Title:
歩行訓練システム
Document Type and Number:
Japanese Patent JP6508167
Kind Code:
B2
Abstract:
The walking training system 1 includes an upper acceleration sensor 52 and a lower acceleration sensor 54 installed at locations on the walking assistance apparatus 2 spaced apart from each other in a leg length direction. The control apparatus 100 estimates an acceleration at the center of gravity of the walking assistance apparatus 2 from accelerations acquired by the upper acceleration sensor 52 and the lower acceleration sensor 54. The control apparatus 100 then calculates an inertia force acting on the walking assistance apparatus 2 from the product of the acceleration at the center of gravity and the weight of the walking assistance apparatus 2. The control apparatus 100 controls the forward pulling unit 35 and the backward pulling unit 37 to reduce the inertia force acting on the walking assistance apparatus 2.
Inventors:
Hiroshi Sato
Kenta Konishi
Kenta Konishi
Application Number:
JP2016220690A
Publication Date:
May 08, 2019
Filing Date:
November 11, 2016
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
A61H1/02
Domestic Patent References:
| JP2015223294A | ||||
| JP2007330299A | ||||
| JP2003220584A |
Foreign References:
| WO2012118143A1 | ||||
| US20050101448 |
Attorney, Agent or Firm:
Ken Ieiri