US 11,696,866 B2
Walking training system and operation method
Taiga Matsumoto, Nagoya (JP); Issei Nakashima, Toyota (JP); Yo Sato, Miyoshi (JP); and Masayuki Imaida, Ichinomiya (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 26, 2020, as Appl. No. 17/3,368.
Claims priority of application No. 2019-189213 (JP), filed on Oct. 16, 2019.
Prior Publication US 2021/0113419 A1, Apr. 22, 2021
Int. Cl. A61H 3/00 (2006.01); A63B 22/02 (2006.01)
CPC A61H 3/008 (2013.01) [A63B 22/02 (2013.01); A61H 2003/007 (2013.01); A61H 2201/149 (2013.01); A61H 2201/1635 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/5002 (2013.01); A61H 2203/0406 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A walking training system comprising:
a harness configured to be attached to a trainee's trunk;
at least three pulling units including first to third wires; and
a control unit configured to control the at least three pulling units in such a way that a position of the harness in a horizontal plane becomes a target position; wherein
one of the at least three pulling units is a first pulling unit configured to apply a pulling force to the harness from front of the trainee,
another one of the at least three pulling units is a second pulling unit configured to apply a pulling force to the harness from rear of the trainee,
another one of the at least three pulling units is a third pulling unit configured to apply a pulling force to the harness from a direction different from the first and second pulling units,
the harness includes a guide mechanism, an attaching member, and a frame that is configured to be fixed to the trunk,
the first to the third wires are attached to the attaching member,
the guide mechanism is configured to guide up/down movement between the attaching member and the frame, and
the guide mechanism includes a guide rail provided along an up/down direction.