JP2001133300A - Apparatus and method for recognizing action, and apparatus of presenting inner force sensor, and its control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make light in the weight of an action-recognizing apparatus for recognizing an object action and an apparatus including the apparatus for presenting the inner force, and prevent the allowable range of the object action from being restricted. SOLUTION: A pair or a plurality of pairs of coating members S1 and S2 are set as outfits in the vicinity of a joint part constituting the skeleton structure of an object. A position-detecting means for detecting the relative positional relationship of the coating members optically, magnetically or from a length of a wire member is attached to each of the pairing coating members S1 and S2 or set to cover the coating members. Relative positional information related to a posture of each coating member can thus be obtained. Parts to be outfitted to the object can be only the coating members and the position-detecting means attached to the coating members.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motion recognition device and a control method thereof, which are mounted on a human or an animal, a robot imitating a joint structure of these humans or the like, and recognizes the motion, a force tactile presentation device, and a force tactile presentation device. It relates to a control method.

[0002]

2. Description of the Related Art CG (Computer Graphics)
In the fields such as virtual reality (virtual reality) and remote reality (tele reality), a motion recognition device (so-called motion capture) for recognizing the movement of a human body or an object and inputting data to a computer is used. Therefore, the following configuration examples are known.

(1) Apparatus for detecting the movement of an object by mechanical means (2) Apparatus for processing an image photographed by attaching a large number of markers (marks) to an object (3) Solenoids at various points of the object And an apparatus for magnetically detecting the entire magnetic field generated by these at one place.

[0004] First, regarding (1), for example, when a mechanical motion capture device or a force sense presentation device using a shaft arm is taken as an example, a finger or a hand is placed and fixed on the shaft arm, and By detecting the displacement of the shaft arm with a position detector (potentiometer, etc.), the movement of each part of the human body is recognized, and this is converted into data, or conversely, a force sensation is made using the reaction force from the shaft arm. One that can be given to the subject is given. In data gloves for haptic presentation,
A skeletal structure driven by an actuator, a small air cylinder, or the like (referred to as an “exoskeleton” in the sense that it is externally attached to the human body as a member separate from the internal skeleton of the human body) is attached to a finger, a hand, or the like. A device is known in which a force sense can be obtained by a reaction force from an exoskeleton, and a means for recognizing a motion is inseparable from a skeleton structure.

[0005] As for (2) and (3), in short, the movement of a key point is performed by using a means (an imaging device or a magnetic detection device) for comprehensively acquiring optical or magnetic information from an object. Is to be able to grasp.

[0006]

However, the above-described apparatus has the following problems.

That is, in the above-mentioned device (1), the use of mechanical parts external to the human body increases the weight of the device, resulting in a problem of the weight of the entire device. . That is, as the weight increases, the operation intended by the wearer of the apparatus cannot be easily performed, and the problem that the physical strength is significantly consumed becomes more conspicuous.

Further, in the devices (2) and (3), the number of markers and solenoids generally tends to be large, which leads to a problem that the preparation work takes time and takes much time, an image pickup device and a magnetic device. It is necessary to pay close attention to the setting position, environment and the like of the detection device. For example, in the device (2), it is necessary to consider camera work for each operation so that the entire image of the subject always falls within the imaging range. In the device (3), the magnetic detection device Since the range of motion of the subject is limited by the sensitivity problem, accurate recognition of the motion cannot be guaranteed when the subject moves out of the allowable range for detection (in other words, the motion of the subject). In order to increase the allowable range, a large output is required to increase the magnetic field strength.)

SUMMARY OF THE INVENTION It is an object of the present invention to reduce the weight of a motion recognition device and a force sense presentation device including the motion recognition device and not to limit the allowable motion range of a target.

[0010]

According to the present invention, in order to solve the above-mentioned problems, a pair or a plurality of pairs of covering members respectively attached near joints constituting a target skeletal structure,
In order to detect the relative positional relationship between the covering members,
Position detecting means attached to each of the covering members forming a pair or extending over both covering members, wherein the position detecting means forms a pair with respect to the covering member based on the position of the covering member. The relative position information relating to the posture of the covering member is output.

Therefore, according to the present invention, it is possible to obtain relative position information relating to the posture of a pair of covering members among the covering members mounted on the object, and to use a part externally attached to the object. Since only the member and the position detecting means attached to the member are required, it is suitable for reducing the weight of the apparatus, and there is little influence on deterioration of operation, consumption of physical strength, and the like. In addition, since the work time required to mount the covering member on the target is sufficient, the preparation work is not troublesome, and the operation allowable range of the target is not restricted.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An action recognition apparatus according to the present invention is an apparatus for recognizing a target action and outputting data corresponding to the action, and has a covering member and position detecting means.

[0013] The covering members are respectively mounted near the joints constituting the target skeletal structure, and are composed of one or more pairs of members. The objects according to the present invention include humans and animals, robots that imitate these skeletal structures, and the like, but it is premised that they have skeletons and joint structures.

FIG. 1 mainly shows the skeletal structure of the forearm and upper arm of a human body as an example, and shows the MP joint of the hand (metacarpal joint, that is, the base of the second to fifth fingers). ), The radial projection and ulnar projection of the forearm on the wrist, the ulnar elbow projection on the elbow, and the mid-humeral abdomen. Covering members are respectively attached to the corresponding portions.

FIGS. 2 and 3 schematically show an example of the covering member. FIG. 2 shows an attached state of the covering member viewed from the palm side when the forearm is supination, and FIG. 2 shows the state of attachment of the covering member viewed from the elbow side during pronation.

As can be seen from these figures, a covering member (wrist supporter or pad) attached to the wrist
S1 is fixed to the projections of the ulna and radius.

A covering member (elbow supporter or pad) S2 attached to the elbow is fixed so as to cover the ulnar elbow projection from below, and in preparing the covering member, a basic standing posture is required. It is preferable that the shape of the arm in (a so-called “careful” posture in which the hand is lowered and the palm is directed to the side of the body) is used as the basic shape.

As shown in FIGS. 2 and 3, the supporter S3 attached to the MP joint is fixed to the hand while covering the joint from the periphery.

The position detecting means is provided on each of the paired covering members or on both covering members in order to detect a relative positional relationship between these covering members. The means outputs, based on the position of a certain covering member, relative position information relating to the posture of another covering member forming a pair with the covering member.

The position detection method can be roughly classified into the following two methods.

(I) Wireless detection method using non-contact type position detection means (optical detection method, magnetic detection method, etc.) (II) Wired detection method using a wire or the like.

FIGS. 4 and 5 are diagrams for explaining the optical detection method of the method (I), and exemplifies a case of recognizing a pronation / supination operation of a forearm of a human body.

In the example shown in FIG. 4, the pair of covering members are
Covering member (wrist supporter) S1 wrapped around the wrist
And a covering member (elbow supporter) S2 attached near the elbow. One of these covering members, for example, a wrist supporter is provided with a plurality of light sources (light-emitting diodes, light bulbs, etc.) or markers (light-reflective , L, L,... Are attached. The other covering member, the elbow supporter S2, is provided with a light detecting means (optical sensor, imaging camera, etc.) DT for detecting light from the light source or the mark. That is, the position detecting means in this case includes a plurality of light sources or marks attached to the first covering member among the pair of covering members, and a second covering member for detecting light from the light source or the mark. And the light detection means attached to the member, the light emission of the first covering member by the light source or the reflected light from the mark is detected by the light detection means on the second covering member side, so that the second The relative position information relating to the posture of the first covering member with reference to the second covering member can be detected.

For example, at the time of pronation or supination, the angle of the light source or the mark of the wrist supporter around the axis connecting the wrist joint and the elbow joint as viewed from the light detecting means is determined optically. , The information on the angle change during pronation and supination can be obtained.

In this case, a method of recognizing a light source or a mark as a point and obtaining angle information of pronation or supination of the forearm from position information of each point, and a method of recognizing a surface including a plurality of light sources or marks,
A method of obtaining angle information of the pronation and supination of the forearm by detecting the change in posture, and the latter method includes,
For example, a surface recognition method proposed by the present applicant in Japanese Patent Application No. 10-273974 can be used.

In this method, by detecting the positions of four or more light sources or landmarks attached to the first covering member, an imaging means for recognizing a plane including a figure formed by connecting the four points, for example, An imaging device capable of performing a panning shot using a CCD type imaging device is used as the light detection means, and is attached to the second covering member (elbow supporter in this example).

Here, "panning shot" refers to a shooting mode in which signal charges are read out from a photoelectric conversion element (such as a photodiode) a plurality of times during the same field period. In the case of an image pickup apparatus using an interline transfer type two-dimensional image pickup device having a section, signal charges are read from the photoelectric conversion element to the vertical transfer section a plurality of times during the same field period.

FIG. 5 conceptually shows a state in which the time t is plotted on the horizontal axis and the position coordinate X is plotted on the vertical axis, and panning photography is performed for one light source. The circles c, c,... Indicate the captured images (bright spots) of the light source.

In this example, the light source blinks at a certain short time interval ΔT at the same place, and when this is shot by panning, a captured image can be obtained only when the light source is on. Will be done. That is, if this blinking pattern is used as code information (which can be considered as a kind of barcode information extending in the time axis direction),
It is possible to identify each light source and recognize its position. For example, if the blinking cycle or the blinking pattern is set to be different for each light source, the difference between the light sources can be easily distinguished. (The level value “yn” of the luminance signal for the blinking pattern related to the captured image of the light source can be obtained in a certain scanning direction (arrow Y in the drawing).
reference. ), The integrated value "Σyn"
Is the value (Xa) to be obtained at the intersection of the direction in which is the maximum and the position coordinate axis X. ).

The wavelength range of the light source includes visible light and infrared light (near infrared light). Infrared light is more preferable from the viewpoint of being affected by external light.

When a mark is used, instead of blinking a light source, a spatial pattern arrangement such as a two-dimensional bar code in which black and white patterns of n rows and n columns are arranged in a matrix is used. The faces can be distinguished. In other words, when the barcode portion is printed in black on a white background, binarized information can be easily obtained by setting a threshold value and comparing the luminance levels,
In addition, since it is easy to separate from the background image, it is possible to stably recognize the mark and its position.

As described above, by detecting the positions of four or more light sources or landmarks attached to the first covering member, a plane including a figure (plane figure) formed by connecting these four points is recognized. Since the plane can be viewed from the light detecting means (imaging means), the operation at that time can be known from the posture and shape of the plane.
For example, when four light sources and marks attached to the surface of the wrist supporter at predetermined intervals are captured by the imaging means on the elbow supporter side, an image is recognized as a square having the positions of the light sources and marks as vertices. However, the relationship between the tilting posture and the pronation and supination angles may be checked in advance and acquired as a data table or a database.

The reason why the number of light sources and marks is four or more is that eight equations are required to determine eight unknown parameters on the coordinate transformation. In other words, for points on the plane of real space that are set for light sources and landmarks,
It is known that a conversion formula used when converting the coordinate value into a point on an image coordinate system by translation, rotation operation, or perspective transformation is represented by a rational function expression including eight parameters. In order to determine the values of these parameters, the coordinates of four known points in real space (four sets of two-dimensional position coordinates) and the coordinates of four corresponding points in the image coordinate system are used. It is necessary to solve an eight-way simultaneous linear equation obtained from a relational expression that connects between them. As is well known, a conversion equation (affine transformation) using a rotation matrix or a translation vector of an imaging device is provided between a position vector indicating a position coordinate of a light source or a landmark in a real space and a position vector on a camera coordinate system. )
The calculation for associating the metric in the real space with the metric in the virtual space on the computer is only a linear algebra operation.

As described above, in the optical detection method, the shape of the surface defined by the four or more light sources and the marks attached to the wrist supporter S1 is previously stored in the storage means, After that, the position information of each point obtained when the positions of the four light sources and the landmarks are detected is compared with the previously acquired shape to perform matching processing, and the target surface viewed from the imaging device Can be recognized. In the example shown in FIG. 4, a light source or a mark is provided on the wrist supporter side, and a light detection means is provided on the elbow supporter side. However, the relationship may be reversed (however, in this case, the movement is easy). Therefore, it is desirable to give consideration to the weight of the member attached to the covering member so that the movement of the object is not adversely affected.)

Next, the magnetic detection method of the method (I) will be described.

FIG. 6 shows an example of a configuration for recognizing pronation / supination of a forearm and movement of a finger. A pair of covering members includes a magnetic field generating source (such as a solenoid) and a magnetic detecting means (magnetic sensor). Etc.) are provided.

When a wrist supporter and an elbow supporter are taken as an example of a pair of covering members, a magnetic field generating source SLa is attached to a wrist supporter S1 as a first covering member and a second covering member. The elbow supporter S2 is provided with magnetic detecting means MDa for detecting a magnetic field generated by the magnetic field source SLa, and these constitute a position detecting means. That is, the position detecting means in this case magnetically detects relative position information relating to the attitude of the first covering member with respect to the second covering member,
The fact that the detected value of the magnetic field intensity changes according to the change in the position of the magnetic field generation source accompanying the pronation / supination operation of the forearm is utilized.
Therefore, the relationship between the posture of the first covering member and the pronation and supination angles and the magnetic field detection value at that time may be obtained in advance and acquired as a data table or a database.

In the case of recognizing the movement of a finger, for example, a finger supporter Sf attached to the terminal segment of each finger,
Sf,... With respect to the magnetic field sources SLb, SLb,.
Are provided, and the magnetic field generated by them is detected by one magnetic detecting means MDb attached to the wrist supporter S1. That is, the covering members forming a pair in this case are the finger supporters Sf and the wrist supporters S1.

If the magnetic field is generated simultaneously from the magnetic field generating source SLb attached to each finger supporter Sf,
Since it is not easy to specify the location of each fingertip and a problem of erroneous detection occurs, when detecting a plurality of magnetic field sources with one magnetic detecting means, make sure that each magnetic detection is not performed simultaneously. It is preferable to sequentially perform magnetic detection on each magnetic field generation source by time division processing. For example, if power is supplied to the magnetic field generation sources at the fingertips in order from the first finger to the fifth finger and operated to perform individual magnetic detection, electromagnetic interference between the magnetic field generation sources may occur. Disappears.

Similarly, when a plurality of magnetic field generation sources and corresponding magnetic detection means are paired to perform magnetic detection, time-division processing is performed so that the respective magnetic detections are not performed simultaneously. It is preferable to sequentially perform magnetic detection for each magnetic field source. For example, when recognizing the pronation / supination of the forearm, the operation of the finger is not recognized.On the other hand, when the operation of the finger is recognized, the recognition of the pronation / supination of the forearm is performed. In order not to perform this operation, the time axis may be divided into predetermined time intervals, and the remaining time may be assigned to each motion recognition.

In such a magnetic detection method, unlike the conventional method, a device for detecting the entire magnetic field for a large number of magnetic field sources is unnecessary, and the operating range is not limited. Since the magnetic field detection requires only a magnetic field strength sufficient to perform magnetic detection between the pair of covering members, the magnetic field generating source and the magnetic detecting means can be reduced in size accordingly. When attached, there is almost no risk that its weight will adversely affect the operation of the target.

Next, the method (II) will be described with reference to FIGS.

In this method, the position detecting means is constituted by a plurality of pairs of wire members spanned over the pair of covering members and detecting means for detecting the length of the wire members. By detecting a change in the length of the wire member due to the operation of the target, of the pair of covering members,
It is possible to detect relative position information relating to the posture of the other covering member with reference to the one covering member.

In the above method (I), information on the relative positional relationship of the pair of covering members can be detected in a non-contact manner, whereas in the method (II), the information over the covering members in the pair can be detected. However, when applied to a haptic presentation device using a wire member, there is an advantage that the wire member can be used for both motion recognition and haptic presentation (that is, the method (I)). Is applied to a haptic presentation device, a haptic presentation mechanism needs to be newly provided independently of the motion recognition device.)

FIGS. 7 to 12 show an example in which the method (II) is applied to recognition of the pronation / supination operation of the forearm (right hand). The first covering member is provided near the elbow of the forearm. (Elbow supporter) is mounted, and a second covering member (wrist supporter) is mounted on the projections of the ulna and radius on the wrist.

Then, a pair of wire members WA, WB
Are extended from the first covering member to the second covering member. Here, the “wire member” includes a string-like member or a member obtained by passing the same through a pipe, for example,
Although a structure in which a wire member is passed through a tubular member formed of a flexible material is preferable from the viewpoint of preventing damage to the skin, a band member having a relatively wide width is also included.

7 and 12, FIGS. 7 and 8 show the supination state of the forearm, FIGS. 9 and 10 show the standing state of the forearm, and FIGS. 11 and 12 show the pronation state of the forearm, respectively. In these figures, the pair of wire members are shown as separate drawings for ease of understanding, but these wire members are placed on the forearm over the elbow supporter and the wrist supporter. Is being circulated.

In the supination state shown in FIGS. 7 and 8, the palm surface of the hand and the inner surface of the forearm are shown. As shown in FIG.
The end of the wire member WA is fixed to a mounting portion M (indicated by a broken line) provided near the position corresponding to the radial side protrusion on the back side of the wrist supporter (S1), and the forearm from here. After being routed through the back, it is located on the side of the forearm (ulnar side) near the elbow. The other end of the wire member WA is connected to a not-shown drive mechanism (described later) attached to the elbow supporter, and the length of the wire member WA is detected by detection means provided in the drive mechanism. It is configured to be.

In the figure, the position of the wire member with respect to the forearm when the forearm and the wire member are cut at the position shown on the two-dot chain line (three positions shown by circles)
Is schematically shown in FIGS. 8 to 1.
The same applies to 2. Also, in these figures, the cross-sectional shape of the wire member is exaggerated from the actual one for easy understanding.

FIG. 8 shows the wire member WB in the supination state.
The end of the wrist supporter (S
On the back side of 1), it is fixed to an attachment portion N (indicated by a broken line) provided near the position corresponding to the ulnar-side projection, and slightly passes through the back side of the forearm (the back side near the radius). After being pulled around, it extends almost linearly from the front side of the forearm. And it is located on the side of the forearm (ulnar side) near the elbow. The other end of the wire member WB is connected to a drive mechanism (not shown) attached to the elbow supporter (to be described later) (independent of the drive mechanism of the wire member WA). Is configured such that the length of the wire member WB is detected by the detection means provided in the first position.

As a method of fixing the ends of these wire members to the mounting portions M and N of the wrist supporter, for example, a portion near the end of the wire member is wound around a member such as a pulley, A method of fixing the portion so as not to come off and embedding it in the wrist supporter, or fixing it with a screw or the like can be mentioned, and the details will be described later.

FIG. 9 shows the wire member W in the upright state.
The arrangement of A is shown from the thumb side, and the wire member is
As shown by the broken line, after being drawn around the surface on the ulna side from the attachment portion M, it is located on the inner surface of the forearm at a position close to the elbow.

FIG. 10 shows the arrangement of the wire member WB in the upright position from the thumb side, and the wire member is routed from the attachment portion N on the surface on the radial side of the arm as shown by the solid line. Later, it is located on the inner surface of the forearm at a position close to the elbow.

Therefore, when the forearm is moved from the standing state shown in FIGS. 9 and 10 to the supination state shown in FIGS. 7 and 8 in a state where a constant tension is applied to the wire members WA and WB, It can be seen that the length of the wire member WB becomes longer and the length of the wire member WA becomes shorter (contrary to this, since the force sense is presented using the wire members WA and WB, the turn from the standing state is performed. To move the forearm to the outside state, pull the wire member WA and loosen the wire member WB.)

FIG. 11 shows the wire member W in the pronation state.
The arrangement of A is shown from the back side of the hand, and the wire member is routed from the mounting portion M on the surface on the ulna side,
From around the middle of the figure (see the broken line), it is located on the side of the forearm (radial side) near the elbow.

FIG. 12 shows the wire member W in the pronation state.
The arrangement of B is shown from the back side of the hand, and after the wire member is routed on the radial surface from the attachment portion N,
It is located on the side (radial side) of the forearm at a position close to the elbow.

Therefore, when the forearm is moved from the standing state shown in FIGS. 9 and 10 to the pronation state shown in FIGS. 11 and 12 in a state where a constant tension is applied to the wire members WA and WB, It can be seen that the length of the wire member WA becomes longer and the length of the wire member WB becomes shorter (contrary to this, since the force sense is presented using the wire members WA and WB, the turn from the standing state is performed. To move the forearm to the inner state, pull the wire member WB and loosen the wire member WA.)

FIG. 13 schematically shows an example of the arrangement of the drive mechanism of the wire member in the elbow supporter (S2) in the supination state. The drive mechanism DA is involved in the drive control of the wire member WA. The drive mechanism DB is involved in the drive control of the wire member WB (in the figure, the drive mechanism DB is externally attached to the elbow supporter, but is actually embedded in the supporter).

As shown, two wire members W
Regarding the angle “θ” at which A and WB cross each other at a position before being connected to the drive mechanism units DA and DB, respectively,
It is important that the angle is 90 degrees or as close to this as possible. If the angle is too small, the movement of the forearm is hindered, or the skin is pressed when the wire member is driven.

As for the mounting position of the drive mechanism in the elbow supporter, it is desirable to select a place that does not interfere with other members (for example, a drive base supporter for driving a finger unit to be described later). Depending on the case, the arrangement shown in FIG. 13 may not be adopted, but in such a case, it can be dealt with to some extent by using a relay member such as a pulley.

For example, as shown in FIG. 14, when the drive mechanisms DA and DB are attached to the side surface of the elbow supporter S2, a pulley PL is provided for one of the wire members WB, and the pulling direction is thereby changed. May be changed by approximately 90 degrees and the wire member may be connected to the drive mechanism DB. That is, in this case, the wire member WB
The angle formed between the wire member WA and an extension line assumed to virtually extend the wire member in the tangential direction at the winding start position when the wire member is wound around the pulley PL, and a value close to 90 degrees. Is set to be

Further, as shown in FIGS. 15A and 15B, when the drive mechanisms DA and DB are attached to the bottom (elbow receiving portion) S2B of the elbow supporter S2, for example,
A pulley PLb is provided for one wire member WB,
With this, the direction of the wire is changed and the wire member is connected to the drive mechanism DB, and the wire member WA is connected to the two pulleys PLa1 and PLa2.
And the pulling direction of the pulley PLa1 of the first stage is substantially 9
After the angle is changed by 0 degrees, the wire direction may be further changed by about 90 degrees by the next-stage pulley PLa2, and then the wire member may be connected to the drive mechanism unit DA.

As described above, the first covering member is attached to the vicinity of the elbow of the forearm, and the second covering member is attached to the projections of the ulna and radius at the wrist. By detecting a length of these wires by bridging a pair of wire members over the covering member of 2, the state of the pronation or supination operation of the forearm can be recognized. That is, the relationship between the angle of the pronation / supination operation of the forearm and the length of the pair of wire members may be obtained in advance as a data table or a database after being checked.

The driving mechanism of the wire member used in the present method may have any configuration including an example described later.
Those suitable for weight reduction are desirable. As the position detecting means of the wire member, for example, an encoder for detecting the rotation state of the motor constituting the drive source and the displacement of the slide shaft can be cited. Any operation can be used as long as it can detect the above operation and the relative position between the covering members. Examples of the tension detecting means for detecting the tension of the wire include a strain gauge capable of detecting a change in the tension based on a resistance value, and various force sensors used for force control of a robot hand or the like.

Next, recognition of finger motion and presentation of force sense using the wire member will be described.

In the above-described pronation / inside-out operation, the length of a pair of wire members has been described to be expanded or contracted or driven in a relationship opposite to each other, but this is achieved by substituting the role of the muscle by driving the wire. (Ie, each wire member corresponds to a flexor and an extensor).

It is well known that at least two muscles of a human body are flexed or extended by cooperatively operating at least two muscles with respect to a joint having one degree of freedom. Is schematically shown in FIG. 16 (the mark “○” indicates a joint).

A finger extensor is arranged on the back of the finger, and a deep flexor and a shallow flexor are arranged on the palm side.

In order to perform a bending operation or an extension operation of a joint using a wire member instead of a muscle, a wire (or a group of wires) corresponding to a flexor and a wire (or a group of wires) corresponding to an extensor are prepared. Then, when one of the wires is tensioned, the other wire may be controlled to relax.

However, if a wire group and its drive system are prepared for each flexor and extensor in a joint structure having many degrees of freedom such as fingers, the configuration becomes complicated and many drive sources are required. It is not preferable for weight reduction.

Therefore, various elastic members (a spiral spring, a coil spring, a hinge spring, etc., which will be described later) are attached to a place corresponding to such a joint, so that the driving unit and the power unit can be reduced and the space can be saved. It is preferable to reduce the weight.
That is, the brace attached to the back of the hand or finger is composed of a plurality of covering members, and a plurality of pairs of wire members are respectively attached to the covering members. If a configuration in which the force is applied in the direction of the bending position or the extension position of the finger by connecting the members is adopted, the number of wire members can be reduced.

At this time, the following two modes are exemplified.

(I) The initial state of the elastic member is based on the flexion position of the joint, and the state of the brace is changed from this state to the extension position by driving the wire. (II) The initial state of the elastic member Based on the extension position of the joint, the state of the brace is changed from this state to the bending position by driving the wire.

That is, in the form (I), since the urging force in the direction of the bending position is always applied by the elastic member such as the spring member, the wire is driven at the time of mounting the brace to extend the brace. After putting it in the state, attach it to the subject.

Further, in the form (II), since the urging force in the direction of the extension position is always applied by the elastic member such as the spring member, it is not necessary to drive the wire when the brace is mounted, so that the object is not required. Although the attachment of the brace to the person becomes easy, the mechanism and control for changing the state of the brace to the state of the bending position are more difficult than in the form (I).

Next, an apparatus 1 for recognizing a motion of a subject using a wire member or presenting a force / tactile sensation will be described.

FIG. 17 shows the basic structure of the apparatus.
Of the covering members constituting the brace, a pair of covering members 2,
2. For example, as described above, a plurality of pairs of wire members 3, 3 are bridged between the wrist supporter and the elbow supporter.

The driving means for driving these wire members include drive mechanisms 4 and 4 for driving the respective wire members, and a wire drive unit 5 for performing servo control of the drive mechanisms and an electromagnetic clutch mechanism described later. The driving control of the wire members 3 is performed by receiving a control signal from the central control unit 6.

The central control section 6 receives a command from the haptic presentation processing section 7, interprets the content thereof, and generates a signal for controlling each wire member in accordance with the command. Is performed, or during force sense presentation control, a wire length detecting means for detecting the length of each wire member, and a wire tension detecting means for detecting the tension of each wire member (these are provided in the drive mechanism 4). To obtain the necessary information.

The haptic sense presentation processing unit 7 is a part for determining the contents of the haptic sense to be given to the target. For example, in the case of a game machine, the haptic sense sensation presentation processing unit 7 is provided within a virtual space visually presented using computer graphics. A haptic presentation signal is read from a predetermined recording medium in accordance with the story to be developed, and the presentation timing is controlled. When used as a medical device, control is performed to manually or semi-automatically select and determine the instruction of the force / tactile sensation to be given to the subject during treatment or diagnosis.

The haptic presentation processing unit 7 and the central control unit 6 are configured using calculation means such as a computer.
When the wire drive unit 5 is realized by software servo, a part or all of the wire drive unit 5 can be left to program control on a computer.

In the figure, the first arm attached near the elbow of the forearm is shown.
The elbow supporter is shown as a covering member, and the wrist supporter is shown as a second covering member to be attached to the ulnar and radial projections in the wrist, and a pair of wire members 3 extends over these two members. , 3 are spanned. The control signal sent from the central control unit 6 to the wire driving unit 5 pulls one wire member and loosens the other wire member, thereby presenting a force sense related to the pronation or supination operation of the forearm. can do. Further, by detecting the wire length in a state where a constant tension is applied to each wire member, the state of pronation / supination can be grasped.

As for the driving of the fingers, as described above,
A plurality of covering members are attached to the back of a hand or finger, and adjacent members of these covering members are connected to each other by an elastic member, thereby urging a force in the bending or extension direction of the finger. When driving a plurality of pairs of wire members respectively attached to the covering member and bending or extending a finger, the driving means pulls the plurality of pairs of wire members against the urging force of the elastic member. Perform control. A specific structure using a spiral spring, a coil spring, or the like as the elastic member will be described later in detail.

When connecting the ends of the wire members to the drive mechanism, if the connection between them is too strong, a problem may occur when an excessive force is applied to the object.
The end of the wire member is coupled to the driving means via an electromagnetic clutch mechanism, and when the wire tension exceeds a threshold,
It is desirable to take safety measures so that the connection between the wire member and the driving means is released. For example, as described later, an electromagnetic clutch mechanism can be configured by a permanent magnet or a magnetic body fixed to the wire member and an electromagnet provided at a portion of the driving unit that is connected to the wire member.

Thus, the above methods (I) and (II)
In the motion recognition method of acquiring data corresponding to the motion by recognizing the motion of the target by using a pair of or a plurality of pairs of covering members at the joints constituting the target skeletal structure, The relative position information relating to the posture of the other covering member forming a pair with respect to the reference covering member is detected optically, magnetically, or from the length of the wire member, and the relative position information is integrated into the target or The entire operation of the target part can be recognized.

Taking the upper limb motion recognition as an example, for example, when the shoulder joint is used as a reference, the posture of the upper arm can be determined from the relative positional relationship between the shoulder joint and the elbow joint. The flexion and extension of the elbow joint can be understood from the typical positional relationship. Then, such relative information is accumulated and processed as a whole, for example, such that the posture of the wrist can be determined from the relative positional relationship (pronation / supination operation) between the elbow joint and the wrist joint. This makes it possible to grasp the movements from the shoulder joint to the wrist. (This is easily understood from the fact that if the posture and state of each joint in a multi-joint structure is known, the hand position and the end position can be understood. Is done.)

The present invention is naturally applicable not only to the upper limb but also to the recognition of motion and the presentation of haptics for the lower limb and other parts. It can be easily understood from the gist of the present invention that an accurate position detection is performed.

[0088]

FIGS. 18 to 74 show an example in which the present invention is applied to an apparatus for presenting haptic feedback together with the presentation of video and audio information.

There are two worlds on which the haptic presentation is premised, one of which is a “virtual reality” world and the other is a “virtual illusion” world.

FIG. 18 is a conceptual diagram for comparing and explaining the differences between the two. In the “virtual reality” world, the phenomena that a person actually experiences are presented by video, audio, and force / tactile sensation. The objective is to imitate virtually by making full use of the like, and to bring out the effect received by a person by the phenomenon with the same feeling. For example, as shown in the figure, when considering a situation in which "a person starts to read a book in the real world." You can feel the texture. In the virtual reality world, a visual display device VD (head-mounted display) is provided to the subject in order to present an environment equivalent to this situation, for example, to provide the subject with a virtual book VB having no substance as video information. Etc.) to provide visual information, and to provide information on force sense caused by gravity applied to the book and tactile information received from the book cover or paper surface using the force tactile sense presentation device. In other words, virtual experiences in this world are always of a nature that can be compared and contrasted with real world experiences.

On the other hand, in the world of virtual illusion, a phenomenon that a person cannot actually experience in the real world is presented as an unexperienced sensation by making full use of video, audio, haptic presentation, and the like. . For example, as shown in the figure, when an operation of “a person starts to read a book in a virtual world” is performed, “a snowman coming out of the crushed book speaks to the person about the contents of the book.” Virtual and visual appearance of unrealistic situations such as
Using the force-tactile presentation device, it is possible to provide force sense of the arm received from the weight of the snowman, tactile information such as touch, and temperature information. That is, experiences in this world cannot occur in the real world and are not compared to real world experiences.

In presenting the haptic sense, such a 2
It is necessary to perform the configuration and control of the haptic presentation device with due consideration of the two worlds.

FIG. 19 shows an example of the hardware configuration of the entire apparatus.
And a central control section 9 for controlling the control section, and an input / output interface section 10 interposed therebetween for relaying transmission of detection information and output information.

First, the equipments 8 include, for example, the following.

(I) Visual display and audio output device (head-mounted display, etc.) that can be attached to the head (ii) Force-tactile presentation and motion capture equipment worn on both hands (iii) Wearable on chest and waist Orthosis

In this example, the brace for presenting the tactile and force senses to the left and right hands, the forearm, and the upper arm and for recognizing the motion is used. Obviously, presentation and even-numbered motion recognition may be performed. Rather than integrally forming the entire device and integrally controlling the same, adopting a configuration in which each device can be individually controlled provides the following advantages, for example.

It is easy to change the equipment according to needs and to add equipment. Flexible to reduce wiring and change wiring.

The visual display and audio output device 1 of (i) above
1 is an input / output interface unit 10 from the central control unit 9.
Means for projecting video information sent through the input / output interface unit 10 from the central control unit 9 to output video information sent through the input / output interface unit 10 (headphones). And speakers). This allows video and audio information to be transferred to the device simultaneously. still,
This device is equipped with a magnetic sensor or a pohimous sensor (polh
e-mus sensar) and the like, so that detection information regarding the position and posture (such as inclination) of the head of the subject can be obtained. It is sent to the control unit 9.

The orthosis (ii) has a function of presenting a force / tactile sensation to a hand or an arm and recognizing the motion thereof. The above-mentioned method (II), that is, a method using a wire is adopted. I have. Since the information exchanged between the brace and the input / output interface unit 10 is diversified, it will be described in detail after the description of the mechanism of the brace.

The orthosis (iii) is an orthosis for the thoracic spine, the lumbar spine and the like, and is provided with a gyro sensor. That is, the gyro sensor obtains detection information on the position and posture (inclination, etc.) of the device, and the detection information is sent to the central control unit 9 through the input / output interface unit 10.

As described above, the brace 8 is composed of a plurality of parts. The brace (ii) will be described below.

FIGS. 20 to 22 schematically show an example of the structure of the brace. The brace 12 includes a brace portion 12H (hereinafter, referred to as a "hand supporter") to be attached to a hand and a wrist. Orthotics 1 to be attached to the forearm near the elbow
2A (hereinafter, referred to as “forearm supporter”) and an orthosis portion 12B (hereinafter, referred to as “forearm supporter”) required for connection at the elbow.
It is called "supporter for elbow connection". ) And a brace part 12U (hereinafter, referred to as “upper arm supporter”) attached to the upper arm.

In mounting these supporters,
For example, as shown in FIG. 20, in a state where the hand is extended in the horizontal direction and the palm is turned upward, the hand supporter 12H
Is worn from the back side of the hand, that is, from below, and the forearm supporter 12A is similarly worn from below the forearm. Then, the elbow supporter 12B and the upper arm supporter 12U are attached to the elbow and the upper arm from above.
In addition, the supporter 12B for elbow connection is the forearm supporter 1
2A (see dashed line in the figure). The upper arm supporter 12U has a shape that can be used by being wound around the upper arm. For example, a pair of ring-shaped portions 12Ur
And 12Ur are connected by connecting portions 12Uc and 12Uc (only one of them is shown in the figure). For each ring-shaped portion, a band-shaped member is wound around the upper arm, and the ends thereof are connected to each other (three upper arms). The portions corresponding to the streaks are indicated by broken-line circles in the figure), and the ring-shaped portion 12Ur is formed into an annular shape and wound around the upper arm by using a planar fastener or the like. Become.

In consideration of the ease of mounting, it is preferable that each supporter can be mounted on the hand or arm from the same direction. For example, as shown in FIG. 21, the supporter 12B for connecting the elbow portion is connected to the supporter 1 for the forearm portion.
2A (for example, both supporters are connected by button fastening) so that they can be worn from below the elbow, and for the upper arm supporter 12U,
After the belt-shaped member constituting each ring-shaped portion 12Ur is wound around the upper arm, the ends thereof are portions (corresponding to the biceps of the upper arm, and the split positions are indicated by broken-line circles in the figure). It is connected with a fastener so that it can be wound around the upper arm. Thus, after all the supporters are assembled and connected in advance, the supporters can be easily attached to the hand and the arm from the same direction (the direction from the bottom to the top in the figure). Further, in a state where the elbow supporter 12B is connected to the forearm supporter 12A, it may be difficult to mount the supporter 12B depending on the shape of the elbow supporter 12B. It is preferable to form slits, cuts, and the like extending in the length direction of the substrate.

FIG. 22 shows a state where all the supporters have been mounted on the upper limbs.

Next, the structure of each supporter will be described step by step.

FIGS. 23 to 25 are views for explaining an example of the structure of a hand supporter for the left hand.

FIG. 23 is a perspective view of the hand supporter 12H.
FIG. 24 schematically shows a plan view, and FIG. 25 schematically shows a side view. In these figures, portions corresponding to human hands and arms are indicated by two-dot chain lines.

The hand supporter 12H has the following parts.

A supporter 12HA attached to the first to fifth fingers from the back side (hereinafter referred to as a "finger supporter"). A supporter 12HB attached to the back of the hand (hereinafter referred to as an "upper supporter").・ Supporter 12HC for wrapping around the wrist
"Wrist supporter". A support 12HD (hereinafter, referred to as a "drive base supporter") provided in a fin shape for mounting a wire drive unit (not shown in FIG. 23, but this configuration will be described later).

[0111] Examples of the material used for these supporters include a splint material (thermoplastic), but a material that is as thin and light as possible is preferable.

Each of the finger supporters 12HA is basically formed in the shape of a medical finger cot, and corresponds to the bone of each finger so as to cover the entire back of the finger in the extended position. The covering portion is connected by the side of the finger using a spring member. That is, for the second to fifth fingers, the covering portions 12HA1, 12HA2, and 12HA3 corresponding to the base phalanx, the middle phalanx, and the distal phalanx of each finger are separately provided, and the distal phalanx for the thumb. And the covering portions 12HA1 and 12HA2 respectively corresponding to
Are provided separately. These covering portions are fixed to the finger using a planar fastener or the like.

The members indicated by multiple circles in FIGS. 23 to 25 represent spiral springs for connecting the adjacent covering portions on the side surfaces of the finger. It should be noted that adopting a structure in which various spring members are attached to places corresponding to the joints in a finger having a high degree of freedom is effective in reducing the number of power units, saving space, and reducing the weight. In other words, the joint of the human body is not a simple axial movement, but the instantaneous center (the instantaneous center of the axis) fluctuates due to the coupling of the curved surfaces. To eliminate this effect, the position corresponding to the joint is removed. It is necessary to use an appropriate spring.

FIG. 26 shows an example of the shape of the spiral spring 13. Starting from the center 13a of the spiral, the radius gradually increases toward the outside, and finally the two ends projecting to the opposite sides extend from each other. The portions 13b, 13b are formed, and the ends are fixed to the adjacent covering portions, respectively, so that the spiral spring is bridged over both the covering portions. The material of the spiral spring is SWPB
(Piano wire rod) and the like.

The spiral springs 13 are arranged at the positions on both sides of the finger corresponding to the joints of the fingers. For example, in the case of the second to fifth fingers, the DIP joint (distal Spiral springs are arranged on the finger side surfaces corresponding to the interphalangeal joint) and the PIP joint (proximal interphalangeal joint).

As shown in the enlarged circle in FIG. 27, the spiral spring has a double structure, or a spiral spring is arranged at each vertex position of a triangle and connected to form a triple spring. These allow the spiral springs to bend sufficiently along the length of the finger even if the spiral diameter of each spiral spring is small, and also limit the bending angle caused by contact between the wires. Can be alleviated. In the example shown in the figure, the covering portion 12H attached from the back to the terminal segment of the finger
A1 and a covering portion 12H attached to the middle section from the back.
A2, a spiral spring 13 having a double structure is bridged on the side surface of the finger, and the cover portion 12HA2 and
Between the covering portion 12HA3 attached to the base joint,
Spiral springs 13, 13, 13 having a triple structure are bridged on the side surfaces of the fingers.

The use of such a spiral spring is effective in reducing a sense of discomfort during operation due to a displacement of the supporter or the like. In order to prevent the wire springs from coming into contact with each other in the spiral spring, it is necessary to take measures to prevent interference, such as making the spiral not a circular shape but a fan shape.

In order to reduce variations in the reaction force of each spiral spring, it is desirable to provide a mechanism for finely adjusting the reaction force.

FIGS. 28 to 30 show an example of a structure using a tension spring for a spring strength adjusting mechanism.

As shown in FIG. 28, the adjusting mechanism 14 is attached to both members so as to straddle the covering portion 12HA1 for the terminal segment of the finger and the covering portion 12HA2 for the middle segment.

FIG. 29 shows a winding type mechanism example 14A.
It shows. The figures shown in (A) and (B) of the same figure show plan views in different states, respectively, and the figure shown in (C) is a sectional view taken along line CC of (A), and (D) Is a cross-sectional view taken along line DD in FIG.

As shown, two tension springs (or tension coil springs) 1 are provided between the two members 15 and 16.
7 and 17 are in a stretched state. Note that one member 15 is fixed to the covering portion 12HA1, and the other member 16
Is fixed to the covering portion 12HA2.

Inside the housing 16a constituting the member 16, there are formed guide passages 18, 18 through which two tension springs 17, 17 are partially inserted.
7 is connected to one end of each of the wires 19, 19, and the other end 19a of each wire is connected to the winding shaft 2.
0 (cylindrical axis) and fixed. The other end of each tension spring 17 is fixed to the above-mentioned member 15 so that the length of the tension spring 17 can be adjusted between the member and the hoisting shaft 20 (refer to FIG. ΔL ”).

The winding shaft 20 has both ends at the housing 16.
(A) is rotatably supported by being inserted into the support holes 21 formed on the side surface of a.
As shown in the figures and (B), two disk portions 22, 22 which are coaxial with the rotation center axis of the winding shaft 20 and have a larger diameter than this are integrally formed in the middle part thereof. Have been. And, between the disk portions 22, 22, both disk portions 22 are provided.
A tooth 23 having a smaller diameter than that of the passage 1 is formed.
A stopper 25 and a claw (tip) 25 a of the stopper 25 are pressed into the recess 24 formed between the teeth 8 and 18 by abutting between the teeth of the teeth 23. The compression coil spring 26 that obtains the urging force is accommodated. The claw portion 25a of the stopper 25 and the toothed portion 23 constitute a ratchet mechanism in an engagement relationship between the two, and the disk portions 22, 22 are rotated clockwise in FIG. Although the spring 17 can be extended (spring winding operation), the reverse is true, that is, the disk portions 22, 2
2 is rotated in the counterclockwise direction in FIG.
7 cannot be loosened (the description of the release mechanism of the claw portion 25a of the stopper 25 is omitted).

In this configuration, however, the disk portions 22, 22
By operating this to rotate it, the tension spring 1
Since the lengths 7 and 17 can be adjusted, the reaction force can be finely adjusted by combining the spiral spring 13 and the adjusting mechanism 14A to reduce the variation.

FIG. 30 shows a slide type mechanism example 14B. FIG. 30A is a plan view, and FIG. 30B is a sectional view taken along line BB in FIG. I have.

The member 16B fixed to the covering portion 12HA2
A slider 27 is slidably accommodated in the housing 16Ba of the first embodiment, and one end of each tension spring 17 is fixed to the slider 27. That is, each tension spring 17
Of these, the portion opposite to the end fixed to the member 15 has two insertion holes 28, 28 formed in the housing 16Ba.
Are respectively introduced into the housing 16Ba and are fixed to the slider 27.

The slider 27 is provided with the tension spring 17.
An operation part 27a for operating when moving along the longitudinal direction is formed, and a triangular claw 27b projecting upward in the figure (B) is formed to hold the operation part 27a. As shown, the triangular claw 27b has a protrusion 2 protruding sideways on the upper surface of the housing 16Ba.
9, 29 (only two pairs are shown in the figure for simplicity). That is, the position of the slider 27 is determined by the engagement position of the triangular claw 27b with the projections 29, 29. In addition, as shown in FIG.
A slit 27c is formed at a position slightly below 7b, so that when the engagement of the triangular claw 27b with the projections 29, 29 is released, the portion where the triangular claw 27b is formed is easily distorted.

In this configuration, however, the slider 27 is operated to regulate the positional relationship between the triangular claw 27b and the projection 29 when the slider 27 is engaged.
By performing the positioning, the lengths of the tension springs 17, 17 stretched between the slider 27 and the member 15 can be adjusted. Thus, by finely adjusting the reaction force by combining the spiral spring 13 and the adjusting mechanism 14B,
The variation can be reduced.

FIG. 31 shows a configuration example in which an adjusting mechanism 30 for adjusting the spring strength of the spiral spring 13 is provided at the base of the spiral spring.

In this case, one end 13 of the spiral spring 13
b is fixed to a slider 32 constituting the slide mechanism 31, and the spring strength can be adjusted by defining the position of the slider 32.

That is, in the slider 32 slidably received in the housing portion 33, the slit 32a
The cross-sectional shape of the part where is formed is substantially U-shaped,
A locking claw 32b is formed at one end thereof. The engaging claw 32b is adapted to be engaged with any one of a plurality of locking holes 33a, 33a,... Formed in the accommodation portion 33. By fixing the slider 32 to the hole 33b through the fixing pin 34 with a screw or the like, the movement of the slider 32 is prevented, and the position of the slider 32 can be defined in the length direction of the finger.
The other end 13b of the spiral spring 13 may be fixed directly to the covering portion, or may be fixed to the covering portion via an adjusting mechanism similar to the adjusting mechanism 30.

FIG. 32 schematically shows an example of a mechanism for adjusting the covering portion according to the size (width) of the finger.
(A) shows the state of attachment to a small finger, and (B) shows the state of attachment to a large finger.

In this example, the covering portion 12HA has three portions 1
2HA_α, 12HA_β, and 12HA_γ, which are pivot shafts 35 formed by hinge springs or the like.
35. The adjusting mechanisms 30, 30 are connected to the ends of the three portions located at both ends via rotating shafts 35, 35, respectively.

In the above example, the spiral spring is arranged on the side of the finger corresponding to the joint. However, instead of the spiral spring, a structure using a hinged coil spring on the back surface of the covering portion may be adopted. FIG. 33 shows an example of the configuration.

At the back of each coating, 12HA1 and 1HA
Back springs 36, 36 for connecting these members are attached between 2HA2 and between 12HA2 and 12HA3. The back spring 36 has a rectangular cross section (square, rectangle, etc.). New coil spring part 36
a, 36a and a hinge portion 36b connecting the portions.

As shown in FIG. 33 (B), these back springs 36 are installed so as to be in a bent position in their initial state, and a wire member described later (disposed along the back surface of the covering portion). By the tensile force of, as shown in FIG. At this time, since the interference of the coil spring does not hinder the bending and extension of the finger, the operation does not become awkward.
Note that the initial state of the spring is the state of extension of the finger (that is,
(A) (state in the figure), but in that case, it is necessary to route the wire member on the palm side.

As shown in FIG. 34 and FIG. 35, two wire members 37, 37 are attached to the finger supporter 12HA of each finger.
(Tungsten wires passed through a silicone tube.) These extend along the length direction of the finger on the back of each covering portion, and are driven through the back support 12HB and the wrist support 12HC. The extension of these wires is controlled by a drive mechanism (not shown) attached to the drive base supporter 12HD.
The details will be described later. ).

FIG. 36 is a view for explaining a method of fixing the end of the wire in the covering portion.
7 is wound several times around a small-diameter flanged pulley 38 (or a bobbin), and then its end 3
7a and a portion 37b of the wire 37 on the near side of the portion to be wound around the pulley 38 are caulked by using a fixing metal fitting 39 for fixing. One end of the wire is attached to the supporter by embedding this portion in the cover portion of the supporter or by fixing the portion to the cover portion with screws or the like.

A configuration is used in which V-shaped springs are arranged between the covering members respectively attached to the bases of the fingers, and the spring hook portions are respectively fixed to the adjacent covering members. As shown in 37, an MP joint (metacarpophalangeal joint) between the respective finger supporters of the second to fifth fingers
, V-shaped springs 40, 40, 40 are attached. That is, these V-shaped springs are provided between the second and third fingers, between the third and fourth fingers, and between the fourth and fifth fingers, and the side surfaces of the covering portion with respect to the base. The initial state of the spring is an abduction of the finger part and is based on a state in which the back of the hand is flat. This is to perform the adduction operation with the abduction dislocation as the initial state and to perform the opposing operation of the hand, and to improve the strength by connecting the finger supporters.
When the abduction function is not provided, the inward dislocation of the spring may be set to the initial state. Further, when a mechanism for the opposing operation described later is adopted, the V-shaped spring can be eliminated.

FIGS. 38A and 38B show an example of the shape of the V-shaped spring 40. FIG. 38A is a side view, and FIG. 38B is a view of FIG.

The V-shaped spring 40 has a circular coil portion 40a having a circular cross section, and two V-shaped springs 40 projecting from the coil portion.
And a straight portion 40b, 4 extending from the coil portion 40a.
0b extends in a C-shape when viewed from the side. That is, the end portions 40c, 40c are bent in a U-shape as spring hook pieces, and these are attached to the covering portion.

The back support 12HB as a covering member mounted on the back of the back of the hand is composed of a plurality of constituent members, each constituent member is connected by a hinge member, and the connected members are connected to each other. It is desirable to have a structure in which a slide mechanism for freely changing the interval between the hinge members is provided for each of the hinge members. For example, as shown in FIG. Covering portions 12HBa, 12HBa divided into two by an extending plane
The two covering portions are connected so as to be rotatable around an axis “RR” (which is a central axis of the opposing operation) indicated by a dashed line in FIG.

In the example shown, the covering portion 12HBa,
The members connecting 12HBa are three hinge springs 41, 4
1, 41, and a support mechanism 4 for supporting each of these hinge springs so as to be slidable in a direction perpendicular to the axis RR.
2, 42, 42. In other words, in a structure in which the covering portions are simply joined by the hinge spring 41, in the state of abduction, the palm surface is flattened (the palm surface is substantially flat). The covering portions 12HBa and 12HBa can be brought into close contact with the surface of the hand only by the "flat position"), and the hands are bent and curved (the palm surface is curved in a concave shape). This is because it is difficult to sufficiently bring the covering portions 12HBa, 12HBa into close contact with the surface of the back of the hand in the state of “curved position”.

FIGS. 40A and 40B show an example of the shape of the hinge spring 41. FIG. 40A is a side view of the coil portion 41a viewed from the axial direction, FIG. (C) is a diagram viewed from the direction of arrow C.

A pair of bent pieces 41b, 41b projecting from both ends of the coil portion 41a and bent in a U-shape, respectively.
Forms an angle “φ” in the state shown in FIG. In the natural state of the hinge spring 41 (no load state),
This angle φ is set to a value slightly smaller than 180 degrees,
The state of the hinge spring 41 as viewed from the axial direction of the coil portion 41a is in a V shape (this is because the back of the back of the hand in a flat position is not a flat surface at all).

FIGS. 41A and 41B show only an essential part of an example of a support mechanism 42 of the hinge spring 41. FIG. 41A shows a state in which the spring is housed, and FIG. This shows the change in the state of the closed state.

Housing (or housing) 43, 43
Are for accommodating the bent pieces 41b, 41b of the hinge spring, respectively (only the accommodating portion 43 with one bent piece 41b is shown in the figure), and openings 44, 44 are formed. In other words, a part of the bent piece 41b protruding from one end of the coil part 41a is in a state of being received in the accommodation part 43 through one opening 44, and between the openings 44 and 44, the bent piece 41b is A stopper projection 45 is formed to prevent the stopper from coming off. And the hinge spring 41
(B) As shown in the drawing, sliding is possible between a state in which the bent piece 41b is almost completely accommodated in the storage section 43 and a state in which most of the bent piece 41b comes out of the storage section 43. (See “Δx” in the figure).

In FIG. 41, for the sake of convenience, one bent piece 41
Although only b is illustrated, the other bent piece 41b is also received in the housing 43 in a slidable manner.

In order to more surely define the direction of movement of the hinge spring 41 when sliding, the guide means (guide groove or the like) for guiding the hinge spring is provided in the housing 43.
It is preferable to use a configuration in which a guided portion corresponding to this is formed in the bent portion of the hinge spring.
1 shows only the basic configuration, and further detailed description of the mechanism and the like is omitted.

With respect to the axis RR, the covering portion 12HB is formed by one cylindrical shaft 46 formed of an elastic member such as rubber.
When connecting a and 12HBa, as shown in FIG. 42, support mechanisms 42, 42,.
(In the figure, the members fitted to the both ends and the center of the cylindrical shaft 46 are slidably supported by the respective support mechanisms 42).

In the constructions shown in FIGS. 39 and 42, the upper support 12HB is divided into two parts. However, the present invention is not limited to this. It is desirable that the covering portions are similarly divided between the fingers and the covering portions are rotatable and slidable in a direction perpendicular to the rotation axis.

The connection structure between the covering portions 12HBa, 12HBa constituting the back support 12HB and each finger support 12HA is, for example, shown in FIG.
By attaching the slide mechanism 42 shown in FIG. 4, a method of connecting the covering portions 12HBa, 12HBa and the covering portion 12HA3 of the finger supporter with the hinge spring 41 can be mentioned. As shown in FIG. 39 and FIG. An operating mechanism (or a rotating mechanism) 47, 47,... For inward and outward abduction is attached to each of the covering members attached to the back of the finger (two of them are shown in the figure). Only one part is shown.), It is preferable that a spiral spring (13, 13, 13) is attached to the tip of the rotating member constituting the mechanism, and this is connected to the finger supporter (12HA3).

Each of the operation mechanisms 47 is provided for each finger so that the pair of wire members provided for each finger can be operated in the abduction and abduction directions by axial movement when individually driven. Since they have the same configuration except for the difference in the direction of adduction and abduction, only one of them will be described below.

In FIG. 43, most of the rotating member 47a constituting the operating mechanism 47 is received in the accommodating portion 48 formed in the covering portion 12HBa. It is configured to be able to rotate in the direction of arrow “R” as a center of movement. Note that a spiral spring (13, 13,...) Is provided at an end of the rotating member 47a opposite to the point RC.
13) is fixed, and its configuration will be described later in detail.

Regarding the space inside the housing portion 48, the rotation member 47a is located near the rotation center point RC of the rotation member 47a.
Is smaller, but the gap gradually increases as the distance from the rotation center point RC increases. In the illustrated example, a leaf spring 49 is provided near the opening of the housing portion 48. One end of the leaf spring 49 is
And a biasing force in a fixed direction (clockwise direction in the figure) to the rotating member 47a.

That is, in the initial state, (A)
As shown in the figure, the urging force of the leaf spring 49 keeps the rotating member 47a pressed against the side wall of the housing portion 48 located on the opposite side to the leaf spring 49. (B) As shown in the figure, the rotating member 47a rotates in a direction against the force of the leaf spring 49, and finally the rotating member 47a cannot rotate further (inward rotation). Sometimes, on the contrary, the state of (B) changes to the state of (A).)

In the example shown in the operation mechanism 47A of FIG. 44, two magnets (permanent magnets or electromagnets) 50 and 51 are used in place of the leaf spring 49, and one of the magnets 50 is located near the opening of the housing portion 48. Of the other magnet 51
Are fixed to the side surface of the turning member 47a facing the same. Therefore, in this configuration, in the initial state, the magnet 5
The rotating member 47a is pressed against the side wall (the side wall located in the upper part of the drawing) of the accommodating portion 48 due to the repulsive force acting between 0 and 51. Will rotate counterclockwise in the figure against the repulsive force of.

Further, in the example shown in FIG.
The gap between 7a and the accommodating portion 48 is narrowed near the center of rotation RC, but is not limited thereto. As shown in the operation mechanism 47B of FIG. 45, the rotational center RC is set near the opening of the accommodating portion 48B. At the same time, the gap between the rotating member 47a and the side wall of the housing 43 is gradually increased as the distance from the center of rotation RC increases and the depth of the housing 48B increases. A configuration in which the leaf springs 52 are arranged may be used.

In short, the turning member 47a can turn in the direction approaching the first finger for the second finger and the third finger, and in the direction moving away from the third finger for the fourth finger and the fifth finger. What is necessary is just to secure the movable range of the rotating member in each of the housing portions so that the rotating member 47a can rotate.

A connecting portion using a spiral spring is provided at an end of the rotating member 47a protruding from the housing portion 48, and is fixed to a finger supporter.

FIG. 46 is a partial view of a main part of the configuration example, and three spiral springs shown in FIG. 26 are prepared.
After arranging these in a horizontal line, the respective central portions are joined by a shaft member 53 (for example, as shown in an enlarged manner in a large circle in the figure, the center of each spiral spring is formed by two semi-cylindrical members 53a, 53a). After that, the annular members 54, 54 are attached (ringed) to both ends of the semi-cylindrical member 53a, etc.), and one end of each spiral spring 13 is fixed to the rotating member 47a. The end is fixed to the covering portion 12HA3 of the finger supporter described above. The reason why a plurality of spiral springs are arranged side by side is to reduce the deflection of the springs during the adduction and abduction movements.
By providing the shaft member 53, the deflection can be further reduced.

The initial state of these spiral springs is MP
Although the bending position of the joint is used as a reference, it is preferable to add a slide-type reaction force adjusting mechanism in order to smoothly bend and extend the MP joint.

FIG. 47 shows a structural example 55 of a slide type reaction force adjusting mechanism. FIG. 47 (A) is a plan view, and FIG. 47 (B) is a sectional view taken along line BB in FIG. I have.
In addition, one of the pair of slide mechanisms 55a and 55b 5
5a is attached to the cover on the finger supporter side,
5b is attached to the cover on the side of the upper supporter 12HB.

Each of the spiral springs 13 has a slide mechanism 55a and 5
5b, both ends thereof are fixed to the slide members 56a and 56b of each slide mechanism. That is, one end of each spiral spring 13 is fixed to one end of the slide member 56a constituting the slide mechanism 55a, and the two coil springs 58a, 58a are fixed with the other end received in the housing member 57a. ing.

These coil springs 58a, 58a are arranged in a housing member 57a in a positional relationship parallel to each other, and of the respective coil springs, the end opposite to the side fixed to the slide member 56a is an operating member. It is fixed to 59a, and is configured so that the reaction force of the coil spring in the sliding direction can be adjusted by defining the position of the operation member 59a. The operation member 5
The engaging portion 60a formed on the holding member 9a is engaged with one of a plurality of stopper grooves (not shown) formed on the housing member 57a, thereby positioning the operating member 59a in the sliding direction. A portion 61 formed on the housing member 57a and protruding to the vicinity of the spiral spring is a projection corresponding to the MP joint (there is a possibility that the wire member may come into contact with the skin without this).

The other slide mechanism 55b has the same structure as the above slide mechanism 55a. One end of each of the spiral springs 13 is fixed to one end of the slide member 56b, and the other end is in the housing member 57b. The two coil springs 58b, 58b are fixed in the state of being received. That is, the operation member 59b is fixed to the end of the coil springs 58b, 58b arranged in the housing member 57b in a position parallel to each other and opposite to the end fixed to the slide member 56b. The engaging member 60b formed on the member 59a is engaged with one of a plurality of stopper grooves (not shown) formed on the housing member to thereby operate the operating member 5.
9b is positioned in the sliding direction, whereby the reaction force of the coil spring in the sliding direction can be adjusted.

The adjusting mechanism of the spiral spring itself is as follows.
For example, the above-described mechanism 14 (see FIGS. 29 and 30) can be used, and as shown in FIG.
6, 16B) are fixed on one of the slide members 56b, and the member (15) is mounted at a position slightly shifted from the center of the spiral spring 13 toward the slide member 56b. It is mounted on the other slide member 56 a via a fixing member 63. As the installation place of this adjustment mechanism, the spiral spring 1
It is preferable to select the rear side from the shaft member 53 connecting the third member 3 in order to avoid the problem of contact between the mechanism and the finger.

As described above, the coil springs (58a, 58a)
When the adjustment of the reaction force in the sliding direction and the adjustment of the reaction force in the rotation direction of the spiral spring (13) can be performed independently, the operation of the MP joint can be further smoothed. It is valid.

Note that the spiral spring 1 in the mechanism shown in FIG.
In the case where the pair of slide members 56a and 56b are connected by a hinge or a rotation mechanism or the like without using 3, the mechanism can be arranged on the back surface of the covering portion for all the finger joints. 33 shows another embodiment of the mechanism using the back spring 36 shown in FIG.

Regarding the opposing movement of the thumb at the CM joint, as shown in FIGS.
A rotation mechanism 64 is attached to the HB. In other words, the rotation mechanism 64 is provided with the above-described abduction / inversion operation mechanism (FIG. 43).
45 to FIG. ) Is applied, and the rotating member 64a constituting the mechanism is provided with a covering portion 12HB of the upper supporter 12HB via a rotating shaft 65 using a hinge spring.
a. In addition, about the hinge spring,
The state in which the hand is bent and bent is referred to as an initial state (see the broken line in FIG. 49).

The turning member 64a is supported so as to be able to turn around a turning center indicated by a point "RC" in the drawing within a predetermined angle range. In this example, the two magnets 66 and 67 are provided.
Is used to apply a biasing force in the clockwise direction in the drawing to the rotating member 47a. In other words, the repulsive force generated by the repulsive force acting between the magnet 66 attached to the position near the rotating shaft 65 and the magnet 67 attached to the side surface of the corresponding rotating member 64a generates the repulsive force generated by the rotating member 64a. Works to keep it away from the rotating shaft 65. It is needless to say that a leaf spring or the like may be used instead of these magnets (FIGS. 43 and 45).
See ).

The slide spring shown in FIGS. 40 and 41 is provided between the end of the rotating member 64a and the covering portion of the base of the thumb.
Alternatively, a mechanism using a spiral spring or the like shown in FIG. 46 is provided, but the initial state of the spring is also in the bent position in this case.

It should be noted that the back supporter 12HB requires mechanisms related to the bending / extending operation and opposing operation of the MP joint. The arrangement and drive control of the wires involved in the operation of each mechanism will be described later. It will be described in detail in connection with the driving unit.

Next, the wrist supporter 12HC will be described.

The wrist supporter 12HC is wound around the wrist like a watch hand and then fixed using a planar fastener or the like, but care must be taken not to apply local compression to the wrist when driving the wire.

For this purpose, a cushioning member is provided on the surface of the wrist supporter 12HC which comes into contact with the wrist, or the cushioning member 68 is attached to the wrist as shown in FIG.
And then wrist supporter 1 as shown in (B)
It is desirable to wear 2HC. That is, the buffer member 6
Reference numeral 8 plays a role in preventing the skin from being involved in driving the wire. In the figure, two hinge portions are formed in the wrist supporter 12HC, and the buffer members 69 for preventing entanglement are interposed between the supporter and the buffer member 68 as intermediate members.

The drive base supporter 12HD is also fixed using a planar fastener or the like after a part of the drive base supporter (or the wrist supporter when integrated with the wrist supporter) is wound around the wrist. A certain flat area is required for mounting the drive mechanism, and the drive mechanism should not contact the forearm supporter 12A during pronation / supination. In addition, there are a configuration in which the wrist supporter 12HC and the drive base supporter 12HD are separately provided, and a configuration in which both are integrally formed, but the latter is preferable from the viewpoint of ease of mounting.

As the driving mechanism, for example, the following configuration can be cited, but a configuration suitable for miniaturization and thinning is preferable.

A mechanism of a wire winding type using a motor as a driving source. A mechanism using an electromagnetic clutch means and a slide type driving unit. A mechanism for sliding a film to which a wire is connected.

FIG. 51 shows a configuration example 70 of a wire winding mechanism.
A reduction gear 72 is connected to a motor shaft 71 a of the rotary motor 71, and the rotation output orthogonally transformed by the reduction gear 72 is output by a wire 7.
3 to the take-up section 74 (reel section). That is, a power transmission mechanism using a bevel gear, a worm, or the like is provided in the reduction gear 72, and the output shaft 7 of the reduction gear 72 is provided.
Since the winding unit 74 is directly rotated by directly connecting the winding unit 74 to 2a, the tension applied to the wire can be changed by controlling the winding state of the wire. It is needless to say that the winding mechanism may be constituted by using a slide-type linear motor or the like instead of the rotary motor.

FIG. 52 shows a configuration example 75 in which an electromagnetic clutch mechanism is interposed between the wires without directly connecting the wires to the motor. This mechanism is required to release the connection between the wire member and its driving means when the tension applied to the wire member exceeds the threshold value, so as to control the object so that no further large force is applied. .

A permanent magnet 77 (or a magnetic material such as iron) is fixed to the end of a wire 73 passed through a flexible tubular member 76 such as a silicone tube. A contact detection sensor 78 is provided at a position opposite to the wire 73. In addition, an electromagnet 79 which is paired with the permanent magnet 77 is provided. The electromagnet 79 is provided with a contact detection sensor 78 'facing the sensor 78. The electromagnet 79 is connected to a tension sensor 80.
And is fixed to a wire portion 81a connected to the output shaft of the slide-type driving portion 81 through the wire. Note that a linear motor is used for the slide drive unit 81, and a detection unit (encoder or the like) for detecting the position of the output shaft and the wire unit 81a is provided inside the linear drive unit. Also, a permanent magnet 77, an electromagnet 79, a tension sensor 80, a wire portion 81a
Is disposed within the tubular member 76.

In this configuration, the permanent magnet 77 and the electromagnet 79 constitute an electromagnetic clutch mechanism. Since the attractive force is generated between the electromagnet 79 and the permanent magnet 77 by the excitation of the electromagnet 79, both are attracted. State, which is detected by the contact detection sensors 78, 78 '. And
In this state, the wire section 81 is
When a is driven, a force acting on the right side of the drawing (in a direction approaching the slide-type driving unit 81) acts on the end of the wire 73 via the tension sensor 80, furthermore, the electromagnet 79 and the permanent magnet 77 (the tension sensor 80 Detect the wire tension at this time.) Thereafter, when the driving force to the wire 73 is increased, the tension of the wire gradually increases to a certain range.
If the value exceeds the value determined by the attractive force between the magnet 9 and the permanent magnet 77), the electromagnet 79 and the permanent magnet 77 are separated (this separated state is detected by the contact detection sensors 78 and 78 '). The above force is restricted so as not to be applied to the wire. That is, when an excessive force acts on the wire and the wire is pulled, an undesired undesired force may be applied to a member (supporter) connected to the end of the wire. In the above configuration, the separation between the electromagnet 79 and the permanent magnet 77 ensures that no excessive force is applied to the wire.
When the tension of the wire detected by the tension sensor 80 is equal to or greater than a predetermined reference value, the excitation state of the electromagnet 79 is changed to reverse the magnetic pole, thereby making the electromagnet 79 and the permanent magnet 77 permanent. And a method of positively separating the two by controlling them to repel each other.

FIG. 53 schematically shows another example 82 of the electromagnetic clutch mechanism, in which only a portion connected to the wire end is partially taken out, and FIG. 53 (A) is a sectional view of a main part, and FIG. ) Shows the members on the driving side, (C) shows the members on the wire mounting side, and (D) shows the side walls that support these members in a slidable manner. I have.

The housing 83 has two members 84 and 85
Are slidably supported, one of the members 85 is a connecting member to the wire 73, and the end of the wire 73 is fixed after the end of the wire 73 is inserted through the hole 83a of the accommodation portion 83, The other member 84 is connected to a connecting member 85.
And functions as a slide member for sliding the member in a predetermined direction in a state where the member is engaged. In other words, the connecting member 85 made of a magnetic material has a substantially L-shape when viewed from the side as shown in FIG. Two shaft ends 85a, 85a projecting from the surfaces are inserted into guide elongated holes 83c, 83c (only one of them is shown in the figure) formed on the side wall of the housing 83. That is, the connecting member 85 is supported by the side wall of the housing portion 83 in a state where the connecting member 85 is slidable along the guide elongated holes 83c and 83c and is rotatable around the shaft ends 85a and 85a. .

An electromagnet 86 having a substantially rectangular parallelepiped shape is attached to the tip of the slide member 84, and the projections 84a, 84a formed on both side surfaces of the tip, respectively.
(See FIG. (B)). Guide long holes 83b, 83b formed in the side wall of the accommodating part 83 so as to extend in parallel with the long guide holes 83c, 83c (only one of them is shown in the figure). ). The slide member 84
Are driven by a drive mechanism (not shown) (for example, a slide-type drive mechanism using a linear motor), so that the guide elongated holes 83b,
It is guided by 83b and moved linearly.

In this mechanism 82, the coupling member 85 is formed of a ferromagnetic material, or a permanent magnet is provided at a position of the coupling member 85 corresponding to the electromagnet 86 of the slide member 84, thereby providing an electromagnetic clutch mechanism. Is configured. That is, as shown by a two-dot chain line in FIG.
When the electromagnet 86 of the slide member 84 is excited from the state in which the end of the slide member 84 is disengaged from the end of the slide member 84, the two are brought into the engaged state. When moved in the direction, the end of the slide member 84 is engaged with the connection member 85, so that the connection member 85 and the wire 73 are pulled. When the tension of the wire 73 increases and exceeds the attraction force of the electromagnet 86 to the connecting member 85, the engagement between the two is released. Therefore, the energy required for exciting the electromagnet 86 is only required to engage the electromagnet 86 and the connecting member 85, and the wire 73 is attracted by the attractive force.
Can be determined.

In order to detect whether the connecting member 85 and the end of the slide member 84 are in the engaged state, for example, a detection terminal is attached to both members so that contact or non-contact between the two terminals can be performed. A method for detecting the state or a method for detecting whether the two members are in contact or in proximity to each other by light detecting means such as a photocoupler (for example, an optical sensor or a photocoupler is provided on the connecting member 85 side, and Is formed with a light-blocking portion for blocking light, and when the light of the optical sensor is blocked by the light-blocking portion, it is determined that the connecting member 85 and the slide member 84 are engaged, and the light is not blocked. In this case, it is determined that the two members are not engaged.) There are various methods for detecting the relative position between the members.

As an example of the mechanism for sliding the film described above, for example, a drive roller rotated by a motor and a pressure roller for urging a predetermined pressure force are provided, and the film is sandwiched between both rollers. A configuration in which a wire is driven by sliding the film is used.

In addition, there is a method of separating the driving source of the wire from the driving mechanism. For example, a large-capacity drive source is shared among a plurality of wires, and this is attached to, for example, an orthosis to the lumbar spine so that a person can carry it. Only a light drive mechanism using (an electrorheological fluid) or the like may be installed on the drive base supporter 12HD. Further, the drive source is not limited to the motor, and it is needless to say that various forms can be adopted, such as installing the cylinder unit on the drive base supporter 12HD using an air pressure source.

Next, the arrangement of each wire controlled by the drive mechanism arranged on the drive base supporter 12HD will be described.

The wire replicates the function of the muscles of the human body as an intermediary for transmitting power. The material of the wire is abrasion-resistant on the surface of a tungsten wire or a thread for sewing an appliance. Those coated with a polymer may, for example, be mentioned. In addition, in order to prevent damage to the skin when the wire comes into direct contact with the skin, the wire is used in a state of being inserted through a tubular member such as a silicone tube (wiring is performed with the tubular member embedded in the supporter). Etc.) are preferable from the viewpoint of safety. For example,
In the case of a silicone tube, its shape remains tubular in the initial state when a wire is passed through it, but since the silicone tube shrinks when the wire is pulled, there is no danger of damaging the skin surface .

First, as shown in FIG. 34, the two wires 37 attached to the back of each covering portion are respectively attached to the finger supporters 12HA, starting from the covering portion at the terminal segment of each finger. , 37 are provided on the drive base supporter 12 via the covering portion 12HBa of the upper support 12HB and the wrist supporter 12HC.
It is connected to a wire drive mechanism (not shown) on the HD.

FIGS. 54 and 55 show a state in which a wire member is attached to the finger supporters of the second to fifth fingers. Wire pairs 37, 37 are provided along the back surface of each covering portion.
Are attached.

When stress is likely to be concentrated between adjacent covering portions or at a wire portion located at an edge portion of the covering portion, a small supporting member is provided at a predetermined portion of the covering portion as shown in FIG. 87, 87, ... (ball bearings, pulleys, etc.)
It is preferable to add wires and wire them through the wire member 37 for improving durability. In this case, it is desirable to reduce the inner diameter of the support member 87 by using a wire formed of a thread, a synthetic fiber, or the like.

Regarding the operation of the second to fifth fingers in the finger supporter 12HA, the operation of each wire shown in FIGS. 54 and 55 is as follows.

At the time of transition from the flexion position to the extension position, the wire pair arranged on the back of each finger is simultaneously pulled by the driving mechanism. At the time of transition from the extension position to the flexion position, it is arranged on the back of each finger. The wire pair is simultaneously loosened by the drive mechanism. At the time of the transition from the adduction to the abduction, the wire member (the second finger) farther from the center axis of the opposing motion passing between the third and fourth fingers. For the third finger, the wire member 37A closer to the first finger is pulled simultaneously, and for the fourth and fifth fingers, the wire member 37B farther from the first finger is pulled simultaneously, and the other wire is simultaneously loosened. -When shifting from eversion to adduction, the procedure is reversed. That is, with respect to the reference axis of the opposing motion passing between the third finger and the fourth finger, the wire closer to this is simultaneously pulled, and the other wire is simultaneously loosened.

Regarding the operation of the thumb, a wire member is arranged as shown in FIG. 48, and two wire members 37, 37 attached along the back surface of the covering portion of the finger (only one of them are shown in FIG. 48). Is connected to a member constituting the above-mentioned rotating mechanism 64, and further to a wire drive mechanism on the drive base supporter 12HD via the wrist supporter 12HC. Also, two wire members 37C, 37C originating from a rotating member 64a constituting the rotating mechanism 64
Is connected to the wire drive mechanism on the drive base supporter 12HD via the covering portion 12HBa of the back support 12HB and the wrist supporter 12HC.

Therefore, the operation of each wire regarding the operation of the thumb in the finger supporter 12HA is as follows.

At the time of transition from the flexion position to the extension position, simultaneously pull the wire pair (37, 37) arranged on the back of the thumb. At the time of transition from the extension position to the flexion position, the wire arranged on the back of the thumb. Simultaneously loosen the pair (37, 37) ・ At the time of transition from the curved position to the flat position, simultaneously pull the wire pair (37C, 37C) via the upper supporter ・ At the time of the transition from the flat position to the curved position, the upper supporter Simultaneously loosen the wire pairs (37C, 37C) passing through.

In order to realize the adduction / abduction operation together with the opposition operation, as shown in FIG. 57, two wires are arranged on the palm side (the front side of the MP joint) of the second to fifth fingers. I do. (A) shows the initial state (abduction / flat position),
(B) shows the state of the adduction / bent position against the reaction force of the V-shaped spring 40, respectively.

As shown in FIG. 57, with respect to the covering portions 12HA3, 12HA3,... Covering the bases of the second to fifth fingers, members 88, 88,. The wire members 37D1 and 37D2 are provided so as to straddle these members. For example, with respect to one wire member 37D1, the fourth finger starts from the fifth finger.
After passing through the finger, the third finger, and the second finger and along the back surface of the covering portion 12HBa ′ of the back supporter 12HB as shown in FIG. 58, the inner surface of the covering portion 12HBa (skin side) ), Exits from the back surface of the covering portion, and is connected to a wire drive mechanism (not shown) on the drive base supporter 12HD via the wrist supporter 12HC. Also, for the other wire 37D2,
As shown in FIG. 57, after passing through the third finger, the fourth finger, and the fifth finger starting from the second finger, as shown in FIG. 58, along the back surface of the covering portion 12HBa of the upper supporter 12HB. After passing through the inner surface (skin-side surface) of the covering portion 12HBa ', it comes out of the back surface of the covering portion and passes through the wrist supporter 12HC to drive base supporter 12H.
It is connected to a wire drive mechanism (not shown) on the HD. The reason why the two wires are arranged so as to partially cross each other on the inner surface side of the upper surface supporter 12HB is that the covering portion 12HBa, 1
This is for driving 2HBa 'to assist the opposing operation.
In arranging each wire so as to straddle the palm surface side of the second to fifth fingers, when viewed from the palm surface, these wires should pass near the center of the coil portion 40a of the V-shaped spring 40 as much as possible. Is preferred.

The operation of the wire in the opposing operation is as follows.

At the time of the transition from the flat position to the curved position, the wires 37D1 and 37D2 are simultaneously pulled. At the time of the transition from the curved position to the flat position, the wires 37D and 37D are pulled.
1. Simultaneously loosen 37D2.

FIG. 59 shows the arrangement of wires for the operation of the wrist joint. (A) is a view from the back, (B)
The figure is a view from the radial side, and the figure (C) is a view from the palm surface.

As shown in FIG. 57 (A), wire members 37E1 and 37E1 'starting from positions near the periphery of the covering portions 12HBa and 12HBa' of the back support 12HB are connected to the back of the wrist supporter 12HC. , And connected to a wire drive mechanism (not shown) on the drive base supporter 12HD. Note that the end of the wire member 37E1 is covered with the covering portion 12HB.
a, and the end of the wire member 37E1 'is fixed to the covering portion 12HBa'.

As shown in FIG. 57 (C), the starting point is located near the MP joint in the upper supporter 12HB and inside the periphery (between the thumb and the second finger and the side of the fifth finger). The wires 37E2 (which are routed between the thumb and the back support) and 37E2 'respectively pass through the palm side of the wrist supporter 12HC, and are respectively connected to wire drive mechanisms (not shown) on the drive base supporter 12HD. It is connected. And the covering part 12HA3 attached to the palm side of the base part of the third finger and the fourth finger,
The wire members 37E3, 37E3 ', which are arranged on the palm surface with the 12HA3 as starting points, respectively, pass through the palm surface side of the wrist supporter 12HC and are then connected to wire drive mechanisms (not shown) on the drive base supporter 12HD. I have. The one wire member 37
E3 has its end fixed to the covering part of the fourth finger, and is routed so as to gradually approach the thumb on the palm surface. The other wire 37E3 'has its end fixed to the third finger. , And is laid around the palm surface so as to gradually move away from the thumb.

The role of each wire member in the operation of the wrist joint is as follows.

At the time of transition from dorsiflexion to palmar flexion, the two wire members 37E arranged on the palm side of the back supporter
2 and 37E2 'simultaneously (or two wire members 37E3 and 37E3' for the third and fourth fingers).
At the same time) and two wire members 37E1, 37E1 'arranged on the back side of the upper supporter.
At the same time.

At the time of transition from palm flexion to dorsiflexion, the two wire members 37E arranged on the back side of the back supporter
1, 37E1 'at the same time, and two wire members 37E arranged on the palm side of the back supporter.
2, 37E2 'at the same time (or 3rd finger and 4th finger)
Loosen the two wires 37E3, 37E3 'for the fingers simultaneously).

At the time of transition from shakuflex to radius flexion, a wire member 37E1 'disposed on the back side of the upper supporter
And the wire members 37E2 and 37E3 on the palm side are simultaneously pulled, and the wire member 37E1 disposed on the back side of the instep supporter and the wire member 37 on the palm side are pulled.
Simultaneously loosen E2 'and 37E3'.

At the time of transition from radius flexion to ulnar flexion, the wire 37E1 disposed on the back side of the upper support and the wire members 37E2 ', 37E3' on the palm side are simultaneously pulled and the rear side of the upper support is simultaneously pulled. And a wire member 37E on the palm side.
2. Simultaneously loosen 37E3.

The driving mechanism for driving the wire of the wrist joint and the mounting position of the driving source (motor, etc.) are the positions corresponding to the starting positions of the ulnar carpal flexors and the radial carpal flexors in the drive base supporter. However, if this requirement is too strict, there is a possibility that the degree of freedom in the arrangement of the drive source may be lost, so that attention must be paid to the arrangement of the drive mechanism and the like on the drive base supporter.

When the biasing force of the spring member is set for the finger supporter 12HA and the back supporter 12HB with the bending position of the finger as an initial state, the extension position is set by pulling the wire member when the supporter is attached. It is necessary to be in a state, at that time, wrist supporter 12HC
It is preferable to provide a mechanism for maintaining the state. That is, in order to facilitate the attachment / detachment of the brace, it is preferable to provide a holding mechanism for temporarily holding / fixing the mating state at the time of attachment / detachment.

FIGS. 60 and 61 show examples of such a mechanism.

A slider mechanism 89 attached to the back of the wrist supporter 12HC has a slide member 90 and a housing portion 91. The slide member 9 is provided at a position facing the slider mechanism 89 in the back supporter 12HB.
A concave portion 92 having a shape corresponding to the shape of the end portion 0 is formed.

Therefore, when mounting the hand supporter 12H, first, as shown in FIG.
By pulling out the 0 and storing it in the recess 92, the wrist is fixed so as not to bend. Thereafter, as shown in FIG. 61, when the support wires are put into the extended position by pulling the group of drive wires of the fingers, and then the hand is attached to the brace, the work becomes easier. When the supporter is used, the slide member 90 is attached to the accommodation portion 91.
If it is returned inside, there is no hindrance to the subsequent operations.

Next, the forearm supporter 12A will be described.

The present supporter has a role of covering the vicinity of the elbow, and serves as the base of the finger supporter 12HA and the drive base supporter 12HD during the pronation / supination operation. This is attached from the back side of the forearm using a planar fastener or the like, and is necessary for the arrangement of the wires related to the pronation / supination operation of the forearm and the attachment of its drive mechanism. In addition, the supporter is arranged within a range of about one-third from the elbow at the time of mounting so as not to interfere with the rotation of the ulna due to the pronation / supination operation. Two side projections are provided on the side of the supporter near the elbow joint so as to project in opposite directions. Wires for elbow joint operation are attached to these, as described later. .

FIG. 62 shows the arrangement of the wires in the pronation state from the back side. The two wire members 93 and 93 ′ have one ends thereof connected to the wrist supporter 12.
The other end is fixed to the HC, and is connected to a wire drive mechanism 94 attached to the forearm supporter 12A. still,
The wire member 93 corresponds to the above-described wire member WA, and the wire member 93 ′ corresponds to the above-described wire member WB, and their roles are as described above.

FIG. 63 shows the operation of the forearm, and FIG.
Shows a pronation state, (B) shows a standing state, and (C) shows a supination state.

With respect to the pair of wire members 93 and 93 ', when one of the wire members is tensioned and pulled, the other wire member is relaxed to perform the pronation / supination operation of the joint. It is as follows.

At the time of transition from pronation to supination, the wire member 93 is pulled and the wire member 93 'is loosened.

At the time of transition from supination to pronation, the wire member 93 'is pulled in the reverse
Loosen.

A C-shaped guide member 95 as shown in FIG. 64 is attached to the side surface of the forearm supporter 12A, and a drive base supporter 12HD is provided in a gap formed between the member 95 and the forearm supporter 12A. The pronation / supination operation may be confirmed in a state where the rear end is sandwiched. That is, in this case, the drive base supporter 12HD is guided by the curved surface (inner surface) of the guide member 95 during the pronation / supination operation and rotates around the longitudinal axis of the forearm.

FIG. 65 shows an example of the structure of the supporter 12B for connecting elbows.

The supporter is a forearm supporter 12A.
In order to enable the attachment and detachment of a wire provided between the upper arm supporter 12U and the upper arm supporter 12U,
It is provided for coupling to 2A at the elbow. That is, as shown in FIG. 7A, in the mounted state, the elbow-joining supporter 12B has a substantially crescent shape, and covers the part of the forearm supporter 12A closer to the elbow. As for the method of attachment to the forearm supporter 12A, as shown in FIG. 13B, the elbow supporters 12B and the forearm supporters 12A are provided with point fasteners 96, 96, such as metal buttons. Attached so that it can be easily attached and detached. In addition, a slit 9 along the arm length direction is provided at the center of the supporter 12B for connecting the elbow so as not to take time to mount the upper arm supporter 12U.
7 (indicated by a dashed line in the figure) is preferably formed in advance.

FIG. 66 schematically shows an example of the structure of the upper arm supporter 12U, which has a shape in which a portion to be covered for the biceps and triceps regions is cut. This is because the change in the shape of the biceps and triceps during the flexion and extension of the forearm is noticeable,
It is necessary to avoid interference of these muscles with supporters as much as possible. The median nerve is located at the center of the biceps of the biceps. Excessive pressure on the nerve is paralyzed in the back sensory region of the first to fourth fingers and the movement region of the first and second fingers. Therefore, a configuration in which the biceps is not covered from the skin surface is also suitable for the purpose of preventing compression on the median nerve.

A ring-shaped portion (a lower supporting portion in a basic standing position) wound around a position closer to the forearm of the upper arm 1
2Ur1 and a ring-shaped portion (upper support in a basic standing posture) 12Ur2 wound around a position near the shoulder joint
12Uc, 12Uc extending in the longitudinal direction on the side of the upper arm, this part is curved during the bending operation of the elbow joint, ring-shaped parts 12Ur1, 12Ur2 corresponding to the shape change of the biceps biceps. Is displaced in the contraction direction of the biceps brachii.

The path of the biceps of the biceps is the ring-shaped portion 1
In the place where 2Ur1 and 12Ur2 intersect, the part concerned is in a state of slightly floating from the skin surface. This is to avoid compression due to muscle deformation occurring during the bending operation.

Note that these ring-shaped portions are simply wound around the upper arm using a planar fastener, so that attachment and detachment are easy.

In order to realize the flexion / extension operation at the elbow joint by driving a wire, it is necessary to arrange the wires imitating the biceps brachii and the triceps brachii.

That is, as shown in the figure, a total of four wire members are provided, two each starting from the protrusions 98, 98 projecting from the side surface of the forearm supporter 12A. After the members 99a, 99a are routed from the upper part of the base of the protrusions 98, 98 to the side of the upper arm, respectively, the wire member drive mechanisms 100a attached to the connecting parts 12Uc, 12Uc, respectively.
100a. Also, the wire member 99
After b and 99b are respectively routed from the lower part of the tip of the projections 98 and 98 to the side surface of the upper arm, they are also connected to the wire driving mechanisms 100b and 100b respectively attached to the connecting parts 12Uc and 12Uc. I have. still,
When the wire drive mechanism is not attached to the connecting portions 12Uc, 12Uc, various embodiments can be mentioned, for example, attachment to a supporter attached to a shoulder joint, a thoracic spine, or the like.

In the operation of the elbow joint, when one of the pair of wire members is tensioned and pulled, the other wire member is relaxed to control the bending or extension operation of the joint. The movement of the members is as follows.

At the time of transition from extension to bending, the wire members 99a, 99a are pulled
b, 99b are loosened.

At the time of transition from bending to extension, the wire members 99b, 99b are pulled and the wire members 99a, 99a are loosened.

When the supporters and the arrangement of the wires have been clarified, the control elements necessary for the presentation of force sense are returned to FIG. 19 as follows.

A) Element for detection • Sensor for detecting wire length or position • Sensor for detecting wire tension B) Element for drive control • Wire drive source and drive mechanism • Safety such as electromagnetic clutch・ Mechanism for maintaining the state of the pair

First, of the detection means shown in A), for the sensor for detecting the wire length or position, for example,
When the drive mechanism shown in FIG. 52 is adopted, a position detection sensor provided in a slide-type drive unit 81 that pulls a wire is exemplified.

As a sensor for detecting the tension of the wire, for example, a tension sensor 80 in the drive mechanism shown in FIG.
Can be detected.

The detection information obtained by these sensors is sent to the central control unit 9 via the input / output interface unit 10.

Next, with respect to the drive source and drive mechanism of the wire in B), drive control of each wire is performed by a control signal sent from the central control unit 9 via the input / output interface unit 10. For example, in the configuration shown in FIGS. 51 and 52, drive control of the motor and the slide drive unit is performed.

The protection mechanism using the electromagnetic clutch separates the wire and the drive mechanism (or drive source) before an excessive force is applied to the wire. For example, as shown in FIGS. There is a configuration in which a magnet and an electromagnet are combined.

A mechanism for holding the mating state is required when attaching or detaching the brace. For example, as shown in FIGS. 60 and 61, a pair mechanism is temporarily held by using a slider mechanism 89. Note that there is a method of manually operating this mechanism.
It is preferable that the drive source of the slider mechanism 89 is controlled by a control signal sent via the controller.

When presenting a tactile sensation or a warm sensation (or a thermal sensation) in addition to a force sensation, a tactile sensation presentation mechanism and a heat / heat absorbing device are attached to the finger supporter 12HA.

FIG. 67 shows a configuration example for presenting a click feeling to a fingertip.

At the tip of the covering portion 12HA1 covering the back of the fingertip, a tactile presentation plate 102 is provided via a rotating shaft 101.
Are driven around the rotation shaft 101.
That is, as shown by an arrow R in FIG.
Is brought into contact with the fingertip so as to wrap around the palm surface of the fingertip, and the pressing force (strength related to tactile sensation) at that time or the presence or absence of the contact is defined by the driving means 103. The driving means 103 is configured such that the tactile presentation plate 102 is rotated by a power transmission mechanism such as a motor and a reduction gear attached to the back surface of the covering portion, an electromagnetic plunger, or the like, or the tactile presentation plate 102 is A biasing means for biasing the finger side is attached to the rotation shaft, and a force transmitting member such as a wire fixed to the tactile presentation plate 102 after passing through the back surface of the covering portion is moved to a remote position (drive base supporter). There is a configuration in which the mechanism is driven by a mechanism provided in (above), but the point is that any mechanism can be used as long as it is a mechanism for bringing the tactile presentation plate into contact with the palm side of the fingertip. Further, in order to detect the degree of the pressing force applied to the fingertip by the tactile presentation board, various sensors such as a sensor for detecting the state of the tactile presentation board or a pressure sensor at a place where the tactile presentation board is in contact with the finger are used. Method.

To present a sense of warmth to the fingertip, for example, a heat / heat absorbing device 104 using a Peltier element or the like is used.
The tactile presentation plate 102 is disposed at a place where the finger comes into contact with the finger, and a temperature detection sensor for detecting the temperature at the place is provided. What is necessary is just to perform feedback control about the apparatus 104.

FIG. 68 shows an example of a configuration for presenting the feel of a material to a fingertip.

In the present example, a driving roller 106 is provided at a position near the rotation axis 101 of the tactile presentation plate 105, and a driven roller 107 is provided at an end remote from the rotation axis 101 (the driving roller and the driving roller 107). An endless belt-like member 108 (for example, a cloth formed of silk, hemp, cotton, wool, chemical fiber, or the like) is stretched over both rollers. That is, the belt-shaped member 108 is transported and driven in the direction indicated by the arrow K in FIG. At that time, a sensor or the like for detecting the rotation of the driving roller 106 or the driven roller 107 is attached,
It is preferable to monitor the feeding speed of the band member 108 so as not to be too fast (to prevent excessive frictional heat between the band member and the finger from being generated).

In driving the belt-like member 108,
The frictional heat generating member 109 (made of a material having a high friction coefficient such as a rubber material) for generating frictional heat by contacting the belt-shaped member 108 is, for example, rotated of the tactile sense presentation plate 105. It is attached to the shaft 101 and comes into contact with the belt member 108 near the drive roller 106.
That is, the belt-shaped member 108 by the rollers 106 and 107
And a frictional heat generating member 109 constitute a heat generating device. While the driving roller 106 is rotating, the frictional heat generating member 109 is
Frictional heat is always generated when the contact is always in contact with the belt member. Therefore, it is necessary to provide a mechanism for releasing the contact of the frictional heat generating member 109 with the belt-shaped member 108 when the presentation of heat is unnecessary. This mechanism is preferable (this mechanism can also be used when the amount of heat generation is controlled by adjusting the contact state between the frictional heat generating member 109 and the belt-shaped member 108).

However, in the above configuration, the tactile display board 1
By rotating the 05 and bringing the band-shaped member 108 into contact with the palm surface of the finger, it is possible to present the feel of the material to the finger. Of course, in this state, the drive roller 106 is rotated to control the feed of the band-shaped member 108. Is performed, the tactile sensation accompanying the movement of the object can be presented to the fingertip. Further, a sense of warmth can be presented by transmitting the frictional heat generated when the frictional heat generating member 109 is brought into contact with the belt-shaped member 108 from the belt-shaped member 108 to the fingertip.

The control elements necessary for presenting the tactile sensation and the warm sensation described above are summarized as follows.

C) Elements for detection ・ Sensors necessary for tactile presentation (pressure sensor, sensor for detecting rotation of roller, etc.) ・ Sensors for heat and temperature detection necessary for warmth presentation D) Drive control Elements-Mechanism for presenting click feeling to fingertips-Mechanism for presenting material feeling to fingertips-Heat generation / heat absorption device

First, as for the sensor necessary for the tactile presentation in the above C), for example, the tactile presentation plate 102 is controlled so as to be brought into contact with the fingertip with a predetermined pressing force, or Used to control the feed rate. And the sensor for heat and temperature detection,
It is necessary not only to use it for temperature control when giving a warm sensation, but also to prevent excessive presentation of heat. The detection signals obtained by these sensors are all input / output interface units 10 (see FIG. 19).
Is sent to the central control unit 9 via

As for the presentation mechanism of the above D), a drive mechanism of the tactile presentation plates 102 and 105 and a feed mechanism of the belt-shaped member 108 are mentioned. As for the heat generation / heat absorption device, as described above, the tactile presentation plates 102 are provided. Heating / cooling element (10
4) and a mechanism for generating frictional heat by contact with the belt-shaped member 108. Control signals for these are transmitted from the central control unit 9 to the respective mechanisms via the input / output interface unit 10. Sent out.

[0258] The information transmission between the brace 8 and the input / output interface unit 10 may be performed by wired communication or wireless communication. From the viewpoint of not restricting the degree of freedom, wireless communication is more preferable (for example, an input / output interface using infrared rays or radio waves conforming to the IEEE 1934 standard).

Next, the configuration of the central control section 9 will be described.

FIG. 69 mainly shows an example of the configuration of an information processing section relating to visual / auditory information in the central control section 9. The video / audio synthesizing section 110 and the general control section 111 are shown.
It has.

The video / audio synthesizing section 110 includes the general control section 1
11 generates a video (stereo video or the like) signal or an audio signal based on shape data such as polygon data or texture data in accordance with the rules specified for the virtual space by 11 and visualizes them with a visual display such as a head-mounted display and an audio device. Or a unit that integrates information such as weight, force, tactile, and thermal sensations included in the texture data and provides the information to a position and force sensation control unit described later. The reason why information such as weight, force, tactile sensation, and temperature sensation is included in the texture data expressing the texture of the material is that the data amount can be reduced.

As described above, in the haptic presentation, it is necessary to distinguish between virtual reality and virtual illusion. Therefore, in this example, the virtual reality database unit 110a and the virtual illusion database unit 110b are provided independently.

The constructed databases constituting the virtual reality database section 110a are as follows (in parentheses, symbols are shown).

A) Environment database (110a_1) b) Human body database (110a_2) c) Clothing database (110a_3) d) Tool database (110a_4).

First, the environment database 110a_1 is
This is a data group that provides an environment in which (a pseudo image of) a subject who experiences the virtual reality world exists in the virtual reality space, and is, for example, image data of an infinite plane or a room. However, an object (virtual object) that the subject can virtually influence by touching or moving, for example,
Data on sliding doors, chairs, windows, weapons, etc. are in the tool database 11
Since it is included in 0a_4, data that cannot be moved, such as walls, ceilings, and scenery, is data in the environment database.

[0266] The human body database 110a_2 stores the subject who experiences the virtual world or a character (virtual person).
This is a database including video and audio data.

The clothing database 110a_3 is a database for configuring the clothing of the subject and the clothing of the characters, and includes, for example, configuration data such as armor and dress.

The tool database 110a_4 is a database for configuring an object (virtual object) that can be moved by a subject by exerting a mechanical action.
Configuration data such as cups and chairs are included.

Virtual Illusion Database Unit 110
For b, a database is used to virtually create and configure phenomena that humans cannot actually experience, such as walls that melt and soften when touched, humans that melt when shaking hands, and fire and water It includes all the data for virtually creating a fantasy world, such as a book of armor, a book that breaks when touched and a snowman comes out. Note that this database is also constituted by databases corresponding to the databases a) to d) as in the case of the virtual reality database described above, but the division of each database is as strict as that of the virtual reality database. Is not required. For example, in the case of a virtual reality database, the distinction between the environment database and the tool database is based on whether or not the subject can touch and move, whereas in the case of the virtual illusion database, the subject does not touch Since there can be a virtual object that can be moved even if it is moved, there is no problem if this is included in the tool database, and if the wall changes to clothing, this may be included in the clothing database.

Each of these databases is used for visual presentation based on video information, and is referred to by the polygon (data) generation unit 110c. The polygon generation unit 110c is required to generate various polygon data based on the various databases described above, and the generation units (the environment polygon generation unit 110c_1 for the environment database 110a_1, the human body database 110a) corresponding to each database are required.
_2 for human body polygons, and clothing polygon generator 1 for clothing database 110a_3
10c_3, a tool polygon generator 110c_4) for the tool database 110a_4 is provided.
The human polygon generation unit 110c_2 generates the subject's polygon data based on data from the current motion generation unit described later.

Also, the virtual illusion database 110b is provided with a polygon (data) generator 110d as in the case of the virtual reality database.

The virtual polygon synthesizing section 110e is a section for synthesizing the data generated by the polygon generating sections 110c and 110d and outputting the synthesized data. 1
The information integration unit (110f to 110h) transmitted to the (stereo) video output device 112 of the 1 (head-mounted display or the like) converts gravity, force, tactile, and warmth data from texture data obtained from each polygon generating unit. , And sends the data groups to a position and force sense control unit described later. That is, the information about gravity is extracted by the gravity information integrating unit 110f after being extracted by the gravity information integrating unit 110f.
After being extracted by g, it is sent to a force sense recognition unit described later. After the information on the tactile sense and the warm sense is extracted by the tactile and thermal information integration unit 110h, both are sent to the tactile and thermal recognition unit described later.

The interference comparing section 110i is provided to determine, for example, whether or not interference has occurred between the subject and the virtual object, based on all data obtained by each polygon generating section. When there is interference, that is, when it is determined that there is a possibility that contact with the virtual object or presentation of a sense of force or warmth received from the virtual object is required, an interrupt (INT) shown below is generated.

INT for position or force control (for example, a value "0" indicates "position control" and a value of "1" indicates "force control") INT for tactile control (for example, A value “0” indicates “no control”, and a value “1” indicates “with control”.) INT for warmth control (eg, a value “0” indicates “no control” and a value "1" indicates "with control".)

[0275] The control contents of these will be described later.

The input information to the video / audio synthesizing section 110 is detection information obtained by the magnetic sensor or the gyro sensor, and the detection information of the magnetic sensor (“MGS” in FIG. The gyro sensor (“JY” in FIG.
S ") is sent to the polygon generation unit 110c.

The audio signal processing unit 110j generates audio information based on a database of sound sources in the virtual real world or virtual illusion world, and sends this to the audio output unit 113 of the visual display and audio output device 11. Note that the audio signal processing unit 110j can be shared between virtual reality and virtual illusion.

The general control unit 111 selects whether or not to make the world of virtual reality or virtual illusion appear through the visual display / sound output device 11 or the device for presenting haptics / warning, and the protection mechanism (dangerous). It is the central part in making recovery decisions after the activation of the evasion mechanism) and governing closed rules in the world of virtual reality and virtual illusion.
The general control unit 111 also controls a pair holding mechanism 114 used to temporarily hold a paired state in order to improve the detachability of the brace (the slider mechanism 89 in FIGS. 60 and 61). In, the slide member 90 is moved when wearing or taking off the brace.)

Next, control of the position, the force sense, the touch sense, and the warm sense will be described.

FIG. 70 shows an example of the configuration of the position and force sensation control unit 115 and the tactile and warm sensation control unit 116 constituting the central control unit 9.

The position and force sensation control unit 115 has the following components (the numbers in parentheses indicate the symbols).

Position Recognition Unit (115a) Based on the data and the like acquired by the initial calibration (to be described later), a process for calculating the joint angle from each wire length is performed. For this purpose, detection information is received from a sensor ("WLS" in the figure) that detects the wire length, and the recognition result is sent to the subsequent real gravity recognition unit.

Real gravity recognition unit (115b) Data indicating the total weight of the brace is added to the subject's weight data obtained from the gravity information integration unit 110f, and the information obtained by the position recognition unit 115a is added. Add actual weight data. That is, this determines the weight of the subject wearing the brace.

Virtual gravity recognition unit (115c) Weight is added to the virtual object from the gravity information integration unit 110f, and virtual weight data is added to the data obtained by the real gravity recognition unit 115b. For example, when the subject holds a book which is a virtual object, it is necessary to take into account the virtual weight (weight assumed for the virtual object) given to the book.

Force sense recognition unit (115d) Acquires information from the tension sensor ("TTS" in the figure), and senses the force sense of the virtual object from the force sense information integration unit 110g and the virtual gravity recognition unit 115c. Based on the virtual weight of the subject, it is calculated how much force sense the subject receives. For example, assuming a situation where the subject holds a virtual object in his hand, the force that his or her hand or arm will receive when the virtual object is a real object is recognized by calculation. However, an interruption (INT) to the position or force sense control from the interference comparison unit 110i occurs, and
If the value at that time is "0", no operation is performed.

Current motion generation unit (115e) This unit constitutes a motion generation unit together with a predicted motion generation unit described later. Based on the data from the actual gravity recognition unit 115b and the wire frame data in the human body database 110a_2, the subject Is obtained as wire frame data and sent to the human body polygon generation unit 110c_2 and the danger avoidance control unit described later. However, when an interruption (INT) to the position or force sense control from the interference comparison unit 110i occurs and the value at that time is “1”, the operation is not performed.

Predictive motion generator (115f) Data from haptic recognition and human body database 110a_
A motion predicted for the subject is obtained as wire frame data based on the wire frame data of No. 2 and sent to a wire length control unit described later.
However, when the interruption (INT) to the position or force sense control from the interference comparison unit 110i occurs and the value at that time is “0”, the operation is not performed.

Danger avoidance control unit (115g) Based on the wire frame obtained by the current motion generation unit 115e, when a human body tries to take a dangerous position, or a position that deviates from the allowable angle of the joint is predicted. In this case, the wire and its driving source are separated and prevented. For example, the electromagnetic clutch mechanism 117 using a permanent magnet and an electromagnet separates the two, thereby prohibiting the driving of the wire.

FIG. 71 is a flow chart showing an example of the control operation when the electromagnetic clutch mechanism is used.

First, after obtaining a detection signal from the contact detection sensor in step S1, it is determined in next step S2 whether or not the electromagnetic clutch mechanism is in a connected state. For example, in the example shown in FIG. 52, it is determined whether or not the permanent magnet 77 fixed to the wire 73 and the electromagnet 79 fixed to the wire portion 81a of the slide drive unit 81 are connected. Judgment is made based on the detection signals from the sensors 78 and 78 ', and if the wire 73 can be pulled by the slide drive unit 81 by the combination of the two, the process proceeds to step S4. Proceeding to S3, the slide driving unit 81 is controlled to move the wire portion 81a so as to approach the wire 73, and then the process returns to step S1.

At step S4, a tension sensor (TT)
After acquiring the detection signal from S), in the next step S5, it is asked whether or not the pulling force of the wire is in a dangerous state.
If it is within the safe area, the process returns to step S4, but if not, the process proceeds to next step S6, where the electromagnetic clutch mechanism is disengaged (for example, the permanent magnet and the electromagnet are separated).

When a mechanical interruption occurs in step S7, for example, when the traction force on the wire suddenly increases and a danger condition occurs and urgent measures need to be taken, the next step S8 When the pulling force of the wire exceeds the attraction force of the permanent magnet, the process proceeds to step S6. If the pulling force of the wire is equal to or less than the attraction force of the permanent magnet, the process proceeds to step S4.

A wire length control unit (115b) controls the length of each wire based on data from the predicted motion generation unit 115f, and sends a control signal to the wire drive unit 118. When an interruption (INT) to the position or force sense control from the interference comparison unit 110i occurs and the value at that time is “0”, the current motion generation unit 115e is controlled so that the wire tension is constant. The wire length is controlled so as to shift to the posture from the predicted motion generation unit 115f based on the posture based on. When the value is “1”, the wire length is controlled so as to present only the force sense obtained from the predicted motion generation unit 115f while maintaining the posture by the current motion generation unit 115e.

[0294] The tactile and thermal sensation control unit 116 has the following components (the symbols are shown in parentheses).

Heat Recognition Unit (116a) Obtains and monitors the temperature information of the fingertip of the subject by a sensor for detecting heat or temperature ("THS" in the figure). When the information deviates from the allowable range, for example, when the temperature exceeds the upper limit temperature and reaches a dangerous temperature, the power supply to the heat / heat absorbing device 119 is stopped or
Alternatively, a signal for inverting the control (transition from heat generation to heat absorption or vice versa) is generated and sent to a heat control unit described later.

Tactile Recognition Unit (116b) A pressure sensor (“PSS” in the figure) detects the pressure state of the fingertip or a roller (106 in FIG. 68).
See 107. ) Is detected by a rotation detection sensor (“R” in the figure).
LS ”). When it is determined that the detected pressure has deviated from the allowable range,
Alternatively, when it is determined that the number of rotations of the roller is too fast, the fact is transmitted to a tactile control section described later to prevent an excessive pressure or the like from being applied to the finger.

Heat pattern generation unit (116c) A pattern generation unit is configured together with a tactile pattern generation unit described later, and information from the motion generation unit, the tactile and heat information integration unit 110h, and the heat recognition unit 116a. A presentation pattern of a temperature sensation to be presented to the fingertip is generated based on the information. Note that the operation is performed only when the interruption (INT) to the position and the force sense described above is generated, the value at that time is set to “1”, and the value at the time of the occurrence of the interrupt to the temperature sense control is “1”.

Tactile pattern generation unit (116d) The motion generation unit, tactile and thermal information integration unit 110h
And a tactile presentation pattern to be presented to the fingertip based on the information from the tactile recognition unit 116b. In addition, the interruption (IN
T) occurs, the operation is performed only when the value at that time is set to “1” and the value at the time of occurrence of the interrupt for the tactile control is “1”.

Heat control section (116e) This section receives a command from the heat pattern generating section 116c and sends a control signal to a heat / heat absorbing device (Peltier device, etc.) 119.

Tactile Control Unit (116f) This is a unit that receives a command from the tactile pattern generation unit 116d and sends control signals to the drive mechanism 120 and roller drive unit 121 of the tactile presentation board for control.

[0301] For tactile control, the timing of applying finger pressure is set in advance, and when this timing is reached, an input device (keyboard, mouse, jog dial, trackball, etc.) using a virtual image is displayed on a visual display device. Displayed on the upper side, an instruction by command, data input, and the like can be performed by keying and button operation on a virtual input device.

Next, the calibration process performed at the time of initial setting of the brace will be described with reference to FIGS.

FIG. 72 is a flow chart showing an example of a process for acquiring the temporal range of the movable range of the joint (the range in which the joint operates), the wire length, and the maximum value of the position control speed.

First, in step S1, after attaching the brace to the subject, the wire driving unit 118 is controlled so that the tension of each wire is constant, and in the next step S2, the subject (subject) ), Voice information (a visual guide and a voice guide through the voice output device 113 in the voice output device 11) is transmitted to simulate the operation.

Regarding the operation of imitating the subject,
For example, the following examples are given.

[0306] With the hand raised and the fist made,
Elbow extension, pronation, DIP, PIP, MP of second to fifth fingers
Bending, IP, MP bending of the first finger ・ Grip the iron array with your hand and raise it, then supination,
Elbow flexion, flexion of the wrist during flexion of the fingers • Flattened confrontation, MP abduction of the 2nd to 5th fingers, CM flexion of the 1st finger outside, with the hand extended forward and the palm surface flattened Rolling ・ Bending of the wrist when the finger is extended from a state in which the wrist is bent downward ・ Bending of the wrist from a state in which the wrist is bent upward ・ DIP, PIP of the second to fifth fingers in the state of a sword M
P extension and MP adduction ・ Confrontational bending position, CM scale flexion adduction of first finger with thumb attached to base of little finger.

In the next step S 3, the information to be imitated is transmitted to the visual display and audio output device 11 in order to provide the subject with the image to be imitated as video information. Then, the subject imitates the motion so that the video showing the motion of the hand or arm (exemplary motion) projected on this device and the video obtained by photographing the hand or arm of the subject substantially overlap. In addition, in order to combine the image of the exemplary operation and the image of the subject and display the image on the image output device 112 of the visual display and audio output device 11,
For example, a visual display and sound output device 11 such as a head-mounted display is provided with an image pickup means (a solid-state image pickup device such as a CCD type or MOS type area image sensor or the like). After the image data is once taken into the central control unit 9 via the central processing unit 10, the position is corrected in the image coordinate system and the image is synthesized with the image indicating the exemplary operation, and the output signal is sent to the visual display and audio output device 11. good.

In the next step S4, the length of each wire is detected, and it is determined by the position recognition unit 115a whether or not the length variation is within a predetermined reference range. If the fluctuation is equal to or larger than the reference value, the process returns to step S3 to have the operation imitated again. If not, the process proceeds to the next step S5.

In step S5, the time is measured in accordance with a predetermined time interval (sampling cycle) determined in advance, and the displacement amount of each wire length with the lapse of time (for each sampling time based on the wire length at the start of operation). After acquiring data indicating the detected wire length displacement), the process proceeds to step S6.

For example, as shown in the graph of FIG.
The horizontal axis indicates time “t”, and the vertical axis indicates a certain wire length “L”, schematically showing a graph curve gy (for a young person) and a graph curve go (for an elderly person). It is. Note that “t0” in the figure indicates the operation start time,
“ΔTs” indicates a sampling (time) interval.
“LO” is the wire length immediately before the subject's movement, “L”
"1" indicates the wire length at the end of the subject's movement. That is, the displacement amount of the wire length is “ΔL = L−L
0 ”, and the maximum value (joint movable range) is“ ΔLmax
= L1-L0 ".

[0311] As can be seen from the figure, in the case of young people, ΔL rises immediately after the start of operation, and asymptotically approaches L = L1. In the case of elderly people, ΔL slowly increases immediately after the start of operation. And finally L
= L1.

Therefore, a certain time t (= t0 + n · ΔT
s and n are natural numbers. ), The displacement amount ΔL (corresponding to the joint angle, the pronation / supination angle, etc.) can be obtained from the wire length L, and by storing this data together with time information in the storage means, The operation can be acquired as a time change of the wire length (this processing is step S6 in FIG. 72). At that time,
When a human body structural model of a subject (a numerical model showing a mechanical structure related to the human body, for example, see Japanese Patent Application No. 10-266 (Japanese Patent Application Laid-Open No. 11-192214)) can be used. By comparing and contrasting the movable range and operation time of each joint obtained from the model with the above-described detection data, for example, it is determined whether or not an excessive force is applied to a subject's muscle or the like. be able to.

In the following step S7 (see FIG. 72), it is determined whether or not the data acquisition in step S6 has been completed for all the operations.
If not, the process returns to step S2.

In step S8, the maximum speed (Vma) in the position control of each wire (or the control of the wire length) is performed.
x) is calculated.

That is, when the gradient (or gradient) in the graph curve shown in FIG. 73 is calculated, the maximum value in the gradient is Vmax, and the wire is pulled at a speed exceeding Vmax in controlling the wire length. Is necessary to ban. Note that “Vmax = max (ΔLi /
ΔTs). Here, “ΔLi” is the wire length L (i) at time t = t0 + i · ΔTs and the time t = t0 + (i + 1) · ΔTs when the integer variable is “i”.
, The difference from the wire length L (i + 1), “L (i + 1) −
L (i) ", and max (X) is a function indicating the maximum value of the variable X in the domain.

As described above, the t (time) -L (wire length or position displacement) characteristic indicating the temporal change of the wire length due to the change in the movement of the object is obtained, and the gradient in the change is calculated. The maximum value of the control speed allowed for the drive control of the member or the upper limit value in consideration of the safety factor can be obtained.

FIG. 74 is a flowchart showing a processing example for acquiring the maximum value of the haptic presentation amount and the maximum value of the haptic presentation speed.

First, in step S1, after the brace is mounted, the wire length is maintained at a constant value so that the length of the wire member is constant under the control of the wire driving unit 118. For the tactile presentation, the tactile presentation plate (see FIGS. 67 and 68) is brought into contact with a finger,
After maintaining this state, the process proceeds to the next step S2.

Steps S2 and S3 are the same as steps S2 and S3 in FIG. 72. The operation is explained to the subject by voice guidance, and the operation displayed on the visual display and voice output device 11 is imitated. I will have it.

In the following step S4, the tension of each wire is detected by the tension sensor, and the force sense recognizing unit 115d determines whether or not the rate of change is equal to or less than a predetermined reference value.
If so, the process proceeds to the next step S5, but if not, the process returns to step S3 to have the operation executed again.

In step S5, the time is measured according to a predetermined time interval (sampling cycle) determined in advance, and the tension of each wire changes with time (detected at each sampling time based on the tension value at the start of operation). After obtaining data indicating the change in the wire tension) and detecting the pressure value applied to the finger at each time by the pressure sensor, the process proceeds to step S6. That is, in a graph in which the horizontal axis is the time axis and the vertical axis is the wire tension or the pressure on the finger, detection data at each sampling time is obtained in the same procedure as described with reference to FIG. Along with the change in wire tension based on the motion of the subject (indicating the degree of force sense given to the subject in response to the motion of the hand or arm) and the change in pressure on the finger ( Indicating the degree of tactile sensation given to the subject in response to the movement of the finger.).

At step S7, it is determined whether or not data acquisition for all operations has been completed. At the end, the process proceeds to step S8, but when not completed, the process returns to step S2.

In step S8, the maximum speed in tension control of each wire and the maximum applied pressure (maximum presentation pressure) in tactile presentation control are calculated. In other words, for the former maximum speed, the t (time) -TS (wire tension) characteristic indicating the temporal change of the wire tension due to the change in the motion of the target is obtained, and the gradient in the change is calculated for the target. It is possible to determine the maximum value of the permissible force sense presentation speed or the upper limit value taking into account the safety factor, and it is necessary to prohibit the force sense corresponding to the tension exceeding this value from being presented to the subject. is there. Further, the latter maximum applied pressure is the maximum value of the detected pressure value, and is necessary to regulate a pressure exceeding this value from being applied to the finger.

Examples of application of the haptic device described above include the following fields.

・ Various simulators using virtual reality and force-tactile presentation device at the time of remote control in the field of tele-reality ・ Game equipment using virtual illusion ・ Devices for driving assistance and power assistance in the medical field ・Manipulators and robot arms that imitate the degrees of freedom of human joints.

In the last example, the above-mentioned brace and wire are attached to a skeletal structure created by copying the joint structure of the human body's hands and arms, and a wire driving mechanism and a driving source are connected to the skeletal structure. Manipulators and hands with a built-in structure can be created. Then, by equipping the subject's hands and arms with exactly the same equipment and wires as those attached to these manipulators, the force and tactile sensation when touching or lifting an object with the manipulator is directly copied to the subject's hands and arms. Will be able to present it.

According to the haptic presentation device according to the present embodiment, the following advantages can be obtained.

Since only joints of the human body are used, there is no need to attach an exoskeleton mechanism having a joint structure or a shaft structure to the human body. Therefore, it is suitable for reducing the weight and thickness of the mechanism, and is easy to mount and move.

The drive control of the wire imitating the muscle arrangement of the human body is realized, and the space can be saved by efficiently arranging the drive unit of the wire in the brace. Further, by combining a wire and its driving mechanism with a mechanism using a spring member, the number of power sources and wire driving mechanisms can be reduced.

Basically, it is only necessary to attach a supporter to the back of the hand, so that there is no hindrance when the temperature and tactile sense presentation mechanism is provided on the palm surface.

Safety measures are taken against compression by supporters and damage by wires.

It is possible to present a tactile sensation when a hard object is touched, such as a touch at the moment of touching a key or a button.

[0333] Feeling of touching the material with the fingertip,
Tactile presentation as if flowing in a direction is possible.

[0334] A sense of warmth can be presented at the fingertip.

The function of motion capture can be realized by using a wire member for presenting force sense as a detecting means for recognizing a motion.

[0336]

As is apparent from the above description, according to the first and second aspects of the present invention, the relative position of the pair of covering members among the covering members mounted on the object is determined. Since information can be obtained and a large-scale mechanical component externally used for the object is not required, it is suitable for reducing the weight of the device, and there is little influence on deterioration of operation, wasting of physical strength, and the like. Further, since the work time required for mounting the covering member on the object is sufficient, the preparation work is not troublesome, and the operation allowable range of the object is not restricted.

According to the third and fourth aspects of the present invention,
The relative positional relationship between the first and second covering members can be easily obtained by optical detection of a light source and a mark attached to the first covering member.

According to the invention of claim 5 or claim 6,
By recognizing a planar figure formed by connecting the positions of four or more light sources and landmarks, it is easy to grasp the positional relationship between them.

According to the seventh to tenth aspects of the present invention, each light source can be easily distinguished by the blinking cycle and blinking pattern of the light source.

According to the eleventh and twelfth aspects of the present invention, the relative positional relationship between the first and second covering members can be easily determined by magnetic detection of a magnetic field generation source attached to the first covering member. Can be obtained.

According to the thirteenth and fourteenth aspects of the present invention, each magnetic detection can be performed by time division processing so that the magnetic detection of a plurality of magnetic field sources does not conflict, so that the occurrence of erroneous detection can be prevented. Can be prevented.

According to the fifteenth and sixteenth aspects of the present invention, since the movement can be recognized by detecting the length displacement of the wire member, for example, a haptic presentation device using the wire member Thus, the wire member for presenting the force sense and the wire member for recognizing the motion can be used in combination.

According to the seventeenth and eighteenth aspects of the present invention, it is possible to recognize the pronation / supination operation of the arm by using a pair of wire parts, so that a simple configuration is sufficient.

According to the nineteenth aspect, the number of wire members attached to the covering member can be reduced by using an elastic member for obtaining an urging force in the direction of the bending or extension position of the finger. Therefore, the mechanism can be simplified.

According to the twentieth and twenty-sixth aspects of the present invention, by using a structure in which a wire member is passed through a flexible tubular member, it is possible to prevent damage to an object at the time of driving the wire. In addition, the strength of the wire member can be increased.

According to the twenty-first and thirty-third aspects of the present invention, a tactile sensation can be presented only by controlling the driving of the wire member without mounting a heavy mechanical component on the object.

According to the twenty-second aspect of the present invention, the driving means controls the tension of one wire member and the relaxed state of the other wire member, so that the force sense relating to the pronation / supination operation can be easily obtained. Can be presented.

According to the twenty-third aspect of the present invention, the force sense relating to the bending / extending operation of the hand or finger can be presented by pulling the wire member against the urging force of the elastic member by the driving means.

According to the twenty-fourth aspect of the present invention, by using a spiral spring as an elastic member and connecting the covering member on the side surface thereof, an operation caused by an instantaneous center movement of the joint, a displacement of the covering member, or the like. The discomfort at the time can be reduced.

According to the twenty-fifth aspect, by using a coil spring as the elastic member and attaching it to the back surface of the covering member, it is possible to prevent interference of the spring during the bending operation.

According to the twenty-seventh and thirty-fourth aspects, it is possible to take measures to prevent danger so that excessive force is not applied to the object via the wire member.

According to the twenty-eighth aspect, the electromagnetic clutch mechanism can be easily constituted by the permanent magnet or the magnetic material fixed to the wire member and the electromagnet on the driving means side.

According to the twenty-ninth aspect of the present invention, the ability to follow the movement of the finger can be improved by providing a rotation mechanism for inward and outward rotation to each finger.

According to the thirtieth aspect of the present invention, the shape of the covering member is easily deformed with respect to the flat or curved position of the hand,
Followability to the shape of the back of the hand is improved.

According to the thirty-first aspect of the present invention, the opposing movement of the hand portion is facilitated, and the strength can be improved by connecting the covering members of the fingers with V-shaped springs.

According to the thirty-second aspect, the brace can be easily attached and detached, and the wearing time and the like can be shortened.

[0357] According to the thirty-fifth aspect of the present invention, information indicating a temporal change of the wire length during the operation of the object is acquired in a state where the tension of the wire member is kept constant, so that it is possible to cope with the wire length. Since it is possible to obtain the range of the movable range of the joint and the allowable upper limit value of the control speed of the wire drive, the drive control of the wire member can be performed within a range that is not dangerous for the target.

[0358] According to the thirty-sixth aspect, by acquiring information indicating a temporal change of the wire tension during the operation of the object while keeping the length of the wire member constant, the change of the wire tension change is obtained. Since it is possible to obtain the extent of the range and the allowable upper limit of the haptic presentation amount,
Force sensation can be presented within a range that is not dangerous for the subject.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing a skeletal structure of a forearm and an upper arm.

FIG. 2 is a view schematically showing an example of a covering member together with FIG. 3, and this figure shows an attached state of the covering member viewed from the palm surface side when the forearm is supination.

FIG. 3 is a diagram showing an attached state of a covering member viewed from an elbow side during excessive pronation.

FIG. 4 is a diagram for explaining an optical detection method together with FIG. 5, and this diagram is an explanatory diagram in the case of recognizing a pronation / supination operation of a forearm.

FIG. 5 is a graph for explaining a detection method by panning.

FIG. 6 is an explanatory diagram in the case of recognizing a pronation / supination operation of a forearm using a magnetic detection method.

7 is a diagram for explaining a recognition method using a pair of wire members together with FIGS. 8 to 12. FIG. 7 shows an arrangement of one wire member WA in a supination state of a forearm.

FIG. 8 is a diagram showing an arrangement of the other wire member WB in a supination state.

9 is a diagram showing the arrangement of the wire members in the upright position of the forearm together with FIG. 10, and FIG. 9 shows the arrangement of one of the wire members WA.

FIG. 10 is a diagram illustrating an arrangement of the other wire member WB in a standing state.

11 is a diagram showing the arrangement of the wire members in the pronation state of the forearm together with FIG. 12, and FIG. 11 shows the arrangement of one wire member WA.

FIG. 12 is a diagram showing an arrangement of the other wire member WB in a pronation state.

FIG. 13 is a diagram showing an example of arrangement of a drive mechanism of a wire member in an elbow supporter.

FIG. 14 is a diagram illustrating an example in which a wire member is connected to a driving mechanism via a pulley.

FIG. 15 is a diagram showing an example in which a drive mechanism of a wire member is arranged at the bottom of the elbow supporter.

FIG. 16 is a side view schematically showing a streak arrangement in a finger portion.

FIG. 17 is a diagram illustrating an example of a basic configuration of an apparatus.

18 shows an embodiment of the present invention together with FIGS. 19 to 74, and is an explanatory diagram relating to the concept of virtual reality and virtual illusion. FIG.

FIG. 19 is a diagram showing an outline of a device configuration.

FIG. 20 is a view for explaining the wearing of the brace to the subject together with FIG. 21 and FIG. 22. This figure shows the human body of the upper arm supporter with respect to the mounting direction of the finger supporter and the forearm supporter on the human body. An example is shown in which the mounting direction to the camera is opposite.

FIG. 21 is a diagram illustrating an example in which mounting directions of supporters to a human body are unified.

FIG. 22 is a diagram showing a state where each supporter is worn on a human body.

FIG. 23 is a diagram schematically showing the entire hand supporter.

FIG. 24 is a view schematically showing a hand supporter as viewed from the instep side.

FIG. 25 is a view schematically showing a hand supporter as viewed from the side.

FIG. 26 is a diagram showing a shape example of a spiral spring.

FIG. 27 is a diagram showing a spiral spring group having a multiple structure and an example of its use.

FIG. 28 is a side view of the finger portion showing a state in which a spring strength adjusting mechanism is attached to the covering portion.

FIG. 29 is a diagram illustrating a configuration example of a spring strength adjustment mechanism.

FIG. 30 is a view showing another example of a spring strength adjusting mechanism.

FIG. 31 is a diagram showing a configuration example in which an adjustment mechanism is provided at the base of a spiral spring.

FIG. 32 is a diagram schematically illustrating an example of an adjusting mechanism of a covering unit according to the size of a finger.

FIG. 33 is a diagram showing a configuration example using a hinged coil spring on the back surface of a covering portion.

FIG. 34 is a diagram showing the wire arrangement in the hand supporter as viewed from the instep side.

FIG. 35 is a diagram showing the wire arrangement in the hand supporter as viewed from the thumb side.

FIG. 36 is an explanatory diagram illustrating a processing example of a wire end;

FIG. 37 is a diagram showing an arrangement of a V-shaped spring provided on a covering portion near the MP joint.

FIG. 38 is a diagram illustrating an example of the shape of a V-shaped spring.

FIG. 39 is a diagram showing a configuration example of a back supporter.

FIG. 40 is a diagram showing an example of the shape of a hinge spring.

FIG. 41 is a view showing a main part of a hinge spring support mechanism.

FIG. 42 is a view showing another example of the back supporter.

FIG. 43 is a diagram illustrating an example of an operation mechanism for adduction / abduction.

FIG. 44 is a diagram showing an example in which a magnet is used as an operation mechanism for adduction and abduction.

FIG. 45 is a diagram showing another example of an operation mechanism for adduction and abduction.

FIG. 46 is a diagram showing a main part of a connection structure in which three spiral springs are juxtaposed.

FIG. 47 is a diagram showing a configuration example of a slide reaction force adjusting mechanism.

48 is a diagram for explaining the opposing mechanism in the CM joint of the thumb together with FIG. 49; FIG. 48 is a diagram viewed from the instep side;

FIG. 49 is a diagram viewed from a direction orthogonal to the operation axis of the thumb.

FIG. 50 is an explanatory diagram of attaching a wrist supporter.

FIG. 51 is a diagram illustrating an example of a wire driving mechanism.

FIG. 52 is a diagram showing another example of the wire drive mechanism.

FIG. 53 is a diagram illustrating an example of an electromagnetic clutch mechanism.

54 is a view showing the hand supporter together with FIG. 55, and this figure is a view as seen from the instep side.

FIG. 55 is a diagram showing only the wire members extracted and their arrangement.

FIG. 56 is a diagram illustrating an example of supporting a wire in a finger supporter.

FIG. 57 shows an initial state (abduction / flat position) of the finger portion,
It is the figure which showed the state of the adduction and bending position, respectively.

FIG. 58 is a view showing the arrangement of wire members in the back supporter.

FIG. 59 is a diagram for explaining the arrangement of the wire members related to the operation of the wrist joint.

60 is a diagram showing an example of a wrist supporter state holding mechanism together with FIG. 61, and this figure shows a bending state of a finger joint.

FIG. 61 is a diagram showing an extended state of a finger joint.

FIG. 62 is a view showing the arrangement of the wire members involved in the pronation / supination operation.

FIG. 63 is an explanatory view showing the supination, standing and pronation states.

FIG. 64 is a view showing a configuration example in which a C-shaped guide member is attached to a side surface of a forearm supporter.

FIG. 65 is a diagram showing a configuration example of a supporter for connecting elbows.

FIG. 66 is a diagram illustrating a configuration example of a forearm supporter and an upper arm supporter.

FIG. 67 is a diagram illustrating an example of a tactile sense presentation mechanism.

FIG. 68 is a diagram showing another example of the tactile sense presentation mechanism.

FIG. 69 is a diagram illustrating a configuration example of an information processing portion relating to visual / auditory information.

FIG. 70 is a diagram illustrating a configuration example of a position and force sense control unit and a tactile sense and warm sense control unit.

FIG. 71 is a flowchart illustrating an example of a control operation using an electromagnetic clutch mechanism.

FIG. 72 is a flowchart illustrating an example of a process for acquiring a temporal change in a movable range of a joint and a wire length, and a maximum value of a position control speed.

FIG. 73 is a graph showing a temporal change of a wire length.

FIG. 74 is a flowchart illustrating an example of a process for acquiring the maximum value of the haptic presentation amount and the maximum value of the haptic presentation speed.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Motion recognition device (or force-tactile presentation device), 2 ... Coating member, 3 ... Wire member, 4 ... Driving means, 8, 12 ... Equipment, 13 ... Spiral spring, 36 ... Coil spring, 40 ... V-shaped spring, 41: hinge member, 42: support mechanism, 47: rotating mechanism

Claims (36)

[Claims] 1. A motion recognition device for recognizing a motion of a target and outputting data corresponding to the motion, wherein a pair or a plurality of pairs of coverings are respectively mounted near joints constituting a skeleton structure of the target. A member, and a position detecting means attached to each of the paired covering members or to cover both covering members to detect a relative positional relationship between the covering members. However, based on the position of a certain covering member, relative position information relating to the posture of another covering member forming a pair with the covering member is output. 2. A motion recognition method for recognizing a motion of a target and acquiring data corresponding to the motion, comprising: attaching a pair or a plurality of pairs of covering members to joints constituting a skeleton structure of the target. Based on the position of the covering member, relative position information relating to the posture of the other covering member forming a pair with respect to the covering member is detected, and the entire operation of the target or the target portion is recognized by integrating the relative position information. Characterized motion recognition method. 3. The motion recognition device according to claim 1, wherein a plurality of light sources or marks attached to the first covering member among the pair of covering members and light from the light source or the mark are detected. An operation recognizing device characterized in that the position detecting means is constituted by light detecting means attached to the second covering member. 4. The motion recognition method according to claim 2, wherein a plurality of light sources or marks are provided on the first covering member of the pair of covering members, and light emitted or reflected by these is covered by the second covering member.
And detecting relative position information relating to the attitude of the first covering member with respect to the second covering member by detecting the light with light detecting means attached to the covering member. 5. The motion recognition device according to claim 3, wherein a figure formed by connecting the four points by detecting the positions of four or more light sources or landmarks attached to the first covering member. An operation recognition device, wherein imaging means for recognizing a plane is provided on the second covering member. 6. The motion recognition method according to claim 4, wherein the position of four or more light sources or markers attached to the first covering member is detected, and a plane including a graphic formed by connecting the four points is detected. A motion recognition method characterized by recognizing a motion. 7. The motion recognition apparatus according to claim 3, wherein the light sources having different blinking periods or blinking patterns are the first light sources.
A motion recognition device, wherein the motion recognition device is attached to the covering member. 8. The motion recognition method according to claim 4, wherein the plurality of light sources are set so as to emit light at different blinking periods or blinking patterns to distinguish each light source. Method. 9. The motion recognition device according to claim 5, wherein the light sources having different blinking periods or blinking patterns are the first light sources.
A motion recognition device, wherein the motion recognition device is attached to the covering member. 10. The motion recognition method according to claim 6, wherein the plurality of light sources are set so as to emit light at different blinking periods or blinking patterns to distinguish each light source. Method. 11. The motion recognition apparatus according to claim 1, wherein a magnetic field generation source attached to the first coating member among the pair of coating members and a magnetic field generated by the magnetic field generation source are detected. 2. A motion recognition device, wherein the position detecting means is constituted by the magnetic detecting means attached to the covering member of No. 2. 12. The method according to claim 2, wherein a magnetic field generation source is attached to the first covering member of the pair of covering members, and the magnetic field generated by these is attached to the second covering member. A motion recognition method, wherein relative position information relating to the attitude of the first covering member with respect to the second covering member is detected by detecting with a detecting means. 13. A motion-recognition method according to claim 12, wherein when a plurality of magnetic field sources are detected by one magnetic detection means, time-division processing is performed so that each magnetic detection is not performed simultaneously. A magnetic field detection method for sequentially performing magnetic detection for each magnetic field generation source. 14. The motion recognition method according to claim 12, wherein when the magnetic field is detected for a plurality of sets by combining the magnetic field generation source and the corresponding magnetic detection means, the respective magnetic detections are performed simultaneously. A motion recognition method characterized by sequentially performing magnetic detection on individual magnetic field generation sources by time division processing so as not to be performed. 15. The motion recognition device according to claim 1, wherein the plurality of pairs of wire members spanned over the pair of covering members, and detection means for detecting the length of the wire members. And a position detecting means. 16. The motion recognition method according to claim 2, wherein a plurality of pairs of wire members are laid over the pair of cover members, and the length of the wire members is detected, whereby one of the cover members is detected. A motion recognition method characterized by detecting relative position information relating to the posture of the other covering member with reference to the following. 17. The motion recognition apparatus according to claim 15, wherein the first covering member attached to the vicinity of the elbow of the forearm and the second covering member attached to the ulnar and radial projections on the wrist. A motion recognition device comprising: a pair of wire members spanning from the first covering member to the second covering member. 18. The motion recognition method according to claim 16, wherein the first covering member is mounted near the elbow of the forearm.
A second covering member is attached to the projections of the ulna and radius on the wrist, and a pair of wire members is spanned from the first covering member to the second covering member to detect the lengths of these wires. A motion recognition method characterized by recognizing a state of a pronation or a supination of the forearm by performing the operation. 19. The motion recognition apparatus according to claim 15, wherein a plurality of covering members mounted on the back of a hand or a finger are connected to adjacent members among the covering members, and the bending position of the finger is set. Alternatively, a motion recognition device comprising: an elastic member for urging a force in the direction of the extension position; and a plurality of pairs of wire members respectively attached to the covering member. 20. The motion recognition device according to claim 15, wherein the wire member is formed by passing a wire wire through a flexible tubular member. 21. A force-tactile presentation device for presenting a force-tactile sensation to a subject using a wire member, comprising: a plurality of bracelets to be worn on the subject; A plurality of pairs of wire members bridged over the covering member, a driving unit for driving the wire members, a wire length detection unit for detecting a length of the wire members, and a tension of the wire members A force tactile sensation providing device, comprising: a wire tension detecting unit for detecting a force. 22. The force-tactile presentation device according to claim 21, wherein the first covering member is attached to the vicinity of the elbow of the forearm, and the second covering member is attached to the ulna and radius projections of the wrist. A pair of wire members are bridged between the first covering member and the second covering member, and one of the wire members is pulled by the driving means and the other wire is loosened to forearm. A force tactile presentation device characterized by presenting a pronation or supination operation of a subject. 23. The force-tactile presentation device according to claim 21, wherein a plurality of covering members attached to the back of a hand or a finger are connected to adjacent members among the covering members, and the finger is bent. And a plurality of pairs of wire members respectively attached to the covering member, and when the finger is bent or extended, the driving means includes a plurality of pairs. A force-tactile presentation device characterized in that a wire member is pulled against a biasing force of the elastic member. 24. The force-tactile presentation device according to claim 23, wherein the elastic member is formed using a spiral spring, and adjacent covering members are connected on their side surfaces by a pair of spiral springs. Force tactile presentation device. 25. The force-tactile sensation display device according to claim 23, wherein the elastic member is formed using a coil spring, and adjacent covering members are connected to each other on a back surface thereof by a coil spring. Presentation device. 26. The force-tactile presentation device according to claim 21, wherein the wire member is formed by passing a wire material through a flexible tubular member. 27. The force-tactile presentation device according to claim 21, wherein an end of the wire member is coupled to a driving unit via an electromagnetic clutch mechanism, and the wire is connected when a tension of the wire exceeds a threshold value. A force / tactile sense presentation device wherein the connection between the member and the driving means is released. 28. The haptic presentation device according to claim 27, wherein: a permanent magnet or a magnetic material fixed to the wire member; and an electromagnet provided at a portion of the driving unit connected to the wire member. A force-tactile presentation device characterized by comprising an electromagnetic clutch mechanism. 29. The force-tactile presentation device according to claim 21, wherein a rotation mechanism for adduction and abduction is provided for each finger on the covering member attached to the back of the back of the hand. A force-tactile presentation device, wherein a pair of wire members provided for a finger covering member are individually driven to control the adduction and abduction operations. 30. The haptic presentation device according to claim 29, wherein the covering member attached to the back of the back of the hand comprises a plurality of components, and each of the components is connected by a hinge member. A haptic presentation device characterized in that a slide-type support mechanism for freely changing the interval between the provided members is provided for the hinge member. 31. The force-tactile presentation device according to claim 21, wherein a coil portion and two springs protruding from the coil portion are provided between the covering members attached to the bases of the respective fingers. A force-tactile sense presentation device, wherein a V-shaped spring constituted by a hook portion is arranged and each spring hook portion is fixed to an adjacent covering member. 32. The haptic presentation device according to claim 21, further comprising a holding mechanism for temporarily holding a paired state when the brace is attached or detached. 33. The control method for a haptic presentation device according to claim 21, wherein when one of the pair of wire members is tensioned and pulled, the other wire member is loosened so that the joint is loosened. A method for controlling a force / tactile presentation device, comprising controlling a bending / extending operation or a pronation / supination operation. 34. The control method for a haptic presentation device according to claim 33, wherein when the tension applied to the wire member exceeds a threshold value, the connection between the wire member and the driving means thereof is released, so that the object can be controlled. A control method for a force-tactile presentation device, characterized in that control is performed so that a large force as described above is not applied. 35. The method for controlling a haptic presentation device according to claim 33, wherein after the brace is attached to the object, the tension applied to the wire member is controlled to be constant, and then the movement of the object is changed. T indicating the temporal change of the wire length
The maximum value of the control speed allowed for the drive control of the wire member by calculating the (time) -L (wire length or position displacement) characteristic and calculating the gradient in the change or the upper limit in consideration of the safety factor. A method for controlling a haptic presentation device, characterized by obtaining a value. 36. The control method for a haptic presentation device according to claim 33, wherein after the brace is mounted on the object, the length of the wire member is controlled to be constant, and then the movement of the object is changed. The t (time) -TS (wire tension) characteristic indicating the temporal change of the wire tension is obtained, and the gradient of the change is calculated to calculate the maximum value of the haptic presentation speed allowed for the object or the safety factor. A control method for a force-tactile presentation device, wherein an upper limit value is calculated in consideration of the following.