US 12,239,433 B2
Learning system, walking training system, method, program, and trained model
Nobuhisa Otsuki, Toyota (JP); Issei Nakashima, Toyota (JP); Manabu Yamamoto, Toyota (JP); and Hodaka Kito, Nagoya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Feb. 21, 2024, as Appl. No. 18/583,104.
Application 18/583,104 is a division of application No. 16/885,705, filed on May 28, 2020, granted, now 11,944,427.
Claims priority of application No. 2019-119669 (JP), filed on Jun. 27, 2019.
Prior Publication US 2024/0188848 A1, Jun. 13, 2024
Int. Cl. A61B 5/11 (2006.01); A61B 5/00 (2006.01); A61B 5/103 (2006.01); A61H 1/02 (2006.01); B25J 9/00 (2006.01); G06F 18/214 (2023.01); G06N 20/00 (2019.01); G06V 10/774 (2022.01); G06V 10/776 (2022.01); G06V 40/20 (2022.01); G16H 50/20 (2018.01); G16H 50/30 (2018.01)
CPC A61B 5/1038 (2013.01) [A61B 5/112 (2013.01); A61B 5/7267 (2013.01); A61B 5/742 (2013.01); A61H 1/0262 (2013.01); B25J 9/0006 (2013.01); G06F 18/2148 (2023.01); G06N 20/00 (2019.01); G06V 10/7747 (2022.01); G06V 10/776 (2022.01); G06V 40/25 (2022.01); G16H 50/20 (2018.01); G16H 50/30 (2018.01); A61B 2505/09 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/5058 (2013.01); A61H 2205/10 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A walking training system comprising:
a plurality of actuators configured to assist a walking motion of a trainee;
a treadmill on which the trainee walks;
a plurality of sensors provided to detect a plurality of motion amounts in the walking motion of the trainee assisted by the plurality of actuators;
a control unit configured to control the plurality of actuators in accordance with a plurality of setting parameters,
an evaluation unit configured to evaluate that, for each of walking cycles of the walking motion, when at least one of the motion amounts matches one of a plurality of predetermined abnormal walking criteria, the walking motion in the walking cycle is an abnormal walking pattern that meets an abnormal walking criterion, and outputs the abnormal walking pattern; and
an output unit configured to receive the abnormal walking pattern and outputs a setting parameter associated with the abnormal walking pattern, wherein
the plurality of actuators includes a front pulling unit configured to apply pulling force to a leg of the trainee from front side and a rear pulling unit configured to apply pulling force to the leg of the trainee from a rear side for assisting a swing motion of the leg;
the plurality of sensors are provided to detect a plurality of motion amounts in the walking motion of the trainee,
the plurality of the setting parameters includes a speed of the treadmill, the pulling forces of the front pulling unit, a ratio between the pulling forces of the front and rear pulling units,
the motion amounts include distances along a walking direction from a hip joint to a foot joint of the trainee at a time of swinging of the leg and at a time of landing of the leg.