JP2024018127A - Walking aid device, control method and control program for the walking aid device - Google Patents

Abstract

[Problem] To realize a walking assist device that contributes to improving the effectiveness of walking training. A walking assist device (1) according to an embodiment of the present disclosure includes an upper leg attachment part (11) for attaching the walking assist device (1) to the upper thigh of a leg, and ) is connected to the lower leg attachment part (12) for attaching the leg to the lower leg, and the upper leg attachment part (11) and the lower leg attachment part (12) are connected to each other to apply resistance in the direction of bending the knee joint of the leg. A damper (15), a sensor (18) that detects the pressure acting from the upper leg to the upper leg attachment part (11) or the pressure acting from the lower leg to the lower leg attachment part (12), and a sensor (18) that detects the pressure acting from the upper leg to the upper leg attachment part (12), and and a control unit (20) that adjusts the drag force of the damper (15) based on the damper (15). [Selection diagram] Figure 3

Description

The present disclosure relates to a walking assist device, a control method for the walking assist device, and a control program, and includes, for example, a walking assist device that is attached to the leg of a user when the user performs walking training, a method for controlling the walking assist device, and a control program. Concerning control programs.

For example, when a user such as a hemiplegic patient performs walking training, a walking assist device is attached to the user's affected leg in order to prevent the user's affected leg from bending at the knee. As disclosed in Patent Document 1, such a walking assist device includes an upper leg attachment part to the upper leg of the user's leg, a lower leg attachment part to the lower leg of the user's leg, and a lower leg attachment part to the lower leg of the user's leg. It is equipped with a damper that applies resistance in the direction of joint bending.

JP 2021-90515 Publication

The applicant discovered the following problems. The walking assist device of Patent Document 1, for example, has the problem that even if the paralysis level of the user's affected leg is improved, the damper is configured to apply a certain amount of resistance to the affected leg, which reduces the effectiveness of walking training. have

The present disclosure has been made in view of such problems, and provides a walking assist device, a control method for the walking assist device, and a control program that contribute to improving the effectiveness of walking training.

A walking assist device according to one aspect of the present disclosure is a walking assist device that is attached to the leg of a user when the user performs walking training, and includes:
an upper leg attachment part for attaching the walking assist device to the upper leg of the leg;
a lower leg attachment part for attaching the walking assist device to the lower leg of the leg;
a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in a bending direction of a knee joint of the leg;
a sensor that detects pressure acting on the upper leg attachment part from the upper leg or pressure acting on the lower leg attachment part from the lower leg;
a control unit that adjusts the drag force of the damper based on the detection result of the sensor;
Equipped with

In the walking assist device described above, the sensor is located at a position in the upper leg mounting portion facing the back of the upper leg of the leg or in the lower leg mounting portion when the walking assist device is attached to the leg of the user. It is preferable that the leg be disposed at a position facing the back of the lower leg of the leg.

In the walking assist device described above, it is preferable that the control unit reduce the drag force of the damper when the maximum value of the detection results of the sensor in at least one walking cycle becomes less than a preset threshold. .

In the walking assist device described above, it is preferable that the control unit decreases the drag force of the damper in stages based on a plurality of preset threshold values.

In the walking assist device described above, the control unit may reduce the drag force of the damper when the average value of the maximum values of the detection results of the sensor in each of the most recent walking cycles becomes less than the threshold value. preferable.

In the walking assist device described above, the control unit may reduce the drag force of the damper when the maximum value of the detection results of the sensor in each of the most recent walking cycles is continuously less than the threshold value. preferable.

In the walking assist device described above, it is preferable that the control unit reduce the drag force of the damper when an average value of the detection results of the sensor over a preset period becomes less than a preset threshold.

In the walking assist device described above, it is preferable that the control unit determines the idle state of the leg based on the detection result of the sensor.

A method for controlling a walking assist device according to an aspect of the present disclosure is a method for controlling a walking assist device that is attached to a leg of a user when the user performs walking training, the method comprising:
While the user wearing the walking aid device is performing walking training, the upper leg mounting portion applies pressure from the upper leg of the leg to the upper leg mounting portion for mounting the walking assist device on the upper leg. or detect pressure acting from the lower leg of the leg on a lower leg attachment part for attaching the walking assist device to the lower leg using a sensor provided on the lower leg attachment part. process and
Based on the detection result of the sensor, adjusting the resistance of a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in the bending direction of the knee joint of the leg;
Equipped with

A control program for a walking assist device according to one aspect of the present disclosure is a control program for a walking assist device that is attached to a leg of a user when the user performs walking training, and includes:
While the user wearing the walking aid device is performing walking training, the upper leg mounting portion applies pressure from the upper leg of the leg to the upper leg mounting portion for mounting the walking assist device on the upper leg. or detect pressure acting from the lower leg of the leg on a lower leg attachment part for attaching the walking assist device to the lower leg using a sensor provided on the lower leg attachment part. processing and
Based on the detection result of the sensor, adjusting the resistance of a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in a bending direction of a knee joint of the leg;
have the computer execute it.

According to the present disclosure, it is possible to realize a walking assist device, a control method for the walking assist device, and a control program that contribute to improving the effectiveness of walking training.

FIG. 3 is a diagram schematically showing how a trainee performs walking training using the walking assist device of the first embodiment. 1 is a front view showing the walking assist device of Embodiment 1. FIG. 1 is a side view showing the walking assist device of Embodiment 1. FIG. FIG. 2 is a block diagram showing a control system of the walking assist device according to the first embodiment. It is a figure which shows the walking motion in one walking cycle, and the timing of mode switching. FIG. 7 is a diagram showing the relationship between walking motion in one walking cycle and surface pressure detected by a second sensor. FIG. 3 is a flowchart showing the flow of a control method for the walking assist device according to the first embodiment. FIG. 3 is a diagram showing the relationship between surface pressure and drag force generated in a damper. FIG. 3 is a diagram showing an example of a hardware configuration included in a control unit. It is a side view which shows a different walking assistance device.

Hereinafter, specific embodiments to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiments. Further, in order to clarify the explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
FIG. 1 is a diagram schematically showing how a trainee performs walking training using the walking assist device of this embodiment. Here, in the following explanation, the upper leg refers to the part from the hip joint to the knee joint, and the lower leg refers to the part from the knee joint to the ankle joint. The part below the ankle joint, that is, on the tip side, is the foot. The leg includes the upper leg, lower leg, and foot.

For example, as shown in FIG. 1, the walking assist device 1 of the present embodiment is configured to support the paralyzed leg (i.e., This is suitable for the trainee U who wears the walking assist device 1 on the affected leg) and performs walking training on the treadmill 2. However, although FIG. 1 illustrates an example in which the trainee U performs walking training on the treadmill 2, the situation in which the trainee U performs walking training is not limited.

FIG. 2 is a front view showing the walking assist device of this embodiment. FIG. 3 is a side view showing the walking assist device of this embodiment. As shown in FIGS. 2 and 3, the walking aid device 1 includes an upper leg attachment part 11, a lower leg attachment part 12, an upper leg frame 13, a lower leg frame 14, and a damper 15.

As shown in FIG. 1, the upper leg attachment part 11 is used to attach the walking assist device 1 to the upper leg of the trainee U, and is made of a stretchable material such as a resin material or a fiber material. As shown in FIG. 2, the upper leg attachment part 11 includes a hook-and-loop fastener 11a. The trainee U wraps the upper leg attachment part 11 around the upper leg and fixes it with a hook and loop fastener 11a. The hook-and-loop fastener 11a is placed, for example, on the front side of the upper leg of the trainee U, with the upper leg attachment part 11 attached to the upper leg of the trainee U.

As shown in FIG. 1, the lower leg attachment part 12 is used for attaching the walking assist device 1 to the lower leg of the trainee U, and is made of a stretchable material such as a resin material or a fiber material. As shown in FIG. 2, the lower leg attachment part 12 includes a hook-and-loop fastener 12a. The trainee U wraps the lower leg attachment part 12 around the lower leg and fixes it with a hook-and-loop fastener 12a. The hook-and-loop fastener 12a is placed, for example, on the front side of the lower leg of the trainee U in a state where the lower leg attachment portion 12 is attached to the lower leg of the trainee U.

As shown in FIGS. 2 and 3, the upper leg frame 13 is attached to the side of the upper leg attachment part 11, and when the upper leg attachment part 11 is attached to the upper leg of the trainee U, the upper leg frame 13 is Placed along the thigh. The lower leg frame 14 is attached to the side of the lower leg attachment part 12, and is arranged along the lower leg of the trainee U with the lower leg attachment part 12 being attached to the lower leg of the trainee U. The upper leg frame 13 and the lower leg frame 14 are connected via a damper 15.

The damper 15 is, for example, a rotary damper, and is placed on the side of the knee joint when the walking assist device 1 is attached to the affected leg of the trainee U. Specifically, the damper 15 is arranged at the height of the knee joint so that the rotation axis Ax of the damper 15 substantially coincides with the axis of the knee joint. The upper leg frame 13 and the lower leg frame 14 constitute a link mechanism rotatable around the rotation axis Ax of the damper 15.

The damper 15 applies a resistance force in the direction of bending the knee joint. For example, the damper 15 uses the viscous resistance of fluid such as oil to decelerate the rotation of the knee joint in the bending direction. It is preferable that the damper 15 is a one-way damper that applies a drag force only in one direction around the rotation axis Ax. The damper 15 is free so as not to apply any resistance in the direction of extension of the knee joint. As will be described later, the damper 15 can be turned on and off using a switch. Further, the drag force of the damper 15 can be adjusted by a drag force adjustment section.

FIG. 4 is a block diagram showing a control system of the walking assist device of this embodiment. As shown in FIG. 4, the walking assist device 1 includes a first sensor 16, a switch 17, a second sensor 18, a drag adjustment section 19, and a control section 20. The first sensor 16 detects the timing of the trainee U's walking motion. Specifically, the first sensor 16 is provided to detect switching timing in a walking cycle.

For example, as the first sensor 16, an angle sensor that detects the rotation angle of the lower leg with respect to the upper leg, or an angular velocity sensor that detects the rotational angular velocity of the lower leg with respect to the upper leg can be used. An angle sensor or an angular velocity sensor attached to the lower leg frame 14 can be used as the first sensor 16.

The first sensor 16 measures the shin angle because it changes depending on timing in the gait cycle. The detection result of the shin angle shows a waveform according to the walking cycle. In other words, the shin angle changes periodically according to the walking cycle. Therefore, the walking timing can be detected based on the shin angle measured by the first sensor 16.

Alternatively, as the first sensor 16, a distance sensor that measures the distance to the floor (for example, the walking surface of the treadmill 2) can be used. For example, a distance measuring sensor attached to a shoe, a foot, or the vicinity thereof can be used as the first sensor 16.

Since the distance from the sole of the foot to the floor changes depending on the walking motion, the waveform shows a waveform that corresponds to the walking cycle. In other words, the distance from the sole of the foot to the floor changes periodically according to the walking cycle. Therefore, by using a distance measurement sensor as the first sensor 16, the walking timing can be detected.

The switch 17 switches the mode of the damper 15 based on the detection result of the first sensor 16. For example, a solenoid switch or the like can be used as the switch 17. The switch 17 switches the mode of the damper 15 so that the damper 15 alternates between the first mode and the second mode.

At this time, in the first mode, the damper 15 is turned off, resulting in a free mode in which no drag is applied in the bending direction. In the second mode, the damper 15 is turned on and becomes a damper mode that applies a drag force in the bending direction.

Specifically, the switch 17 may, for example, compare the output value of the first sensor 16 with a threshold value and switch the mode of the damper 15 according to the comparison result. That is, the mode may be switched according to a timing signal indicating the timing at which the output value of the first sensor 16 exceeds the threshold value or falls below the threshold value.

Note that a threshold value for detecting the switching timing for switching from the first mode to the second mode and a threshold value for detecting the switching timing for switching from the second mode to the first mode are individually set. You can.

The second sensor 18 detects, for example, the pressure exerted on the upper leg attachment part 11 by the trainee U during walking training. The second sensor 18 includes, for example, a pressure sensor, and as shown in FIG. It is placed at a position facing the back of U's upper leg (i.e., the back of the thigh).

The drag force adjustment unit 19 adjusts the drag force generated in the damper 15 (that is, the drag force of the damper 15). Specifically, the drag adjustment section 19 includes, for example, an adjustment valve that adjusts the flow rate of fluid such as oil inside the damper 15. Although the details will be described later, the control unit 20 controls the switch 17 based on the detection result of the first sensor 16, controls the drag adjustment unit 19 based on the detection result of the second sensor 18, do.

FIG. 5 is a diagram showing the walking motion in one walking cycle and the timing of mode switching. Note that one walking cycle includes a total of two steps: one step with the left leg and one step with the right leg. In FIG. 5, one walking cycle is shown in the order of (a) to (m). In FIG. 5, after timing (m), the timing returns to (a), and the next walking cycle begins. Furthermore, in FIG. 5, the swing phase occurs at timings (a) to (g), and the stance phase occurs at timings (h) to (m).

In FIG. 5, the sole of the foot lands on the ground between the timing of (g) and the timing of (h), and the sole of the foot leaves the ground at the timing of returning from (m) to (a). In addition, in Fig. 5, the timings (a) to (c) are the flexion period where the flexion angle of the knee joint is increasing, and the timings (d) to (g) are the flexion phase where the flexion angle of the knee joint is decreasing. It is in an expansion phase. Note that the swing phase, stance phase, flexion phase, and extension phase are based on the affected leg on which the walking assist device 1 is attached.

In this embodiment, the control unit 20 controls the switch 17 so as to switch from the first mode to the second mode during the extension period, specifically, at the timing (f). Further, the control unit 20 is configured to switch from the second mode to the first mode at the timing when the stance phase changes to the swing phase, specifically, between the timing (m) and the timing (a). controls the switch 17.

During the swing phase, there is no need for the affected leg to support the weight of the trainee U. Therefore, there is no need for the damper 15 to generate a drag force on the knee joint, and the damper 15 can be free in the bending direction during almost the entire swing phase. In other words, the damper 15 is in the second mode in which it generates a drag force in the bending direction throughout the stance phase.

As described above, the walking assist device 1 of the present embodiment has a first mode in which the damper 15 is free and a second mode in which the damper 15 generates a drag force in one walking cycle. The controller 20 controls the switch 17 to alternately switch between the first mode and the second mode while the person U is training to walk. That is, the control unit 20 controls the switch 17 to turn on and off the damper 15 based on the timing signal.

FIG. 6 is a diagram showing the relationship between the walking motion in one walking cycle and the surface pressure detected by the second sensor. In addition, in FIG. 6, the walking motion of the trainee U is shown in the upper row, and the surface pressure detected by the second sensor during the walking motion is shown in the lower row.

As shown in FIG. 6, when the affected leg (the right leg in FIG. 6) wearing the walking assist device 1 is in the stance phase, surface pressure acts on the upper thigh attachment portion 11, and the surface detected by the second sensor The pressure shows the maximum value in one walking cycle. Specifically, when the trainee U bends the knee joint of the affected leg when the damper 15 generates a drag force, surface pressure acts on the upper thigh attachment part 11, but at this time, the paralysis level of the affected leg of the trainee U is As the height increases, a larger surface pressure acts on the upper leg attachment portion 11.

Here, as mentioned above, in general walking aid devices, even if the paralysis level of the affected leg of the trainee U is improved, the damper is configured to apply a constant resistance to the affected leg, so it is difficult to train the walking aid. The problem is that the effectiveness of the system decreases.

Therefore, in the walking aid device 1 of the present embodiment, the control section 20 controls the drag force adjustment section 19 based on the detection result of the second sensor 18 to adjust the drag force generated in the damper 15. FIG. 7 is a flowchart showing the flow of the control method for the walking assist device according to the present embodiment. FIG. 8 is a diagram showing the relationship between the surface pressure and the drag force generated in the damper.

First, the control unit 20 acquires the detection result of the second sensor 18 (S1). Then, the control unit 20 determines that the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is greater than or equal to the first threshold T1 or less than the first threshold T1, and It is determined whether the value is equal to or greater than the second threshold T2, or less than the second threshold T2, and equal to or greater than the third threshold T3, or less than the third threshold (S2).

Next, the control unit 20 determines the drag level of the damper 15 based on the determination result of the above-mentioned detection result (S3). Specifically, when the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is greater than or equal to the first threshold T1, the control unit 20 controls the damper as shown in FIG. The drag level 15 is determined to be the drag level 1 that causes the damper 15 to generate the largest drag force.

If the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is less than the first threshold T1 and greater than or equal to the second threshold T2, as shown in FIG. , the control unit 20 determines the drag level of the damper 15 to be drag level 2. At this time, the second threshold T2 is smaller than the first threshold T1, and the drag force generated in the damper 15 at drag level 2 is smaller than the drag force generated in the damper 15 at drag level 1.

If the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is less than the second threshold T2 and greater than or equal to the third threshold T3, as shown in FIG. , the control unit 20 determines the drag level of the damper 15 to be drag level 3. At this time, the third threshold T3 is smaller than the second threshold T2, and the drag force generated on the damper 15 at drag level 3 is smaller than the drag force generated on the damper 15 at drag level 2.

When the maximum value of the surface pressure, which is the detection result of the second sensor 18 in the most recent walking cycle, is less than the third threshold T3, the control unit 20 controls the drag level of the damper 15 as shown in FIG. is determined to be drag level 4. At this time, the drag force generated on the damper 15 at drag level 4 is smaller than the drag force generated on the damper 15 at drag level 3. For example, at drag level 4, the damper 15 does not generate drag force.

Next, the control unit 20 controls the drag force adjustment unit 19 to adjust the drag force generated in the damper 15 based on the determined drag level (S4). As a result, in this embodiment, the drag force generated in the damper 15 is reduced in stages based on the surface pressure detected by the second sensor 18. At this time, the value and number of the threshold value, the amount of reduction in the drag force generated in the damper 15 when the threshold value is less than the threshold value, etc. can be set as appropriate.

In this way, the walking assist device 1 and the control method for the walking assist device 1 of the present embodiment are based on the surface pressure detected by the second sensor 18, which changes depending on the paralysis level of the affected leg of the trainee U. , adjust the drag force generated in the damper 15.

Therefore, in the walking assist device 1 and the control method for the walking assist device 1 of the present embodiment, for example, the paralysis level of the affected leg of the trainee U is low, and compared to the case where the paralysis level is high, the paralysis level of the affected leg of the trainee U is low. When the surface pressure detected by the sensor 18 becomes small, the drag force generated in the damper 15 can be reduced, and the effectiveness of walking training can be improved.

<Other embodiments>
In the first embodiment above, the present disclosure has been described as a hardware configuration, but the present disclosure is not limited to this. The present disclosure can also realize the processing of each component by having a CPU (Central Processing Unit) execute a computer program.

For example, the control unit 20 of the first embodiment described above can include the following hardware configuration. FIG. 9 is a diagram showing an example of the hardware configuration included in the control section.

The device shown in FIG. 9 includes an interface 31, a processor 32, and a memory 33. The control unit 20 described in the first embodiment is realized by the processor 32 reading and executing a program stored in the memory 33. In other words, this program is a program for causing the processor 32 to function as the control unit 20.

Here, a program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions. The program may be stored on a non-transitory computer readable medium or a tangible storage medium. By way of example and not limitation, computer readable or tangible storage media may include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD -Includes ROM, digital versatile disc (DVD), Blu-ray disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disc storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable or communication media includes electrical, optical, acoustic, or other forms of propagating signals.

The present disclosure is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit.

For example, in the above embodiment, the swing phase of the leg of the trainee U is determined based on the detection result of the first sensor 16, but for example, the surface pressure detected by the second sensor 18 is If it is less than the third threshold, the control unit 20 may determine that the legs of the trainee U are in the swing phase (that is, the swing state).

For example, in the above embodiment, the maximum value of the surface pressure detected by the second sensor 18 in the most recent walking cycle is less than the first threshold T1, the second threshold T2, or the third threshold T3. If this occurs, the drag force generated in the damper 15 is reduced, but the average value of the maximum value of the surface pressure detected by the second sensor 18 in each of the most recent walking cycles is less than the preset threshold value. In this case, the drag force generated in the damper 15 may be reduced. In addition, if the maximum value of the surface pressure detected by the second sensor 18 in each of the most recent walking cycles is continuously less than a preset threshold, the drag force generated in the damper 15 is reduced. Good too. Further, when the average value of the surface pressure detected by the second sensor 18 within a preset period becomes less than a preset threshold, the drag force generated in the damper 15 may be reduced. In short, it is sufficient if the drag force generated in the damper 15 can be adjusted based on the detection result of the second sensor 18.

For example, in the embodiment described above, the drag force generated in the damper 15 is reduced based on the surface pressure detected by the second sensor 18 during the most recent walking cycle. If the maximum value of the surface pressure detected by the second sensor 18 during the cycle is equal to or greater than a preset threshold, the drag force generated in the damper 15 may be increased.

For example, the switching timing of each mode of the damper 15 and the first mode and the second mode in the above embodiment is merely an example. It may also have a lock mode in which it locks.

For example, the second sensor 18 in the above embodiment is provided on the upper leg attachment part 11, but as shown in FIG. It may be provided in a portion of the lower leg attachment portion 12 that faces the back of the lower leg (ie, the calf) of the trainee U.

For example, although the damper 15 in the above embodiment is configured as a rotary damper, it may also be configured as a stroke damper, as long as it is a damper having a configuration in which the drag force can be adjusted.

For example, the walking assist device 1 of the above embodiment is configured to be attached to the leg of the trainee U using a hook-and-loop fastener, but the means for attaching it to the leg of the trainee U is not limited, and for example, a belt may be used. It can also be installed with etc.

1 Walking assistance device 2 Treadmill 11 Upper leg attachment part, 11a Hook-and-loop fastener 12 Lower leg attachment part, 12a Hook-and-loop fastener 13 Upper leg frame 14 Lower leg frame 15 Damper 16 First sensor 17 Switch 18 Second sensor 19 Drag adjustment unit 20 Control unit 31 Interface 32 Processor 33 Memory Ax Rotation axis T1 First threshold T2 Second threshold T3 Third threshold U Trainee

Claims (10)

A walking aid device that is attached to the leg of a user when the user performs walking training,
an upper leg attachment part for attaching the walking assist device to the upper leg of the leg;
a lower leg attachment part for attaching the walking assist device to the lower leg of the leg;
a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in a bending direction of a knee joint of the leg;
a sensor that detects pressure acting on the upper leg attachment part from the upper leg or pressure acting on the lower leg attachment part from the lower leg;
a control unit that adjusts the drag force of the damper based on the detection result of the sensor;
A walking aid device equipped with. The sensor is located at a position opposite to the back of the upper leg of the leg in the upper leg attachment part or opposite to the back of the lower leg of the leg in the lower leg attachment part when the walking assist device is attached to the leg of the user. The walking aid device according to claim 1, wherein the walking assist device is arranged at opposing positions. The walking according to claim 1 or 2, wherein the control unit reduces the drag force of the damper when the maximum value of the detection results of the sensor in at least one walking cycle becomes less than a preset threshold. Auxiliary equipment. The walking assist device according to claim 3, wherein the control unit reduces the drag force of the damper in stages based on a plurality of preset threshold values. The walking aid according to claim 3, wherein the control unit reduces the drag force of the damper when an average value of maximum values of detection results of the sensor in each of the most recent walking cycles becomes less than the threshold value. Device. The walking aid according to claim 3, wherein the control unit reduces the drag force of the damper when the maximum value of the detection results of the sensor in each of the most recent walking cycles becomes less than the threshold value consecutively. Device. The walking assist device according to claim 1 or 2, wherein the control unit reduces the drag force of the damper when an average value of the detection results of the sensor over a preset period becomes less than a preset threshold. . The walking assist device according to claim 1 or 2, wherein the control unit determines the idle state of the leg based on the detection result of the sensor. A method for controlling a walking assist device worn on a leg of a user when the user performs walking training, the method comprising:
While the user wearing the walking aid device is performing walking training, the upper leg mounting portion applies pressure from the upper leg of the leg to the upper leg mounting portion for mounting the walking assist device on the upper leg. or detect pressure acting from the lower leg of the leg on a lower leg attachment part for attaching the walking assist device to the lower leg using a sensor provided on the lower leg attachment part. process and
Based on the detection result of the sensor, adjusting the resistance of a damper that connects the upper leg attachment part and the lower leg attachment part and applies a resistance force in the bending direction of the knee joint of the leg;
A method for controlling a walking assist device, comprising: A control program for a walking assist device worn on the leg of a user when the user performs walking training, the program comprising:
While the user wearing the walking aid device is performing walking training, the upper leg mounting portion applies pressure from the upper leg of the leg to the upper leg mounting portion for mounting the walking assist device on the upper leg. or detect pressure acting from the lower leg of the leg on a lower leg attachment part for attaching the walking assist device to the lower leg using a sensor provided on the lower leg attachment part. processing and
Based on the detection result of the sensor, adjusting the drag force of a damper that connects the upper leg attachment part and the lower leg attachment part and applies a drag force in a bending direction of a knee joint of the leg;
A walking aid device control program that causes a computer to execute the following.

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