JP2019111635A - Motion support method - Google Patents

Abstract

To provide a motion support method that can support motion of a joint depending on a state of a user.SOLUTION: In a motion support method for supporting motion of a user using a motion support device, according to one embodiment, motion of a joint of the user is supported using the motion support device, biological data about the user is acquired and then stored in the motion support device or an external device, a parameter for controlling motion of the motion support device is set on the basis of the biological data, and the motion support device is controlled based on the parameter.SELECTED DRAWING: Figure 1

Description

  Embodiments of the present invention relate to an operation support method.

  Some motion support devices support the motion of joints such as the knees of the user. Such a motion support device detects the motion of a supporting joint and starts the motion support of the joint.

  However, the motion support device does not have the function of adjusting the motion support of the joint according to the state of the user during and after the motion support.

JP, 2016-165338, A

  In order to solve the above-mentioned subject, the operation supporting method which can perform operation operation of a joint according to a user's state is provided.

  According to the embodiment, the motion support method for supporting the motion of the user by the motion support device supports motion of a joint of the user using the motion support device, acquires biological information of the user, and the motion support It holds in a device or an external device, sets a parameter for controlling the operation of the operation support device based on the biological information, and controls the operation support device based on the parameter.

FIG. 1 is a conceptual view showing a configuration example of an operation support system according to the embodiment. FIG. 2 is an example of a front view of the operation support apparatus according to the embodiment. FIG. 3 is an example of a side view of the operation support apparatus according to the embodiment. FIG. 4 is a view showing an example of mounting of the compound sensor of the operation support apparatus according to the embodiment. FIG. 5 is a block diagram showing an example of the configuration of the operation support apparatus according to the embodiment. FIG. 6 is a block diagram showing an exemplary configuration of a server according to the embodiment. FIG. 7 is a diagram showing an example of the configuration of history information according to the embodiment. FIG. 8 is a flowchart showing an operation example of the operation support apparatus according to the embodiment. FIG. 9 is a flowchart showing an operation example of the server according to the embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings.
The operation support system according to the embodiment supports the user's operation using the operation support apparatus. The operation support device constitutes a suit worn by the user. The motion support device supports the motion of the user's joints by the power of a motor or the like. The motion support device contacts a part of the user to assist the user's motion or to maintain the posture. For example, the motion support device assists in rising motion, squatting motion, walking, cargo handling, or holding a standing posture or a sitting posture. The operation supported by the operation support apparatus is not limited to a specific configuration.

Here, the motion support device supports the motion of the knee joint of the user.
For example, the operation support system supports the operation of a user who works at a manufacturing site or a construction site. The work content supported by the motion support system is not limited to a specific configuration.

  FIG. 1 shows a configuration example of an operation support system 1000. As FIG. 1 shows, the operation assistance system 1000 is provided with the operation assistance apparatus 100, the server 200, the network 300, etc. The operation support system 1000 may further include a configuration as needed in addition to the configuration shown in FIG. 1 or a specific configuration may be excluded from the operation support system 1000.

  The operation support apparatus 100 is electrically connected to the network 300. The server 200 is electrically connected to the network 300.

  The motion support device 100 supports the motion of the knee joint of the user. The motion support device 100 supports a motion to stretch or bend the knee joint of the user. The motion support device 100 has a drive unit such as a motor and supports the motion of the knee joint using the drive unit.

The operation support apparatus 100 also receives parameters necessary for operation from the server 200. The operation support apparatus 100 sets parameters. The motion support device 100 supports the motion of the knee joint of the user according to the parameters.
The operation support apparatus 100 will be described in detail later.

The server 200 (external device) controls the operation support system 1000 as a whole. The server 200 transmits the parameter to the operation support apparatus 100. The server 200 also receives history information and the like from the operation support apparatus 100.
The server 200 will be described in detail later.

  The network 300 is a communication network for transmitting and receiving data between the operation support apparatus 100 and the server 200. For example, the network 300 is the Internet. Also, the network 300 may be a unique communication network.

Next, the operation support apparatus 100 will be described.
FIG. 1 is a front view of the operation support apparatus 100. FIG. FIG. 2 is a side view of the operation support apparatus 100 as viewed from the right of the user P. Moreover, FIG. 3 is a figure which shows the example of mounting | wearing of the compound sensor 50 of the operation assistance apparatus 100. As shown in FIG.

  The operation support apparatus 100 has a symmetrical configuration. Here, as a representative, the left side (configuration for supporting the left knee) of the operation support apparatus 100 will be described.

  The operation support apparatus 100 includes an upper connection unit 3, an upper frame 4, a rotation support unit 5, a lower frame 6, a lower connection unit 7, a lower brace 8, a drive unit 10, a rotary encoder 16, an acceleration sensor 22, an angular velocity sensor 24, A torque sensor 25, a temperature sensor 26, pressure sensors 27 and 28, a position sensor 29, and the like are provided. In addition, the motion support device 100 uses the acceleration sensors 41 and 42, the angular velocity sensor 43, the torque sensor 44, the angle sensor 45, the pressure sensor 46, the myoelectric sensor 47, and the composite sensor as the biological sensor 60 that measures the biological information of the user P. And 50 etc.

  Further, in the following description, as viewed from the user P standing straight, the front-rear direction is the X-axis direction, the left-right direction is the Y-axis direction, and the vertical direction is the Z-axis direction.

  The upper orthosis 2 is fixed to the waist of the user P. The upper brace 2 is used to fix the motion support device 100 to the user P. The upper brace 2 includes a belt or the like wound around and fixed to the waist of the user P. The upper frame 4 is extended in the Z-axis direction along the outer side of the thigh of the user P. The upper frame 4 is fixed to the thighs of the user P. The lower frame 6 is extended in the Z direction along the outer side of the lower thigh of the user P. The lower frame 6 is fixed to the lower leg of the user P.

  The upper frame 4 and the lower frame 6 are rod-like or plate-like members made of a lightweight material having sufficient strength, such as resin or light metal. For the upper frame 4 and the lower frame 6, for example, CFRP or GFRP can be used as long as it is a resin. The upper frame 4 and the lower frame 6 may be made of, for example, an Al alloy, a Mg alloy, or a Ti alloy, as long as they are light metals. In the embodiment, the upper frame 4 and the lower frame 6 are formed of one rod, but a slide mechanism may be provided to make the length extendable.

  The upper connecting portion 3 connects the upper end of the upper frame 4 to the upper brace 2 in such a state that the upper connecting portion 3 can rotate in three degrees of freedom. The rotation with three degrees of freedom here includes, for example, rotation around the X axis, rotation around the Y axis, and rotation around the Z axis, and can be rotated in each direction. Points to be. Specifically, the upper connecting portion 3 is, for example, a free joint such as a ball joint or a universal joint.

  The lower connecting portion 7 connects the lower end of the lower frame 6 to the lower brace 8 in such a manner as to be able to rotate in three degrees of freedom. The lower connecting portion 7 has the same configuration as the upper connecting portion 3.

  The rotation support portion 5 connects the lower end of the upper frame 4 to the upper end of the lower frame 6 in a rotatable state with one degree of freedom. The rotation support 5 allows rotation in the direction in which the knee joint moves, that is, the freedom around the Y axis as one degree of freedom. That is, the rotation support portion 5 permits rotation with respect to the upper frame 4 of the lower frame 6 in directions other than the rotation direction of the knee joint (rotation around the X axis or rotation around the Z axis) do not do. That is, the motion support apparatus 100 allows rotation of seven degrees of freedom as a whole.

  When the user P bends and extends the knee joint, the pivotal support 5 pivots in accordance with the operation of the knee joint, and the upper connecting portion 3 and the lower connecting portion 7 also slightly pivot. In other words, at the time of bending and stretching, the knee joint opens slightly outward and the knee joint does not turn about a simple single axis, so the upper connecting portion 3 and the lower connecting portion 7 each have three degrees of freedom By allowing movement, complex movements of the knee joint are made possible.

The drive unit 10 is coaxially attached to the rotation support unit 5. The drive unit 10 applies a driving force to assist the knee movement of the user P to the rotation support unit 5 based on a signal from the control unit 30 described later. That is, the drive unit 10 applies a torque to the rotation support unit 5. For example, the drive unit 10 applies a driving force to the rotation support unit 5 in the direction of stretching the knee. In addition, the drive unit 10 applies a driving force to the rotation support unit 5 in the direction of bending the knee.
Drive unit 10 is formed of, for example, a servomotor.
The servomotor applies a driving force to the rotation support 5. The servomotor rotates in response to the power from the power supply unit.

For example, the drive unit 10 may adopt a configuration in which the rotational force of the servomotor is transmitted to the rotation support unit 5 via a bevel gear, a timing belt, or a chain.
The driving unit 10 may output the driving force by the tension of an elastic body or the like.

The servomotor is provided with a rotary encoder 16 for measuring the rotation angle of the rotation support portion 5. The rotary encoder 16 measures the angle of the rotation support 5. For example, the rotary encoder 16 measures the rotation angle of the servomotor to detect an angle α formed by the upper frame 4 and the lower frame 6. The angle α is an angle between the upper frame 4 and the lower frame 6. The rotary encoder 16 may be an encoder built in the servomotor or another sensor.
The rotary encoder 16 transmits a sensor signal indicating the measured angle to the control unit 30.

  An angular velocity sensor 24 is provided in the rotation support unit 5. The angular velocity sensor 24 measures an angular velocity at which the rotation support portion 5 rotates. That is, the angular velocity sensor 24 measures the angular velocity between the upper frame 4 and the lower frame 6. The angular velocity sensor 24 measures the angular velocity around the Y axis. The angular velocity sensor 24 transmits a sensor signal indicating the measured angular velocity to the control unit 30.

  Further, a torque sensor 25 is provided on the rotation support unit 5. The torque sensor 25 measures the torque generated by the drive unit 10 in the rotation support unit 5. That is, the torque sensor 25 measures the torque generated between the upper frame 4 and the lower frame 6 by the drive unit 10. The torque sensor 25 measures the angular velocity around the Y axis. The torque sensor 25 transmits a sensor signal indicating the measured torque to the control unit 30.

  The upper brace 2 is provided with a position sensor 29. The position sensor 29 specifies the position of the operation support apparatus 100. For example, the position sensor 29 specifies the position using a GPS (Global Positioning System) or the like. The position sensor 29 transmits a sensor signal indicating the specified position to the control unit 30. The position sensor 29 may measure geomagnetism.

The lower brace 8 is attached and fixed to the foot near the lower end of the lower frame 6. The lower brace 8 is formed, for example, by shaping and bending a sheet metal, and has a portion on which the sole of the foot is placed.
An acceleration sensor 22 is provided below the upper frame 4. The acceleration sensor 22 measures the acceleration generated in itself. That is, the acceleration sensor 22 measures the acceleration generated in the rotation support 5 or the like. For example, the acceleration sensor 21 measures the acceleration generated in the X-axis, Y-axis and Z-axis directions. The acceleration sensor 22 transmits a sensor signal indicating the measured acceleration to the control unit 30.

A temperature sensor 26 is provided at the middle of the upper frame 4. The temperature sensor 26 is provided outside so as to be in contact with the outside air. The temperature sensor 26 measures the temperature of the outside air. The temperature sensor 26 transmits a sensor signal indicating the measured outside air temperature to the control unit 30.
The temperature sensor 26 may measure the temperature of each part of the operation support apparatus 100.

  Further, a pressure sensor 27 is provided in the middle of the upper frame 4. The pressure sensor 27 is provided inside so as to be in contact with the user P. The pressure sensor 27 measures the pressure generated in the upper frame 4. The pressure sensor 27 transmits a sensor signal indicating the measured pressure to the control unit 30.

  The lower brace 8 is provided with a pressure sensor 28. The pressure sensor 28 measures the pressure generated in the lower brace 8. The pressure sensor 28 transmits a sensor signal indicating the measured pressure to the control unit 30.

  The upper orthosis 2 is provided with an acceleration sensor 41. That is, the acceleration sensor 41 is installed near the waist of the user P. The acceleration sensor 41 measures the acceleration generated in itself. That is, the acceleration sensor 41 measures the acceleration generated on the waist of the user P. For example, the acceleration sensor 41 measures the acceleration generated in the X-axis, Y-axis and Z-axis directions. The acceleration sensor 41 transmits a sensor signal indicating the measured acceleration to the control unit 30.

  An acceleration sensor 42 is provided below the lower frame 6. That is, the acceleration sensor 42 is installed near the ankle of the user P. The acceleration sensor 42 measures the acceleration generated in itself as the acceleration sensor 41 does. That is, the acceleration sensor 42 measures the acceleration generated on the ankle of the user P. For example, the acceleration sensor 42 measures the acceleration generated in the X-axis, Y-axis and Z-axis directions. The acceleration sensor 42 transmits a sensor signal indicating the measured acceleration to the control unit 30.

  An angular velocity sensor 43 is provided in the rotation support unit 5. The angular velocity sensor 43 measures an angular velocity at which the knee joint of the user P rotates. The angular velocity sensor 43 measures the angular velocity around the Y axis. The angular velocity sensor 24 transmits a sensor signal indicating the measured angular velocity to the control unit 30.

  Further, a torque sensor 44 is provided in the rotation support portion 5. The torque sensor 44 measures the torque generated by the knee joint of the user P. That is, the torque sensor 44 measures the load applied to the knee joint of the user P. The torque sensor 44 measures the angular velocity around the Y axis. The torque sensor 44 transmits a sensor signal indicating the measured torque to the control unit 30.

  Further, an angle sensor 45 is provided in the rotation support portion 5. The angle sensor 45 measures the angle of the knee joint of the user P. The angle sensor 45 measures an angle around the Y axis. The angle sensor 45 transmits a sensor signal indicating the measured angle to the control unit 30.

  The lower brace 8 is provided with a pressure sensor 46. The pressure sensor 46 measures the pressure generated at the user P. For example, the pressure sensor 46 measures the pressure generated on the sole of the user P. The pressure sensor 28 transmits a sensor signal indicating the measured pressure to the control unit 30.

  A myoelectric sensor 47 is provided on the thigh of the user P. The myoelectric sensor 47 measures the potential generated in the nerve connected to the muscle of the user P's thigh. The myoelectric sensor 47 transmits a sensor signal indicating the measured potential to the control unit 30.

  As shown in FIG. 4, the combined sensor 50 is provided on the upper body of the user P. In the example shown in FIG. 4, the composite sensor 50 is configured of a composite sensor 50a, a composite sensor 50b, and the like. The combined sensor 50a is attached to the chest of the user P. The composite sensor 50b is attached to the wrist.

  The composite sensor 50 measures various biological information. The composite sensor 50 will be described later.

Next, a control system of the operation support apparatus 100 will be described.
FIG. 5 shows a configuration example of a control system of the operation support apparatus 100. As shown in FIG. 5, the operation support apparatus 100 includes a drive unit 10, a rotary encoder 16, a communication unit 19, an acceleration sensor 22, an angular velocity sensor 24, a torque sensor 25, a temperature sensor 26, pressure sensors 27 and 28, and a position sensor 29. , The control unit 30, the living body sensor 60, and the like. The biological sensor 60 includes acceleration sensors 41 and 42, an angular velocity sensor 43, a torque sensor 44, an angle sensor 45, a pressure sensor 46, an myoelectric sensor 47, a composite sensor 50, and the like. These units are connected to one another via a data bus.

  The drive unit 10, the rotary encoder 16, the acceleration sensor 22, the angular velocity sensor 24, the torque sensor 25, the temperature sensor 26, and the pressure sensors 27 and 28 are as described above.

  The control unit 30 controls the overall operation of the operation support apparatus 100. For example, the control unit 30 operates the drive unit 10 based on a sensor signal from each unit. The control unit 30 includes, for example, a processor, a RAM, a ROM, and an NVM.

  The processor has a function of controlling the overall operation of the control unit 30. The processor may have an internal cache and various interfaces. The processor implements various processes by executing programs stored in advance in the internal cache, ROM or NVM. The processor is, for example, a CPU.

  Note that some of the various functions implemented by the processor executing a program may be implemented by a hardware circuit. In this case, the processor controls the functions performed by the hardware circuit.

  The ROM is a non-volatile memory in which control programs and control data are stored in advance. The control program and control data stored in the ROM are incorporated in advance according to the specification of the operation support apparatus 100. The ROM stores, for example, a program (for example, a BIOS) for controlling the circuit board of the control unit 30 or the like.

  RAM is volatile memory. The RAM temporarily stores, for example, data being processed by the processor. The RAM stores various application programs based on instructions from the processor. In addition, the RAM may store data necessary for executing the application program, an execution result of the application program, and the like.

  The NVM is a non-volatile memory in which data can be written and rewritten. The NVM is, for example, an EEPROM (registered trademark) (Electric Erasable Programmable Read-Only Memory), an HDD (Hard Disc Drive), an SSD (Solid State Drive), or the like. The NVM stores control programs, applications, and various data according to the operation application of the operation support apparatus 100. Also, the NVM stores data generated by the processor executing various processes.

  The communication unit 19 is an interface for transmitting and receiving data to and from the server 200 through the network 300. For example, the communication unit 19 is an interface that supports wireless LAN connection and the like.

  The biometric sensor 60 measures biometric information of the user P. Biological information includes various physiological and anatomical information emitted from a living body and information input to the living body.

  As described above, the biological sensor 60 includes the acceleration sensors 41 and 42, the angular velocity sensor 43, the torque sensor 44, the angle sensor 45, the pressure sensor 46, the myoelectric sensor 47, the composite sensor 50, and the like. The acceleration sensors 41 and 42, the angular velocity sensor 43, the torque sensor 44, the angle sensor 45, the pressure sensor 46, and the myoelectric sensor 47 are as described above.

  As shown in FIG. 5, the composite sensor 50 includes a heart rate sensor 51, a body temperature sensor 52, an acceleration sensor 53, an angular velocity sensor 54, a sweat sensor 55, a position sensor 56, an ultraviolet sensor 57, a voltage sensor 58, and the like.

  Each of the heart rate sensor 51, the body temperature sensor 52, the acceleration sensor 53, the angular velocity sensor 54, the perspiration sensor 55, the position sensor 56, the ultraviolet ray sensor 57 and the voltage sensor 58 may be included in the composite sensor 50a. May be included in 50b.

  The heart rate sensor 51 measures the heart rate of the user P. The heartbeat sensor 51 transmits a sensor signal indicating the measured heartbeat to the control unit 30. The heart rate sensor 51 is stored, for example, in the combined sensor 50b.

  The temperature sensor 52 measures the temperature of the user P. The body temperature sensor 52 transmits a sensor signal indicating the measured body temperature to the control unit 30. Body temperature sensor 52 is stored, for example, in combined sensor 50b.

  The acceleration sensor 53 measures the acceleration generated on the user P. For example, the acceleration sensor 53 measures the acceleration generated at the facet joint of the user P. The acceleration sensor 53 transmits a sensor signal indicating the measured acceleration to the control unit 30. The acceleration sensor 53 is stored, for example, in the combined sensor 50a.

  The angular velocity sensor 54 measures the angular velocity generated at the joints of the upper body of the user P. For example, the angular velocity sensor 54 measures the angular velocity generated at the facet joint of the user P. The angular velocity sensor 54 transmits a sensor signal indicating the measured angular velocity to the control unit 30. The angular velocity sensor 54 is stored, for example, in the combined sensor 50a.

  The perspiration sensor 55 measures the state of perspiration of the user P. For example, the perspiration sensor 55 measures the electrical resistance of the skin of the user P and the like to measure the state of perspiration. The perspiration sensor 55 transmits a sensor signal indicating the measured state of perspiration to the control unit 30. The perspiration sensor 55 is stored, for example, in the combined sensor 50b.

  The position sensor 56 specifies the position where the user P is present. For example, the position sensor 56 specifies the position using a GPS (Global Positioning System) or the like. The position sensor 56 transmits a sensor signal indicating the specified position to the control unit 30. The position sensor 56 is stored, for example, in the combined sensor 50b. The position sensor 56 may measure geomagnetism.

  The ultraviolet sensor 57 measures the amount of ultraviolet light emitted to the user P. The ultraviolet light sensor 57 transmits a sensor signal indicating the measured amount of ultraviolet light to the control unit 30. The ultraviolet sensor 57 is stored, for example, in the combined sensor 50b.

  The voltage sensor 58 measures voltage fluctuation caused by the heartbeat of the user P or the like. The voltage sensor 58 transmits a sensor signal indicating the measured voltage fluctuation to the control unit 30. The voltage sensor 58 is stored, for example, in the combined sensor 50a.

  In addition to the configuration shown in FIG. 5, the composite sensor 50 may further include a configuration as needed, or a specific configuration may be excluded from the composite sensor 50.

Further, the operation support apparatus 100 may further include a configuration as needed in addition to the configuration shown in FIGS. 2 to 5 or a specific configuration may be excluded from the operation support apparatus 100.
For example, the operation support apparatus 100 may include an operation unit or a display unit.

Next, the server 200 will be described.
FIG. 5 shows a configuration example of the server 200. As illustrated in FIG. 5, the server 200 includes a processor 201, a ROM 202, a RAM 203, an NVM 204, a communication unit 205, an operation unit 206, a display unit 207, and the like. These units are connected to one another via a data bus. In addition to the configuration shown in FIG. 2, the server 200 may have a configuration as required, or may exclude a specific configuration.

  The processor 201 has a function of controlling the overall operation of the server 200. The processor 201 may include an internal cache, various interfaces, and the like. The processor 201 implements various processes by executing programs stored in advance in the internal cache, the ROM 202 or the NVM 204. The processor 201 is, for example, a CPU.

  Note that some of the various functions implemented by the processor 201 executing a program may be implemented by a hardware circuit. In this case, the processor 201 controls the function executed by the hardware circuit.

  The ROM 202 is a non-volatile memory in which control programs and control data are stored in advance. The control program and control data stored in the ROM 202 are incorporated in advance according to the specification of the operation support apparatus 100. The ROM 202 stores, for example, a program (for example, a BIOS) for controlling the circuit board of the server 200.

  The RAM 203 is a volatile memory. The RAM 203 temporarily stores data and the like being processed by the processor 201. The RAM 203 stores various application programs based on an instruction from the processor 201. In addition, the RAM 203 may store data necessary for executing the application program, an execution result of the application program, and the like.

  The NVM 204 is a non-volatile memory capable of writing and rewriting data. The NVM 204 is, for example, an EEPROM, an HDD or an SSD. The NVM 204 stores control programs, applications, and various data according to the operation application of the operation support apparatus 100. Also, the NVM 204 stores data generated by the processor 201 executing various processes.

  The communication unit 205 is an interface for transmitting and receiving data with the operation support apparatus 100 through the network 300. The communication unit 205 is, for example, an interface that supports LAN connection.

  The operation unit 206 receives input of various operations from the operator. The operation unit 206 transmits a signal indicating the received operation to the processor 201. For example, the operation unit 206 includes a keyboard, a ten key, and a touch panel.

  The display unit 207 displays various information under the control of the processor 201. For example, the display unit 207 includes a liquid crystal monitor. When the operation unit 206 is configured by a touch panel or the like, the display unit 207 may be integrally formed with the operation unit 206.

  Next, functions implemented by the operation support apparatus 100 will be described. The following functions are realized by the processor of the control unit 30 executing a program stored in NVM or the like.

  The control unit 30 has a function of driving the drive unit 10 to support the user's operation.

  For example, the control unit 30 sets initial parameters after activation. The parameter is information for controlling the operation (drive) of the operation support apparatus 100. That is, the parameter is information for controlling the drive unit 10. For example, the parameters include "assist power" and "timing".

  The “assisting force” indicates the driving force that the driving unit 10 outputs to support the operation. For example, the “assisting force” may directly indicate the driving force output by the driving unit 10. Further, the “assisting force” may be a ratio to a reference driving force output by the driving unit 10. Further, the “assisting force” may indicate the driving force output by the driving unit 10 for each posture or assist stage of the user.

  The “timing” indicates the timing for the user to start the assist. For example, “timing” indicates the time from when a predetermined operation of the user (the operation supported by the operation support apparatus 100) is detected to when the drive unit 10 outputs the driving force.

  The control unit 30 may obtain initial parameters from the NVM or the like. Also, the control unit 30 may acquire initial parameters from the server 200.

  When an initial parameter is set, the control unit 30 detects a predetermined operation of the user.

  For example, the control unit 30 detects a predetermined operation of the user based on sensor signals from the rotary encoder 16, the acceleration sensor 22, the angular velocity sensor 24, and the like.

  The control unit 30 drives the drive unit 10 based on the detected operation and parameter of the user. For example, when detecting the rising operation as the predetermined operation, the control unit 30 drives the drive unit 10 in the direction in which the knee of the user P extends in accordance with the “assist force” and the “timing”.

Further, when the control unit 30 detects the squatting operation, the control unit 30 drives the drive unit 10 in the direction in which the knee of the user P bends in accordance with the “assist force” and the “timing”.
The parameters may be set for each operation.
Further, the operation supported by the control unit 30 is not limited to a specific operation.

In addition, the control unit 30 has a function of generating an operation log when supporting the operation of the user P.
The motion log is a log in which the motion support device 100 supports the motion of the knee joint of the user P. For example, the motion log includes the date and time when the knee joint support was started, the driving force, and the like. The motion log includes the pivot angle and angular velocity of the pivot support 5, the acceleration measured by the acceleration sensor 22, the temperature measured by the temperature sensor 26, and the pressure measured by the pressure sensors 27 and 28 when assisting the knee joint. And the position specified by the position sensor 29 may be included.

Moreover, the control part 30 has a function which acquires the biometric information of the user P, if the operation of the user P is supported.
The control unit 30 acquires biological information of the user P while supporting the operation of the user P and after supporting the operation of the user P. The control unit 30 measures and acquires various biological information through the biological sensor 60.

Further, the control unit 30 has a function of setting parameters based on the operation log and the acquired biological information.
For example, the control unit 30 sets a parameter based on an operation regarding the knee joint of the user P as biological information. That is, the control unit 30 sets parameters based on the angle, angular velocity, torque, and the like of the knee joint of the user P.

  If the angle of the knee joint after the support of the knee joint does not reach a predetermined state, the control unit 30 adjusts the “assist power” to a value larger than the current value. For example, when assisting the rising movement, when the angle of the knee after the assistance is smaller than a predetermined threshold, the control unit 30 determines that the assistance is insufficient and the "assist power" is larger than the current value. Adjust to the value. Further, the control unit 30 may adjust the “timing” to a value shorter than the current value.

  In addition, when the angular velocity of the knee joint during the assistance of the knee joint is smaller than a predetermined threshold, the control unit 30 adjusts the “assist power” to a value larger than the current value. In addition, the control unit 30 may adjust the “assisting force” to a value smaller than the current value when the angular velocity of the knee joint during the assistance of the knee joint is larger than a predetermined threshold.

  In addition, when the torque generated by the knee joint is smaller than a predetermined threshold while assisting the knee joint, the control unit 30 adjusts the “assist force” to a value larger than the current value. In addition, the control unit 30 may adjust the “assist force” to a value smaller than the current value when the torque generated by the knee joint is larger than a predetermined threshold value while assisting the knee joint.

  The control unit 30 may set parameters based on other biological information. The method of setting the parameters by the control unit 30 is not limited to a specific method.

In addition, the control unit 30 has a function of transmitting history information including at least a part of the operation log and at least a part of the biological information to the server 200 when supporting the operation of the user P.
The control unit 30 generates history information from the operation log and the biological information while supporting the operation of the user P and after supporting the operation of the user P. For example, the history information includes the date and time of supporting the motion of the joint and the output driving force (assisting force). Also, the history information includes biometric information of the date and time of support. Further, the history information may store, as biometric information, a value obtained by performing predetermined processing on the biometric information. For example, the control unit 30 may determine the degree of stress of the user P based on the heart rate and the like, and store the degree as the biological information in the history information.

  FIG. 7 shows an example of the configuration of history information. As shown in FIG. 7, the history information includes “date and time”, “assist power”, “heart rate”, “stress”, “amount of exercise” and the like.

  The “date and time” indicates the date and time when the motion support device 100 assisted the knee joint of the user P. For example, the history information stores "date and time" for each minute.

  The “assisting force” indicates the driving force output by the driving unit 10 of the operation support apparatus 100 at the corresponding “date and time”.

  “Heart” indicates the heart rate of the user P at the corresponding “date and time”.

"Stress" indicates the stress level of the user P at the corresponding "date and time". Here, the degree of stress is a value determined based on the heart rate and the like by the control unit 30. “Amount of exercise” indicates the amount of exercise of the user P at the corresponding “date and time”. Here, the amount of movement is a value that the control unit 30 determines based on the angular velocity or torque of the knee joint of the user P, and the like.

  The history information may also include information (for example, a name or an ID) for identifying the user P.

  The history information may include other elements. The configuration of the history information is not limited to a specific configuration.

Also, the control unit 30 has a function of setting parameters received from the server 200.
For example, the control unit 30 receives a parameter from the server 200 as a response of history information through the communication unit 19. Further, the control unit 30 may receive the parameter from the server 200 at a predetermined timing through the communication unit 19.

For example, the control unit 30 sets the received parameter.
The control unit 30 may display the parameters. For example, the control unit 30 displays the parameter on the display unit. In addition, the control unit 30 may display text (for example, "the assist force is strengthened" or the like) indicating the content of the parameter.

  Next, functions implemented by the server 200 will be described. The following functions are realized by the processor 201 of the server 200 executing a program stored in the NVM 204 or the like.

First, the processor 201 has a function of receiving history information from the operation support apparatus 100.
For example, the processor 201 receives history information from the operation support apparatus 100 at a predetermined timing through the communication unit 205.

  The processor 201 also has a function of generating parameters to be set in the operation support apparatus 100 based on history information.

  For example, the processor 201 determines the fatigue degree of the user P based on the history information. The processor 201 determines the degree of fatigue based on the heartbeat, temperature, and sweating of the user P. For example, the processor 201 calculates the degree of fatigue by substituting each value of the heartbeat, the body temperature and the perspiration into a predetermined equation.

  Also, the processor 201 may calculate the degree of fatigue further based on the amount of ultraviolet light emitted to the user P. For example, when the amount of ultraviolet light is higher than a predetermined threshold, the processor 201 determines that the user P is working outdoors and calculates the degree of fatigue high.

  Further, the processor 201 may calculate the degree of fatigue further based on the potential measured by the myoelectric sensor 47. For example, the processor 201 calculates the degree of fatigue higher as the amount of muscle activity indicated by the potential is larger.

  Further, the processor 201 may calculate the degree of fatigue further based on the torque measured by the torque sensor 44. For example, the processor 201 calculates the degree of fatigue higher as the torque is larger.

  Also, the processor 201 may calculate the degree of fatigue further based on the degree of stress and the amount of exercise included in the history information. For example, the processor 201 calculates the degree of fatigue higher as the degree of stress or exercise amount is larger.

  Further, the processor 201 may calculate the degree of fatigue further based on the voltage measured by the voltage sensor 58.

  Further, the processor 201 may calculate the degree of fatigue further based on the air temperature measured by the temperature sensor 26. For example, the processor 201 may calculate the degree of fatigue higher as the temperature is higher. Further, when the temperature is constant, the processor 201 may determine that the user P is indoors and calculate the degree of fatigue low.

The processor 201 generates a parameter based on the degree of fatigue. When the degree of fatigue (or the degree of fatigue averaged over a predetermined period) exceeds a predetermined threshold, the processor 201 strengthens the driving force output by the driving unit 10 and / or outputs the timing. Generate parameters to accelerate. That is, the processor 201 sets a relatively strong driving force as the “assisting force” and / or sets a relatively short time as the “timing”.

  Also, the processor 201 may generate a parameter that further enhances the driving force and / or further accelerates the timing of outputting the driving force when the degree of fatigue continues to increase.

  In addition, the processor 201 may generate a parameter for improving physical activity such as the motion and posture of the user P based on the pressure measured by the pressure sensor 46 and the angle measured by the angle sensor 45, and the like. For example, the processor 201 generates parameters such that the user P can maintain an appropriate posture. Also, the processor 201 generates a parameter that causes the user P to perform an appropriate operation.

  Also, the processor 201 may determine how much physical activity of the user P has been improved by the parameter based on the history information. The processor 201 may adjust the parameters based on the determination result.

  Also, the processor 201 may generate a parameter such that the pressure is dispersed based on the pressure measured by the pressure sensors 27, 28 and 46.

  The processor 201 may generate the parameter based on other elements. The method by which the processor 201 generates the parameters is not limited to a particular method.

The processor 201 also has a function of transmitting the generated parameter to the operation support apparatus 100.
For example, the processor 201 transmits a parameter to the operation support apparatus 100 as a response to the received history information through the communication unit 205. Further, the processor 201 may transmit the parameter to the operation support apparatus 100 at a predetermined timing through the communication unit 205.

  The processor 201 may send initial parameters to the operation support apparatus 100 through the communication unit 205.

Next, an operation example of the operation support system 1000 will be described.
First, an operation example of the operation support apparatus 100 will be described.
FIG. 8 is a flowchart for explaining an operation example of the operation support apparatus 100.

  First, the control unit 30 of the operation support apparatus 100 determines whether the power is turned on (S11). For example, the control unit 30 determines whether an input of an operation to turn on the power is received through the operation unit.

  If it is determined that the power is not on (S11, NO), the control unit 30 returns to S11.

  If it is determined that the power is turned on (S11, YES), the control unit 30 initializes the operation support apparatus 100 (S12). When the operation support apparatus 100 is initialized, the control unit 30 sets initial parameters (S13).

  After setting the initial parameters, the control unit 30 supports the motion of the knee joint of the user P (S14). After supporting the operation, the control unit 30 generates an operation log (S15). After generating the operation log, the control unit 30 acquires biological information (S16).

  When the biological information is acquired, the control unit 30 sets parameters based on the operation log, the biological information, and the like (S17). After setting the parameters, the control unit 30 transmits history information to the server 200 through the communication unit 19 (S18).

  When the history information is transmitted to the server 200, the control unit 30 determines whether a parameter has been received from the server 200 through the communication unit 19 (S19). For example, the control unit 30 determines whether a parameter has been received as a response to history information.

  If it is determined that the parameter has been received from the server 200 (S19, YES), the control unit 30 sets the received parameter (S20).

  When it is determined that the parameter has not been received from the server 200 (S19, NO), or when the received parameter is set (S20), the control unit 30 determines whether the power is turned off (S21). For example, the control unit 30 determines whether an input of an operation to turn off the power is received through the operation unit.

  If it is determined that the power is not turned off (S21, NO), the control unit 30 returns to S14. If it is determined that the power is turned off (S21), the control unit 30 ends the operation.

  The control unit 30 may perform S14 to S16 simultaneously.

Next, an operation example of the server 200 will be described.
FIG. 9 is a flowchart for explaining an operation example of the server 200.
First, the processor 201 of the server 200 receives history information from the operation support apparatus 100 through the communication unit 205 (S31). When the history information is received, the processor 201 generates a parameter based on the history information (S32).

  After generating the parameters, the processor 201 transmits the generated parameters to the operation support apparatus 100 through the communication unit 205 (S33). After transmitting the parameters, the processor 201 ends the operation.

  The processor 201 may urge the user P to stop the work when the degree of fatigue continues to rise. For example, the processor 201 causes the display unit 207 to display a warning message or the like. Also, the processor 201 may transmit a signal instructing the user P to cancel the work to the operation support apparatus 100. When the control unit 30 of the operation support apparatus 100 receives the signal, the control unit 30 may display a warning message or the like on the display unit or the like.

  The processor 201 may also determine the health state of the user P based on the voltage measured by the voltage sensor 58 or the like. For example, the processor 201 may determine the state of a circulator such as the heart based on the voltage or the like. The processor 201 may prompt the user P to cancel the work if the condition of the circulatory system is bad.

  Also, the processor 201 may prompt an improvement in the method of using the operation support apparatus 100. For example, when the change of the biological information of the user P is different from the change of the biological information assumed, the processor 201 notifies to improve the mounting method and the operation method of the operation support apparatus 100. The processor 201 may also present possible problems.

  Also, the processor 201 may manage the failure risk of the operation support apparatus 100. The processor 201 detects a method or environment that has been used before failure based on the past operation information of the operation support apparatus 100 and the past biometric information of the user P. The processor 201 predicts a possible failure in the future based on the detected method or environment.

  Also, the processor 201 may detect usage methods or users P having a high possibility of failure by accumulating data such as the detected method and environment, and may give instructions on usage methods.

The processor 201 may realize the function (or a part of the functions) of the control unit 30. The control unit 30 may also realize the function (or a part of the functions) of the processor 201.
Also, the motion support device 100 may support the motion of the user's lumbar joint, facet joint or upper limb. The joints supported by the motion support apparatus 100 are not limited to a specific configuration.

  The operation support system configured as described above acquires biological information of the user while supporting the operation and after supporting the operation. The operation support system sets parameters related to the operation support based on the user's biological information and the like. As a result, the operation support system can support the user's operation according to the user's biometric information.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and the gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

  DESCRIPTION OF SYMBOLS 2 ... Upper brace, 3 ... Upper connection part, 4 ... Upper frame, 5 ... Rotation support part, 6 ... Lower frame, 7 ... Lower connection part, 8 ... Lower brace, 10 ... Drive part, 16 ... Rotary encoder, 19 ... communication unit, 21 ... acceleration sensor, 22 ... acceleration sensor, 24 ... angular velocity sensor, 25 ... torque sensor, 26 ... temperature sensor, 27 ... pressure sensor, 28 ... pressure sensor, 29 ... position sensor, 30 ... control unit, 41 ... acceleration sensor 42 acceleration sensor 43 angular velocity sensor 44 torque sensor 45 angle sensor 46 pressure sensor 47 myoelectric sensor 50 composite sensor 50a composite sensor 50b composite sensor 51 heart rate sensor 52 temperature sensor 53 acceleration sensor 54 angular velocity sensor 55 sweat sensor 56 position sensor 57 UV sensor 58 voltage sensor 60 Living body sensor, 100: operation support device, 200: server, 201: processor, 202: ROM, 203: RAM, 204: NVM, 205: communication unit, 206: operation unit, 207: display unit, 300: network, 1000: 1000 Operation support system.

Claims (10)

An operation support method for supporting a user's operation by an operation support device, comprising:
Assist the motion of the user's joints using the motion support device,
Acquire the biometric information of the user,
Hold the operation support device or an external device,
Setting parameters for controlling the operation of the operation support apparatus based on the biological information;
Controlling the operation support apparatus based on the parameters;
Motion support method. The biological information is acquired while supporting the motion of the joint of the user or after supporting the motion of the joint of the user.
The operation support method according to claim 1. Acquiring an operation log of the operation support device;
Setting the parameters further based on the action log;
The operation support method according to claim 1 or 2. The motion log includes the date and time when the motion support device supported the motion of the joint and the driving force output by the motion support device.
The operation support method according to claim 3. Determining the degree of fatigue of the user based on the biological information;
Setting the parameter based on the degree of fatigue;
The operation support method according to any one of claims 1 to 4. The biological information includes the heart rate of the user,
Determining the degree of fatigue based on the heart rate;
The operation support method according to claim 5. The parameter indicates a time from when a driving force output from the operation support apparatus and a predetermined operation are detected to when the operation support apparatus outputs the driving force.
The operation support method according to any one of claims 1 to 6. The biological information includes any one of the temperature of the user or sweating, the angle, angular velocity or torque of the joint, or the acceleration generated for the user.
The operation support method according to any one of claims 1 to 7. Get the temperature,
Setting the parameters further based on the temperature;
The operation support method according to any one of claims 1 to 8. The joint is a knee joint,
The operation support method according to any one of claims 1 to 9.