| 摘要 |
PURPOSE: To provide a walk training device capable of following the walking speed of a trainee and freely changing load characteristic. CONSTITUTION: A footpath means 2 on which the trainee U walks is provided with annular belts 6A, 6B in accordance with the right and left feet of the trainee, belt speed detecting means 7A, 7B which detect the speed of the annular belts 6A, 6B according to their rotation, belt displacement detecting means 11A, 11B which detect the displacement of the annular belts 6A, 6B, belt tensile force detecting means 8A, 8B which detect a tensile force generatd between the trainee U and the annular belts 6A, 6B, and driving means 9A, 9B which drive the annular belts 6A, 6B. A controller 3 which controls the footpath means 2 drives the footpath means by a feedback control rule using detected displacement, speed and tensile force, and decides the load characteristic of the footpath means observed from the trainee. |
