generate an additional pulling force in addition to the first pulling force for a predetermined time period, and make the first means for pulling generate the first pulling force after the predetermined time period has elapsed, the predetermined time period being determined by using information detected by at least one of the joint angle detection means and the means for taking the image.