JP2013022091A - Wearable motion assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wearable motion assistance device enabling a user to stably move while carrying an object to be carried with both arms.SOLUTION: The motion assistance device 10 includes an upper limb frame 14 mounted to the upper limb of a wearer 12; a lower limb frame 19 mounted to the lower limb of the wearer 12; and a waist frame 30 mounted to the waist of the wearer 12. The upper limb frame 14 is formed above the waist frame 30, and has a vertical frame 15 extending upward from the front of the waist frame 30; and shoulder frames 16A and 16B laterally hung in a shoulder breadth direction from the upper end of the vertical frame 15. The shoulder frames 16A and 16B are equipped with upper limb drive portions 17A and 17B for assisting the movement of both arms in lifting an object to be carried so as to be movable back-and-forth, respectively. Accordingly, since the mass of each of the upper limb drive portions 17A and 17B supported by the shoulder frames 16A and 16B are supported by the upper limb frame 14, a wearer 12 can perform an operation without feeling the weight of each of the upper limb frame 14 and the upper limb drive portions 17A and 17B.

Description

  The present invention relates to a wearable motion assist device, and more particularly to a wearable motion assist device suitable for transporting a transported article.

  For example, in a factory, a construction site, or the like, a heavy object is transported using a transporting machine such as a forklift or a crane. However, when the transporting machine cannot move in a small place, an operator may lift and transport a transported object such as metal or stone.

  As such a wearable motion assisting device that assists a worker in carrying work, there is a device configured to assist a walking motion (see, for example, Patent Document 1).

JP 2001-296391 A

  Conventional wearable movement assist devices generate motor torque so as to assist the wearer's foot movement, and thus can support the wearer's walking support and climbing up and down stairs. When moving with the arms lifted so that it is held by both arms, the balance is maintained by curving the upper body to the rear, so if the load on both arms increases, the moment due to the load will increase. There was a problem that it was difficult to support, and it was difficult to reduce the burden on the waist.

  In addition, since the conventional wearing-type motion assisting device is worn on the wearer's back from the front side of the device, the wearing operation takes time.

  Therefore, in view of the above circumstances, an object of the present invention is to provide a wearable movement assist device that solves the above-described problems.

In order to solve the above problems, the present invention has the following means.
(1) The present invention provides a frame to be worn by the wearer;
A drive unit provided at each joint of the frame;
A fastening member provided on the frame;
A plurality of biological signal detectors for detecting each biological signal of the wearer;
A control unit that controls the drive unit based on each biological signal detected by the plurality of biological signal detection units;
In a wearable motion assist device with
The frame is formed to be attachable to the wearer from the rear side,
The fastening member is fastened from the rear side.
(2) The present invention provides a waist frame to be worn on the wearer's waist;
A waist fastening member provided at an opening of the waist frame;
A lower limb frame formed below the waist frame;
A lower limb drive unit provided at each joint of the lower limb frame;
A lower limb fastening member provided on the lower limb frame;
An upper limb frame formed above the waist frame;
An upper limb drive unit provided at each joint of the upper limb frame;
An upper limb fastening member provided on the upper limb frame;
A plurality of biological signal detectors for detecting each biological signal of the wearer;
A control unit that controls the lower limb driving unit and the upper limb driving unit based on each biological signal detected by the plurality of biological signal detection units;
In a wearable motion assist device with
The waist frame, the lower limb frame, and the upper limb frame are each formed to be attachable to the wearer from the rear side,
The waist fastening member, the lower limb fastening member, and the upper limb fastening member are fastened from the rear side.
(3) The upper limb frame of the present invention comprises:
A vertical frame extending upward from the front side of the waist frame;
A shoulder frame that is laid in the shoulder width direction from the upper end of the vertical frame,
The upper limb drive unit is rotatably provided at both ends of the shoulder frame, and assists the operation of lifting the transported item.
(4) The said vertical frame of this invention has a mounting base which mounts the conveyed product lifted by the said arm part drive mechanism.
(5) The present invention is provided with a detection sensor for detecting the transported object on the mounting table,
An elevating mechanism for moving the mounting table in the vertical direction based on a detection signal of the detection sensor is provided.

  According to the present invention, since the frame is arranged on the front side of the wearer, when walking while lifting the transported object with both arms, the upper body is bent forward, but the frame is in a position close to the transported object. Therefore, it is possible to directly support the mass of the material to be transported, and the moment applied to both arms can be suppressed to be small, so that it becomes easy to balance during transport operation, even when transporting heavy materials. Stable operation is possible.

  In addition, since the frames (waist frame, lower limb frame, upper limb frame) can be worn from the back side, the frame should be fitted to the wearer's body from the state where the wearable movement assist device is placed on the wearer's front side. This makes it easier to install.

  Further, since the vertical frame is arranged on the front side, it is possible to hold a heavy transported object with respect to the strength of the frame, and it is possible to hold a heavy transported object even if the assist torque applied from the drive unit is suppressed.

It is a front view which shows one Example of the mounting | wearing type movement assistance apparatus by this invention. It is a rear view which shows one Example of the mounting | wearing type movement assistance apparatus by this invention. It is the perspective view which looked at the upper limb frame, the waist frame, the lower limb drive part of the right leg, and the upper limb drive part of the right arm from the upper left. It is the perspective view which looked at the upper limb frame, the waist frame, the lower limb drive part of the right leg, and the upper limb drive part of the right arm from diagonally right above. It is a right view of a wearing type movement auxiliary device. It is a top view of a mounting | wearing type movement assistance apparatus. It is a block diagram which shows the control system of a mounting | wearing type movement assistance apparatus. It is a block diagram which shows the control apparatus of a lower limb drive system and each sensor. It is a block diagram which shows the control apparatus of an upper limb drive system and each sensor. It is a flowchart of the control processing which the control apparatus 100 performs using the detection signal of an angle sensor. It is a flowchart for demonstrating the control processing which a control part performs using the detection signal of a biological signal sensor.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[Configuration of wearable motion assist device]
FIG. 1 is a front view showing an embodiment of a wearable movement assist device according to the present invention. FIG. 2 is a rear view showing an embodiment of the wearable movement assist device according to the present invention. FIG. 3 is a perspective view of the upper limb frame, the waist frame, the lower limb drive unit of the right leg, and the upper limb drive unit of the right arm as viewed obliquely from the upper left. FIG. 4 is a perspective view of the upper limb frame, the waist frame, the lower limb drive unit of the right leg, and the upper limb drive unit of the right arm as viewed obliquely from the upper right. FIG. 5 is a right side view of the wearable motion assist device. FIG. 6 is a plan view of the wearable movement assist device. (In addition, in FIG.3 and FIG.4, illustration of the leg drive part 300B which drives the wearer's 12 left leg is abbreviate | omitted.)
As shown in FIGS. 1 to 6, the wearable movement assisting device 10 (hereinafter referred to as “motion assisting device”) is a device that assists (assists) the movement of the wearer 12, and is based on a signal from the brain. Detects biological signals (surface myoelectric potential) and / or the joint joint's operating angle, center of gravity, etc. that are generated when generating a signal, and operates to apply a driving force from the driving unit based on this detection signal To do.

  When the wearer 12 wearing the movement assisting device 10 performs a walking motion with his / her own intention, the driving signal corresponding to the biological signal generated at that time and / or the operation angle of the knee joint of the wearer is used as the assist force. For example, it is possible to walk with a force that is half of the muscular strength required for normal walking. Therefore, the wearer 12 can walk by the resultant force of his / her muscular strength and the drive torque from the drive unit (which uses an electric drive motor in this embodiment).

  At that time, the motion assisting device 10 controls the assist force (motor torque) applied in accordance with the movement of the center of gravity accompanying the walking motion to reflect the intention of the wearer 12. Therefore, the drive unit of the motion assisting device 10 is controlled to assist the operation according to the intention of the wearer 12.

In addition to the walking motion, the motion assisting device 10 can assist, for example, an operation when the wearer 12 stands up from a state of sitting on a chair, or an operation when sitting on the chair from a standing state. Furthermore, power assist can be performed even when the wearer 12 goes up or down the stairs. In particular, when the wearer 12 carries a heavy object, the wearer 12 operates with the driving torque applied from the motion assisting device 10 according to his / her intention even when performing a climbing operation or a walking operation. It becomes possible to do.
[Frame structure]
Here, the frame structure of the motion assisting device 10 will be described. The motion assisting device 10 is provided with a drive unit for each joint on a frame structure 18 that is worn by the wearer 12 from the rear side.

The frame structure 18 includes an upper limb frame 14 that is worn on the upper limb of the wearer 12, a lower limb frame 19 that is worn on the lower limb of the wearer 12, and a waist frame 30 that is worn on the waist of the wearer 12.
[Configuration of upper limb frame]
The upper limb frame 14 is formed above the waist frame 30 and includes a vertical frame 15 extending upward from the front side of the waist frame 30 and shoulder frames 16A and 16B horizontally mounted in the shoulder width direction from the upper end of the vertical frame 15. Have. The vertical frame 15 is made of a metal material such as titanium or stainless steel, and has a vertical portion 15A having a lower end fixed to the waist frame 30, and a U-shape formed in a U shape that branches from the upper end of the vertical portion 15A in the left-right direction. Part 15B.
Shoulder frames 16A and 16B are connected to the upper ends of the U-shaped portion 15B. The shoulder frames 16A and 16B are provided with upper limb drive units 17A and 17B that assist the movement of both arms when lifting a transported object so as to be able to rotate in the front-rear direction. Accordingly, since the mass of the upper limb drive units 17A and 17B supported by the shoulder frames 16A and 16B is supported by the upper limb frame 14, the wearer 12 feels the weight of the upper limb frame 14 and the upper limb drive units 17A and 17B. Work without any problems.

The upper limb drive unit 17A includes a shoulder drive unit 200A that drives the right upper arm below the right shoulder and an arm drive unit 210A that drives the right lower arm below the right elbow. The upper limb drive unit 17B includes a shoulder drive unit 200B that drives the left upper arm below the left shoulder, and an arm drive unit 210B that drives the left lower arm below the left elbow.
The shoulder drive units 200A and 200B include drive motors 320 and 322 (see FIG. 9) provided at positions corresponding to the shoulder joints, and a first arm frame that is rotated by the drive torque of the drive motors 320 and 322 (see hidden). Drive motors 324 and 326 (see FIG. 9) provided at positions corresponding to the elbow joints, and second arm frames 334 and 336 that are rotated by the drive torque of the drive motors 324 and 326.
These drive motors 320, 322, 324, and 326 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device (control unit) 100. Each of the drive motors 320, 322, 324, and 326 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a sufficient drive force although it is small. Can do.

  Upper limb fastening members 330 and 331 with which the arm of the wearer 12 abuts are attached to the second arm frames 334 and 336. The upper limb fastening members 330 and 331 are formed in an arc shape in cross section, and are attached so as to house the arm from above and are fastened so as to straddle over the arm and an upper limb fastening belt 350 including a buckle, etc. 352 is provided.

The wearer 12 fastens both arms to the upper limb fastening members 330 and 331 by fastening operation of the upper limb fastening belts 350 and 352 with both arms placed on the upper limb fastening members 330 and 331 from the rear side of the apparatus.
[Configuration of waist frame]
The waist frame 30 has a waist fastening portion 30A formed in a C shape having a rear opening 31 for the wearer 12 to enter and exit from the rear side when viewed from above. A waist fastening belt 360 including a belt and a buckle for fastening the waist of the wearer 12 is attached to the rear opening 31. The waist fastening member 360 is fastened from the rear side by the waist fastening belt 360 after the waist of the wearer 12 is inserted into the waist fastening part 30A of the waist frame 30 from the rear opening 31. As described above, the waist of the wearer 12 is fixed by the waist fastening belt 360 from the rear side in a state of entering from the rear opening 31 of the waist fastening portion 30A, so that the wearing work can be easily performed.

  Batteries 32 and 34 (see FIG. 8) that function as power sources for driving the drive motors and the control device 100 are attached to the waist frame 30 that is worn around the waist of the wearer 12.

Further, a control unit 36 is attached to the front side of the waist support portion 30 which is the rear side of the wearer 12.
[Configuration of vertical frame]
Since the vertical frame 15 is provided so as to stand on the front side of the wearer 12, it can stably support the mass when lifting a heavy object. The vertical frame 15 is provided with a mounting table 260 for mounting a transported object lifted by both arms.

  The mounting table 260 is provided with a pair of detection sensors 270 that detect a transported object, and an elevating mechanism 280 that moves up and down based on a detection signal of the detection sensor 270. As the detection sensor 270, a non-contact sensor such as an optical sensor is used.

  Further, when the transported object lifted by both arms approaches a predetermined distance or less of the mounting table 260, the elevating mechanism 280 automatically lifts the mounting table 260 to contact the transported object and the load supported by both arms. And the burden on the upper limb drive units 17A and 17B is reduced.

Further, since the waist frame 30, the upper limb frame 14, and the upper limb drive units 17A and 17B are arranged on the front side of the wearer 12, the upper body bends forward when walking while holding a transported object with both arms. However, since the vertical frame 15 of the upper limb frame 14 is close to the transported object, the mass of the transported object can be directly supported and the moment applied to both arms can be suppressed to be small. Therefore, it becomes easy to balance during the transportation operation, and even when carrying heavy objects, it is possible to walk with a stable operation.
[Biological signal detection sensor]
As illustrated in FIG. 8, the motion assisting device 10 includes biosignal detection sensors 38 a and 38 b that detect biopotentials associated with movement of the right thigh of the wearer 12, and biopotentials associated with movement of the left thigh of the wearer 12. Biological signal detection sensors 40a and 40b for detecting the biological potential, biological signal detection sensors 42a and 42b for detecting the biological potential related to the movement of the right knee, and biological signal detection sensors 44a and 44b for detecting the biological potential related to the movement of the left knee. And have.

  Each of these lower limb biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is a bioelectric potential signal (biological signal) such as a myoelectric signal or a nerve transmission signal for controlling the lower limb drive units 300A, 300B. Signal) through the skin, and has an electrode (not shown) for detecting a weak potential. In this embodiment, each of the lower limb biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is attached to the skin surface of the wearer 12 with an adhesive seal covering the periphery of the electrode. It is attached.

  As shown in FIG. 9, the drive motors 320, 322, 324, and 326 of the upper limb drive units 17 </ b> A and 17 </ b> B are detected by the upper limb biosignal detection sensors 338 a and 338 b attached to the upper body positions of the wearer 12. , 340a, 340b, 342a, 342b, 344a, 344b, 346a, 346b, 348a, 348b, the drive current is controlled.

  In the human body, acetylcholine, a synaptic transmitter, is released on the surface of muscles that form skeletal muscles according to instructions from the brain. As a result, the ionic permeability of muscle fiber membranes changes and action potentials are generated. The action potential causes contraction of muscle fibers and generates muscle force. Therefore, by detecting the potential of the skeletal muscle, it is possible to infer the muscular strength that occurs during the walking motion, and the assist force (drive torque) necessary for the walking motion is calculated from the virtual torque based on this estimated muscular strength. It becomes possible to ask.

Therefore, in the control device 100 of the motion assisting device 10, the lower limb biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b and the upper limb biosignal detection sensors 338a, 338b, 340a, 340b, 342a, Based on the biological signal detected by 342b, 344a, 344b, 346a, 346b, 348a, 348b, the drive current supplied to each drive motor 20, 22, 24, 26, 320, 322, 324, 326 is obtained, and this drive By driving the drive motors 20, 22, 24, 26, 320, 322, 324, and 326 with an electric current, a necessary assist force (drive torque) is applied to assist the wearer 12 in a walking motion. ing.
[About floor reaction force sensor]
In addition, in order to smoothly move the center of gravity by walking, it is necessary to detect the load applied to the back of the leg. Therefore, floor reaction force sensors 50a, 50b, 52a, 52b are provided on the backs of the left and right legs of the wearer 12.

The floor reaction force sensor 50a detects a reaction force against the load on the front side of the right leg, and the floor reaction force sensor 50b detects a reaction force on the load on the rear side of the right leg. The floor reaction force sensor 52a detects a reaction force against the load on the left leg front side, and the floor reaction force sensor 52b detects a reaction force against the load on the left leg rear side. Each floor reaction force sensor 50a, 50b, 52a, 52b is composed of, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, or a sensor whose capacitance changes according to the load. The accompanying load change and the presence / absence of contact between the legs of the wearer 12 and the ground can be detected. Further, the position of the center of gravity can be obtained from the balance of the loads on the left and right soles.
[About lower limb drive unit and lower limb frame]
The lower limb drive unit 300 </ b> A includes a right thigh drive motor 20 located at the right hip joint of the wearer 12 and a right knee drive motor 24 located at the right knee joint of the wearer 12. The lower limb drive unit 300B includes a left thigh drive motor 22 located at the left hip joint of the wearer 12 and a left knee drive motor 26 located at the left knee joint of the wearer 12. These drive motors 20, 22, 24, 26 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device (control unit) 100. Each of the drive motors 20, 22, 24, and 26 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a small but sufficient driving force. Can do.

Further, the lower limb drive units 300A and 300B are provided below the waist frame 30, and include a first joint 64 corresponding to the hip joint, a second joint 66 corresponding to the knee joint, and a third joint 68 corresponding to the ankle. Have.
The first joint 64 is provided between the waist frame 30 and the first lower limb frame 58. The first joint 64 constitutes a motor unit in which the drive motors 20 and 22 are built, and the first joint 64 and the drive motors 20 and 22 are integrated in appearance.

  Further, a second joint 66 having a bearing structure is interposed between the lower end of the first lower limb frame 58 and the upper end of the second lower limb frame 60, and the first lower limb frame 58, the second lower limb frame 60, Are connected so as to be rotatable. The second joint 66 is provided at a height position coinciding with the knee joint, the first lower limb frame 58 is fastened to the support side of the second joint 66, and the second lower limb frame 60 is rotated by the second joint 66. It is fastened to the moving side. Further, the second joint 66 constitutes a motor unit in which the drive motors 24 and 26 are built, and the second joint 66 and the drive motors 24 and 26 are integrated in appearance.

  A third joint 68 having a bearing structure is interposed between the lower end of the second lower limb frame 60 and the upper end of the third lower limb frame 62, and the second lower limb frame 60, the third lower limb frame 62, Are connected so as to be rotatable. A shoe holding portion 84 on which the wearer 12 wears shoes is fixed inside the third lower limb frame 62.

  Accordingly, the first lower limb frame 58 and the second lower limb frame 60 are attached to the waist support 30 so as to perform a walking motion with the first joint 64 and the second joint 66 as pivot points. That is, the first lower limb frame 58 and the second lower limb frame 60 are configured to perform the same operation as the legs of the wearer 12. The third joint 68 is provided so as to be located on the side of the ankle of the wearer 12. Therefore, the angle of the shoe holding portion 84 with respect to the floor surface (or the ground) changes in the same manner as the ankle of the wearer 12 according to the walking motion by the rotation motion of the third joint 68. Further, the shoe holding portion 84 is provided with floor reaction force sensors 50a, 50b, 52a, 52b.

  Further, the first joint 64 and the second joint 66 have driving torque applied to the first lower limb frame 58 and the second lower limb frame 60 in which the rotation shafts of the drive motors 20, 22, 24, and 26 are driven via gears. Is configured to communicate.

  Furthermore, the drive motors 20, 22, 24, and 26 have an angle sensor (see FIG. 8) that detects a joint rotation angle. The angle sensor includes, for example, a rotary encoder that counts the number of pulses proportional to the joint angles of the first joint 64 and the second joint 66, and outputs an electrical signal corresponding to the number of pulses corresponding to the joint rotation angle as a sensor output. Output as.

  The angle sensor of the first joint 64 detects a rotation angle between the waist support 30 and the first lower limb frame 58 corresponding to the joint angle of the hip joint of the wearer 12. Further, the angle sensor of the second joint 66 detects a rotation angle between the lower end of the first lower limb frame 58 and the second lower limb frame 60 corresponding to the joint angle of the knee joint of the wearer 12.

  Further, a lower limb fastening member 78 and a fastening belt 79 fastened to the thigh of the wearer 12 are attached to an intermediate position in the longitudinal direction of the first lower limb frame 58. Further, a lower limb fastening member 80 and a fastening belt 81 that are fastened to the shin below the knee of the wearer 12 are attached to an intermediate position in the longitudinal direction of the second frame 60.

  Lower limb fastening members 78 and 80 of the lower limb drive units 300A and 300B are formed in a semicircular cross section so as to contact the front side of the thigh and shin of the wearer 12, and are attached by fastening belts 79 and 81 from the rear side. Fastened to the leg of the person 12. Thus, since the lower limb fastening members 78 and 80 of the lower limb drive units 300A and 300B are configured to be mounted on the wearer 12 from the rear side in the same manner as the waist frame 30 described above, for example, the motion assisting device 10 is attached to a hanger or the like. As a result, maintenance can be performed in a suspended state from above, and the wearer 12 can be worn as it is from the rear side of the apparatus after the maintenance.

  The drive torque generated by the drive motors 20, 22, 24, 26 is transmitted to the first lower limb frame 58 and the second lower limb frame 60 through gears, and further, the lower limb fastening members 78, 80 and the fastening belts 79, 81. Is transmitted as an assisting force to the leg of the wearer 12 via.

  A shoe 84 is rotatably connected to the lower end of the second lower limb frame 60 via a third joint shaft 68. The first lower limb frame 58 and the second lower limb frame 60 can be adjusted to a length corresponding to the length of the leg of the wearer 12.

Each of the frames 58, 60, and 62 is configured to cover the periphery of a metal material reduced in weight such as duralumin with a resin material having elasticity, and the waist frame 30, the upper limb frame 14, and the upper limb driving units 17A and 17b. The mass of the batteries 32, 34, the control unit 36, etc. can be supported. That is, the motion assisting device 10 is configured such that the mass of the waist frame 30, the upper limb frame 14, the upper limb drive units 17 </ b> A and 17 b, the batteries 32 and 34, and the control unit 36 does not act on the wearer 12.
[Configuration of control system]
FIG. 7 is a block diagram showing the system configuration of the control unit. As shown in FIG. 7, the control system of the movement assist device 10 includes a drive unit 140 that applies assist force to the wearer 12, a joint angle (physical phenomenon) according to the movement of the wearer 12, and A physical phenomenon detection unit 142 that detects the position of the center of gravity (physical phenomenon) of the wearer 12, and a biological signal detection unit 144 that detects a myoelectric potential or the like (biological signal) generated with the muscle activity of the wearer 12. And. The drive unit 140 includes drive motors 20, 22, 24, 26, 320, 322, 324, and 326. The physical phenomenon detection unit 142 includes angle sensors 70, 72, 74, and 76 (see FIG. 6) and floor reaction force sensors 50a, 50b, 52a, and 52b that detect the joint rotation angles. The biological signal detection unit 144 includes lower limb biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b and upper limb biological signal detection sensors 338a, 338b, 340a, 340b, 342a, 342b, 344a, 344b, 346a. , 346b, 348a, 348b.

  The data storage unit 146 stores a reference parameter database 148 and a command signal database 150.

  The optional control unit 154 supplies a command signal corresponding to the detection signal of the biological signal detection unit to the power amplification unit 158. The optional control unit 154 applies a predetermined command function f (t) or gain P to the biological signal detection unit 144 to generate a command signal. The gain P may be a preset value or function, and can be adjusted via the gain changing unit 156.

  When the skin of the wearer 12 is expected to get wet with sweat, when data input from the biological signal detection unit 144 cannot be obtained, each data ( Based on the joint angle data detected by the angle sensors 70, 72, 74, 76 (see FIG. 6) or the gravity center movement data detected by the reaction force sensors 50a, 50b, 52a, 52b). It is also possible to select a method for controlling the drive torques 24 and 26.

  The joint angles (θknee, θhip) and the position of the center of gravity detected by the physical phenomenon detector 142 are input to the reference parameter database 148. The phase specifying unit 152 compares the joint angle and the center of gravity position detected by the physical phenomenon detection unit 142 with the joint angle and the center of gravity position of the reference parameter stored in the reference parameter database 148, so that the phase of the operation of the wearer 12 is performed. Is identified.

When the autonomous control unit 160 obtains the control data of the phase specified by the phase specifying unit 152, the autonomous control unit 160 generates a command signal corresponding to the control data of this phase and causes the drive unit 140 to generate this power. The command signal is supplied to the power amplifier 158.
[Connection system for each control device]
FIG. 8 is a block diagram showing the connection of each control device of the lower limb drive unit. FIG. 9 is a block diagram showing each control device of the upper limb drive unit. As shown in FIGS. 8 and 9, the batteries 32 and 34 supply power to the power supply circuit 86. The power supply circuit 86 converts the power into a predetermined voltage and supplies a constant voltage to the input / output interface 88. Further, the charging capacity of the batteries 32 and 34 is monitored by the battery charging warning unit 90. When the battery charging warning unit 90 decreases to a preset remaining amount, a warning is issued to the wearer 12 for battery replacement or Notify charging.

  The first to eighth motor drivers 92 to 95 and 392 to 395 for driving the drive motors 20, 22, 24, 26, 320, 322, 324 and 326 are controlled from the control device 100 via the input / output interface 88. The drive voltage corresponding to the signal is amplified and output to each drive motor 20, 22, 24, 26, 320, 322, 324, 326.

Each lower limb biosignal detection sensor 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b and upper limb biosignal detection sensor 338a, 338b, 340a, 340b, 342a, 342b, 344a, 344b, 346a, 346b, 348a, 348b The biopotential signal detection signal output from is amplified by the first to twentieth differential amplifiers 101 to 108 and 301 to 312 of the power amplifier 158, and converted into a digital signal by an A / D converter (not shown). The converted data is input to the control device 100 via the input / output interface 88. The bioelectric potential signal detected on the skin surface of the wearer 12 is weak. Therefore, for example, in order to amplify a detection signal of 30 μV to about 3 V that can be discriminated by the computer with the first to eighth differential amplifiers 101 to 108, 301 to 312, an amplification factor of 100 dB that is 10 ⁵ times is required. Become.

  Further, the angle detection signals output from the angle sensors 70, 72, 74, and 76 are input to the first to fourth angle detection units 111 to 114, respectively. The first to fourth angle detectors 111 to 114 convert the number of pulses detected by the rotary encoder into an angle data value corresponding to the angle, and the detected rotation angle data is sent via the input / output interface 88. Input to the control device 100.

  The reaction force detection signals output from the reaction force sensors 50a, 50b, 52a, and 52b are input to the first to fourth reaction force detection units 121 to 124, respectively. The first to fourth reaction force detectors 121 to 124 convert the voltage detected by the piezoelectric element into a digital value corresponding to the force, and the detected reaction force data is transmitted to the control device via the input / output interface 88. 100 is input.

  The memory 130 of the data storage unit 146 is a storage unit for storing each data, and is a database in which control data for each phase set for each operation pattern (task) such as a standing motion, a walking motion, and a seating motion is stored in advance. A storage area 130A, a control program storage area 130B in which a control program for controlling each motor is stored, and the like are provided. The database storage area 130A stores a reference parameter database 148 and a command signal database 150 shown in FIG.

  The control data output from the control device 100 is output to the data output unit 132 or the communication unit 134 via the input / output interface 88, and displayed on a monitor (not shown) or a data monitoring computer, for example. It can also be transferred to data communication (not shown).

In addition, the control device 100 includes the autonomous control unit 160, the phase specifying unit 152, the difference deriving unit 154, and the gain changing unit 156 described above.
[Control processing executed by control device 100 using detection signal of angle sensor]
Here, the procedure of control processing executed by the control device 100 will be described with reference to the flowchart of FIG. 10A. As shown in FIG. 10A, the control device 100 detects the physical phenomenon detection unit 142 (angle sensors 70, 72, 74, and 76) accompanying the operation of the wearer 12 in step S11 (hereinafter, “step” is omitted). The obtained joint angle (θknee, θhip) is acquired. Next, the process proceeds to S12, where the biological signal detector 144 (lower limb biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b and upper limb biological signal detection sensors 338a, 338b, 340a, 340b, 342a, 342b, 344a, 344b, 346a, 346b, 348a, 348b), the myoelectric potential signals (EMGknee, EMGhip) detected.

  In the next S12a, it is checked whether or not the biological detection signal from the biological signal detection unit 144 can be detected. In S12a, when the biological detection signal from the biological signal detector 144 is not detected (in the case of NO) (for example, when the biological signal sensor is peeled off by the sweat of the wearer 12, or when the biological signal sensor is worn) If not, a myoelectric potential signal cannot be obtained from the biological signal detection unit 144.), the process proceeds to S13, and the joint angles (θknee, θhip) and the position of the center of gravity acquired in S11 and S12 are compared with the reference parameter database 148. Thus, the phase (operation stage) of the task corresponding to each operation type of the wearer 12 is specified.

  In the next S14, the command function f (t) and the gain P corresponding to the phase (operation stage) specified in S13 are selected.

  In S15, the command signal (control signal) generated by the selected gain P is supplied to the power amplifier 158 (motor drivers 92 to 95, 392 to 395). As a result, the drive unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, and 326) generates drive torque.

  As a result, the drive unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, 326) causes the drive torque corresponding to the phase selected based on the joint angle and the center of gravity detected from the wearer 12. This driving torque is transmitted as an assist force to the leg of the wearer 12 via the first lower limb frame 58, the second lower limb frame 60, the lower limb fastening members 78, 80, and the fastening belts 79, 81.

  As described above, since the assist is performed based on the joint angle and the position of the center of gravity of the wearer 12, the wearer 12 can drive the drive unit 140 (drive motors 20, 22, 24, 26, and 320 even if a living body detection signal is not obtained. , 322, 324, 326) is applied with assisting force by driving torque, and labor is reduced.

  For example, when the wearer 12 goes up the stairs while lifting the transported object with both arms, the driving force according to the command function f (t) is generated to assist. In such a case, the upper stepped leg will land with the hip and knee joint angles bent more than when walking on flat ground, so for example hip and / or knee joint refraction. If the detected value of the floor half force sensor exceeds a predetermined value when the angle is between 80 ° and 100 °, it is determined that the phase is going up the stairs, and the drive torque is adjusted according to the extension of the knee joint and hip joint angles. generate.

  Further, even when it is determined that the phase is a step down the stairs, a phase up, or a sitting phase, the driving force is generated according to a predetermined command function f (t) to assist.

  In addition, since the burden is comparatively small when the wearer 12 is walking on a flat ground, there is no assistance by the drive unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, 326). However, work efficiency does not decrease. Therefore, when it is determined that it is a general walking phase, the drive unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, 326) is driven so as not to hinder the operation of the wearer 12. Driven to compensate for the viscosity of the motor itself.

  In S16, it is confirmed whether the control process for the final phase of the task has been performed. If the control process for the final phase of the task remains in S16, the process returns to S11 and the control process (S11 to S16) for the next phase is performed. In S16, when the control process for the final phase of the task is performed, the current control process is terminated.

  As described above, when the movement assisting apparatus 10 lifts and carries a transported object with both arms, the driving torque from the driving unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, 326) is the first. Since it is transmitted to the legs of the wearer 12 via the 1 lower limb frame 58, the second lower limb frame 60, the lower limb fastening members 78 and 80, and the fastening belts 79 and 81, the wearer 12 is half of the usual even when going up the stairs, for example. It becomes possible to operate with the following forces.

As described above, when the biological signal sensor is peeled off by the sweat of the wearer 12 or when the biological signal sensor is not worn, the joint rotation detected by the angle sensors 70, 72, 74 and 76 is detected. Wearing by applying driving torque from the drive unit 140 (drive motors 20, 22, 24, 26, 320, 322, 324, 326) when the wearer 12 is climbing stairs or steps based on the angle The labor of the person 12 can be reduced and the working efficiency can be increased. In addition, since the control device 100 controls the driving torque of the driving unit 140 according to the operation of the wearer 12, it is possible to walk without feeling the mass of the transported item even when the wearer 12 walks. , Can suppress the exhaustion of physical strength.
[Control processing executed by control device 100 using biological signal]
FIG. 10B is a flowchart for explaining control processing executed by the control unit using the detection signal of the biological signal sensor. As shown in FIG. 10B, in S12a, for example, when the wearer 12 wears the biological signal sensor appropriately, the bioelectric potential signal from the biological signal detection unit 144 can be obtained. In this case (in the case of YES), the process proceeds to S18, and a command signal corresponding to the biopotential signal is generated based on the command function f (t) and the gain P.

  In the next S19, the command signal is sent to the power amplifier 158 (motor drivers 92 to 95, 392 to 395). As a result, the wearer 12 is provided with an assist force according to the living body detection signal, and the labor is reduced.

  In S20, it is confirmed whether or not there is an input from the gain changing unit. If there is an input from the gain changing unit in S20, the process returns to S18, and the control process (S18 to S20) is performed with the changed gain P. In S20, if there is no input from the gain changing unit, the current control process is terminated.

  Thus, when the bioelectric potential signal can be detected by the biosignal sensor, the work of the wearer 12 can be reduced by applying a driving torque according to the intention of the wearer 12 based on the bioelectric potential signal. Efficiency can be increased. In addition, since the control device 100 controls the driving torque of the driving unit 140 according to the operation of the wearer 12, it is easy to balance in a state where the transported object is lifted with both arms, and it is possible to walk smoothly. .

In the description of the above embodiment, the case of transporting a heavy object has been described. However, the heavy object is not limited to a metal or a stone, but can be applied to a case where an injured person is transported at a disaster site, for example. It is.
In the above embodiment, the frame structure combining the upper limb frame, the waist frame, and the lower limb frame is given as an example. However, the present invention is not limited to this, and the present invention is applied to a frame structure combining the waist frame and the lower limb frame. Of course you can.

DESCRIPTION OF SYMBOLS 10 Wearing type movement assistance apparatus 12 Wearer 14 Upper limb frame 15 Vertical frame 16A, 16B Shoulder frame 17A, 17B Upper limb drive part 18 Frame structure 19 Lower limb frame 20, 22, 24, 26, 320, 322, 324, 326 Drive motor 30 Waist frame 30A Waist fastening portion 31 Rear opening 36 Control units 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b Lower limb biosignal detection sensors 50a, 50b, 52a, 52b Floor reaction force sensor 58 First lower limb frame 60 Second leg frame 62 Third leg frame 64 First joint 66 Second joint 68 Third joint 70, 72, 74, 76 Angle sensor 78, 80 Lower limb fastening member 79, 81 Fastening belt 84 Shoe holding part 86 Power supply circuit 88 Input / output interface 90 Battery charging warning unit 92 to 95,3 2 to 395 Motor driver 100 Controllers 101 to 108, 301 to 312 Differential amplifiers 111 to 114 Angle detection units 121 to 124 Reaction force detection unit 130 Memory 130A Database storage region 130B Control program storage region 140 Drive unit 142 Physical phenomenon detection unit 144 Biological signal detection unit 146 Data storage unit 148 Reference parameter database 150 Command signal database 152 Phase identification unit 154 Optional control unit 156 Gain change unit 158 Power amplification unit 160 Autonomous control unit 200A, 200B Shoulder drive unit 210A, 210B Arm drive Unit 260 mounting table 270 detection sensor 280 elevating mechanism 300A, 300B lower limb drive unit 334, 336 second arm frame 330, 331 upper limb fastening member 338a, 338b, 340a, 340b, 342a, 342b 344a, 344b, 346a, 346b, 348a, 348b limb biosignal detecting sensors 350, 352 upper limb fastening belt 360 waist fastening belt

Claims (5)

A frame to be worn by the wearer;
A drive unit provided at each joint of the frame;
A fastening member provided on the frame;
A plurality of biological signal detectors for detecting each biological signal of the wearer;
A control unit that controls the drive unit based on each biological signal detected by the plurality of biological signal detection units;
In a wearable motion assist device with
The frame is formed to be attachable to the wearer from the rear side,
The fastening operation assisting device, wherein the fastening member is fastened from the rear side. A waist frame to be worn on the wearer's waist;
A waist fastening member provided at an opening of the waist frame;
A lower limb frame formed below the waist frame;
A lower limb drive unit provided at each joint of the lower limb frame;
A lower limb fastening member provided on the lower limb frame;
An upper limb frame formed above the waist frame;
An upper limb drive unit provided at each joint of the upper limb frame;
An upper limb fastening member provided on the upper limb frame;
A plurality of biological signal detectors for detecting each biological signal of the wearer;
A control unit that controls the lower limb driving unit and the upper limb driving unit based on each biological signal detected by the plurality of biological signal detection units;
In a wearable motion assist device with
The waist frame, the lower limb frame, and the upper limb frame are each formed to be attachable to the wearer from the rear side,
The waist-type fastening member, the lower limb fastening member, and the upper limb fastening member are fastened from the rear side. The upper limb frame is
A vertical frame extending upward from the front side of the waist frame;
A shoulder frame that is laid in the shoulder width direction from the upper end of the vertical frame,
The wearable movement assist device according to claim 2, wherein the upper limb drive unit is rotatably provided at both ends of the shoulder frame, and assists an operation of lifting a transported article.   The said vertical frame has a mounting base which mounts the conveyed product lifted by the said arm part drive mechanism, The mounting | wearing type movement assistance apparatus of Claim 3 characterized by the above-mentioned. Provide a detection sensor for detecting the transported object on the mounting table,
The mounting-type motion assisting device according to claim 4, further comprising an elevating mechanism that moves the table in the vertical direction based on a detection signal of the detection sensor.

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