# US 9,750,978 B2 · Gait training apparatus and control method therefor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,750,978 B2 - Document ID: US9750978B2 - Status: Granted - Kind: B2 - Application number: 14/817,743 - Filed: 2015-08-04 - Published: 2016-02-25 - Granted: 2017-09-05 - Earliest claimed: 2014-08-25 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Issei Nakashima; Hiroshi Shimada; Masayuki Takashima; Masayuki Imaida; Hitoshi Konosu - Web page: https://patentgrep.com/patent/US9750978B2 ## CPC - A63B 24/0087: {Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load} - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising} - A63B 21/4011: {to the lower limbs (means for physically limiting movements of body parts A63B69/0057)} - A63B 22/02: with movable endless bands {, e.g. treadmills (other training appliances for running on the spot A63B69/0028)} - A63B 23/04: for lower limbs {(training appliances for special sports A63B69/00; for the purpose of producing mechanical power F03G5/00)} - A63B 69/0028: {for running, jogging or speed-walking (movable endless bands A63B22/02)} - A63B 71/0054: {Features for injury prevention on an apparatus, e.g. shock absorbers (mats or the like for absorbing shocks for jumping A63B6/00)} - A61H 2201/0192: Specific means for adjusting dimensions - A61H 2201/1261: combined with active exercising of the patient - A61H 2201/1642: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/1664: linear - A61H 2201/1671: rotational - A61H 2201/5061: Force sensors - A61H 2203/0406: Standing on the feet - A61H 2205/10: Leg - A63B 2024/0093: {the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed} - A63B 2071/0081: {Stopping the operation of the apparatus} - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## Abstract A gait training apparatus includes: a walking assistance device that is attached to a leg portion of a user and assists walking of the user; a peripheral device used for gait training of the user; a control unit that controls the walking assistance device and the peripheral device; and a switching unit that switches the control unit between a cooperative control mode for performing a cooperative control of the walking assistance device and the peripheral device based on information output from the walking assistance device, and an operation mode for controlling the peripheral device based on set operation information. When the control unit is switched to the operation mode by the switching unit, the control unit executes the control of the peripheral device even when the control unit is in a non-connected state with the walking assistance device. ## Claims ### Claim 1 A gait training apparatus comprising: a walking assistance device configured to be attached to a leg portion of a user and to assist walking of the user; a peripheral device configured to be used for gait training of the user; a control unit that controls the walking assistance device and the peripheral device; and a switch that switches the control unit between a cooperative control mode for performing a cooperative control of the walking assistance device and the peripheral device based on information output from the walking assistance device, and an operation mode for controlling the peripheral device based on set operation information, wherein when the control unit is switched to the cooperative control mode by the switch and is in a non-connected state with the walking assistance device, the control unit performs at least one of control to stop the peripheral device and control to issue an alarm to the user, and wherein when the control unit is switched to the operation mode by the switch, the control unit executes the control of the peripheral device even when the control unit is in the non-connected state with the walking assistance device. ### Claim 2 (depends on 1) The gait training apparatus according to claim 1, wherein when the control unit is switched to the cooperative control mode by the switch and is in the non-connected state with the walking assistance device, the control unit performs control to stop the peripheral device. ### Claim 3 (depends on 1) The gait training apparatus according to claim 1, wherein the peripheral device includes at least one of: a body weight bearing unit configured to attach to a user and to pull the user upward to bear the weight of the user when attached to the user; a leg weight bearing unit configured to attach to at least one of the walking assistance device and the leg portion of the user and to pull at least one of the walking assistance device and the leg portion of the user upward to bear the weight of the leg of the user when attached to at least one of the walking assistance device and the leg portion of the user; and a treadmill on which the user walks. ### Claim 4 (depends on 1) The gait training apparatus according to claim 1, wherein the peripheral device includes a leg weight bearing unit configured to attach to at least one of the walking assistance device and the leg portion of the user and to pull at least one of the walking assistance device and the leg portion of the user upward to bear the weight of the leg of the user when attached to at least one of the walking assistance device and the leg portion of the user, the leg weight bearing unit comprises: a first pulling unit configured to attach to at least one of the walking assistance device and the leg portion of the user and to pull at least one of the walking assistance device and the leg portion of the user upward and forward when attached to at least one of the walking assistance device and the leg portion of the user; and a second pulling unit configured to attach to at least one of the walking assistance device and the leg portion of the user and to pull at least one of the walking assistance device and the leg portion of the user upward and backward when attached to at least one of the walking assistance device and the leg portion of the user, the control unit controls, in the cooperative control mode, a tensile force of each of the first and second pulling units to assist the leg portion of the user to swing forward, while bearing the weight of the walking assistance device when the first and second pulling units are attached to at least one of the walking assistance device and the leg portion of the user, and the control unit controls, in the operation mode, the tensile force of each of the first and second pulling units to assist the leg portion of the user to swing forward when attached to at least one of the walking assistance device and the leg portion of the user. ### Claim 5 (depends on 4) The gait training apparatus according to claim 4, wherein the control unit controls, in the cooperative control mode, the tensile force of each of the first and second pulling units in such a manner that a resultant force of vertically-upward components of the tensile forces of the first and second pulling units is equal to a gravitational force of the walking assistance device when the first and second pulling units are attached to at least one of the walking assistance device and the leg portion of the user. ### Claim 6 (depends on 1) The gait training apparatus according to claim 1, further comprising an alarm unit that issues an alarm to the user when the control unit is switched to the cooperative control mode by the switch and is in the non-connected state with the walking assistance device. ### Claim 7 A control method for a gait training apparatus, the gait training apparatus comprising a walking assistance device configured to be attached to a leg portion of a user and to assist walking of the user, a peripheral device configured to be used for gait training of the user, and a control unit that controls the walking assistance device, the control method comprising: switching a mode of the control unit between a cooperative control mode for performing a cooperative control of the walking assistance device and the peripheral device based on information output from the walking assistance device, and an operation mode for controlling the peripheral device based on set operation information; stopping the peripheral device or issuing an alarm by operation of the control unit when the control unit is switched to the cooperative control mode and is in the non-connected state with the walking assistance device, and executing, when the mode is switched to the operation mode, the control of the peripheral device by the control unit even when the control unit is in a non-connected state with the walking assistance device.