| CPC A61H 3/008 (2013.01) [A61H 1/0262 (2013.01); A63B 22/02 (2013.01); A61H 2201/164 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/5025 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5092 (2013.01)] | 13 Claims |
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1. A walking training system comprising:
a robot leg configured to be attached to one leg of a trainee;
a treadmill;
a load distribution sensor that detects a distribution of a load received from a sole of the trainee riding on a belt of the treadmill;
a processor receiving signals from at least one sensor and executing computer readable instructions to determine whether at least the one leg is in a standing leg state or a swinging leg state, based on a detected result by the load distribution sensor;
the processor executing further instructions to perform a predetermined bending-extending control for the swinging leg state of the one leg by the robot leg when the processor determines that the one leg is in the swinging leg state; and
the processor executing further instructions to measure, based on at least one sensor signal, a clearance between the one leg in the swinging leg state and the treadmill at a swinging leg initial phase in which the one leg is located behind another leg of the trainee,
wherein when the clearance measured by the processor is less than the specified value, the processor-delays a start of the extending control of the one leg by the robot leg to a swinging leg end phase, which is from a time at which a cervical spine of the trainee is vertical to a next time the one leg touches a ground, by reducing an extending speed of the one leg, such that the one leg does not contact the belt of the treadmill during extending control of the one leg by the robot leg,
wherein when the clearance measured by the processor is equal to or more than the specified value, the processor performs the extending control of the one leg in a swinging leg middle phase, which is from a time at which the one leg crosses the other leg to the time at which the cervical spine becomes vertical.
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