JPH06210024A - Walking training machine - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a walking training machine which is used for the functional recovery of a person with walking disability and does not require a helper, saves space and can perform training similar to actual walking. [Structure] A walking surface device 4 including an annular belt forming a walking surface for a person with a disability, a driving means for this belt, and a speed detecting means for this belt; A movable bed 3 which moves up and down and tilts back and forth, and left and right; and an assisting means 5 which is mounted on a walking surface device 4 and supports a body of a disabled person when the disabled person rides on a belt;
An image display device 6a for giving visual information to the disabled person; a belt driving means based on the detection value of the belt speed detection means so that the disabled person feels resistance to the leg of the disabled person when he walks by kicking the belt backward. The video display device 6a while controlling the speed of
And a control means for operating.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training machine used by a person with a disability having a poor walking function, and requires no helper, saves space, and can carry out training similar to actual walking. Regarding

[0002]

2. Description of the Related Art Conventionally, a walking training method for a disabled person who has a deficient walking function is one in which a disabled person holds a handrail and walks, or a so-called "grip walk" in which a disabled person walks with a caregiver. Was to do. As a further advanced example, as disclosed in Japanese Utility Model Laid-Open No. 2-42625, there is a walking training machine equipped with a means for making the lifting force of a disabled person constant. However, in the absence of handrails and walking training machines, the only way a disabled person can leave his / her body to a caregiver to practice walking is.

[0003]

DISCLOSURE OF INVENTION Problems to be Solved by the Invention In gait training using handrails, the burden on the upper body of the handicapped person is large,
In addition, in the walking training in which the disabled leave the body to the caregiver, the burden on the whole body including the legs and waist of the caregiver was large. Further, in the conventional walking training machine, the walking path is monotonous due to the limitation of the installation volume. For the above reasons, conventional walking training requires a great deal of effort for both the disabled and the caregiver to continue.

Therefore, a walking training machine having the following features has been desired. (1) There is no need for a helper, the burden on the upper body of the handicapped person is small, and (2) a variety of training can be done in a small space,
(3) The device is designed to approach walking.

The present invention has been made in view of the above circumstances. When a person with a walking disability has a gait training, he / she does not need a helper, is space-saving, and can perform a training similar to an actual gait. The purpose is to provide a training machine.

[0006]

In order to achieve the above-mentioned object, a first walking training machine of the present invention is a device used for recovery of walking function, and forms a walking surface on which a handicapped person walks. An annular belt, a drive means for this belt, a belt speed detection means, and a speed control means for controlling the belt drive means based on the detection value of the belt speed detection means when a person with a disability kicks the belt backward and walks. And a pedestal equipped with a driving means for mounting the walking surface device to change the posture of the walking surface device to a horizontal or forward / backward / leftward / rightward tilted posture; And an assisting device provided with a gripping means for gripping the body of a person with a disability when the rider rides and a driving means for moving the gripping means in the three-dimensional directions of up, down, front, back, left and right.

It is preferable that the first walking training machine is provided with a video display device for giving visual information of a virtual walking environment when a person with a disability walks on a walking surface. The assisting device preferably grasps the waist and shoulders of the disabled person, and the speed control means of the walking surface device speeds the belt so as to give resistance to the disabled person when the disabled person kicks the belt backward and walks. It is better to control.

In order to achieve the above-mentioned object, a second walking training machine of the present invention is a device used for recovering a walking function, which comprises an annular belt forming a walking surface for a handicapped person and a belt. And a pedestal provided with a driving means for mounting the walking surface device and changing the walking surface device to each posture of horizontal or front-back and left-right tilting; walking surface device A gripping means mounted on a belt for gripping a disabled person's body when the person is riding on a belt, a driving means for moving the gripping means up, down, front, back, left and right directions, and a shake detection for detecting shaking of the disabled person's body An assisting device provided with means; types of impairment of walking function, walking ability and various walking training menus corresponding thereto, assistance procedures for persons with disabilities, physical characteristics of persons with disabilities, types of impairment of walking function,
A database that stores personal data such as walking ability and training records; an expert system that selects a walking training menu based on personal data from various walking training menus in this database; an input / output means that accesses the database; and an expert system According to the selected walking training menu, the pedestal drive means is controlled to determine the posture of the walking surface device, and when the person with a disability kicks the belt backwards and walks, the belt speed detection means detects the belt An integrated control device for controlling the driving means, and for controlling the driving means for the gripping means by using the assistance procedure obtained through the expert system in correspondence with the detection value of the shake detection means of the assistance apparatus; Characterize.

It is preferable that the second walking training machine is provided with a video display device which gives visual information of a virtual walking environment when a person with a disability walks on a walking surface.

Further, the pedestal driving means extends from the lower three points of the pedestal by two via the universal joint, and one link extending from the adjoining fixed point is gathered at three places on the upper table. It is preferable to include a link structure consisting of and.

Further, it is preferable that the integrated control device controls the driving means of the walking surface device so as to give resistance to the disabled person when the disabled person kicks the belt backward and walks.

Further, the gripping means of the assisting device grips the waist and shoulders of the handicapped person, the shake detecting means measures the three-dimensional displacement in the up, down, front, back, left and right directions, and the integrated control device reduces the detection value of the shake detecting means. It is preferable to control so that the gripping means is moved in the direction.

[0013]

The method of using the first walking training machine of the present invention is as follows. When a person with a disability rides on the walking surface of the belt,
Adjust the pedestal so that the walking surface is horizontal. After a handicapped person standing on the walking surface wears the assistive device on the waist and shoulders, the posture of the pedestal is tilted horizontally or front-back and left-right according to the walking function of the handicapped person, and the handicapped person walks by kicking the belt backward. At that time, the belt speed detecting means detects the speed, and the speed control means controls the speed of the belt so that the resistance of the legs of the disabled person is loaded according to the detected value. Stop. During this walking training, the image display device projects a walking environment, for example, a landscape of a road or a landscape of a mountain road. At the end of the walking training, the walking surface is kept horizontal, and the disabled person removes the assistance device and gets off the walking surface.

A second walking training machine of the present invention is an automated version of the first walking training machine, and both have the same mechanical device part. In the second walking training machine, the expert system selects a walking training menu suitable for the walking function of the disabled person based on various data of the disabled person from the various walking training menus stored in the database, and the overall control device According to the walking training menu, the pedestal driving means is controlled so that the walking surface device has a predetermined posture, and when the disabled person kicks the belt backward to walk, based on the detection value of the belt speed detecting means. The driving means of the walking surface device is controlled so as to give resistance to the disabled person, and the driving means of the gripping means is controlled so that the shaking is reduced from the detected value of the shaking detecting means of the assistance device.

Thus, the pedestal that operates according to the training menu selected by the expert system, the walking surface device, and the image display device provide a wide range of walking performed by the disabled person, and the assisting device supports the disabled person so that the muscular strength and sense of By providing assistance, walking training suitable for the degree of the disabled can be performed.

[0016]

Embodiments of the present invention will be described below with reference to FIGS. FIG. 1 is an overall configuration diagram of a walking training machine according to an embodiment of the present invention, and FIG. 2 is a configuration diagram of control means of the walking training machine.

As shown in FIG. 1, the walking training machine 1 includes a walking surface device 4 for carrying out walking training by a disabled person U having a walking disability, an assisting means 5 for supporting the body of the disabled person U, and walking. It comprises a movable bed 3 as a pedestal on which the surface device 4 and the assistance means 5 are mounted, an image display device 6 for showing the scenery or the like seen by the handicapped person U during walking training, and a control means 2 for controlling these devices 3 to 5. To be done.

The lower part of the movable bed 3 is fixed to the floor surface F of the training room, the walking surface device 4 is mounted on the upper part, and an actuator for changing the position and posture of the walking surface device 4 is provided between the upper and lower parts. ing. The handicapped person U walks while standing on an annular belt that is an infinite road exposed on the upper surface of the walking surface device 4.
Assistance means 5 is installed on the walking surface device 4, and the assistance means 5 supports the shoulder and waist of the disabled person U and holds the posture of the disabled person. The image display device 6a is attached to the head of the disabled person U.

Here, the coordinate axes for the walking training machine are defined. The reference coordinate system (X, Y, Z) is set on the floor surface F, and the walking plane coordinate system (x, y, z) is set on the walking plane device 4. X is the front and rear horizontal direction corresponding to the direction in which the belt of the walking training machine 1 extends, Y is the horizontal horizontal direction orthogonal to the X direction,
And let Z be the direction of gravity. It is assumed that x corresponds to the direction in which the disabled person U travels on the walking surface device 4, y corresponds to the left-right direction, and z corresponds to the direction perpendicular to the walking surface.

The block configuration of the control means 2 is a hierarchical control system on the second floor as shown in FIG. The upper control system is composed of the overall control element 21 of the walking training machine 1, the database 22, and the auxiliary input / output means 23. The overall control element 21 selects the knowledge of a physical therapist who is familiar with the walking training of the handicapped person U in order to perform the overall control of the walking training machine 1, that is, the type of impairment of the walking function, the walking ability and the training menu corresponding thereto. It is equipped with an expert system that memorizes methods and points of assistance. The database 22 has various walking training menus, physical characteristics of the disabled person U, characteristics relating to motor function, and training records. The overall control element 21 uses the expert system to select an appropriate walking training menu from the characteristics and training records of the disabled person U, and issues an operation command for the walking training machine 1 according to the menu.

During the training, the movable bed 3, the walking surface device 4,
Based on the sensor information from the assistance means 5, the integrated control element 21
Expert system will modify the training menu from time to time. The auxiliary input / output unit 23 includes a keyboard 23a for accessing the database 22 and a CRT 23b for displaying sensor information of the walking training machine 1.

The subordinate control system generates an operation command for the walking environment control element 24 for performing cooperative control of the movable bed 3, the walking surface device 4, and the image display device 6, and an operation command for the assisting device 5, and an assisting device command for training assistance. And element 25.

FIG. 3 is a view showing the structure of the movable bed 3. The movable bed 3 is composed of parallel links with 6 degrees of freedom, and the upper table 32 has displacements in the X, Y, and Z axis directions, and
It has a total of 6 degrees of freedom around the Y and Z axes. The pedestal 31 of the movable bed is fixed to the floor surface of the training room, six linear motion actuators 33 are mounted on the pedestal 31 of the movable bed by a universal joint 34, and the table 32 is further provided at the tip of the linear motion actuator 33. It is attached by a universal joint 34.
The walking surface device 4 is attached to the upper surface of the table 32. Each linear motion actuator 33 is equipped with a displacement sensor 35 that detects the amount of displacement.

FIG. 4 is a diagram showing the structure of the movable bed control means 36. The movable bed control means 36 is the displacement command means 3
6a and the actuator control means 36b, and changes the position and posture of the walking surface device 4 mounted on the table 32 with respect to the floor surface F. Displacement command means 36a
Receives a target value command of the displacement and posture of the table 32 from the walking environment control element 24 (FIG. 2) and converts it into a displacement command to each linear motion actuator 33, and the actuator control means 36b uses the converted command. Each linear motion actuator 33 is driven.

As a result, the walking surface device 4 can change its position and posture with respect to the floor surface F. as a result,
The disabled person U standing on the walking surface device 4 can experience the traveling direction, the left-right direction, the up-down direction, and the displacement (acceleration) that combines them, and the slope of the road surface such as a slope.

Further, when the training is not carried out, the disabled person U
The height of the walking surface device 4 with respect to the floor surface F can be lowered so that the passenger can easily get on the walking surface. This state is called the initial position. The state in which the height is raised from the initial position at the start of training is called the neutral state.

If the person with disabilities U has at least a vertical movement corresponding to the repulsion of the road surface, a slope, and an inclination in the horizontal direction,
You can get the feeling of normal walking. In this case, the table 32 has at least three degrees of freedom. Further, the drive mechanism of the table 32 is not limited to the link structure shown in FIG. 3, but may be any structure that can set up and down displacement, a slope in the traveling direction, and a left and right inclination.

FIG. 5 is a block diagram of the walking surface device 4. As shown in the figure, the walking surface is composed of an annular belt 42, and the belt 42 is installed between a drive wheel 43 installed in the front part of the belt 42 and a driven wheel 44 installed in the rear part of the belt 42. An auxiliary wheel 45 is provided to prevent slack. The belt 42, the drive wheels 43 and the like are installed inside the frame 41, and the upper surface of the belt 42 is flush with the upper surface of the frame 41 to form a walking surface. The disabled person U stands on the belt 42 of the walking surface device 4 and walks.

The drive wheel 43 is provided with a drive device 43a, a drive wheel speed sensor 43b and drive wheel control means 43c,
Further, the driven wheel 44 is provided with a driven wheel speed sensor 44a. The drive wheel control means 43c controls the speed of the belt 42.

FIG. 6 is a block diagram showing the structure of the drive wheel control means 43c. The control means 43c calculates the speed of the belt 42 from the speed information obtained from the driving wheel speed sensor 43b and the driven wheel speed detecting means 44a, and controls the driving wheels 43 so as to match the speed target. The speed target and the speed gain are changed by a command from the walking environment control element 25.
During walking training, the speed target is set to 0. As a result, when the disabled person U kicks the belt 42, the belt 42 moves behind the disabled person U along with the kick, and gives the disabled person U a resistance force determined from the velocity gain.

Next, the structure of the assisting means 5 and its control means will be described with reference to FIGS. The assistance means 5 is installed on the walking surface device 4 as shown in FIG. 1, and more specifically on the upper surface of the frame body 41. The assistance means 5 is a z-axis column 52 that is erected on both sides of a belt 42 that is a walking surface on the upper surface of the frame body 41.
And a z-moving piece 53 mounted so as to be movable along each z-axis column 52, and a y-axis horizontal bar 5 attached between both z-moving pieces 53.
4, the y-moving piece 55 movably mounted along the y-axis horizontal bar 54, the x-axis horizontal bar 56 attached to the y-moving piece 55 and extending in the x direction, and the x-axis horizontal bar 56. It is composed of an x-moving piece 57 that moves along, and a grip portion 51 that is attached to the x-moving piece 57 and that holds the shoulder and waist of the disabled person U. That is, the assistance means 5 acts on the disabled person U through the grip 51 with three degrees of freedom. The force exerted by the assistance means 5 is a three-dimensional force based on the walking plane coordinate system x, y, z.

X moving piece 57, y moving piece 55, z moving piece 5
3 includes x-axis horizontal rods 56, y-axis horizontal rods 54, and z-axis columns 52 that move the respective x-axis rods.
Drive means 57a, y drive means 55a, z drive means 53a
And a displacement sensor 581 for measuring the displacement, speed and force of each moving piece moving with respect to the guide shaft.
The assisting means 5 is provided with a speed sensor 582 and a force sensor 583.

Control means 59 for each moving piece 57, 55, 53
8, as shown in FIG.
2 has a setting unit 59a for setting the operation target of each moving piece, and the moving pieces 57, 5 are placed in the lower order.
It has a control unit 59b for performing control on the basis of information of the displacement sensor 581, the speed sensor 582, and the force sensor 583 and the operation target for every 5 and 53.

FIG. 9 is a view showing the grip portion 51 for supporting the disabled person U. The grip 51 includes a shoulder member 51a that grips the shoulder of the disabled person U, a waist member 51b that grips the waist, and a shoulder member 5
A connecting link 51c for connecting the la and the waist member 51b,
The connecting link 51c and the x-moving piece 57 are connected and the person with a disability U
A reaction force sensor 51d is provided as a shake detecting means for measuring a force and a moment acting between the assisting means 5 and the assisting means 5.

FIG. 10 is a diagram showing the structure of the image display device 6a. The image display device 6a is a device for displaying an image that the disabled person U sees during walking training. The image display device 6a displays the projection means 61a mounted on the head of the disabled person U, the head position sensor 62a for detecting the position of the head of the disabled person U, and the projection means 61a in front of the eyes of the disabled person U. The image displayed is a command from the walking environment control element 25 and the head position sensor 62a.
Image processing means 63a for updating the position information of the head of the disabled person U sent from As a result, the disabled person U
The scene in front of the disabled person U changes according to the movement of the person, and the disabled person U can perform highly realistic training.

FIG. 11 is a diagram showing the configuration of another video display device 6b. The image display device 6b includes a projection unit 61b that projects an image around the disabled person U, and an image processing unit 62b that updates the image displayed based on a command from the walking environment control element 24. Although this is a little inferior to the image display device 6a, it does not need to update the image in accordance with the movement of the head of the disabled person U, and therefore has the advantage that the capability of the image processing means may be low. .

The image displayed on the image display device is an image captured from the head of the handicapped person U and changes with the movement of the movable bed. For example, by displaying a scene that can be seen while walking in the mountains and changing the undulations according to the inclination of the movable bed, the disabled person U has the sensation of actually walking in the scenery spreading in front of him. To be

Next, the sequence in each of the starting stage, the training operation stage and the ending stage of the walking training machine of this embodiment will be described with reference to FIGS.

First, the starting sequence will be described with reference to FIG. At the start of training, the disabled person U wears the image display device 6a shown in FIG. 10 and stands on the walking surface device 4. However, when the image display device 6b shown in FIG. 11 is used instead of the image display device 6a, there is nothing to be attached because the projection means 61b is in front of the eyes of the disabled person U. Then, the sensors (displacement sensor 581, force sensor 582, and reaction force sensor 583) of the assistance means 5 are operated to attach the grip 51 of the assistance means 5 to the disabled person U, and then the movable bed 3 of the walking training machine 1 is operated. Moves from the initial position to the neutral state. The displacement sensor 581, the force sensor 582, and the reaction force sensor 583 are
In particular, the output differs depending on the difference (height, weight, etc.) of the disabled person U, so the initial value must be corrected. Correcting the initial values of the other sensors is also effective for the safety of the disabled person U. With this, the startup sequence is completed.

As shown in FIG. 13, there are two training operations depending on whether or not the person with a disability U is registered in the database 22.

One is the case of a person with a disability U who newly uses a walking training machine. When the person newly uses it, according to the format of the personal record database 23, the age, height, weight,
Personal information such as motor function is input to register the disabled person U. The overall control element 21 selects a walking training menu suitable for the disabled person U from the database 22 based on the registered information, and starts the training operation.

In the case of a person with a disability U who has already been registered, if the preset code of the person with a disability U is input from the auxiliary input / output means 23, the training record of the person with a disability U is centrally controlled from the database 22. Read into element 21.
Based on the previous training result, the overall control element 21 selects a walking training menu suitable for the disabled person U from the database 22 and starts the training operation.

During the training operation, the overall control element 21 performs the following two types of processing based on the training menu. (1) The walking environment control element 24 performs cooperative control of the movable bed 3, the walking surface device 4, and the video display device 6. This provides the person with disabilities U with a simulated training environment. (2) The assistance means 5 is controlled by the assistance means control element 25. As a result, due to changes in the training environment, people with disabilities U
Avoid instability in walking.

The expert system of the integrated control element 21 is configured so that the walking environment control element 24,
The assistance means control element 25 is adjusted to perform optimal walking training for the disabled person U.

When the training is finished, the sequence goes to the end sequence shown in FIG. First, the training result is recorded in the database 22, and the overall control element 21 determines the ability of the disabled person U and determines the next menu. Then, the movable bed 3 is returned to the initial position, and the disabled person U receives the assistance means 5 and the image display device 6.
Remove the attachments such as a, get off the walking surface device 4,
Finish the training.

[0046]

According to the present invention, the first walking training machine,
A walking surface device provided with an annular belt forming a walking surface and a speed control means for controlling a belt speed when a person with a disability walks on the belt; Since the pedestal provided with the driving means for changing the position; and the assisting device for holding the body of the disabled person on the belt are provided, the device can be a space-saving device because of the annular belt, and the pedestal for changing the posture can be Therefore, it is possible to perform training similar to actual walking, and it is possible to eliminate the need for a helper who has a heavy burden due to the helper device.

Further, according to the present invention, in addition to the first walking machine, the second walking training machine is an expert for storing various walking training menus corresponding to the walking ability of the handicapped person, assistance procedures for the handicapped person and the like. A system, a database that stores data such as walking ability and training records of persons with disabilities, and an expert system and a database are used to select a walking training menu, and the walking surface device, pedestal, and assistance device are controlled according to the walking training menu. Since it is a device equipped with an integrated control device, it has the same space-saving effect as the first training machine, training close to actual walking, and the effect of eliminating the need for a caregiver. Can provide effective training.

Furthermore, by providing an image display device in the first and second walking training machines to create a pseudo walking environment by photographing a landscape or the like, walking training that is very close to actual walking by combining visual and sensation. Since the assisting device grips the waist and shoulders of the disabled person, safety can be ensured.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a walking training machine that is an embodiment of the present invention.

FIG. 2 is a block diagram of control means of the walking training machine.

FIG. 3 is a configuration diagram of a movable bed 3.

FIG. 4 is a block diagram of a control means 36 of the movable bed.

5 is a configuration diagram of a walking surface device 4. FIG.

6 is a block diagram of drive wheel control means 423c of the walking surface apparatus 4. FIG.

FIG. 7 is a configuration diagram of assistance means 5.

FIG. 8 is a configuration diagram of a control system of assistance means 5.

FIG. 9 is a configuration diagram of a grip portion 51 of the assistance means 5.

FIG. 10 is a diagram showing a configuration of a video display device 6a.

FIG. 11 is a diagram showing a configuration of another video display device 6b.

FIG. 12 is an operation sequence diagram at the time of starting the walking training machine.

FIG. 13 is an operation sequence diagram during a training operation of the walking training machine.

FIG. 14 is an operation sequence diagram at the end of the walking training machine.

[Explanation of symbols]

U Handicapped person 1 Walking training machine 2 Control means 3 Movable bed 4 Walking surface device 5 Assistance means 6a, 6b Video display device 21 General control element 22 Database 23a Keyboard 23b CRT 24 Walking environment control element 25 Assistance means command element 31 Pedestal 32 table 33 Linear Actuator 34 Universal Joint 35 Displacement Sensor 36 Movable Bed Control Means 36a Displacement Command Means 36b Actuator Control Means 41 Frame 42 Belt 43 Drive Wheel 43a Drive Device 43b Drive Wheel Speed Sensor 43c Drive Wheel Control Means 44 Driven Wheel 44a Driven Wheel Speed sensor 45 Auxiliary wheel 51 Gripping portion 51a Shoulder member 51b Waist member 51c Connecting link 51d Reaction force sensor 52 z Linear motion guide 53 z Moving piece 53a z Driving means 54 y-axis horizontal bar 55 y Moving piece 55a y Driving means 5 6 x-axis horizontal bar 57 x moving piece 57a x driving means 59 control means 59a setting part 59b control parts 61a, 61b projection means 62a head position sensor 62b image processing means 63a image processing means 581 displacement sensor 582 speed sensor 583 force sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Teru Yoshida 6-2 26 Minamioi, Shinagawa-ku, Tokyo Omori Bellport B Building Hitachi Medical Systems Promotion Headquarters

Claims (9)

[Claims] 1. A walking training machine used by a disabled person with gait dysfunction for functional recovery, comprising: an annular belt forming a walking surface on which the disabled person walks; driving means for driving the belt; and speed of the belt. Walking provided with a belt speed detecting means for detecting the speed and a speed controlling means for controlling the driving means based on a detection value detected by the belt speed detecting means when a person with a disability kicks the belt backward to walk. Surface device; a pedestal equipped with the walking surface device and provided with driving means for changing the walking surface device to each posture of horizontal or front-back and left-right inclination; and a person with a disability mounted on the walking surface device and on the belt. A walking training machine comprising: a gripping means for gripping a body of a disabled person and a driving means for moving the gripping means in up, down, front, back, left, and right directions; 2. The walking training machine according to claim 1, further comprising a video display device for providing visual information of a virtual walking environment when a disabled person walks on the walking surface. 3. The walking training machine according to claim 1, wherein the gripping means grips a waist and a shoulder of a disabled person. 4. The speed control means of the walking surface device controls the driving means of the walking surface device so as to give resistance to the disabled person when the disabled person kicks the belt backward and walks. The walking training machine according to claim 1. 5. A walking training machine used by a disabled person with gait dysfunction for functional recovery, an annular belt forming a walking surface for walking by the disabled person, driving means for driving the belt, and speed of the belt. A walking surface device provided with a belt speed detecting means for detecting a walking speed; and a pedestal equipped with the walking surface device and provided with a driving means for changing the walking surface device to each posture of horizontal or front-back and left-right inclination; A gripping means mounted on the apparatus for gripping the body of the disabled person when the disabled person rides on the belt, a driving means for moving the gripping means in the up, down, front, back, left, and right directions, and detecting the shaking of the body of the disabled person. Assistance device provided with sway detection means; types of walking function disorders, walking ability and various walking training menus corresponding to them, assistance procedures for persons with disabilities, and physical characteristics of persons with disabilities, types of impairment of walking function , Walk Capability, a database for storing personal data of the training records, and the like; and an expert system for selecting a walking training menu by said personal data from various gait training menu of the database; and output means for accessing said database;
According to the walking training menu selected by the expert system, the driving means of the pedestal is controlled to determine the posture of the walking surface device, and the detection of the belt speed detecting means when the disabled person kicks the belt backward to walk. The driving means of the walking surface device is controlled based on the value, and the driving means of the gripping means is controlled by using the assistance procedure obtained through the expert system corresponding to the detection value of the shake detection means of the assistance apparatus. A walking training machine, comprising: an integrated control device for controlling; 6. The walking training machine according to claim 5, further comprising a video display device for providing visual information of a virtual walking environment when a disabled person walks on the walking surface. 7. The pedestal driving means extends from the lower portion of the pedestal at two points via two universal joints, and each one link extending from an adjacent fixed point is gathered at three locations on the upper table. The walking training machine according to claim 5, wherein the walking training machine has a link structure including six expandable and contractible actuators. 8. The integrated control device controls the driving means of the walking surface device so as to give resistance to the disabled person when the disabled person kicks the belt backward and walks. Walking training machine. 9. The gripping means of the assistance device grips the waist and shoulders of a disabled person, the shake detecting means measures displacements in up, down, front, back, left, and right directions, and the integrated control device detects the detected value of the shake detecting means. The walking training machine according to claim 5, wherein the walking training machine is controlled so as to move the gripping means in a direction of decreasing the size.