A walking training system includes a treadmill, a center-of-gravity position detection unit that detects a center-of-gravity position of a trainee from a load received from a sole of the trainee on a belt of the treadmill, a posture detection unit that detects a posture of the trainee, a center-of-gravity position estimation unit that estimates the center-of-gravity position of the trainee from the detected posture of the trainee, a determination unit that determines whether a difference between the detected center-of-gravity position and the estimated center-of-gravity position exceeds a predetermined value, and a notification unit that sends, when the determination unit determines that the difference exceeds the predetermined value, a notification notifying that whether the difference exceeds the predetermined value.

A walking state measurement system includes: an endless belt that defines a walking surface on which a subject walks and that travels along a walking front-rear direction; a marker provided on at least the walking surface along a circumferential direction of the belt; a first camera for taking an image of the subject from front, the first camera taking an image of the marker on the walking surface from above to generate a first image; a second camera for taking an image of the subject from front, the second camera taking an image of the marker on the walking surface from above to generate a second image; and a correction processing unit that corrects an image generated by at least either the first camera or the second camera based on a position of an image area of the marker included in each of the first image and the second image.

An acquisition unit acquires a classification result obtained by classifying training assistants by performing a cluster analysis based on first rehabilitation data about rehabilitation performed by the trainee by using the rehabilitation support system, the first rehabilitation data including at least assistant data indicating a training assistant and index data indicating a degree of recovery of the trainee. A learning unit generates a learning model, the learning model being configured to input second rehabilitation data including at least the action data indicating an assisting action performed by the training assistant to assist the trainee and output the action data for suggesting a next action to be performed by the training assistant. The learning unit generates the learning model by using, as teacher data, the second rehabilitation data for which pre-processing has been performed based on the classification result.

A walking training device according to the present embodiment includes: a robot leg 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 the belt of the treadmill; and a walking state determination unit that determines whether the one leg has switched from a standing state to a swinging state based on a state of increase in a load detected by the load distribution sensor and received from another leg of the trainee performing walking training; and a control unit that starts bending control for the swinging state of the robot leg when the walking state determination unit determines that the one leg has switched from the standing state to the swinging state.

A motion assistance apparatus includes a shank frame configured to support a shank of a user, a thigh frame configured to rotate relative to the shank frame and support a thigh of the user, and a driving frame configured to assist a motion of a hip joint of the user by transmitting power directly or indirectly to the shank frame.

A wearable assistance apparatus is disclosed, wherein the wearable assistance apparatus may include a first frame configured to transfer a power in a first direction to assist a user, a second frame configured to transfer the power in a second direction to assist the user, a first wearing portion configured to urge the second frame towards the user in response to the first wearing portion being pulled in the first direction, and a second wearing portion configured to urge the first frame towards the user in response to the second wearing portion being pulled in the second direction.

The rehabilitation training system includes: an evaluation unit configured to evaluate rehabilitation training performed by a trainee; a storage unit configured to store a plurality of evaluation comments regarding the evaluation; a reception unit configured to receive, from an authorized training assistant, designation of an evaluation comment that is restricted from being presented to a specific trainee among the plurality of evaluation comments; a selection unit configured to select an evaluation comment to be presented to the specific trainee from the plurality of evaluation comments based on the evaluation for the rehabilitation training of the specific trainee that is performed by the evaluation unit and the designation; and a presentation unit configured to present the evaluation comment selected by the selection unit.

A load measurement device includes an acquisition unit, a first extraction unit, a second extraction unit, and an output unit. The acquisition unit acquires measurement information output from a load distribution sensor that detects a load distribution received from a sole of a subject. The first extraction unit extracts a region having a load value equal to or larger than a first threshold value as a first region based on the measurement information, and detects the first region as a sole region. The second extraction unit extracts a second region having a load value equal to or larger than a second threshold value that is smaller than the first threshold value from a re-extraction target region defined with the first region as a reference, and adds the second region to the sole region. The output unit outputs information related to a load distribution of the sole region.

A walking training system includes a leg orthosis fitted to a leg of a user, a pulling member coupled to the leg orthosis, a first drive mechanism configured to apply pull force to the pulling member, according to walking motion of the user, a holding device that holds the pulling member at a holding level, at a point between a coupling point of the leg orthosis and the first drive mechanism, and a second drive mechanism configured to change the holding level of the pulling member held by the holding device, according to the walking motion of the user.

The knee joint weight-bearing apparatus includes a buttock attaching part, a lower-leg attaching part, and two thigh connection units. Each thigh connection unit includes a front thigh link and a rear thigh link. The buttock attaching part, the lower-leg attaching part, the front thigh link, and the rear thigh link constitute a four-bar linkage. The buttock attaching part is configured so that when a user applies his/her weight to the buttock attaching part, a tensile force is generated in the front thigh link and a compressive force acts on the rear thigh link. The rear thigh link includes a gas spring that is configured to be stretchable in a longitudinal direction thereof and generates a resistive force against the compressive force.