Development of walk training machine using the two-dimensional floor motion

随着老龄化社会的到来，人们对家庭医疗的需求日益增加，希望能开发出一种能够进行家庭康复的步行训练机。当步行训练者在双杠的空间中通过手臂支撑移动时，护理人员是必要的，同时步行训练是在医院中进行的。虽然医院正在使用动力行走训练装置，但其价格昂贵。此外，由于步行环境的改善，使得轻便的步行者无法在家中使用。本研究以开发可在家中使用的步行训练器为目的，提出并开发了地板贴近步行轨迹运动的六连杆式步行训练器和地板上下运动的螺杆式步行训练器。与以往设计的偏心凸轮步行训练器相比，后者具有体积小、重量轻、训练人员安全等优点。利用位置传感器测量了模拟残疾人和正常人身体点的运动轨迹，研究了身体点的运动特性。明确了各物理点的运动反映了行走紊乱的程度。指出了该机器的优点和存在的问题，使其更接近于实现家用步行训练机。

The need of the home medical treatment rises in an aging society, and it is hoping on the development of the walking training machine which home rehabilitation can done. When a walk training person moves with supporting by his arms in the space of the parallel bars, a care person is necessary with the walk training being done in the hospital. Though the power walking training device is being used in the hospital, it is expensive. Furthermore, a handy walker can't use at the home because the environment of a walk has not been improved.For the aim of the development of the walk training machine which can be used at home, the six-bar linkage- type walk traininig machine that floor plate move close to the trajectory of the walk and the screw link-type walk training machine that floor plate move up and down were proposed and develped in this study. The latter is small, lightweight and the safety for the training person in comparison with the eccentric cam walk training machine designed before. The paths of physical points of an imitational handicapped person and a normal person were measured by using the position sensor, and the moving characteristics of the physical points were investigated. It was cleared that the movement of each physical point show the degree of the walking desorder. The advantages and problems of this machine were pointed out, and it brought it close to the realization of the walk training machine which can be used at home.