Development of power assist walk training machine using the resonance

随着老龄化社会的临近，家庭医疗的需求也在增加。希望研制出家用康复步行训练机。对于老年人或残疾人来说，双腿行走对于恢复腿部功能或自愿参与社会都具有重要意义。走路是一种身体中心的振动运动，通过弯曲和伸展腿部，前后、上下、左右移动。提出并研制了一种可上下移动地板的螺杆式行走训练机。部分步行残疾人和正常人使用该机器，并将残疾人身体部位的运动轨迹和地板的反作用力与正常人的运动轨迹进行了比较，明确了步行残疾人的行走障碍程度。在此基础上，提出并研制了一种基于地板垂直振动的叉车行走训练机。通过测量老年人身体部位的运动路径和地板的反作用力表明，地板的振动次数小于足部的共振点对康复是有效的。一种可以在家里使用的步行训练机即将完成。

An aging society approaches, and the need of the home medical treatment rises. It is hoping for the development of the walk training machine which rehabilitation is made in the home.For the aged persons or the handicapped persons, it is important to walk on their legs because of making recover their leg's function or having own volition to participant the society.Walk is a vibrating motion of the body center, which moves back and forward, up and down, and right and left, by bending and stretching the legs. A screw-link type walk training machine that floorboard moved up and down was proposed and developed. Some walk handicapped persons and normal persons use this machine and the paths of handicapped person's physical parts and the reaction forces of floorboard were compared with those of the normal persons, and it is cleared that the data show the degree of the walking disorder of the walk handicapped persons. Then a new walk training machine with forklift mechanism using vertical vibration of floorboard is proposed and developed. It is shown by measuring the paths of aged person's physical parts and the reaction forces of floorboard that the number of vibrations of the floor less than the resonance point of the foot is effective for the rehabilitation. A walk training machine, which can be used at home was near completion by this study.