Walking training system, control method thereof, and control program

A control method of a walking training system, the control method comprising:

• a step of detecting a distribution of a load received from a sole of a trainee riding on a belt of a treadmill by using a load distribution sensor;
• a step of determining whether at least one leg to which a robot leg is attached is in a standing leg state or a swinging leg state, based on a detected result by the load distribution sensor;
• a step of performing a predetermined bending-extending control for the swinging leg state of the one leg by the robot leg when it is determined that the one leg is in the swinging leg state;
• a step of measuring a clearance between the one leg in the swinging leg state and the treadmill at a swinging leg initial phase in which the one leg is located behind another leg of the trainee;
• and
• wherein when the clearance measured is less than the specified value, performing a step of delaying a start of the extending control of the one leg by the robot leg to a swinging leg end phase, which is from a time at which a cervical spine of the trainee is vertical to a next time the one leg touches a ground, by reducing an extending speed of the one leg, such that the one leg does not contact the belt of the treadmill during extending control of the one leg by the robot leg,
• and when the clearance measured is equal to or more than the specified value, performing a step of extending control of the one leg in a swinging leg middle phase, which is from a time at which the one leg crosses the other leg to the time at which the cervical spine becomes vertical.

A non-transitory computer readable medium storing a program that causes a computer to execute:

• a process of detecting a distribution of a load received from a sole of a trainee riding on a belt of a treadmill by using a load distribution sensor;
• a process of determining whether at least one leg to which a robot leg is attached is in a standing leg state or a swinging leg state, based on a detected result by the load distribution sensor;
• a process of performing a predetermined bending-extending control for the swinging leg state of the one leg by the robot leg when it is determined that the one leg is in the swinging leg state;
• a process of measuring a clearance between the one leg in the swinging leg state and the treadmill at a swinging leg initial phase in which the one leg is located behind another leg of the trainee;
• and
• when the clearance measured is less than the specified value, a process of delaying a start of the extending control of the one leg by the robot leg to a swinging leg end phase, which is from a time at which a cervical spine of the trainee is vertical to a next time the one leg touches a ground, by reducing an extending speed of the one leg, such that the one leg does not contact the belt of the treadmill during extending control of the one leg by the robot leg,
• and when the clearance measured is equal to or more than the specified value, a process of extending control of the one leg in a swinging leg middle phase, which is from a time at which the one leg crosses the other leg to the time at which the cervical spine becomes vertical.