JP2007252514A - Turning regulator, and control method for rotator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To save energy consumed in the use of a rotator, and to restrain the rotator and a drive unit for driving the rotator from being worn away or damaged. <P>SOLUTION: This rotation regulator (a mounting-type operation assisting apparatus 1) comprises: the rotator (operation assisting mounting implement 10) which has a plurality of members (a trunk member 11, an upper arm member 13 and a front arm member 15) connected together via a plurality of rotary shafts (12a, 12c and 14a), and which realizes that one member rotates on the rotary shaft relatively to the other member; and rotation suppressing means (a locking mechanism 30 and a rotation suppressing part 62) for suppressing at least any one of a plurality of rotational motions by the rotator. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a rotation adjusting device and a method for controlling the rotation device.

  Currently, development of a power assist device for assisting or substituting the operation of a physically handicapped person who has lost muscular strength, an elderly person who has lost muscular strength, or the like (hereinafter referred to as “subject”) is underway. In recent years, there has been proposed a wearable movement assist device that can be worn by an assistant and can generate necessary power as needed based on the intention of the assistant (see, for example, Patent Document 1). ).

The wearable movement assist device includes a movement assist wearing tool that is worn on the arm or leg of the person being assisted. Examples of the movement assist wearing device include a trunk member that is mounted near the shoulder and an upper arm that is connected to the trunk member via a shoulder joint mechanism having at least one rotation shaft and is mounted on the upper arm portion of the wearer. There has been proposed a member having a member and a forearm member connected to the upper arm member via an elbow joint mechanism having at least one rotation axis and attached to the forearm portion of the wearer. Such a motion assisting wearing device is a rotating device that realizes the rotation of the upper arm member with respect to the trunk member and the rotation of the forearm member with respect to the upper arm member, and is generated by a driving device (actuator) provided in the joint mechanism. Rotating motion is realized by the motive power. A person (wearer) wearing the movement assisting wearing device can hold a relatively heavy load using the power of the driving device.
JP 2005-253650 A

  However, in order to hold a relatively heavy load using the conventional motion assisting wearing device as described above, it is necessary to continue to supply required electric power to the drive device (actuator). Therefore, when the holding time is long, not only a large amount of electric power is consumed, but also the driving device for driving the operation assisting device is fatigued (worn / damaged) and the service life is shortened. There was a risk of it.

  In addition, in the state where the load is held using the conventional motion assisting wearing device as described above, the drive characteristics of the driving device that drives the motion assisting wearing device are adjusted due to some factor (for example, interruption of power supply). When this becomes impossible, the force for holding the load and the member is reduced or lost. When such a situation occurs, the member suddenly rotates due to gravity, which may cause wear or damage to the motion assisting wearing device.

  The present invention has been made in view of such a situation, and reduces energy consumption when using a rotation device such as a motion assisting wearing tool, and wear / damage of the rotation device and a drive device that drives the rotation device. It aims at suppressing.

  In order to achieve the above object, a rotation adjusting device according to the present invention has a plurality of members connected via a plurality of rotation shafts, and the other member relative to one member around the rotation shaft. A rotation device that realizes a relative rotation motion, and a rotation suppression unit that suppresses at least one of a plurality of rotation motions by the rotation device.

  In addition, the control method according to the present invention includes a plurality of members connected via a plurality of rotation shafts, and performs a relative rotation motion of another member with respect to one member around the rotation shaft. A rotation device control method to be realized, comprising a rotation suppression step of suppressing at least one of a plurality of rotation motions by the rotation device.

  When such a configuration and method are employed, at least one of a plurality of rotational motions by the rotational device can be suppressed. For example, when a heavy load is held by the forearm member by adopting a rotation device that enables the upper arm member to rotate relative to the trunk member and the forearm member relative to the upper arm member, For example, the forearm member can be prevented from rotating in a state where the forearm member is rotated by 90 °, for example. By doing so, the upper arm member and the forearm member can be made to function as if they were one L-shaped member, so that no power is required to drive the forearm member. Therefore, it is possible to reduce the consumption of energy (electric power, etc.) necessary for driving the member, and it is possible to extend the useful life of the drive device (actuator) that drives the rotating device.

  In addition, when such a configuration and method are employed, at least one of a plurality of rotational movements by the rotation device can be suppressed, and therefore adjustment of the drive characteristics of the drive device that drives the rotation device is some factor. Even when it becomes impossible by this, it can suppress that a member rotates rapidly by gravity. Therefore, it becomes possible to reduce wear and damage of the rotating device.

  In the rotation adjusting device, the trunk member is mounted near the shoulder of the wearer and is connected to the trunk member via a shoulder joint mechanism having at least one rotation shaft and is mounted on the upper arm portion of the wearer. The upper arm member and a forearm member connected to the upper arm member via an elbow joint mechanism having at least one rotation axis and attached to the wearer's forearm portion, and the upper arm member's rotational movement with respect to the trunk member And the rotation apparatus which implement | achieves the rotational movement of the forearm member with respect to an upper arm member is employable. In such a case, it is possible to employ a rotation suppression means that suppresses at least one of the rotation movement of the upper arm member and the rotation movement of the forearm member.

  Further, in the rotation adjustment device (the control method of the rotation device), a predetermined instruction signal (for example, a biological signal exceeding a predetermined level from the wearer, or a wearer or another operator operates the operation unit. A rotation suppression means (rotation suppression step) that suppresses at least one of the rotation motion of the upper arm member and the rotation motion of the forearm member when the operation signal generated by the operation is detected. You can also.

  Further, in the rotation adjustment device (control method of the rotation device), the robot trunk member and the robot trunk joint member having at least one rotation axis are connected to the robot trunk member. An upper arm member for a robot, and a robot forearm member connected to the upper arm member for the robot via an elbow joint mechanism for the robot having at least one rotation axis, and the upper arm member for the robot with respect to the trunk member for the robot It is possible to employ a rotation device that realizes the rotation movement of the robot forearm member relative to the robot upper arm member. In such a case, it is possible to employ a rotation suppression means (rotation suppression step) that suppresses at least one of the rotational motion of the robot upper arm member and the rotational motion of the robot forearm member.

  Moreover, in the said rotation adjustment apparatus, when the relative rotation angle of the other member with respect to one member exceeds the predetermined threshold value, the relative rotation motion of the other member with respect to the one member is suppressed. A rotation suppression means can be employed.

  Further, in the rotation adjusting device, when the load acting on the rotation device exceeds a predetermined threshold, a rotation suppression means for suppressing at least one of a plurality of rotation motions by the rotation device. It can also be adopted.

  Further, the rotation adjusting device includes a recess provided in a rotation member fixed to at least one rotation shaft and rotated together with the rotation shaft, and a pin configured to be detachable from the recess. And the rotation suppression means which blocks | prevents the rotation motion of a rotation member and a rotation axis | shaft by insertion of the pin to a recessed part is employable.

  Further, in the rotation adjusting device, the plurality of convex portions provided on the outer periphery of the rotating member fixed to at least one rotating shaft and rotated together with the rotating shaft, and the convex portions of the rotating member are in contact with each other. The contact member is intermittently disposed on the convex portion, and the contact member is intermittently applied to the convex portion in a state of being biased so as to be pressed against the rotating convex portion. It is possible to employ a rotation suppression means that suppresses the rotation movement of the rotation member and the rotation shaft by abutting.

  Further, in the rotation adjusting device, it is also possible to adopt a rotation suppression means having a friction type braking device that suppresses at least one of a plurality of rotation motions by the rotation device by applying a friction force. it can. As the friction brake device, a band brake device, a drum brake device, a disk brake device, or the like can be adopted. Also, a functional fluid whose viscosity changes due to external physical action (for example, an ER fluid whose viscosity changes due to applying an electric field from the outside, or a magnetic field applied from outside) It is also possible to employ a friction braking device that suppresses at least one of a plurality of rotational motions by the rotational device by the frictional force of the MR fluid whose viscosity changes.

  ADVANTAGE OF THE INVENTION According to this invention, while being able to reduce the energy consumption at the time of using rotation apparatuses, such as an operation | movement assistance mounting tool, it suppresses abrasion and damage of a rotation apparatus and the drive device which drives this. Is possible.

  Embodiments of the present invention will be described below with reference to the drawings. In the present embodiment, an example in which the present invention is applied to a “wearable motion assisting device” that generates necessary power as needed based on the wearer's intention will be described.

  First, the configuration of the wearable motion assisting apparatus 1 according to the present embodiment will be described with reference to FIGS.

  The wearable motion assisting device 1 detects a biological signal generated when the wearer P generates muscular strength, and generates necessary power based on the detected biological signal. It is called. The wearable movement assisting device 1 includes a movement assisting wearing tool 10 worn by the wearer P, an actuator 20 that drives the movement assisting wearing instrument 10, a lock mechanism 30 that suppresses the rotational movement of the operation assisting wearing instrument 10, and an operation assisting. An angle sensor 40 for detecting a rotation angle of a member constituting the wearing tool 10, a load sensor 50 for detecting a load acting on a member constituting the motion assisting wearing tool 10, and a biological signal for detecting a biological signal from the wearer P A sensor 60, a control device 70 that integrally controls various devices of the wearable motion assisting device 1, a battery (not shown) that supplies power to various electronic devices, and the like are provided. The wearable movement assist device 1 functions as an embodiment of the rotation adjusting device according to the present invention.

  As shown in FIGS. 2 and 3, the movement assisting wearing device 10 is connected to the trunk member 11 via the trunk member 11 and the shoulder joint mechanism 12 that are worn on the trunk of the wearer P, and the upper arm of the wearer P. An upper arm member 13 attached to the upper arm member, a forearm member 15 connected to the upper arm member 13 via the elbow joint mechanism 14 and attached to the forearm portion of the wearer P, and the like. 13 and the forearm member 15 with respect to the upper arm member 13 are realized. In other words, the motion assisting wearing tool 10 is an embodiment of the rotating device in the present invention.

  As shown in FIGS. 2 and 3, the trunk member 11 is a member that covers the trunk of the wearer P from the shoulder to the waist. The trunk member 11 in the present embodiment has a strength that allows the load transmitted to the shoulder via the upper arm member 13 and the like to escape in the lower body direction, and the wearer P twists the body to the left and right and back and forth. It has a structure that combines both flexibility and bending.

  As shown in FIGS. 2 and 3, the shoulder joint mechanism 12 includes an L-shaped member 12b that is rotatably connected to the trunk member 11 via a rotating shaft 12a that extends in the vertical direction, and a horizontal member 12b. And an I-shaped member 12d rotatably connected to the L-shaped member 12b via a rotating shaft 12c extending in the direction. The shoulder joint mechanism 12 has two rotational motions about two rotational shafts 12a and 12c orthogonal to each other (the rotation of the L-shaped member 12b relative to the trunk member 11 about the rotational shaft 12a in the vertical direction). Dynamic motion and rotational motion of the I-shaped member 12d relative to the L-shaped member 12b around the rotational shaft 12c in the horizontal direction). The shoulder joint mechanism 12 is provided with a shoulder drive motor 21 which will be described in detail later.

  As shown in FIGS. 2 and 3, the upper arm member 13 is fixed to the I-shaped member 12d of the shoulder joint mechanism 12 and is attached to a first upper arm U-shaped member 13a to be mounted on a portion near the shoulder of the upper arm portion of the wearer P. A second upper arm U-shaped member 13b mounted on a portion of the upper arm of the wearer P near the elbow, an upper arm bar-shaped member 13c connecting the first upper arm U-shaped member 13a and the second upper arm U-shaped member 13b, Have Although not shown in FIGS. 2 and 3, a belt for mounting the first upper arm U-shaped member 13a and the second upper arm U-shaped member 13b on the upper arm portion of the wearer P is provided.

  The upper arm bar-shaped member 13c is configured to allow both expansion and contraction and twisting (rotation of another cylindrical member with respect to one cylindrical member) by fitting a plurality of cylindrical members. . Therefore, twisting of the second upper arm U-shaped member 13b attached to the other end of the upper arm stick-shaped member 13c can be realized with respect to the first upper arm U-shaped member 13a attached to one end of the upper arm stick-shaped member 13c. It becomes possible to follow the twisting operation of the upper arm of the wearer P.

  As shown in FIGS. 2 and 3, the forearm member 15 is rotatably connected to the second upper arm U-shaped member 13 b of the upper arm member 13 and is attached to a portion near the elbow of the forearm portion of the wearer P. It has a figure member 15a, a wrist member 15b worn near the wrist of the wearer P, and a forearm bar member 15c for connecting the forearm U-shaped member 15a and the wrist member 15b. Although not shown in FIGS. 2 and 3, a belt for mounting the forearm U-shaped member 15 a and the wrist member 15 b on the forearm portion of the wearer P is provided.

  The forearm bar-shaped member 15c is configured to be capable of both expansion and contraction (twisting of another cylindrical member with respect to one cylindrical member) by fitting a plurality of cylindrical members. . For this reason, the wrist member 15b attached to the other end of the forearm bar-like member 15c can be twisted with respect to the forearm U-shaped member 15a attached to one end of the forearm bar-like member 15c, and the forearm of the wearer P can be realized. It is possible to follow the twisting operation of the part. Further, as shown in FIG. 3, the wrist member 15 b has a configuration that partially covers the back of the hand of the wearer P. For this reason, the wearer P can hold a heavy load.

  As shown in FIGS. 2 and 3, the elbow joint mechanism 14 is a rotation shaft that rotatably connects the second upper arm U-shaped member 13 b of the upper arm member 13 and the first forearm member 15 a of the forearm member 15. 14a, and the rotational movement of the forearm member 15 with respect to the upper arm member 13 about the rotational shaft 14a is realized. The elbow joint mechanism 14 is provided with an elbow drive motor 22 which will be described in detail later.

  As shown in FIGS. 2 and 3, the actuator 20 has a shoulder drive motor 21 provided in the shoulder joint mechanism 12 and an elbow drive motor 22 provided in the elbow joint mechanism 14. The shoulder drive motor 21 and the elbow drive motor 22 are servo motors that are driven by electric power supplied from a battery (not shown) and generate drive torque by a control signal from the control device 70.

  The shoulder drive motor 21 is fixed to the L-shaped member 12b of the shoulder joint mechanism 12, and rotates the rotating shaft 12c extending in the horizontal direction with a required driving torque. By rotating the rotating shaft 12c by the shoulder drive motor 21, the I-shaped member 12d (and the upper arm member 13 connected thereto) fixed to the rotating shaft 12c is moved to the L-shaped member 12a (and to this). A pivoting motion is performed on the connected trunk member 11). Movement when the wearer P moves the upper arm part up and down with respect to the body by the driving torque of the shoulder part drive motor 21 (rotation movement of the upper arm part around a virtual rotation axis extending in the horizontal direction). Will be assisted. In addition, since the rotation of the L-shaped member 12a around the rotation shaft 12b extending in the vertical direction of the shoulder joint mechanism 12 is permitted, the wearer P rotates the upper arm portion around the trunk (vertical direction). Can be allowed to rotate).

  The elbow drive motor 22 is fixed to the second upper arm U-shaped member 13b of the upper arm member 13, and rotates the rotation shaft 14a of the elbow joint mechanism 14 with a required drive torque. By rotating the rotating shaft 14a by the elbow drive motor 22, the forearm U-shaped member 15a (and the forearm member 15 including the same) is fixed to the second upper arm U-shaped member 13b (and The upper arm member 13) including this is rotated. The drive torque of the elbow drive motor 22 assists the wearer P to move the forearm with respect to the upper arm (bending and extending movement of the elbow).

  As shown in FIG. 1, the lock mechanism 30 is operated by receiving a control signal from the control device 70 to suppress (block) the rotational movement of the forearm member 15 with respect to the upper arm member 13 of the motion assisting wearing device 10. It is. As shown in FIG. 4, the lock mechanism 30 is disposed outside the elbow drive motor 22, is fixed to the rotation shaft 14 a, is rotated with the rotation shaft 14 a, and the elbow drive motor 22. And a pin 32 configured to protrude from the inside toward the rotation plate 31. The rotating plate 31 is an embodiment of a rotating member in the present invention.

  As shown in FIG. 4, a plurality of recesses 31 a are formed along the outer periphery of the rotating plate 31 on the inner side surface (the surface on the elbow drive motor 22 side) of the rotating plate 31. When the elbow drive motor 22 generates drive torque to rotate the rotation shaft 14a, the rotation plate 31 fixed to the rotation shaft 14a and the recess 31a formed on the rotation plate 31 rotate. Move. As shown in FIG. 4B, the pin 32 is driven by a pin drive unit 32 a disposed inside the elbow drive motor 22. The pin drive unit 32 a is operated in response to a control signal from the control device 70 to drive the pin 32 so as to protrude from the inside of the elbow drive motor 22 to the outside. The pin 32 is normally housed in the elbow drive motor 22, but when the pin drive unit 32 a is activated in response to a control signal from the control device 70, the elbow drive motor 22 is driven by the pin drive unit 32 a. It protrudes from the inside to the outside and is inserted into a recess 31 a formed in the rotating plate 31. With this operation, the rotation of the rotation plate 31 is blocked, and accordingly, the rotation of the rotation shaft 14a and the forearm member 15 connected thereto is blocked.

  The angle sensor 40 is provided in the shoulder drive motor 21 and the elbow drive motor 22, and the rotation angle of the upper arm member 13 (I-shaped member 12d) with respect to the trunk member 11 (L-shaped member 12b) and the upper arm member. The rotation angle of the forearm member 15 with respect to 13 is detected. Information related to the rotation angle detected by the angle sensor 40 is used for rotation suppression control of the motion assisting wearing device 10.

  The load sensor 50 is provided at an appropriate place on members (the trunk member 11, the upper arm member 13, the forearm member 15 and the like) constituting the motion assisting wearing device 10, and detects a load acting on these members. Information relating to the load detected by the load sensor 50 is used for rotation suppression control of the motion assisting wearing device 10.

  The biological signal sensor 60 detects a biological signal from the wearer P. The biological signal includes a nerve transmission signal indicating the intention of the wearer P, a weak potential (myoelectric potential signal) generated by the skeletal muscle when the wearer P generates muscle force, and the body temperature and pulse of the wearer P. Various signals relating to electroencephalogram, electrocardiogram, sweating, etc. can be employed. In the present embodiment, the bioelectric signal sensor 60 is affixed to the upper arm and the forearm of the wearer P using an adhesive seal, thereby detecting a myoelectric potential signal associated with the movement of the upper arm and the forearm. . The biological signal detected by the biological signal sensor 60 is used for the control of the actuator 20 and the rotation suppression control of the motion assisting wearing tool 10.

  The control device 70 performs integrated control of various devices of the wearable motion assisting device 1, and includes a CPU that performs various calculations, a memory that stores various control programs, and control data. As shown in FIG. 1, the control device 70 includes a power control unit 71 that generates necessary auxiliary power by controlling the actuator 20 based on the biological signal detected by the biological signal sensor 60, and rotation angle information. And a rotation suppression unit 72 that operates the lock mechanism 30 based on load information and the like.

  The power control unit 71 supplies the power according to the intention of the wearer P based on the biological signal (neural transmission signal or myoelectric potential signal) detected by the biological signal sensor 60 to the actuator 20 (the shoulder drive motor 21 and the elbow part). A control signal to be generated by the drive motor 22) is generated. The power control unit 71 in the present embodiment generates a current proportional to the level of the biological signal detected by the biological signal sensor 60, and generates a control signal for generating a driving torque proportional to the value of this current. As a result, the actuator 20 can be driven without delaying the movement intention of the wearer P, and the wearer P can perform an operation according to his / her intention without a sense of incongruity.

  When the rotation angle detected by the angle sensor 40 exceeds a predetermined threshold and the biological signal detected by the biological signal sensor 60 exceeds a predetermined level, (2) When the rotation angle detected by the angle sensor 40 exceeds a predetermined threshold value and the load detected by the load sensor 50 exceeds a predetermined threshold value, (3) the load detected by the load sensor 50 is a predetermined value. When the threshold value is exceeded and the biological signal detected by the biological signal sensor 60 exceeds a predetermined level, (4) adjustment of the driving characteristics of the actuator 20 becomes impossible due to some external factor (for example, interruption of power supply). In any case, a control signal for operating the lock mechanism 30 is generated.

  In the present embodiment, the threshold value of the rotation angle for operating the lock mechanism (threshold value of the rotation angle of the forearm member 15 relative to the upper arm member 13) is set to “θc”, and the threshold value of the load (for the forearm member 15) is set. The threshold value of the acting load) is set to “Nc”. In the present embodiment, the level (predetermined level) of the biological signal for operating the lock mechanism 30 is set to a level corresponding to a predetermined upper limit muscle strength. The rotation suppressing unit 72 operates the pin driving unit 32a of the lock mechanism 30 to rotate the forearm member 15 with respect to the upper arm member 13 when any of the above conditions (1) to (4) is satisfied. To prevent.

  The rotation suppressing unit 72 and the lock mechanism 30 constitute an embodiment of the rotation suppressing means in the present invention. Further, a biological signal exceeding a predetermined level detected when the lock mechanism 30 is operated corresponds to a predetermined instruction signal in the present invention. The rotation suppressing unit 72 activates the lock mechanism 30 and at the same time temporarily stops energization to the elbow drive motor 22 to cause the drive torque to disappear. This makes it possible to obtain a power saving effect described later.

  Next, a method (control method of the motion assisting wearing tool 10) related to the rotation suppression control of the wearable motion assisting apparatus 1 according to the present embodiment will be described using the flowcharts of FIGS.

  When the wearer P tries to lift a heavy load, the power control unit 71 of the control device 70 generates power according to the intention of the wearer P by the actuator 20 based on the biological signal detected by the biological signal sensor 60. A control signal for generating the control signal is generated. Since the actuator 20 is driven without being delayed by the intention of the wearer P in response to the control signal, the wearer P can perform the unloading operation (the operation of bending the forearm) according to his / her intention without a sense of incongruity. It becomes possible. When carrying out such an unloading operation, the rotation suppression unit 72 of the control device 70 realizes the following rotation suppression control.

<Angle biological signal reference control>
First, the rotation suppression control with reference to the rotation angle of the forearm member 15 and the biological signal will be described with reference to the flowchart of FIG. The rotation suppression unit 72 of the control device 70 detects the rotation angle of the forearm member 15 with respect to the upper arm member 13 of the motion assisting wearing tool 10 via the angle sensor 40 (angle detection step: S1). Moreover, the rotation suppression part 72 detects the biological signal from the wearer P via the biological signal sensor 60 (biological signal detection process: S2). Then, the rotation suppression unit 72 determines whether or not the rotation angle detected in the angle detection step S1 exceeds a predetermined threshold (θc) and the biological signal detected in the biological signal detection step S2 exceeds a predetermined level. Is determined (determination step: S3).

  The rotation suppression unit 72 generates a control signal for operating the lock mechanism 30 when it is determined in the determination step S3 that the rotation angle exceeds a predetermined threshold and the biological signal exceeds a predetermined level. The pin driver 32a is actuated by the output of the control signal to drive the pin 32 and prevent the forearm member 15 from rotating (rotation suppression step: S4). Further, the rotation suppression unit 72 temporarily stops energization to the elbow drive motor 22 in the rotation suppression step S4, and causes the drive torque to disappear. On the other hand, the rotation suppression unit 72 determines that the rotation angle is equal to or smaller than the predetermined threshold in the determination step S3, or the biological signal is equal to or lower than the predetermined level even if the rotation angle exceeds the predetermined threshold. If it is determined, the control is terminated without suppressing the rotational movement of the forearm member 15.

<Angle load reference control>
Next, the rotation suppression control with reference to the rotation angle of the forearm member 15 and the load acting on the forearm member 15 will be described using the flowchart of FIG. The rotation suppression unit 72 of the control device 70 detects the rotation angle of the forearm member 15 with respect to the upper arm member 13 of the motion assisting wearing tool 10 via the angle sensor 40 (angle detection step: S11). Moreover, the rotation suppression part 72 detects the load which acts on the forearm member 15 via the load sensor 50 (load detection process: S12). Then, the rotation suppressing unit 72 has the rotation angle detected in the angle detection step S11 exceeds a predetermined threshold (θc), and the load detected in the load detection step S12 exceeds a predetermined threshold (Nc). Whether or not (determination step: S13).

  The rotation suppression unit 72 generates a control signal for operating the lock mechanism 30 when it is determined in the determination step S13 that the rotation angle exceeds a predetermined threshold and the load exceeds a predetermined threshold. The pin driver 32a is actuated by the output of the control signal to drive the pin 32 and prevent the forearm member 15 from rotating (rotation suppression step: S14). Further, the rotation suppressing unit 72 temporarily stops energization to the elbow drive motor 22 in the rotation suppressing step S14, and causes the driving torque to disappear. On the other hand, the rotation suppressing unit 72 determines that the rotation angle is equal to or smaller than a predetermined threshold in the determination step S13, or the load is equal to or smaller than the predetermined threshold even if the rotation angle exceeds the predetermined threshold. If it is determined, the control is terminated without suppressing the rotational movement of the forearm member 15.

<Load biosignal reference type control>
Next, the rotation suppression control with reference to the load acting on the forearm member 15 and the biological signal will be described using the flowchart of FIG. The rotation suppression unit 72 of the control device 70 detects a load acting on the forearm member 15 of the motion assisting wearing device 10 via the load sensor 40 (load detection step: S21). Moreover, the rotation suppression part 72 detects the biological signal from the wearer P via the biological signal sensor 60 (biological signal detection process: S22). Then, the rotation suppression unit 72 determines whether or not the load detected in the load detection step S21 exceeds a predetermined threshold (Nc) and the biological signal detected in the biological signal detection step S22 exceeds a predetermined level. Determination (determination step: S23).

  The rotation suppressing unit 72 generates a control signal for operating the lock mechanism 30 when it is determined in the determination step S23 that the load exceeds a predetermined threshold and the biological signal exceeds a predetermined level. The pin drive unit 32a is actuated by the output of the output to drive the pin 32 and prevent the forearm member 15 from rotating (rotation suppression step: S24). In addition, the rotation suppressing unit 72 temporarily stops energization of the elbow drive motor 22 in the rotation suppressing step S24 and causes the driving torque to disappear. On the other hand, when the rotation suppression unit 72 determines in the determination step S23 that the load is equal to or less than the predetermined threshold, or when the biological signal is determined to be equal to or lower than the predetermined level even if the load exceeds the predetermined threshold. First, the control is terminated without suppressing the rotational movement of the forearm member 15.

  In the mounting-type motion assisting apparatus 1 according to the embodiment described above, when holding a heavy load while operating the motion assisting wearing tool 10, when a specific rotation suppression condition is satisfied (for example, the forearm member with respect to the upper arm member 13) When the angle of 15 exceeds a predetermined threshold value and the load acting on the forearm member 15 exceeds a predetermined threshold value), the rotation suppression unit 72 of the control device 70 operates the lock mechanism 30 to cause the forearm member. 15 rotational movements can be prevented. Therefore, since the upper arm member 13 and the forearm member 15 can function as if they were one member, power for driving the forearm member 15 becomes unnecessary. Therefore, it is possible to reduce the consumption of electric power necessary for driving the member, and it is possible to extend the service life by suppressing wear and damage of the actuator 20 that drives the motion assisting wearing device 10.

  In addition, in the wearable motion assisting apparatus 1 according to the embodiment described above, when the adjustment of the drive characteristics of the actuator 20 becomes impossible due to some external factor, the rotation suppression unit 72 of the control device 70 is locked. 30 can be operated to suppress the rotation of each member of the motion assisting wearing device 10. Therefore, even when the driving force of the actuator 20 suddenly decreases or disappears, it is possible to suppress the member from rotating suddenly due to gravity, so that it is possible to reduce the wear and damage of the motion assisting wearing device 10. It becomes.

  Here, with reference to the graph of FIG. 8, the power saving effect when the wearable motion assisting apparatus 1 according to the present embodiment is employed will be described.

As shown in FIG. 8, the operation assisting wearing device is operated from time T ₀ to start holding the load, the forearm member is rotated with respect to the upper arm member while holding the load, and the rotation angle is a predetermined threshold value. A series of operations of stopping the rotation at the time T ₁ when reaching the above are assumed. When such an operation is performed using a conventional wearable movement assist device that does not have a lock mechanism, it is necessary to continue to generate a driving torque necessary to hold the load even after the rotation is stopped (after time T ₁ ). Therefore, as shown by a dotted line in FIG. 8, a large amount of power is consumed even after the rotation is stopped. On the other hand, when the wearable motion assisting device 1 according to the present embodiment is used, the forearm member 15 is fixed to the upper arm member 13 by the lock mechanism 30 and the power to the elbow drive motor 22 is stopped after the rotation is stopped. Since the supply is stopped, as shown by a solid line in FIG. 8, the power consumption is remarkably reduced after the rotation is stopped.

  In addition, this invention is not limited to the above embodiment, A various deformation | transformation is possible in the range which does not deviate from the summary. For example, in the above embodiment, the example in which the rotational movement is suppressed with reference to the biological signal from the wearer P has been described, but the condition for the rotation suppression is not limited to this, and the wearer or the caregiver is not limited thereto. When an operation signal (such as a switch or a button) that can be operated by a wearer or another operator is provided and an operation signal generated by operating the operation unit by a wearer or another operator is detected It is also possible to adopt a configuration that prevents rotational movement. The operation signal in such a case corresponds to a specific instruction signal in the present invention.

  Moreover, in the above embodiment, when two conditions (for example, a rotation angle exceeds a predetermined threshold value, and a biological signal from the wearer P exceeds a predetermined level) are rotated. Although the example which suppressed this was shown, when either one of these conditions is satisfy | filled, a control method can also be changed so that a rotational motion may be suppressed. Moreover, you may employ | adopt the structure which blocks | prevents a rotational movement, when a sudden external force acts with respect to an operation | movement assistance mounting tool with a certain external factor.

  Moreover, in the above embodiment, the example which suppressed the rotational movement of the forearm member 15 with respect to the upper arm member 13 by providing the lock mechanism 30 in the elbow joint mechanism 14 was shown. A mechanism can also be provided. When the lock mechanism is provided in the shoulder joint mechanism 12 in this way, the rotational movement of the L-shaped member 12b with respect to the trunk member 11 is suppressed, or the I-shaped member 12d with respect to the L-shaped member 12b (and the upper arm member connected thereto) 13) can be suppressed.

  Moreover, although the example which employ | adopted the rotation suppression means which has a locking mechanism was shown in the above embodiment, the structure of a locking mechanism is not restricted to a structure as shown in FIG. 4 in this embodiment. Further, the configuration of the rotation suppressing means is not limited to the configuration in the present embodiment. For example, as shown in FIG. 9, a plurality of tooth portions (a tooth portion 31 </ b> A provided on the side opposite to the motor 22 and a tooth portion 31 </ b> B provided on the motor 22 side) are provided on the outer periphery of the rotating plate 31. The contact members 33A and 33B are arranged so as to be rotatable around the shafts 32A and 32B so as to be close to the tooth portions 31A and 31B, respectively, and the contact members 33A and 33B are intermittently provided on the tooth portions 31A and 31B, respectively. It is also possible to employ a rotation suppression mechanism that suppresses the rotation of the rotation plate 31 by contacting the rotation plate 31.

In the case of adopting the above-described rotation suppression mechanism, the rotation suppression unit 72 of the control device 70 converts the contact members 33A and 33B to the tooth portions 31A and 31B, respectively, when a specific rotation suppression condition is satisfied. It is possible to perform control to apply an urging force that presses against the urging force. Thus, rotational movement in the R ₁ direction in FIG. 9 of the rotary plate 31, while being suppressed by intermittent contact between the teeth 31A and the contact member 33A, R 9 of the rotary plate 31 The rotational movement in the _two directions is suppressed by intermittent contact between the tooth portion 31B and the contact member 33B. The tooth portions 31A and 31B in the rotation suppression mechanism are convex portions in the present invention. In addition, the above-described rotation suppression mechanism and the rotation suppression unit 72 constitute an embodiment of the rotation suppression means in the present invention.

  Moreover, although the example which employ | adopted the rotation suppression means which has a lock mechanism was shown in the above embodiment, it receives the control signal from the rotation suppression part 62 of the control apparatus 60, and rotation of the elbow joint mechanism 14 is carried out. A friction braking device (a disc braking device, a drum braking device, a band braking device, or the like) that generates a braking force for suppressing the rotation of the shaft 14 a may be employed instead of the lock mechanism 30. Even when the rotation suppressing means having such a friction braking device is employed, the rotational movement of the forearm member 15 relative to the upper arm member 13 can be suppressed by the frictional force, so that the electric power required for driving the forearm member 15 can be reduced. Consumption can be saved.

  Also, a functional fluid whose viscosity changes due to external physical action (for example, an ER fluid whose viscosity changes due to applying an electric field from the outside, or a magnetic field applied from outside) A friction braking device that generates a braking force for suppressing rotation by the frictional force of the MR fluid whose viscosity changes) may be employed. When a friction type braking device using the frictional force of such a functional fluid is adopted, the force for holding the load and the member suddenly disappears even when the drive characteristics of the actuator cannot be adjusted due to some reason. It is possible to prevent the member from rotating suddenly due to gravity (buffer action).

  Moreover, in the above embodiment, although the example which applied this invention to the movement assistance mounting tool (rotating device) with which a human body is mounted | worn was shown, the movement assistance mounting apparatus (for example, mounted | worn with a human body leg (for example) A waist member attached to the waist of the wearer; a thigh member connected to the waist member via a hip joint mechanism having at least one pivot shaft; and at least one turn It is also possible to suppress rotation by applying the present invention to a thigh member that is connected to a thigh member via a knee joint mechanism having an axis and is attached to a wearer's shin part. In such a case, a lock mechanism or the like is provided in the hip joint mechanism or the knee joint mechanism, and when the specific biological signal is detected, the control device operates the lock mechanism or the like, so that the thigh member rotates relative to the waist member. The movement can be suppressed, and the rotational movement of the shin member with respect to the thigh member can be suppressed. In such a case, the rotation suppressing means in the present invention is configured by the control device, the lock mechanism, and the like.

  Moreover, in the above embodiment, although the example which applied this invention to the operation | movement assistance mounting tool (rotation apparatus) with which a human body is mounted | worn was shown, this invention is applied to the other rotation apparatus which performs several rotation movement. Can be applied. For example, a robot trunk member, a robot upper arm member connected to the robot trunk member via a robot shoulder joint mechanism having at least one pivot axis, and a robot having at least one pivot axis The present invention can be applied to the upper body structure (rotating device) of a robot having a robot forearm member connected to the robot upper arm member via an elbow joint mechanism to suppress rotation. In such a case, the robot shoulder joint mechanism or the robot elbow joint mechanism is provided with a lock mechanism or the like, and when a specific instruction signal is detected, the control device operates the lock mechanism or the like, thereby The rotational movement of the robot upper arm member relative to the material can be suppressed, or the rotational movement of the robot forearm member relative to the robot upper arm member can be suppressed. In such a case, the rotation suppressing means in the present invention is configured by the control device, the lock mechanism, and the like.

It is a block diagram which shows the functional structure of the mounting | wearing type movement assistance apparatus which concerns on embodiment of this invention. It is a perspective view at the time of seeing the wearer who equipped the operation | movement assistance mounting tool of the mounting | wearing type movement assistance apparatus shown in FIG. 1 from diagonally forward. It is a perspective view at the time of seeing the wearer who equipped with the operation | movement assistance mounting tool of the mounting | wearing type movement assistance apparatus shown in FIG. 1 from diagonally back. FIG. 2 shows the structure of the lock mechanism of the wearable movement assisting device shown in FIG. 1, (a) is a perspective view showing the vicinity of the elbow portion of the movement assisting device provided with the lock mechanism, and (b) is the lock mechanism. It is sectional drawing. It is a flowchart for demonstrating the method concerning the rotation suppression control of the mounting | wearing type movement assistance apparatus shown in FIG. Same as above. Same as above. It is a graph which shows the power saving effect at the time of employ | adopting the mounting | wearing type movement assistance apparatus shown in FIG. It is explanatory drawing which shows the structure of the other rotation suppression means of the mounting | wearing type movement assistance apparatus shown in FIG.

Explanation of symbols

1 ... Wearable motion assist device (rotation adjustment device)
10 ... Operation assistance wearing tool (rotating device)
DESCRIPTION OF SYMBOLS 11 ... Trunk member 12 ... Shoulder joint mechanism 12c * 12a ... Rotating shaft 13 ... Upper arm member 14 ... Elbow joint mechanism 14a ... Rotating shaft 15 ... Forearm member 30 ... Lock mechanism (a part of rotation suppression means)
31 ... Rotating plate (rotating member)
31a ... concave part 31A / 31B ... tooth part (convex part)
32 ... Pins 33A and 33B ... Abutting member 72 ... Rotation suppression part (part of the rotation suppression means)
P ... Wearer

Claims (16)

A rotating device having a plurality of members connected via a plurality of rotating shafts, and realizing a relative rotating motion of the other member with respect to the one member around the rotating shaft;
A rotation suppression means for suppressing at least any one of a plurality of rotation motions by the rotation device;
A rotation adjustment device comprising: The rotating device is
A trunk member mounted near the shoulder of the wearer, an upper arm member connected to the trunk member via a shoulder joint mechanism having at least one pivot shaft, and mounted on the upper arm portion of the wearer; A forearm member connected to the upper arm member via an elbow joint mechanism having a single pivot axis and attached to the forearm portion of the wearer, and a rotational movement of the upper arm member with respect to the trunk member; Realizing the rotational movement of the forearm member relative to the upper arm member;
The rotation suppression means is
Suppressing at least one of the rotational movement of the upper arm member and the rotational movement of the forearm member,
The rotation adjusting device according to claim 1. The rotation suppression means is
When a predetermined instruction signal is detected, at least one of the rotational movement of the upper arm member and the rotational movement of the forearm member is suppressed.
The rotation adjusting device according to claim 2. The instruction signal is
The rotation adjustment device according to claim 3, wherein the rotation signal is a biological signal exceeding a predetermined level from the wearer. The instruction signal is
The rotation adjusting device according to claim 3, wherein the rotation adjusting device is an operation signal generated when the wearer or another operator operates an operation unit. The rotating device is
A robot trunk member, a robot upper arm member connected to the robot trunk member via a robot shoulder joint mechanism having at least one pivot axis, and a robot elbow having at least one pivot axis A robot forearm member coupled to the robot upper arm member via a joint mechanism, the robot upper arm member rotating with respect to the robot trunk member and the robot upper arm member with respect to the robot To realize the rotational movement of the forearm member,
The rotation suppression means is
Suppressing at least one of the rotational movement of the upper arm member for robot and the rotational movement of the forearm member for robot,
The rotation adjusting device according to claim 1. The rotation suppression means is
When the relative rotation angle of the other member with respect to the one member exceeds a predetermined threshold, the relative rotation movement of the other member with respect to the one member is suppressed.
The rotation adjusting device according to any one of claims 1 to 6. The rotation suppression means is
When a load acting on the rotating device exceeds a predetermined threshold, at least one of a plurality of rotating motions by the rotating device is suppressed.
The rotation adjusting device according to any one of claims 1 to 7. The rotation suppression means is
A recess provided on a rotating member that is fixed to at least one of the rotating shafts and rotates with the rotating shaft; and a pin configured to be detachable with respect to the recessed portion. The insertion of the pin prevents rotation of the rotating member and the rotating shaft.
The rotation adjusting device according to any one of claims 1 to 8. The rotation suppression means is
A plurality of convex portions provided on an outer periphery of a rotating member that is fixed to at least one of the rotating shafts and rotates together with the rotating shaft, and the convex portions so as to contact the convex portions of the rotating member. The contact member is intermittently disposed on the convex portion in a state of being biased so as to be pressed against the rotating convex portion. It suppresses the rotational movement of the rotational member and the rotational shaft by abutting.
The rotation adjusting device according to any one of claims 1 to 8. The rotation suppression means is
It has a friction type braking device that suppresses at least any one of a plurality of rotational movements by the rotational device by applying a frictional force.
The rotation adjusting device according to any one of claims 1 to 8. The friction braking device is
At least any one of a plurality of rotational movements by the rotational device is suppressed by the frictional force of a functional fluid whose viscosity changes due to a physical action from the outside.
The rotation adjusting device according to claim 11. The functional fluid is
The rotation adjusting device according to claim 12, which is an ER fluid whose viscosity changes due to application of an electric field from the outside, or an MR fluid whose viscosity changes due to application of a magnetic field from the outside. Control of a rotation device that has a plurality of members connected via a plurality of rotation shafts and realizes a relative rotation movement of the other member with respect to the one member around the rotation shaft. A method,
A control method of a rotation device, comprising a rotation suppression step of suppressing at least one of a plurality of rotation motions by the rotation device. The rotating device is connected to the trunk member through a shoulder joint mechanism having at least one rotating shaft and a trunk member mounted in the vicinity of the shoulder of the wearer, and is mounted on the upper arm portion of the wearer. An upper arm member, and a forearm member connected to the upper arm member via an elbow joint mechanism having at least one rotation axis and attached to the forearm portion of the wearer, and the upper arm with respect to the trunk member Realizing the rotational movement of the member and the rotational movement of the forearm member relative to the upper arm member,
The rotation suppression step suppresses at least one of the rotation motion of the upper arm member and the rotation motion of the forearm member when a predetermined instruction signal is detected.
The method for controlling the rotating device according to claim 14. The rotating device includes a robot trunk member, a robot upper arm member coupled to the robot trunk member via a robot shoulder joint mechanism having at least one pivot axis, and at least one pivot. A robot forearm member coupled to the robot upper arm member via a robot elbow joint mechanism having a shaft, and a rotational movement of the robot upper arm member relative to the robot trunk member and the robot To realize the rotational movement of the robot forearm member with respect to the upper arm member;
The rotation suppression step includes
Suppressing at least one of the rotational movement of the upper arm member for robot and the rotational movement of the forearm member for robot,
The method for controlling the rotating device according to claim 14.

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