JP2013138848A - Power-assisting robotic device and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a power-assisting robotic device capable of assisting with a small number of driving sources in lifting a heavy object and walking, and a method thereof.SOLUTION: Two power-assisting electric motors 1 are respectively positioned adjacent to both sides in the lateral direction of the lumbar region of a wearer, the motors generating drive torques for assisting movements of the upper body and the femur regions. Each lower limb-assisting arm is fixed to a rotary shaft of the power-assisting electric motor 1 at one end, while being attached to a side part of the femur region at the other end. Upper body-assisting arms, which are attached to the chest region of the wearer, and a main frame, which supports the two power-assisting electric motors 1 respectively at both ends thereof while being attached to the lumbar region of the wearer, are connected by means of a passive rotary shaft 12 rotatable around the vertical axis and a passive rotary shaft 13 rotatable around the anteroposterior axis line.

Description

  The present invention relates to a power assist robot apparatus that supports force work performed by a wearer and a control method thereof.

  In Japan's agriculture, the declining birthrate and aging population are progressing. In other words, as the number of agricultural workers nationwide is decreasing, the number of agricultural workers over the age of 60 has increased to 2.2 million. In addition, the need for agricultural work support is increasing as the food self-sufficiency rate is screamed. Under such circumstances, power assist suits, etc. are suitable as agricultural work support equipment that is suitable for narrow Japanese farmland, and also useful for revitalizing mountainous agriculture and regional regeneration, rather than the conventional US-style large-scale agricultural mechanization. A power assist robot device is used.

  There are power assist suits for light work and power assist suits for heavy work. Power assist suits for light work are used for light work support such as pollination of fruits such as peaches, persimmons, tangerines, grapes and cucumbers, upward work such as flowering, fruit picking, bagging and harvesting, and harvesting of strawberries and the like. It is used for work support such as lifting, lifting and transporting lightweight objects of about 10 kg or less, such as middle waist work, and walking and running support on flat ground, sloping ground and stairs.

  Power assist suits for heavy work are used for heavy work support, such as harvesting in the middle posture of large vegetables such as radishes and cabbages, and lifting, loading, unloading and transporting heavy items of about 30 kg such as rice bags and harvest containers. Used for support.

  The power assist suit is used not only for agriculture but also for factories for carrying heavy objects or working in a constant posture for a long time. Further, the power assist suit can be used for nursing care such as transferring a person from a bed to a wheelchair, and can also be used for walking rehabilitation support for rehabilitation.

  There are a passive method and an active method for driving the power assist suit. The passive system includes a spring system and a rubber system. The active method includes an electric motor method, a pneumatic drive method, a hydraulic drive method, and the like. As a pneumatic drive system, there is a system using a pneumatic rubber artificial muscle, a pneumatic cylinder, and a pneumatic rotary actuator (see, for example, Patent Documents 1 and 2).

  The assist control method for controlling the power assist suit includes an operation pattern reproduction method by voice input or switch input, a method for estimating a torque to be generated by a muscle from a surface myoelectric potential signal (see, for example, Patent Document 3), surface An operation pattern reproduction method for reproducing an operation pattern using a myoelectric potential signal as a trigger signal (see, for example, Patent Document 4), and a force acting on a wrist portion and an ankle portion of a wearer wearing a power assist suit is measured using a sensor. Thus, there is a master-slave control method (see, for example, Patent Documents 2, 5, and 6) that causes the power assist suit to follow the movement of the wearer by performing feedback control.

Japanese Patent No. 3771056 JP 2007-97636 A Japanese Patent No. 4200202 Japanese Patent No. 4178185 JP 2007-130234 A JP 2006-75456 A

  The spring-type or rubber-type passive method can power assist only in one direction. The electric motor system with a reduction gear having a high reduction ratio has a safety problem. The pneumatic system becomes heavier when an air compression compressor is installed. The hydraulic system is also heavy. In the operation pattern reproduction method, there is a limit to a pattern that can be reproduced, and there is a risk of discontinuity when the operation is switched. The method for estimating the torque from the surface myoelectric potential requires a prior learning time. The master-slave control causes a delay because feedback is applied after the wearer moves, and the wearer inevitably feels that the wearer is pulling the power assist robot apparatus.

  Further, the above-described conventional technology cannot simultaneously realize power assist for the lumbar spine for preventing back pain and power assist for the hip joint for walking in the work of lifting and transporting heavy objects. Some power assists for assisting hips use pneumatic artificial muscles to assist with certain actions, such as hip bending. Movement in the direction is constrained and cannot be supported in conjunction with walking motion. Further, it is necessary to provide drive sources for power assist for the lumbar spine and for power assist for the hip joint.

  An object of the present invention is to provide a power assist robot apparatus capable of assisting a lifting operation and a walking operation of a heavy object with a small number of driving sources, and a control method thereof.

The present invention is arranged near both sides of the wearer's waist or hip joint in the left-right direction, and assists the movement of the upper body and thigh in a direction following the movement of the upper body and thigh of the wearer. Two rotational drive units that generate drive torque;
An upper body frame that is attached to the chest and waist of the wearer and to which either one of the rotation shaft and the fixed end side of the two rotation drive units is fixed
One end part is fixed to either the rotation shaft of the rotation drive part or the fixed end side, and the other end part includes two thigh frames attached to the side part of the thigh. This is a power assist robot device.

In the present invention, the body frame is
A chest frame to be worn on the wearer's chest;
A waist frame that holds the two rotational drive parts at both ends, extends between the two rotational drive parts along the back of the waist of the wearer, and is attached to the waist of the wearer;
And an upper body connecting portion that rotatably connects the chest frame and the waist frame about the front and rear axis and the vertical axis.

In the present invention, the rotation drive unit includes an inner ring part fixed to a rotation shaft of the rotation drive part, and an outer ring part provided to be rotatable about the axis of the rotation shaft with respect to the inner ring part. Including bearings,
One end of the thigh frame is fixed to the inner ring part,
The waist frame includes a sub-frame that is attached in close contact with a waist of a wearer and is fixed to the outer ring portion.

In the present invention, the chest frame is
A front chest frame extending in the left-right axis direction in front of the wearer's chest;
A rear chest frame extending in the left-right axis direction on the back of the waist of the wearer and connected to the waist frame by an upper body connecting portion;
A right chest frame that displaceably connects the right end of the front chest frame and the right end of the rear chest frame;
A left chest frame that displaceably connects the left end of the front chest frame and the left end of the rear chest frame;
And a cushion portion that is connected to the chest front frame by a chest connection portion that is rotatably connected around the left and right axis of the chest front frame, and is attached in close contact with the chest of the wearer.

In the present invention, the chest frame is
A front chest frame extending in the left-right axis direction in front of the wearer's chest;
A rear chest frame extending in the left-right axis direction on the back of the waist of the wearer and connected to the waist frame by an upper body connecting portion;
And an adjustment mechanism for adjusting a distance between the front chest frame and the rear chest frame.

In the present invention, the chest frame is
It includes a connector for connecting / separating a chest side portion including a front chest frame and a waist side portion including a rear chest frame.

Further, in the present invention, the waist frame includes a waist adjustment mechanism that adjusts a distance between the two rotation driving parts,
The thigh frame includes a thigh adjustment mechanism that adjusts the distance between one end and the other end of the thigh frame.

  In the invention, it is preferable that the thigh frame includes a thigh coupling portion that couples the other end of the thigh frame and the thigh so as to be rotatable about a left-right axis.

The present invention also includes a first angle detection unit that detects a rotation angle around the left and right axis of the wearer's upper body;
A second angle detection unit that is provided in each of the two rotation drive units and detects the rotation angle of the rotation shaft of each rotation drive unit;
A floor reaction force detection unit that is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer and that detects whether a load greater than a predetermined value is applied to the toe portion and the heel portion; It is characterized by including.

In the present invention, the body rotation angle detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the floor reaction force detection unit are detected. Based on the detection result, the static torque acting on the upper body and both thighs, the rotational direction and the rotational torque required for the rotation are calculated,
Further, based on the calculated static torque, rotational direction, and rotational torque, the driving torque driven by the two rotational driving units is calculated, and the two rotational driving units are driven so as to generate the calculated driving torque. And a drive control unit.

Further, the present invention provides an angle detection unit that is provided in each of the two rotation drive units and detects the rotation angle of the rotation shaft of each rotation drive unit;
A floor reaction force detection unit that is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer and that detects whether a load greater than a predetermined value is applied to the toe portion and the heel portion; It is characterized by including.

Further, the present invention provides a static acting on the upper body and both thighs based on the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the detection result detected by the floor reaction force detection unit. Calculate torque, rotation direction and rotation torque required for rotation,
Further, based on the calculated static torque, rotational direction, and rotational torque, the driving torque driven by the two rotational driving units is calculated, and the two rotational driving units are driven so as to generate the calculated driving torque. And a drive control unit.

  According to the present invention, the drive control unit reduces the calculated drive torque to a reduction ratio that is equal to or less than a reduction ratio at which a wearer can drive the two rotational drive units in the opposite directions. It is generated in the rotation drive unit.

The present invention further includes a parameter input unit for inputting parameters representing individual differences between wearers,
The drive control unit calculates the drive torque based on the parameter input by the parameter input unit.

  In the invention, it is preferable that the drive control unit has a rotation angle of the upper body detected by the first angle detection unit, a rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and a floor reaction. Based on the detection result detected by the force detection unit, a parameter representing individual differences among the wearers is generated.

The present invention also provides a method for controlling the power assist robot apparatus,
Based on the rotation angle of the upper body detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the detection result detected by the floor reaction force detection unit Calculating a static torque acting on the upper body and both thighs, a rotational direction and a rotational torque required for the rotation;
Based on the static torque, rotation direction, and rotation torque calculated in the calculation step, the two rotation drive units calculate the drive torque driven by the two rotation drive units and generate the calculated drive torque. And a driving step for driving the power assist robot apparatus.

The present invention also provides a method for controlling the power assist robot apparatus,
Based on the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the detection result detected by the floor reaction force detection unit, the static torque acting on the upper body and both thighs, the rotation direction and A calculation step for calculating a rotation torque required for rotation;
Based on the static torque, rotation direction, and rotation torque calculated in the calculation step, the two rotation drive units calculate the drive torque driven by the two rotation drive units and generate the calculated drive torque. And a driving step for driving the power assist robot apparatus.

  According to the present invention, the two rotational drive units are arranged near both sides of the wearer's waist or hip joint in the left-right direction, respectively, and follow the movements of the wearer's upper body and thigh. A driving torque is generated to assist the movement of the thigh. The upper body frame is mounted on the chest and waist of the wearer, and either the rotation shaft or the fixed end side of the two rotation driving units is fixed. One end of each of the two thigh frames is fixed to the other of the rotation shaft and the fixed end of the rotation drive unit, and the other end is attached to the side of the thigh. Therefore, the power assist robot device can assist the lifting operation and the walking operation of the heavy object with a small number of driving sources, that is, two rotational driving units provided on both sides of the waist.

  According to the invention, the upper body frame includes a chest frame, a waist frame, and an upper body connecting portion. The chest frame is attached to the wearer's chest. The waist frame holds the two rotation driving parts at both ends, extends between the two rotation driving parts along the back of the waist of the wearer, and is attached to the waist of the wearer. The upper body connecting portion connects the chest frame and the waist frame so as to be rotatable about the front-rear axis and the vertical axis. Therefore, the power assist robot device is not limited to restrain the movement of the upper body in the left-right direction and the rotation operation of the upper body, compared to the case where the chest frame and the waist frame are connected at two positions at the respective ends. Can be lifted and walked.

  According to the invention, the rotation drive unit includes an inner ring part fixed to the rotation shaft of the rotation drive part, and an outer ring part provided to be rotatable about the axis of the rotation shaft with respect to the inner ring part. Including a bearing portion. One end portion of the thigh frame is fixed to the inner ring portion. The waist frame includes a subframe that is attached in close contact with the waist of the wearer and is fixed to the outer ring portion. Therefore, the power assist robot apparatus can assist the lifting operation and the walking operation of the heavy object without restricting the operation of the waist.

  According to the present invention, the chest frame includes a chest front frame, a chest rear frame, a chest right frame, a chest left frame, and a cushion portion. The chest front frame extends in the left-right axis direction on the front face of the wearer's chest. The rear chest frame extends in the left-right axis direction on the back of the waist of the wearer, and is connected to the waist frame by an upper body connecting portion. The chest right frame connects the right end portion of the front chest frame and the right end portion of the rear chest frame so as to be displaceable. The chest left frame connects the left end of the chest front frame and the left end of the chest rear frame so as to be displaceable. The cushion portion is connected to the chest front frame by a chest connection portion that is rotatably connected around the left and right axis of the chest front frame, and is attached in close contact with the chest of the wearer. Therefore, the power assist robot device can assist the lifting operation and the walking operation of the heavy object without restricting the movement of the upper body in the front-rear direction.

  According to the invention, the chest frame includes a chest front frame, a chest rear frame, and an adjustment mechanism. The chest front frame extends in the left-right axis direction on the front face of the wearer's chest. The rear chest frame extends in the left-right axis direction on the back of the waist of the wearer, and is connected to the waist frame by an upper body connecting portion. Then, the adjustment mechanism adjusts the distance between the chest front frame and the chest rear frame. Therefore, the power assist robot apparatus can transform the chest frame into a form corresponding to the body shape of the wearer.

  According to the invention, the chest frame includes a connector. The connector is a member for connecting / separating the chest side portion including the front chest frame and the waist side portion including the rear chest frame. Therefore, the power assist robot device can easily connect / disconnect the chest side portion and the waist side portion via this connector, so that the wearer can easily attach and detach the power assist robot device.

  According to the present invention, the waist frame includes a waist adjustment mechanism that adjusts a distance between the two rotation driving parts, and the thigh frame has one end and the other end of the thigh frame. A thigh adjustment mechanism that adjusts the distance to the body. Therefore, the power assist robot device can be transformed into a form corresponding to the wearer's body shape.

  According to the invention, the thigh frame includes a thigh connection part that connects the other end of the thigh frame and the thigh so as to be rotatable about a left-right axis. Therefore, the power assist robot apparatus can assist the lifting operation and the walking operation of the heavy object without restricting the operation of the thigh.

  According to the invention, the first angle detection unit detects a rotation angle around the left and right axis of the wearer's upper body. The second angle detection unit is provided in each of the two rotation driving units, and detects the rotation angle of the rotation shaft of each rotation driving unit. The floor reaction force detection unit is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the toe portion and the heel portion. To do. Therefore, the power assist robot apparatus is practical without the trouble of wearing the surface myoelectric potential sensor.

  Further, according to the present invention, the drive control unit includes the rotation angle of the body detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the floor. Based on the detection result detected by the reaction force detector, the static torque acting on the upper body and both thighs, the rotational direction and the rotational torque required for the rotation are calculated. Further, the drive control unit calculates the drive torque driven by the two rotation drive units based on the calculated static torque, rotation direction, and rotation torque, and generates the calculated drive torques. The rotation drive unit is driven. Therefore, the power assist robot apparatus does not need to store a large number of operation patterns in a database, and does not become discontinuous when the operation is switched.

  According to the invention, the angle detection unit is provided in each of the two rotation drive units, and detects the rotation angle of the rotation shaft of each rotation drive unit. The floor reaction force detection unit is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the toe portion and the heel portion. To do. Therefore, the power assist robot apparatus is practical without the trouble of wearing the surface myoelectric potential sensor.

  Further, according to the present invention, the drive control unit is configured to detect the upper body and the large size based on the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the detection result detected by the floor reaction force detection unit. The static torque acting on the thigh, the rotational direction, and the rotational torque required for the rotation are calculated. Further, the drive control unit calculates the drive torque driven by the two rotation drive units based on the calculated static torque, rotation direction, and rotation torque, and generates the calculated drive torques. The rotation drive unit is driven. Therefore, the power assist robot apparatus does not need to store a large number of operation patterns in a database, and does not become discontinuous when the operation is switched.

  According to the present invention, the drive control unit reduces the calculated drive torque to a speed reduction ratio that is equal to or less than a speed reduction ratio at which a wearer can drive the two rotation drive parts in the opposite directions. It is generated in one rotational drive unit. Therefore, the power assist robot apparatus can ensure the safety of the wearer.

  According to the present invention, the parameter input unit inputs parameters representing individual differences among wearers. The drive control unit calculates the drive torque based on the parameter input by the parameter input unit. Therefore, the power assist robot apparatus can perform assistance corresponding to individual differences among wearers.

  Further, according to the present invention, the drive control unit includes a rotation angle of the upper body detected by the first angle detection unit, a rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and Based on the detection result detected by the floor reaction force detection unit, a parameter representing the individual difference of the wearer is generated. Therefore, the power assist robot apparatus can generate parameters depending on individual differences of the wearer by causing the wearer to wear the power assist robot apparatus and actually operating the apparatus.

  According to the invention, when executing the control method of the power assist robot apparatus, in the calculation step, the rotation angle of the body detected by the first angle detection unit is detected by the second angle detection unit. Based on the rotation angle of the rotation shaft of the rotation drive unit and the detection result detected by the floor reaction force detection unit, the static torque acting on the upper body and both thighs, the rotation direction and the rotation torque required for rotation are calculated. calculate. In the driving step, based on the static torque, rotational direction and rotational torque calculated in the calculating step, the driving torque driven by the two rotational driving units is calculated, and the calculated driving torque is generated. The two rotation driving units are driven. Therefore, the control method according to the present invention can assist the lifting operation and the walking operation of heavy objects with a small number of driving sources, that is, two rotational driving units provided on both sides of the waist.

  According to the invention, when executing the control method of the power assist robot apparatus, the calculation step detects the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the floor reaction force detection unit. On the basis of the detection result, a static torque acting on the upper body and both thighs, a rotational direction and a rotational torque required for the rotation are calculated. In the driving step, based on the static torque, rotational direction and rotational torque calculated in the calculating step, the driving torque driven by the two rotational driving units is calculated, and the calculated driving torque is generated. The two rotation driving units are driven. Therefore, the control method according to the present invention can assist the lifting operation and the walking operation of heavy objects with a small number of driving sources, that is, two rotational driving units provided on both sides of the waist.

It is a figure which shows the external appearance of the assist suit for heavy work 100 which is the 1st Embodiment of this invention. It is sectional drawing of the main frame to which the electric motor 1 for power assistance was attached. It is a figure which shows the structure of the control apparatus contained in the assist suit 100 for heavy work. It is a figure which shows the external appearance of the handy terminal. It is a figure for demonstrating calculation of the rotational torque T. FIG. 5 is a flowchart showing a processing procedure of assist suit control processing executed by the heavy work assist suit 100. It is a flowchart which shows the process sequence of a parameter rewriting sequence process. It is a flowchart which shows the process sequence of an attitude | position information input sequence process. It is a flowchart which shows the process sequence of a hip joint control sequence process. It is a flowchart which shows the process sequence of a walk judgment process. It is a flowchart which shows the process sequence of a walk control process. It is a flowchart which shows the process sequence of an upper body determination process. It is a flowchart which shows the process sequence of a 1st body control process. It is a flowchart which shows the process sequence of a 2nd body control process. It is a flowchart which shows the process sequence of a middle waist determination process. It is a flowchart which shows the process sequence of a 1st middle waist control process. It is a flowchart which shows the process sequence of a 2nd middle waist control process. It is a figure which shows the external appearance of the assist suit 300 for heavy work which is the 2nd Embodiment of this invention. It is sectional drawing of the main frame to which the electric motor 201 for power assistance was attached. It is a figure which shows the structure of the control apparatus contained in the assist suit 300 for heavy work. It is a figure for demonstrating calculation of the rotational torque T. FIG. 5 is a flowchart showing a processing procedure of assist suit control processing executed by the heavy work assist suit 300; It is a flowchart which shows the process sequence of a parameter rewriting sequence process. It is a flowchart which shows the process sequence of an attitude | position information input sequence process. It is a flowchart which shows the process sequence of a hip joint control sequence process. It is a flowchart which shows the process sequence of a walk judgment process. It is a flowchart which shows the process sequence of a walk control process. It is a flowchart which shows the process sequence of the calculation process of the assist torque by the free leg side. It is a flowchart which shows the process sequence of a calculation process of the assist torque by the side of a holding leg. It is a flowchart which shows the process sequence of an upper body determination process. It is a flowchart which shows the process sequence of an upper body control process. It is a flowchart which shows the process sequence of a middle waist determination process. It is a flowchart which shows the process sequence of a middle waist control process.

  FIG. 1 is a view showing an appearance of an assist suit for heavy work 100 according to the first embodiment of the present invention. FIG. 1A is a front view showing an appearance of the heavy work assist suit 100 in a state worn by the wearer. FIG. 1B is a side view showing the appearance of the heavy-duty assist suit 100 worn by the wearer. The control method according to the first embodiment of the present invention is executed by the heavy work assist suit 100.

  An assist suit for heavy work 100, which is a power assist robot device, is an assist suit for heavy work. The heavy duty assist suit 100 includes a power assist electric motor 1, frames 2-6, 14-18, 23, 24, passive rotating shafts 7, 10, 12, 13, 19, slide holes 8, receiving portions 9, and belts. 11, 21, 25, bearing 22, chest cushion 20, cushion 26, angle adjustment mechanism 27, and control box 28.

  The electric motor 1 for power assist which is a rotational drive part is comprised by the electric servomotor, for example. The electric motor 1 for power assist is an electric motor used as a power source for power assist of the upper body and the thigh, that is, for assisting the movement of the upper body and the thigh. In other words, the power assist electric motor 1 generates power for assisting the rotation of the upper body and the thigh with the vicinity of the third to fifth lumbar vertebrae in the lumbar spine as fulcrums.

  The power assist electric motor 1 is attached to the left and right sides of the lumbar spine in the vicinity of the third to fifth lumbar spines as follows so that the rotation shaft of the power assist electric motor 1 rotates around the left and right axis. Yes. The positional relationship between each part of the heavy work assist suit 100 and the wearer is a position with respect to the wearer when the wearer wears the heavy work assist suit 100.

  The fixed end side of the electric motor 1 for power assist is attached to the main frame. The main frame, which is a waist frame, includes a frame 2 and a frame 3. The width of the main frame in the left and right direction can be adjusted by adjusting holes provided in the frame 2 and the frame 3. The width of the main frame in the left-right direction can be adjusted to the body shape of the wearer by an adjustment mechanism using adjustment holes provided in the frames 2 and 3. The adjustment mechanism using the adjustment holes provided in the frame 2 and the frame 3 is a waist adjustment mechanism.

  A lower limb assist arm is attached to the rotating end side of the electric motor 1 for power assist. A lower limb assist arm that is a thigh frame includes frames 4 to 6. The frame 4 and the frame 5 are attached via a passive rotating shaft 7 for corresponding to the degree of freedom of rotation around the front-rear axis of the hip joint. The frame 6 slides up and down in a slide hole 8 provided on the frame 5 side. The lower limb assist arm can adjust the arm length according to the wearer's body shape by an adjustment mechanism in which the frame 6 slides in the slide hole 8. The main frame and the upper body assist arm constitute an upper body frame. An adjustment mechanism in which the frame 6 slides in the slide hole 8 is a thigh adjustment mechanism.

  A receiving portion 9 having a semi-cylindrical receiving surface is attached to the front end of the frame 6 via a passive rotating shaft 10 corresponding to the degree of freedom of rotation around the left and right axis. The passive rotary shaft 10 which is the thigh connecting portion is suitable for the receiving surface of the receiving portion 9 corresponding to the movement of the wearer's thigh by causing the receiving portion 9 to rotate around the left and right axis. An angle can be given. A belt 11 is attached to the receiving portion 9. The belt 11 is configured to fix the thigh of the wearer to the receiving portion 9.

  The upper body assist arm is attached to the frame 3 via a passive rotating shaft 12 for corresponding to the degree of freedom of rotation about the vertical axis and a passive rotating shaft 13 for corresponding to the degree of freedom of rotation about the longitudinal axis. ing. The upper body assist arm that is a chest frame includes frames 14 to 18.

  The upper body assist arm is disposed so as to extend from the back of the waist of the wearer to the front of the chest through the side, and supports the upper body of the wearer. The upper body assist arm can be adjusted to an angle of the upper body assist arm suitable for the wearer's body shape by an angle adjustment mechanism 27 provided on the frame 15 and the frame 16. Further, the lateral width of the upper body assist frame can be adjusted by adjusting holes provided in the frame 14 and the frame 15. The upper body assist frame can be adjusted to the body shape of the wearer by the adjustment mechanism using the adjustment holes. The passive rotary shaft 12 and the passive rotary shaft 13 are upper body connecting portions. Frame 14 and frame 15 are chest rear frames.

  The upper body assist arm is configured such that the entire length of the frame 16 can be expanded and contracted by a slide mechanism using a coil spring (not shown) provided inside the frame 16. The upper body assist arm has a structure in which the upper body assist arm does not prevent the wearer from tilting forward or backward when the wearer tilts the upper body forward or backward by the slide mechanism. The frame 16 is connected to the frame 18 via the frame 17. The main frame and the upper body assist arm are upper body frames. The frame 16 and the frame 17 arranged on the right side of the wearer are chest right frames, and the frame 16 and the frame 17 arranged on the left side of the wearer are chest left frames.

  A chest cushion 20 is attached to a frame 18 which is a chest front frame via a passive rotation shaft 19 for corresponding to the degree of freedom of rotation around the left and right axis. The two belts 21 are attached so as to pass from the frame 18 over both shoulders of the wearer to reach the frame 14. The upper body assist arm is in close contact with the wearer by the chest cushion 20 and the belt 21. The passive rotation shaft 19 is a chest connection part. The chest cushion 20 is a cushion part.

  FIG. 2 is a cross-sectional view of the main frame to which the power assist electric motor 1 is attached. FIG. 2 is a cross-sectional view taken along line AA shown in FIG. As shown in FIG. 2, a control box 28 is attached to each of the left and right frames 2 so as to protrude rearward. A subframe is further attached to the rotating end side of the electric motor 1 for power assist via a bearing 22. The subframe includes a frame 23 and a frame 24.

  The bearing 22, which is a bearing portion, includes an inner ring portion and an outer ring portion. The rotating end side of the electric motor 1 for power assist is attached to the inner ring portion of the bearing 22. Specifically, the inner ring portion is attached to the rotating shaft of the power assist electric motor 1. The upper end portion of the lower limb assist arm, that is, the upper end portion of the frame 4 is attached to the inner ring portion. The outer ring portion is provided so as to be rotatable around the axis of the rotation axis of the power assist electric motor 1 with respect to the inner ring portion. The frame 23 of the subframe is attached to the outer ring portion of the bearing 22.

  In this way, the sub-frame is attached to the outer ring portion, and the rotation shaft of the power assist electric motor 1 is attached to the inner ring portion, so that even if the power assist electric motor 1 rotates the rotation shaft, the sub frame rotates. The configuration is such that no operation is performed.

  A belt 25 and a cushion 26 are attached to the subframe. By the belt 25 and the cushion 26, the sub-frame of the heavy-duty assist suit 100 can be brought into close contact with the waist of the wearer.

  FIG. 3 is a diagram illustrating a configuration of a control device included in the heavy work assist suit 100. The control devices included in the heavy work assist suit 100 include a handy terminal device (hereinafter referred to as “handy terminal”) 50, a communication unit 130, a control unit 140, a right foot unit 150, a left foot unit 160, and a battery unit 170. Composed.

  The communication unit 130, the control unit 140, and the battery unit 170 are attached to the frame 2. The communication unit 130 and the battery unit 170 are stored in the control box 28 provided near the right rear of the wearer, and the control unit 140 is stored in the control box 28 provided near the left rear of the wearer. Is done. The right sole unit 150 is attached to the shoe sole on the right side of the wearer, and the left sole unit 160 is attached to the shoe sole on the left side of the wearer. The handy terminal 50 that is a parameter input unit is a portable terminal device that is held and operated by the right or left hand of the wearer.

  The communication unit 130 includes a wireless communication unit 131, a power control unit 132, and a motor driver 133. The wireless communication unit 131 communicates with the right sole unit 150, the left sole unit 160, and the handy terminal 50 by wireless communication, and communicates with the control unit 140 by wired communication.

  The power control unit 132 controls the battery unit 170. The motor driver 133 is a driver that controls the electric motor 1 for power assist mounted on the right side of the waist of the wearer. The motor driver 133 communicates with the motor control unit 141 by wired communication, receives a command such as an output torque command necessary for assist from the motor control unit 141, and sends information such as motor position information to the motor control unit 141. to be sending. The motor position information is information representing the rotation angle of the rotation shaft of the electric motor 1 for power assist. The power supply control unit 132 and the motor control unit 141 are each realized by a computer including a CPU.

  The control unit 140 includes a motor control unit 141 and a motor driver 142. The motor control unit 141 that is a drive control unit includes a biaxial tilt sensor. The biaxial tilt sensor that is the first angle detection unit is, for example, an acceleration sensor that detects biaxial accelerations orthogonal to each other, and includes a rotation angle around the left and right axis of the wearer's upper body and a longitudinal axis of the wearer's upper body. It arrange | positions so that the surrounding rotation angle may be detected. In this embodiment, a biaxial tilt sensor is used to detect the rotation angle of the upper body around the left and right axis. However, the present invention is not limited to the biaxial tilt sensor. A gyro sensor may be used.

  The motor control unit 141 calculates a driving torque necessary for assist from the information from the wireless communication unit 131 and the position information of the motor from the motor drivers 133 and 142, and sends an output torque command to the motor drivers 133 and 142. The motor driver 142 is a driver that controls the power assisting electric motor 1 mounted on the left side of the waist of the wearer. The motor driver 142 receives a command such as an output torque command necessary for assist from the motor control unit 141 and sends information such as motor position information to the motor control unit 141.

  The right sole unit 150 includes a wireless communication unit 151, a battery 152, a toe switch (hereinafter also referred to as “SW”) 153, and a heel SW 154. The battery 152 is a rechargeable storage battery, and supplies power to the wireless communication unit 151, the toe SW153, and the heel SW154. The wireless communication unit 151 detects the state of the toe SW153 and the heel SW154, that is, the detection result detected by the toe SW153 and the heel SW154 via the wireless communication unit 131 of the communication unit 130, and the motor control unit 141 of the control unit 140. It is sent to.

  The toe SW153 is arranged at the toe part of the shoe sole part of the right shoe worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the toe part. The heel SW 154 is disposed on the heel portion of the shoe sole of the right shoe worn by the wearer, and detects whether a load greater than a predetermined value is applied to the heel.

  The left sole unit 160 includes a wireless communication unit 161, a battery 162, a toe SW163, and a heel SW164. The wireless communication unit 161, the battery 162, the toe SW163, and the heel SW164 have the same configurations as the wireless communication unit 151, the battery 152, the toe SW153, and the heel SW154, respectively, and description thereof is omitted to avoid duplication. The toe SW153, the heel SW154, the toe SW163, and the heel SW164 are floor reaction force detection units.

  The handy terminal 50 is used to set parameters, which will be described later, necessary for the operation of the heavy work assist suit 100. The battery unit 170 includes a battery 171. The battery 171 is a rechargeable storage battery. The battery unit 170 supplies power from the battery 171 to the communication unit 130 and the control unit 140.

  FIG. 4 is a diagram illustrating an appearance of the handy terminal 50. The handy terminal 50 is a terminal device used to set parameters necessary for the operation of the heavy work assist suit 100. The handy terminal 50 includes a parameter number selection switch 51, an ascending switch 52, a descending switch 53, an entry switch 54, a parameter display unit 55, a light emitting diode (hereinafter referred to as “LED”) 56, a walking switch 57, and an upper body switch. 58 and a middle waist switch 59.

  The parameter number selection switch 51 is a switch for inputting a parameter number (hereinafter also referred to as “parameter No” or “P_No”). Each time the switch is pressed, the parameter number is counted from “0” to “1”. Is up. The ascending switch 52 is a switch for counting up the parameter value for setting, and the parameter value is incremented by “1” each time the switch is pressed. The descending switch 53 is a switch for counting down a parameter value to be set, and the parameter value is counted down by “1” each time it is pressed.

  The entry switch 54 is a switch for storing and setting the selected parameter No and the updated parameter value in a storage unit (not shown). The parameter display part 55 is comprised by the display apparatus which displays a number, a symbol, and a character, for example. The parameter display section 55 shown in FIG. 4 can display 7-digit numbers, symbols, and characters. The upper three digits display the parameter No., the fourth digit displays the symbol “-”, and the fifth to seventh digits display the parameter value. The LED 56 is a lamp indicating that the selected parameter No and the updated parameter value are stored and set in a storage unit (not shown). The LED 56 blinks for a predetermined time, for example, 3 seconds when the parameter is updated normally.

  The walking switch 57, the upper body switch 58, and the middle waist switch 59 are teaching switches. The walking switch 57 is a switch for storing and setting “walking parameters” in a storage unit (not shown). The body switch 58 is a switch for storing and setting “body parameter” in a storage unit (not shown). The middle waist switch 59 is a switch for storing and setting “middle waist parameters” in a storage unit (not shown).

  The wearer actually performs a series of teaching operations after pressing a switch corresponding to the teaching operation among the walking switch 57, the upper body switch 58, and the middle waist switch 59. The LED 56 blinks for a predetermined time when a parameter for assisting the operation is generated from a series of actually performed operations and the generated parameter is transmitted to the handy terminal 50. The motor control unit 141 switches to the teaching mode from when any of the walking switch 57, the upper body switch 58, and the middle waist switch 59 is pressed until transmission of the generated parameters to the handy terminal 50 is completed.

  Tables 1 to 4 show parameters that can be set in the handy terminal 50. Table 1 is a list of common parameters and walking parameters. Parameter No. “0” is a common parameter for designating a parameter storage area for each wearer. Parameter Nos. “1” to “15” are walking parameters. The handy terminal 50 can store parameters for 10 people. The parameter storage area for each wearer can store parameters No. “1” to “40” for each wearer.

  Parameter Nos. “1” to “7” are walking control parameters on the free leg side, parameter Nos. “8” to “10” are walking control parameters on the holding side, and parameter Nos. “11” to “15”. Is a walking determination parameter. The free leg is the leg that is not on the ground, and the holding leg is the leg that is on the ground. The walking control parameter is a parameter for assisting the walking motion, and the walking determination parameter is a parameter for determining whether or not the motion performed by the wearer is the walking motion.

  Table 2 is a list of body parameters. Parameter numbers “20” to “22”, “24”, and “25” are body control parameters, and parameter numbers “26” to “28” are body determination parameters. The body control parameter is a parameter for assisting the motion of the body, and the body determination parameter is a parameter for determining whether the motion performed by the wearer is the motion of the body. .

  Table 3 is a list of middle waist parameters. Parameter numbers “30” to “32”, “34”, and “35” are middle waist control parameters, and parameter numbers “36” to “38” are middle waist determination parameters. The middle waist control parameter is a parameter for assisting the operation of the middle waist, and the middle waist determination parameter is a parameter for determining whether or not the motion performed by the wearer is the motion of the middle waist.

  Table 4 is a list of sole parameters for detecting the floor reaction force.

  FIG. 5 is a diagram for explaining the calculation of the rotational torque T. The motor control unit 141 uses the rotational angle of the rotating shaft of the electric motor 1 for power assist and the rotational angle of the upper body to dynamically calculate the rotational torque T necessary to move the body in various working postures of the wearer. To calculate the assist torque. The assist torque is a drive torque generated by the power assist electric motor 1.

  The motor control unit 141 first acquires the waist angle θ and the front body tilt angle α. The body forward tilt angle α is a rotation angle of the body, that is, an angle with respect to the vertical line. The waist angle θ is the angle of each thigh with respect to the upper body, that is, the rotation angle of the rotation shaft of the power assist electric motor 1. The motor control unit 141 acquires the left and right hip angles θ from the motor drivers 133 and 142, and acquires the front body tilt angle α from the biaxial tilt sensor included in the motor control unit 141.

If the mass of the leg is m _F [kg] and the distance from the rotating shaft of the power assist electric motor 1 to the passive rotating shaft 10 is L _F [m], it is necessary to operate the leg of mass m _F. The rotational torque T _F [N · m] can be calculated by a calculation formula “T _F = L _F m _F gsin (π−θ−α)”.

Likewise, the mass of the body _m U [kg], and the distance from the waist to the frame 18 and _L U [m], rotational torque _{T U} needed to operate the upper body of mass _{m U} is calculated It can be calculated by the equation “T _U = L _U m _U gsin (α)”.

g is a gravitational acceleration. L _F , m _F , L _U and m _U are proportionality constants and are fixed values determined by the wearer. The motor control unit 141 calculates assist torque by setting these values as parameters. The parameter is set by the wearer using the handy terminal 50 shown in FIG.

  The heavy duty assist suit 100 does not use the weak surface myoelectric potential signal flowing through the muscle when trying to move the muscle, and mechanically applies the rotational torque T necessary to move the body in various working postures of the wearer. Therefore, it is not necessary to equip the surface myoelectric potential sensor.

  The heavy duty assist suit 100 is not a motion pattern reproduction method, but dynamically calculates a rotational torque T required to move the body in various work postures of the wearer and multiplies the assist ratio by the assist ratio. Since the torque is calculated, there is no discontinuity when the operation is switched.

  FIG. 6 is a flowchart showing a processing procedure of assist suit control processing executed by the heavy work assist suit 100. The assist suit control process includes four processes including a power activation sequence process, a parameter rewrite sequence process, a posture information input sequence process, and a hip joint control sequence process. When the power of the heavy work assist suit 100 is turned on and the supply of power to the parts other than the power assist electric motor 1 is started and the motor control unit 141 becomes operable, the process proceeds to Step A1.

  In step A1, the motor control unit 141 executes a power supply startup sequence process. Specifically, the motor control unit 141 waits for reception of parameters necessary for assist transmitted from the handy terminal 50. After completing the reception of the parameters necessary for the assist, the motor control unit 141 rotates each joint in an upright state where the wearer stands upright, that is, the rotation angle of the upper body and the rotation angle of each thigh with respect to the upper body. The power for the power assist electric motor 1 is turned on.

  In step A2, the motor control unit 141 executes a parameter rewriting sequence process. Parameters necessary for assist are appropriately sent from the handy terminal 50 held by the wearer. In the assist suit control process, the parameter rewriting sequence process is performed in the main loop so that the parameter update can be executed at any time. The main loop is a processing procedure loop formed by steps A2 to A4.

  In step A3, the motor control unit 141 executes a posture information input sequence process. Posture information input sequence processing is processing for acquiring data relating to the posture of the wearer.

  In step A4, the motor control unit 141 executes a hip joint control sequence process and returns to step A2. The hip joint control sequence process calculates and outputs an assist torque required for driving by the power assist electric motor 1 for each of the walking motion, the upper body motion, and the middle waist motion based on the data acquired in step A3.

  The motor control unit 141 executes the main loop at intervals of 10 mS, and the heavy work assist suit 100 realizes smooth assistance to the wearer. The motor control unit 141 determines the operation of the wearer within a few seconds before starting the assist, and outputs the assist torque after the determination. The heavy duty assist suit 100 is intended to assist a healthy person, and there is no practical problem even if there is no assistance for several seconds at the start of the operation.

  FIG. 7 is a flowchart showing a processing procedure of parameter rewriting sequence processing. There are two types of parameter update: manual update and update in teaching mode. The parameter rewriting sequence process shown in FIG. 7 is an update process by input in the teaching mode. When step A2 shown in FIG. 6 is executed, the motor control unit 141 proceeds to step B1.

  In step B1, the motor control unit 141 determines whether or not the teaching mode is set. The motor control unit 141 proceeds to step B2 when in the teaching mode, and proceeds to step B5 when not in the teaching mode. When any of the walking switch 57, the upper body switch 58, and the middle waist switch 59 is pressed, the motor control unit 141 starts the teaching mode, generates parameters in the teaching mode, and sets parameters for the handy terminal 50. When the transfer is completed, the teaching mode is terminated.

  In step B2, the motor control unit 141 turns off the assist. The motor control unit 141 stops the assist by the power assist electric motor 1 while the assist is off, without executing the posture information input sequence process of step A3 and the hip joint control sequence process of step A4 shown in FIG. Return to step A2.

  In step B3, the motor control unit 141 sends the left and right hip angles θ sent from the motor drivers 133 and 142, the front body forward tilt angle α sent from the biaxial tilt sensor included in the motor control unit 141, and the right foot. Based on the detection results of the toe SW153 and the heel SW154 sent from the bottom unit 150 and the detection results of the toe SW163 and the heel SW164 sent from the left foot unit 160, the walking motion, the upper body motion and the middle waist by the wearer By analyzing each operation of the operation, parameters necessary for determining the operation intended by the wearer are generated. Among the generated parameters, parameter Nos. “11” to “15” for walking determination parameters, parameter Nos. “26” to “28” for upper body determination parameters, and parameter Nos “36” to “38” for middle waist determination parameters. Is obtained by this motion analysis.

  In step B4, the motor control unit 141 transmits the generated parameter to the handy terminal 50, and ends the parameter rewriting sequence process. The parameter transmitted to the handy terminal 50 is confirmed by the wearer at the handy terminal 50. The confirmed parameter becomes effective by retransmitting it to the handy terminal 50.

  In step B5, the motor control unit 141 receives parameters from the handy terminal 50, and sets the received parameters. In step B6, the motor control unit 141 turns on the assist and ends the parameter rewriting sequence process. The reason for turning on the assist after updating the parameters is to ensure the safety of the wearer.

  FIG. 8 is a flowchart showing the processing procedure of the posture information input sequence process. When step A3 shown in FIG. 6 is executed, the motor control unit 141 proceeds to step C1.

  In step C1, the motor control unit 141 reads the floor reaction force switch and detects the presence or absence of the floor reaction force. The floor reaction force switches are the toe SW153 and the heel SW154 of the right sole unit 150, and the toe SW163 and the heel SW164 of the left sole unit 160. Specifically, the motor control unit 141 receives the detection results of the toe SW153 and the heel SW154 from the right foot sole unit 150, and receives the detection results of the toe SW163 and the heel SW164 from the left foot sole unit 160.

  In step C2, the motor control unit 141 reads the angle of the motor encoder. Specifically, the motor control unit 141 obtains the rotation angle of the rotating shaft of the power assist electric motor 1, that is, the waist angle θ from the motor encoder, that is, the encoder included in the power assist electric motor 1. Read through 142. In step C <b> 3, the motor control unit 141 calculates the hip angular velocity, that is, the angular velocity of the rotation angle of the rotation shaft of the power assist electric motor 1. The encoder included in the electric motor 1 for power assist is a second angle detection unit.

  In step C4, the motor control unit 141 reads the detection value of the biaxial tilt sensor included in the motor control unit 141. In step C5, the motor control unit 141 calculates the rotation angle of the upper body, that is, the front body tilt angle α based on the detection value of the biaxial tilt sensor. In step C6, the motor control unit 141 calculates the angular velocity of the body rotation angle from the calculated body rotation angle, and ends the posture information input sequence process.

  FIG. 9 is a flowchart showing a processing procedure of the hip joint control sequence processing. Steps D1 and D2 are processes for walking motion. Steps D3 and D4 are processes for the upper body motion. Steps D5 and D6 are processes for the middle waist movement. Processing for walking motion, processing for upper body motion, and processing for middle waist motion are processed in parallel. When step A4 shown in FIG. 6 is executed, the motor control unit 141 proceeds to steps D1, D3, and D5.

  In step D1, the motor control unit 141 performs walking determination. Specifically, the motor control unit 141 determines whether or not a walking motion is being performed based on the waist angle θ, the front body tilt angle α, and the floor reaction force. In step D2, the motor control unit 141 performs walking control. Specifically, when performing the walking motion, the motor control unit 141 is configured to assist the walking motion on the basis of the waist angle θ, the front body tilt angle α, and the floor reaction force that change from moment to moment. Assist torque and holding leg side assist torque are calculated.

  In step D3, the motor control unit 141 performs upper body determination. Specifically, the motor control unit 141 determines whether or not the body motion is being performed based on the waist angle θ, the body forward tilt angle α, and the floor reaction force. The upper body motion is an operation of bending the upper body and then raising the upper body. In step D4, the motor control unit 141 performs upper body control. Specifically, the motor control unit 141 calculates an assist torque for assisting the body motion when performing the body motion. The motor control unit 141 calculates an assist torque necessary for both legs, which is proportional to the front body tilt angle α.

  In step D5, the motor control unit 141 performs middle waist determination. Specifically, the motor control unit 141 determines whether or not the middle waist movement is being performed based on the waist angle θ, the upper body forward tilt angle α, and the floor reaction force. The middle waist motion is a motion in a middle waist posture. In step D6, the motor control unit 141 performs middle waist control. Specifically, the motor control unit 141 calculates an assist torque for assisting the middle waist motion when performing the middle waist motion. The motor control unit 141 calculates assist torque proportional to the waist angle θ required for both legs. Steps D1 to D6 are calculation steps.

  In step D7 which is a drive step, the motor control unit 141 adds the calculated values, outputs the combined drive torque, and ends the hip joint control sequence process. Specifically, the motor control unit 141 adds the assist torque calculated in step D2, the assist torque calculated in step D4, and the assist torque calculated in step D6, and outputs the total assist torque. Thus, the motor drivers 133 and 142 are controlled to drive the electric motor 1 for power assist, and the hip joint control sequence process is terminated.

  FIG. 10 is a flowchart illustrating a processing procedure of the walking determination process. When step D1 shown in FIG. 9 is executed, the motor control unit 141 proceeds to step E1.

  In step E1, the motor control unit 141 differentiates the waist angle θ. In step E2, the motor control unit 141 calculates the angular velocity of the waist. That is, the motor control unit 141 uses the value obtained by differentiating the waist angle θ in step E1 as the waist angular velocity. In step E3, the motor control unit 141 detects walking determination points for the left and right feet. Specifically, the motor control unit 141 determines whether or not the angular velocity is in the walking state, and when the angular velocity is in the walking state, the generation point of the angular velocity is set as the walking determination point.

  In step E4, the motor control unit 141 clears the time integration timer at the walking determination point. The time integration timer is a timer built in the motor control unit 141, and is a timer that continues integration from power-on until it is cleared. Since the time integration timer is cleared at the walking determination point, the integration value of the time integration timer does not increase beyond a certain value. Therefore, the motor control unit 141 can determine whether or not the user is walking based on the integrated value of the time integration timer.

  In step E5, the motor control unit 141 determines to continue walking based on the time integration timer value, that is, the integration value of the time integration timer. That is, the motor control unit 141 determines whether or not walking is continued based on a time integration timer value until the walking determination point returns to the walking determination point again. In step E6, the motor control unit 141 calculates a walking determination ratio and ends the walking determination process.

  The walking determination ratio (%) is calculated by the calculation formula “walking determination ratio (%) = (integrated value of time integration timer) ÷ (transition time) × 100”. The transition time is the upper limit of the integrated value of the time integration timer. The constant value is parameterized and set as the “determination time” of the parameter No. “13”, and the “transition time” is parameterized as the parameter No. “14”.

  FIG. 11 is a flowchart illustrating a processing procedure of the walking control process. When step D2 shown in FIG. 9 is executed, the motor control unit 141 proceeds to step F1.

  In step F1, the motor control unit 141 detects the start of assist. Specifically, the motor control unit 141 detects that the leg on the free leg side is positioned at the walking determination point. In step F2, the motor control unit 141 calculates the assist torque on the free leg side. The walking motion on the free leg side is performed in the order of “starting swing”, “raising”, “starting swing”, “down swing” and “shake complete”. finish. When the heel SW on the free leg side is off and the hip angle is small, it is determined that the foot has started swinging up, and the maximum assist torque is calculated in a short time in the swinging direction. Subsequent to “starting up”, when it is determined that “in up-raising”, assist torque in the raising direction proportional to the waist angle is calculated. When the hip angle reaches a certain value or more, it is determined that “shake start”, and the assist torque is zero including “being shaken”.

  In step F3, the motor control unit 141 calculates the assist torque on the holding leg side and ends the walking control process. The motor control unit 141 calculates an assist torque proportional to the thigh angle in order to hold the upright posture by the holding legs. The thigh angle is an angle of the thigh with respect to the vertical line, and is an angle obtained by adding the waist angle θ and the forward tilt angle α.

  FIG. 12 is a flowchart illustrating a processing procedure of the body determination process. When step D3 shown in FIG. 9 is executed, the motor control unit 141 proceeds to step G1.

  In step G1, the motor control unit 141 reads the angular velocity of the upper body. Specifically, the motor control unit 141 calculates the angular velocity of the upper body from the detection value of the biaxial tilt sensor included in the motor control unit 141. In step G2, the motor control unit 141 detects a body bending operation start point. Specifically, the motor control unit 141 detects a position where the angular velocity calculated in Step G1 exceeds the “curved angular velocity” of the parameter No “26”, and sets the position as the body bending motion start point.

  In step G3, the motor control unit 141 detects the upper body raising start point. Specifically, the motor control unit 141 detects a position where the bending operation of the upper body has stopped, and uses that position as a body raising start point.

  In step G4, the motor control unit 141 determines whether time-up has been detected. The motor control unit 141 determines that time-up has been detected when the body raising operation in step G3 is not completed within a predetermined time, and proceeds to step G5, where the body raising operation in step G3 is performed. When it is finished within a certain time, it is determined that the time-up has not been detected, and the process proceeds to Step G6. In step G5, the motor control unit 141 determines that it is the first body control ratio, and ends the body determination process. In step G6, the motor control unit 141 determines that the ratio is the second body control ratio, and ends the body determination process.

  FIG. 13 is a flowchart showing a processing procedure of the first body control process. When step D4 shown in FIG. 9 is executed and the motor control unit 141 determines that the first body control ratio is obtained in step G5 of FIG. 12, the motor control unit 141 proceeds to step H1. In Step H1, the motor control unit 141 ends the first body control process by setting the assist torque for assisting the body motion as the maximum output torque.

  FIG. 14 is a flowchart showing the procedure of the second body control process. The motor control unit 141 proceeds to step J1 when step D4 shown in FIG. 9 is executed and it is determined in step G6 of FIG. 12 that the ratio is the second body control ratio. In step J1, the motor control unit 141 uses the assist torque for assisting the body motion as an output torque corresponding to the body tilt angle α, and ends the second body control process.

  FIG. 15 is a flowchart illustrating a processing procedure of the middle waist determination processing. When step D5 shown in FIG. 9 is executed, the motor control unit 141 proceeds to step K1.

  In step K1, the motor control unit 141 reads the waist angle, that is, the waist angle θ. Specifically, the motor control unit 141 reads the rotation angles of the rotation shafts of the left and right power assist electric motors 1 from the encoders included in the power assist electric motor 1 via the motor drivers 133 and 142. In step K2, the motor control unit 141 differentiates the waist angle read in step K1. In step K3, the motor control unit 141 calculates the bending angular velocity of both legs from the hip angle differentiated in step K2.

  In step K4, the motor control unit 141 detects a position where the angular velocity calculated in step K3 exceeds the “curved angular velocity” of the parameter No “36”, and sets the position as a bending start point for both legs. In step K5, the motor control unit 141 detects a position where the bending operation of both legs is stopped, and sets the position as a starting point for extending both legs.

  In step K6, the motor control unit 141 determines whether time-up has been detected. The motor control unit 141 determines that the time-up has been detected when the both-leg extending operation in step K5 is not completed within a certain time, and proceeds to step K7, where the both-leg extending operation in step K5 is performed for a certain time. When it is finished, it is determined that the time-up has not been detected, and the process proceeds to Step K8. In step K7, the motor control unit 141 determines that the ratio is the first middle waist control ratio, and ends the middle waist determination process. In step K8, the motor control unit 141 determines that the ratio is the second middle waist control ratio, and ends the middle waist determination process.

  FIG. 16 is a flowchart showing a processing procedure of the first middle waist control processing. When the step D6 shown in FIG. 9 is executed and the motor control unit 141 determines that it is the first middle waist control ratio in step K7 in FIG. 15, the motor control unit 141 proceeds to step L1. In Step L1, the motor control unit 141 ends the first middle waist control process with the assist torque for assisting the middle waist motion as the maximum output torque.

  FIG. 17 is a flowchart showing a processing procedure of the second middle waist control processing. When step D6 shown in FIG. 9 is executed and the motor control unit 141 determines that it is the second middle waist control ratio in step K8 of FIG. 15, the motor control unit 141 proceeds to step M1. In step M1, the motor control unit 141 uses the assist torque for assisting the middle waist operation as an output torque corresponding to the waist angle θ, and ends the second middle waist control process.

  In the heavy work assist suit 100, the power assist electric motor 1 is disposed on both the left and right sides of the waist in order to perform power assist for the lumbar spine. In order to make the power assist electric motor 1 back-dryable, that is, to enable the drive device to be moved from the wearer side, the reduction ratio of the reduction gear added to the power assist electric motor 1 is set to 1. The output of the power assisting electric motor 1 is limited so that the wearer cannot produce more force than the wearer can achieve, and a sufficient assist force is ensured in the anti-gravity direction.

  Thus, since the heavy duty assist suit 100 makes the power assist electric motor 1 being used back-dryable, the reduction ratio of the reduction gear added to the power assist electric motor 1 is about 1/100. Since the output of the electric motor 1 for power assist is limited so that the wearer cannot produce more force than the wearer can reduce, the safety of the wearer can be ensured.

  The heavy-duty assist suit 100 is an assist mechanism to which the power assist electric motor 1 is attached, so that the passive rotating shafts 7, 10, 12, 13, 19 are driven so as not to hinder the wearer's operation other than the assist direction. A rotating shaft to which no device is attached is arranged around the outside of the joint of the target wearer.

  As described above, the heavy duty assist suit 100 has the passive rotary shafts 7, 10, 12, 13, and 19 around the outer periphery of the joint of the target wearer so as not to hinder the wearer's movement in the direction other than the assist direction. Since it arrange | positions, a wearer's operation | movement is not restrained.

  The heavy work assist suit 100 has a mechanism and control capable of simultaneously power assisting the lumbar spine and the hip joint in the work of lifting and transporting heavy objects. The heavy duty assist suit 100 power assists the lumbar spine to prevent back pain and power assists the hip joint to assist walking. As described above, the heavy duty assist suit 100 can power assist the lumbar spine and the hip joint at the same time in order to assist walking while preventing back pain.

  Further, the heavy duty assist suit 100 does not use the weak surface myoelectric potential signal that flows to the muscle when trying to move the muscle, and the rotational torque necessary to move the body in various work postures of the wearer. Since the assist torque is calculated by dynamically calculating the surface myoelectric potential sensor, there is no troublesomeness. Thus, the heavy work assist suit 100 is practical without the trouble of wearing the surface myoelectric potential sensor.

  In addition, the heavy work assist suit 100 calculates the assist torque by dynamically calculating the torque required to move the body in various working postures of the wearer, not the motion pattern reproduction method. , There is no discontinuity when switching operations. As described above, the heavy work assist suit 100 does not need to store a large number of operation patterns in a database, and does not become discontinuous when the operation is switched.

  In addition, the spring type or rubber type passive method can power assist in only one direction, but the heavy duty assist suit 100 is an active method using the power assist electric motor 1 and assists in both directions. Can do.

  In this way, the two electric motors 1 for power assist are arranged in the vicinity of both sides of the wearer's waist in the left-right direction, and follow the movements of the wearer's upper body and thigh in the direction of the upper body and thigh. A drive torque for assisting the movement of the part is generated. The upper body frame is attached to the chest and waist of the wearer and holds the two electric motors 1 for power assist. The two lower limb assist arms have one end fixed to the rotation shaft of the power assist electric motor 1 and the other end attached to the side of the thigh. Therefore, the heavy work assist suit 100 can assist the lifting operation and the walking operation of the heavy load with a small number of drive sources, that is, the two power assist electric motors 1 provided on both sides of the waist.

  Further, the body frame includes a body assist arm, a main frame, a passive rotating shaft 12 and a passive rotating shaft 13. The upper body assist arm is attached to the chest of the wearer. The main frame holds the two power assist electric motors 1 at both ends, extends between the two power assist electric motors 1 along the back of the waist of the wearer, and is attached to the wearer's waist. The The passive rotating shaft 12 and the passive rotating shaft 13 connect the upper body assist arm and the main frame so as to be rotatable around the front and rear axes and the vertical axis. Therefore, the heavy duty assist suit 100 restrains the movement of the upper body in the left-right direction and the rotation of the upper body, compared to the case where the upper body assist arm and the main frame are connected to each other at two positions. In addition, the lifting operation and the walking operation of heavy objects can be assisted.

  Further, the power assist electric motor 1 includes an inner ring portion fixed to the rotating shaft of the power assist electric motor 1 and an outer ring portion provided to be rotatable about the axis of the rotating shaft with respect to the inner ring portion. Including a bearing portion. One end portion of the lower limb assist arm is fixed to the inner ring portion. The main frame includes a subframe that is attached in close contact with the waist of the wearer and is fixed to the outer ring portion. Therefore, the heavy work assist suit 100 can assist lifting and walking of heavy objects without restricting the movement of the waist.

  Further, the upper body assist arm includes the frame 18, the frame 14 and the frame 15, the frame 16 and the frame 17 disposed on the right side of the wearer, the frame 16 and the frame 17 disposed on the left side of the wearer, and the chest. Cushion 20. The frame 18 extends in the left-right axis direction on the front of the chest of the wearer. The frame 14 and the frame 15 extend in the left-right axis direction on the back of the waist of the wearer, and are connected to the main frame by the passive rotating shaft 12 and the passive rotating shaft 13. The frame 16 and the frame 17 arranged on the right side of the wearer connect the right end portion of the frame 18 and the right end portion of the frame 15 so as to be displaceable. The frame 16 and the frame 17 arranged on the left side of the wearer connect the left end portion of the frame 18 and the left end portion of the frame 15 so as to be displaceable. The chest cushion 20 is connected to the frame 18 by a passive rotary shaft 19 that is rotatably connected around the left and right axis of the frame 18 and is attached in close contact with the chest of the wearer. Therefore, the heavy-duty assist suit 100 can assist the lifting operation and the walking operation of the heavy object without restricting the longitudinal movement of the upper body.

  Further, the lower limb assist arm includes a passive rotating shaft 10 that rotatably couples the other end of the lower limb assist arm and the thigh to the left and right axes. Therefore, the heavy-duty assist suit 100 can assist lifting and walking of heavy objects without restricting the operation of the thigh.

  Further, the main frame includes an adjustment mechanism using adjustment holes provided in the frame 2 and the frame 3 for adjusting the distance between the two power assist electric motors 1, and the lower limb assist arm includes the lower limb assist arm. The frame 6 that adjusts the distance between the one end and the other end includes an adjustment mechanism that slides in the slide hole 8. Therefore, the heavy-duty assist suit 100 can be transformed into a form corresponding to the wearer's body shape.

  Further, the biaxial tilt sensor detects the rotation angle around the left and right axis of the wearer's upper body. The encoder included in the power assist electric motor 1 is provided in each of the two power assist electric motors 1 and detects the rotation angle of the rotation shaft of each power assist electric motor 1. The toe SW153, the heel SW154, the toe SW163, and the heel SW164 are respectively provided on the toe portion and the heel portion of the shoe sole portion of the shoe worn by the wearer, and a load greater than a predetermined value acts on the toe portion and the heel portion. Detect whether or not. Therefore, the heavy-duty assist suit 100 is practical without the trouble of wearing the surface myoelectric potential sensor.

  Further, the motor control unit 141 includes a rotation angle of the upper body detected by the biaxial tilt sensor, a rotation angle of the rotation shaft of the power assist electric motor 1 detected by an encoder included in the power assist electric motor 1, and Based on the detection results detected by the toe SW153, the heel SW154, the toe SW163, and the heel SW164, the static torque acting on the upper body and both thighs, the rotational direction, and the rotational torque required for the rotation are calculated. Further, the motor control unit 141 calculates the driving torque driven by the two power assist electric motors 1 based on the calculated static torque, rotation direction, and rotation torque, and generates the calculated driving torque. The two power assist electric motors 1 are driven. Therefore, the heavy-duty assist suit 100 does not need to store a large number of operation patterns in a database and does not become discontinuous when the operation is switched.

  Further, the motor control unit 141 reduces the calculated drive torque to a reduction ratio that is equal to or less than a reduction ratio at which a wearer can drive the two power assist electric motors 1 in the opposite directions. It is generated in the electric motor 1 for power assist. Therefore, the heavy work assist suit 100 can ensure the safety of the wearer.

  Furthermore, the handy terminal 50 inputs parameters representing individual differences among wearers. Then, the motor control unit 141 calculates the driving torque based on the parameters input by the handy terminal 50. Therefore, the heavy work assist suit 100 can perform assistance corresponding to individual differences of the wearer.

  Further, the motor control unit 141 includes a rotation angle of the upper body detected by the biaxial tilt sensor, a rotation angle of the rotation shaft of the power assist electric motor 1 detected by an encoder included in the power assist electric motor 1, and Based on the detection results detected by the toe SW153, the heel SW154, the toe SW163, and the heel SW164, a parameter representing the individual difference of the wearer is generated. Therefore, the heavy work assist suit 100 can generate parameters depending on individual differences of the wearer by causing the wearer to wear the heavy work assist suit 100 and actually operating the suit.

  Further, when executing the control method of the heavy duty assist suit 100, in steps D1 to D6, the rotation angle of the upper body detected by the biaxial tilt sensor is detected by the encoder included in the electric motor 1 for power assist. Based on the rotation angle of the rotating shaft of the electric motor 1 for power assist and the detection results detected by the toe SW153, heel SW154, toe SW163 and heel SW164, static torque and rotation acting on the upper body and both thighs The rotational torque required for rotation in the direction and is calculated. In step D7, based on the static torque, rotational direction and rotational torque calculated in steps D1 to D6, the driving torque driven by the two power assist electric motors 1 is calculated, and the calculated driving torque is calculated. The two power assist electric motors 1 are driven so as to occur. Therefore, the control method according to the present invention can assist the lifting operation and the walking operation of the heavy load with a small number of drive sources, that is, the two power assist electric motors 1 provided on both sides of the waist.

  FIG. 18 is a diagram showing an appearance of an assist suit 300 for heavy work that is the second embodiment of the present invention. FIG. 18A is a front view showing an appearance of the heavy duty assist suit 300 worn by the wearer. FIG. 18B is a side view showing the appearance of the heavy duty assist suit 300 worn by the wearer. FIG. 19 is a cross-sectional view of the main frame to which the electric motor 201 for power assist is attached. FIG. 19 is a cross-sectional view taken along the cutting plane line BB shown in FIG. The control method according to the second embodiment of the present invention is executed by the heavy work assist suit 300.

  A heavy work assist suit 300, which is a power assist robot device, is a heavy work assist suit. The heavy duty assist suit 300 includes a power assist electric motor 201, a waist frame 204, a back frame 205, frames 202, 203, 207 to 210, 220 to 223, 225, 226, 228, and a passive rotary shaft 206. , 211-213, 224, 235, receiving part 214, belts 215, 218, 230, 231; belt holders 216, 217; connector 227; chest guide 229; chest cushion 232; A control box 233, a driver storage box 234, a lateral fall prevention spring 236, and an angle adjustment mechanism 237 are configured.

  As shown in FIG. 18, the power assist electric motor 201, the waist frame 204, the frames 202, 203, 207 to 210, 223, 226, 228, the passive rotary shafts 206, 211 to 213, 224, the receiving portion 214, The belts 215, 218, 230, 231, the belt holders 216, 217, the connector 227, the side-falling prevention spring 236, and the driver accommodation box 234 are respectively provided on the left and right sides of the wearer.

  The electric motor 201 for power assist which is a rotational drive part is comprised by the electric servomotor, for example. The electric motor 201 for power assist is an electric motor used as a power source for power assist of the upper body and thigh, that is, to assist movement of the upper body and thigh. In other words, the power assist electric motor 201 generates power for assisting the rotation of the upper body and the thigh with the hip joint as a fulcrum.

  The two electric motors 201 for power assist are arranged on the left and right sides of the wearer at the same height as the wearer's hip joint so that the rotation shaft rotates around the left and right axis as follows. Each is attached. The positional relationship between each part of the heavy work assist suit 300 and the wearer is a position relative to the wearer when the wearer wears the heavy work assist suit 300.

  The rotating shaft of the power assist electric motor 201 is connected to a main frame that is a waist frame. Here, the main frame refers to one back frame 205 provided so as to cover the center part in the left-right direction in the lumbar part, which is the back part around the lumbar vertebrae, and the frame 202 and the frame 203 provided respectively on the left and right side parts of the wearer. , And the waist frame 204, and the rotation shaft of each power assist electric motor 201 is fixed to the lower end of each frame 202 in the main frame.

  Since the main frame is configured symmetrically, only one side will be described below. The frame 202 is provided so as to extend in the vertical direction along the side of the wearer. The rotating shaft of the electric motor 201 for power assist is fixed to the lower end of the frame 202 as described above. The lower end portion of the frame 203 is connected via a passive rotation shaft 206 to correspond to the degree of freedom of rotation around the front and rear axis of the lower limb in the hip joint. That is, the upper end portion of the frame 202 and the lower end portion of the frame 203 are coupled so as to be rotatable around the front-rear axis.

  The frame 203 is provided so as to extend in the vertical direction along the side of the wearer. The frame 202 is connected to the lower end of the frame 203 as described above, and one end of the waist frame 204 is connected to the upper end. Fastened and fixed.

  The waist frame 204 extends while curving from the one end to which the frame 203 is fixed to the other end opposite to the one end, and is generally L-shaped. One end of the waist frame 204 is connected to the frame 203 at a height position near the third to fifth lumbar vertebrae of the wearer so as to extend at right angles to the extending direction of the frame 203. The other end is fixed to the lower end of the back frame 205.

  A plurality of adjustment holes are provided in the other end portion of the waist frame 204 along the longitudinal direction thereof. Similarly, a plurality of adjustment holes are provided in the lower end portion of the back frame 205 along the left-right direction. The other end of the waist frame 204 and the lower end of the back frame 205 are connected to each other through these adjustment holes. That is, the width of the main frame in the left-right direction can be adjusted by an adjustment mechanism using a plurality of adjustment holes provided in each of the waist frame 204 and the back frame 205, whereby the width of the main frame in the left-right direction can be adjusted. It can be adapted to the body shape. An adjustment mechanism using adjustment holes provided in the waist frame 204 and the back frame 205 is a waist adjustment mechanism.

  In addition, belt holders 216 are attached to the upper end portion of the back frame 205 on both the left and right sides, and belt holders 217 are also attached to the one end portions of the waist frames 204, respectively. That is, as shown in FIG. 18, the belt holder 216 is provided at a position above the belt holder 217.

  One belt 218 is attached across the left belt holder 216 and the right belt holder 217, and the other belt 218 is attached across the right belt holder 216 and the left belt holder 217. That is, the two belts 218 are provided in a hook shape so as to cross at the wearer's abdomen. Thus, the main frame is mounted on the waist of the wearer by winding and tightening the two belts 218 around the wearer's abdomen.

  As shown in FIG. 18B, a cushion 219 is attached to the surface of the back frame 205 facing the wearer, and the back frame 205 does not directly contact the wearer's waist in the worn state. It is like that. The main frame can be attached in close contact with the waist of the wearer via the cushion 219. In addition, a control box 233 in which a control unit 310 and a battery unit 360 described later are accommodated is attached to a surface of the rear frame 205 opposite to the side on which the cushion 219 is attached.

  In the first embodiment, as shown in FIG. 2, the structure of the main frame is a double structure, that is, a double frame structure. However, in the present embodiment, as shown in FIG. It is constituted by a structure, that is, a single frame structure. Thereby, in this embodiment, the weight of the whole apparatus is reduced compared with the assist suit 100 for heavy work which concerns on 1st Embodiment. Thus, by reducing the weight of the entire apparatus, it is possible to reduce the burden on the body when worn.

  As described above, each power assist electric motor 201 has a rotation shaft fixed to each frame 202 in the main frame, whereas a motor main body that rotates the rotation shaft around the axis is provided. Are connected to lower limb assist arms which are thigh frames. Here, the lower limb assist arm is a part including the frames 207 to 210, and the fixed end side of each power assist electric motor 201 is respectively set with respect to the upper end portion of each frame 207 in the lower limb assist arm. It is fixed.

  The frame 207 is provided so as to extend in the vertical direction along the side of the wearer, and the fixed end side of the electric motor 201 for power assist is fastened and fixed to the upper end of the frame 207 as described above. The upper end portion of the frame 208 is connected via a passive rotation shaft 211 to correspond to the degree of freedom of rotation around the front and rear axis of the lower limb in the hip joint. In other words, the lower end portion of the frame 207 and the upper end portion of the frame 208 are coupled so as to be rotatable around the longitudinal axis.

  The frame 208 is provided so as to extend in the vertical direction along the side of the wearer. The frame 207 is connected to the upper end of the frame 208 as described above, and a motor driver unit 320 described below is connected to the lower end. The accommodated driver accommodating box 234 is attached so as to protrude outward, and the upper end portion of the frame 209 is fixed.

  The frame 209 is provided so as to extend in the vertical direction along the side of the wearer. The frame 208 is fixed to the upper end of the frame 209 as described above, and the lower end of the frame 209 is around the longitudinal axis of the lower limb in the hip joint. The frame 210 is fixed via a passive rotation shaft 212 to cope with the degree of freedom of rotation. That is, the lower end portion of the frame 209 and the frame 210 are coupled so as to be rotatable around the front-rear axis.

  In this frame 210, a receiving part 214 having a semi-cylindrical receiving surface partially covering the wearer's thigh from the front has a passive rotating shaft 213 for corresponding to the degree of freedom of rotation around the left and right axis. Is attached through. The receiving portion 214 is rotated about the left and right axis by the passive rotation shaft 213 which is the thigh connecting portion, thereby giving an appropriate angle of the receiving portion 214 corresponding to the movement of the wearer's thigh. Can do. Further, a belt 215 is attached to both ends of the receiving portion 214, and the receiving portion 214 is fixed to the wearer's thigh by winding and tightening the belt 215 around the back of the thigh. It is supposed to be.

  Here, a plurality of adjustment holes are provided in the lower end portion of the frame 208 along the longitudinal direction. Similarly, a plurality of adjustment holes are provided in the upper end portion of the frame 209 along the longitudinal direction. The frame 208 and the frame 209 are connected to each other through these adjustment holes. That is, the lower limb assist arm can be adjusted in the vertical dimension by an adjustment mechanism using a plurality of adjustment holes provided in the frame 208 and the frame 209, whereby the receiving portion 214 is adjusted to an appropriate position of the thigh. The overall length of the lower limb assist arm can be matched to the wearer's body shape. An adjustment mechanism using adjustment holes provided in the frame 208 and the frame 209 is a thigh adjustment mechanism.

As described above, in this embodiment, the passive rotation shafts 206 and 211 are provided at the upper and lower positions of the power assist electric motor 201 to correspond to the degree of freedom of rotation around the front and rear axis of the lower limb in the hip joint. The lower limb assist arm can be made to conform to the body shape of the wearer, and the lower limb assist arm can be made to conform to the body shape of the wearer even when the wearer opens the leg or crouches.
In the first embodiment, the lower limb assist arm is provided with a slide mechanism using a spring. However, in this embodiment, the entire length of the lower limb assist arm is adjusted to the body shape of the wearer by an adjustment mechanism using a plurality of adjustment holes. As a result, the overall weight of the apparatus is reduced compared to the first embodiment. Thereby, the burden on the body at the time of wearing can be reduced.

  Further, in the present embodiment, the motor driver unit 320 is configured to be housed in the lower leg assist arm by being housed in the driver housing box 234 instead of the control box 233, compared with the first embodiment, The size of the control box 233 attached to the main frame can be reduced, and the amount of protrusion of the control box 233 from the main frame to the back side can be reduced. This makes it difficult for the control box 233 to come into contact with an external object when sitting on a chair or the like while wearing the heavy duty assist suit 300, and the wearer cares about the presence of the control box 233. You can sit down without having to. In addition, damage to the control box 233 due to contact with an external object can be prevented.

  A first upper body assist arm constituting the chest frame is connected to an upper end portion of the back frame 205 in the main frame via a passive rotation shaft 235 corresponding to a degree of freedom of rotation about the upper and lower axis lines of the upper body. Has been. Here, the first upper body assist arm is a part including the frames 220 to 222 and the frames 223 provided on both the left and right sides of the wearer, and the upper end of the back frame 205 is passive. The rotary shaft 235 is connected to the frame 220 in the first upper body assist arm.

  The frame 221 is connected to the frame 220 via a passive rotation shaft 224 for corresponding to the degree of freedom of rotation about the front-rear axis of the upper body. The passive rotating shaft 224 and the passive rotating shaft 235 are upper body connecting portions. By providing such passive rotating shafts 224 and 235, it is possible to prevent the turning motion of the upper body of the wearer of the heavy-duty assist suit 300 and the rotational motion of tilting the upper body from side to side being obstructed. .

  In addition, the frame 220 and the frame 221 are connected by a pair of lateral fall prevention springs 236. The pair of side-falling prevention springs 236 are connected to the frame 220 via the passive rotating shaft 224, specifically, a portion of the chest frame excluding the frame 220 (hereinafter referred to as “movable portion”). ) Has a function of preventing the rotation around the axis of the passive rotation shaft 224 from being easily performed. Specifically, the pair of side-falling prevention springs 236 has a movable portion in an upright state (a state where the first extending portion of the frame 222 is parallel to the left-right direction) shown in FIG. 18 around the axis of the passive rotary shaft 224. When it rotates, it acts so as to return the movable part to an upright state by its elastic recovery force, so that the movable part can be easily left and right around the axis with the axis of the passive rotary shaft 224 as a fulcrum. It has a function to support it so that it will not fall over. In this embodiment, by providing such a pair of side-falling prevention springs 236, even when the wearer wears the heavy work assist suit 300 alone, it can be easily worn. The pair of side-falling prevention springs 236 are designed so as not to hinder the rotational movement of the upper body tilted in the left-right direction performed by the wearer of the heavy-duty assist suit 300.

  The frame 222 is connected to a first extending portion (chest rear frame) provided so as to extend in the left-right direction on the back of the wearer, and both ends of the first extending portion. And a pair of first bent portions that are bent at right angles to the portions and extend in the same direction, and are generally formed in a U-shape.

  The frame 221 is formed with an insertion hole extending in the left-right direction through which the central portion in the longitudinal direction of the first extending portion extends, and the frame 222 is formed around the left-right axis via the insertion hole. It is connected to the frame 221 so as to be rotatable.

  Each first bent portion of the frame 222 has a cylindrical shape by forming an insertion hole into which a frame 226 described later can be loosely fitted. A frame 226 loosely fitted in the insertion hole is fastened to the first bending portion at the free end portion of each first bending portion where the opening of the insertion hole is formed. Frames 223 having a clamp mechanism are connected to each other. The clamp mechanism is configured to be manually operable.

  Through the pair of first bent portions and the frame 223, the second upper body assist arm constituting the chest frame is connected to the first upper body assist arm. Here, the second upper body assist arm includes a plate-shaped chest guide 229 provided so as to cover the chest of the wearer, a frame 225, frames 226, 228 and connectors provided on both the left and right sides of the wearer. 227. The chest frame is constituted by a first upper body assist arm and a second upper body assist arm, and the chest frame and the waist frame constitute an upper body frame.

  The frame 225 is connected to a second extending portion (front chest frame) provided so as to extend in the left-right direction in front of the chest of the wearer, and both ends of the second extending portion. It has a pair of second bent portions that are bent at right angles to the provided portion and extend in the same direction, and is generally formed in a U-shape.

  The chest guide 229 is fastened and fixed with a pair of frames 228 that cooperate with the chest guide 229 to form an insertion hole through which the second extending portion of the frame 225 can be inserted extending in the left-right direction. The frame 225 is connected to the chest guide 229 through each insertion hole so as to be rotatable around the left and right axis.

  One end of a rod-shaped frame 226 is connected to the free end of each second bent portion of the frame 225 via a connector 227. Specifically, the frame 226 is connected so that the axis of the frame 226 coincides with the axis of the second bent portion. The connector 227 is configured so that the frame 225 and the frame 226 can be easily connected / separated by operation of the wearer. Thus, the wearer can easily attach and detach the heavy duty assist suit 300 by operating the connector 227.

  The second upper body assist arm configured as described above reaches the wearer's back through the wearer's side through the frame 226 connected via the second bent portion provided on the left and right sides and the connector 227. The other end of each frame 226 is inserted into the insertion hole of each first bent portion of the frame 222 in the first upper body assist arm, and is slid in the insertion direction for positioning, and the clamp mechanism in the frame 223 Is connected to the first upper body assist arm by fastening and fixing to the first bent portion. That is, the first upper body assist arm and the second upper body assist arm are adjusted by the adjusting mechanism configured by the frames 222, 223, and 226, and the second extending portion in the frame 222 and the second body assist arm in the frame 225. The distance from the extended portion can be adjusted according to the wearer's body shape.

  A chest cushion 232 is attached to the chest guide 229 on the side facing the wearer's chest, and belts 230 and 231 are attached. By tightening the belts 230 and 231, a second upper body assist is provided. The arm is attached closely to the wearer's chest.

  In the first upper body assist arm, the first extending portion of the frame 222 inserted through the insertion hole of the frame 221 is fastened and fixed to the frame 221 at the connecting portion between the frame 221 and the frame 222. An angle adjusting mechanism 237 having a clamping mechanism for performing the above is provided. The clamp mechanism is configured to be manually operable. By operating this angle adjusting mechanism 237, the wearer can adjust and fix the inclination angle γ (see FIG. 18B) of the chest frame with respect to the vertical direction according to the wearer's body shape. .

  FIG. 20 is a diagram illustrating a configuration of a control device included in the heavy work assist suit 300. The control equipment included in the heavy-duty assist suit 300 includes a control unit 310, two motor driver units 320, a right sole unit 330, a left sole unit 340, and a handy terminal device (hereinafter referred to as "handy terminal") 350. A battery unit 360, a right hand switch unit 370, and a left hand switch unit 380.

  The right sole unit 330 is attached to the shoe sole on the right side of the wearer, and the left sole unit 340 is attached to the shoe sole on the left side of the wearer. The handy terminal 350 that is a parameter input unit is a portable terminal device that is held and operated by the right or left hand of the wearer. The handy terminal 350 is realized by a smartphone, for example. The right hand switch unit 370 is configured in a glove shape and is worn on the wearer's right hand. The left hand switch unit 380 is configured in a glove shape and is attached to the wearer's left hand.

  The control unit 310 includes a first wireless communication unit 311, a second wireless communication unit 312, a central control unit 313, and a power supply control unit 314. The first wireless communication unit 311 is configured to be communicable with the right foot unit 330, the left foot unit 340, the right hand switch unit 370, and the left hand switch unit 380 by wireless communication, and these units and the central control unit 313 can communicate with each other. Relaying information. The second wireless communication unit 312 is configured to be able to communicate with the handy terminal 350 by wireless communication, and relays information between the handy terminal 350 and the central control unit 313. The central control unit 313 is configured to communicate with each motor driver unit 320 by wired communication. The power control unit 314 controls the battery unit 360. The central control unit 313 and the power control unit 314 are realized by a computer including a CPU.

  One motor driver unit 320 includes a right motor driver 321 that controls a power assist electric motor 201 mounted on the right side of the wearer, and the other motor driver unit 320 is mounted on the left side of the wearer. A right motor driver 322 for controlling the electric motor 201 for power assist. Each of the motor drivers 321 and 322 communicates with the central control unit 313 through wired communication, receives a command such as an output torque command necessary for assist from the central control unit 313, and centrally controls information such as motor position information. To part 313. The motor position information is information representing the rotation angle of the rotating shaft of the electric motor 201 for power assist.

  The right sole unit 330 includes a wireless communication unit 331, a battery 332, a toe switch (hereinafter also referred to as “SW”) 333 and a heel SW 334. The battery 332 is a rechargeable storage battery and supplies power to the wireless communication unit 331, the toe SW333, and the heel SW334. The wireless communication unit 331 sends the states of the toe SW333 and the heel SW334, that is, the detection results detected by the toe SW333 and the heel SW334 to the central control unit 313 via the first wireless communication unit 311.

  The toe SW333 is disposed at the toe portion of the shoe sole of the right shoe worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the toe portion. The heel SW 334 is arranged at the heel portion of the shoe sole of the right shoe worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the heel.

  The left sole unit 340 includes a wireless communication unit 341, a battery 342, a toe SW343, and a heel SW344. The wireless communication unit 341, the battery 342, the toe SW 343, and the heel SW 344 have the same configurations as the wireless communication unit 331, the battery 332, the toe SW 333, and the heel SW 334, respectively, and description thereof is omitted to avoid duplication. The toe SW333, the heel SW334, the toe SW343, and the heel SW344 are floor reaction force detection units.

  The right hand switch unit 370 includes a wireless communication unit 371, a battery 372, and a glove SW 373. The battery 372 is a rechargeable storage battery and supplies power to the wireless communication unit 371 and the gloves SW373. The wireless communication unit 371 sends the state of the glove SW 373, that is, the detection result detected by the glove SW 373 to the central control unit 313 via the first wireless communication unit 311. The glove SW 373 is arranged on the palm side part of the finger of the right glove worn by the wearer, and detects whether or not a load greater than a predetermined value is applied to the part.

  The left hand switch unit 380 includes a wireless communication unit 381, a battery 382, and a glove SW 383. The wireless communication unit 381, the battery 382, and the glove SW 383 have the same configurations as the wireless communication unit 371, the battery 372, and the glove SW 373, respectively, and a description thereof is omitted to avoid duplication. The gloves SW373 and gloves SW383 are finger reaction force detection units.

  The handy terminal 350 is used to set parameters, which will be described later, necessary for the operation of the heavy work assist suit 300. The battery unit 360 includes a battery 361. The battery 361 is a rechargeable storage battery. The battery unit 360 supplies power from the battery 361 to the control unit 310 and each motor driver unit 320.

  The central control unit 313 that is a drive control unit, based on the information of each switch given from the first wireless communication unit 311 and the position information of the motor given from each motor driver 321, 322, drive torque required for assist And an output torque command is sent to each of the motor drivers 321 and 322.

  In the present embodiment, as shown in FIG. 20, the control unit 310 communicates with two wireless communication units, that is, the right foot unit 330, the left foot unit 340, the right hand switch unit 370, and the left hand switch unit 380. By providing the 1 wireless communication part 311 and the 2nd wireless communication part 312 which communicates with the handy terminal 350, communication speed can be improved and parallel processing can be performed.

  FIG. 21 is a diagram for explaining the calculation of the rotational torque T. The central control unit 313 dynamically calculates the rotational torque T necessary to move the body in various work postures of the wearer using the rotational angle of the rotational axis of the electric motor 201 for power assist, Assist torque is calculated. The assist torque is a drive torque generated by the power assist electric motor 201.

  The central control unit 313 first acquires the hip joint angle β. The hip joint angle β is a rotation angle of the thigh, that is, an angle with respect to a vertical line. The central control unit 313 acquires the left and right hip joint angles β from the motor drivers 321 and 322.

If the mass of the leg is m _F [kg] and the distance from the rotary shaft of the power assist electric motor 201 to the passive rotary shaft 213 is L _F [m], it is necessary to operate the leg of mass m _F. The rotational torque T _F [N · m] can be calculated by a calculation formula “T _F = L _F m _F gsin (β)”.

However, g is a gravitational acceleration. L _F and m _F are proportional constants and are fixed values determined by the wearer. The central control unit 313 calculates the assist torque by setting these values as parameters in advance. The parameter can be set using the handy terminal 350.

  As described above, the assist suit 300 for heavy work according to the present embodiment is a weak surface that flows to the muscle when the muscle is moved with the rotational torque T necessary to move the body in various work postures of the wearer. Since the assist torque is calculated by dynamically calculating from the hip joint angle β without using the myoelectric potential signal, the troublesomeness of wearing the surface myoelectric potential sensor can be eliminated.

  Further, the heavy work assist suit 300 is not a preset motion pattern regeneration method, but dynamically calculates the rotational torque T required to move the body in various work postures of the wearer, and assists the ratio. Since the assist torque is calculated by multiplying by, there is no discontinuity when the operation is switched.

  Here, parameters set using the handy terminal 350 are shown in Table 5 below. Parameter Nos. “01” to “07” are walking control parameters on the free leg side, and parameter Nos. “11” to “13” are walking control parameters on the holding leg side. The free leg is the leg that is not on the ground, and the holding leg is the leg that is on the ground. The walking control parameter is a parameter for assisting the walking motion.

  Parameter Nos. “21” to “25” are body control parameters. The body control parameter is a parameter for assisting the body motion. Parameter Nos. “31” to “35” are middle waist control parameters. The middle waist control parameter is a parameter for assisting the middle waist motion. Parameter Nos. “41” to “45” are teaching parameters. The handy terminal 350 has a storage area for storing these parameters.

  FIG. 22 is a flowchart showing a processing procedure of assist suit control processing executed by the heavy work assist suit 300. The assist suit control process includes four processes including a power activation sequence process, a parameter rewrite sequence process, a posture information input sequence process, and a hip joint control sequence process. When the power of the heavy work assist suit 300 is turned on and the supply of power to the parts other than the power assist electric motor 201 is started, the central control unit 313 moves to step A11.

  In step A11, the central control unit 313 executes a power supply startup sequence process. Specifically, the central control unit 313 waits for completion of reception of parameters necessary for assist transmitted from the handy terminal 350. The central control unit 313 initializes the rotation angle of each thigh in the upright state where the wearer is standing upright after the reception of the parameters necessary for assisting, and supplies the power for the power assist electric motor 201 to the power source. Turn on.

  In step A12, the central control unit 313 executes a parameter rewriting sequence process. Parameters necessary for assist are appropriately sent from the handy terminal 350 held by the wearer. In the assist suit control process, the parameter rewriting sequence process is performed in the main loop so that the parameter update can be executed at any time. The main loop is a processing procedure loop formed by steps A12 to A14.

  In step A13, the central control unit 313 executes posture information input sequence processing. Posture information input sequence processing is processing for acquiring data relating to the posture of the wearer.

  In step A14, the central control unit 313 executes a hip joint control sequence process and returns to step A12. The hip joint control sequence process is a process of calculating and outputting an assist torque necessary for driving by the power assist electric motor 201 for each of the walking motion, the upper body motion and the middle waist motion based on the data acquired in step A13. It is.

  The central control unit 313 executes the main loop at intervals of 20 mS, and the heavy work assist suit 300 realizes smooth assistance to the wearer. The central control unit 313 determines the operation of the wearer within a few seconds before starting the assist, and outputs the assist torque after the determination. The heavy work assist suit 300 is intended to assist a healthy person, and even if there is no assistance for several seconds at the start of operation, there is no practical problem.

  FIG. 23 is a flowchart illustrating a processing procedure of parameter rewriting sequence processing. The parameter update includes an update by manual input and an update by input in the teaching mode. When step A12 shown in FIG. 22 is executed, the central control unit 313 proceeds to step B11.

  In step B11, the central control unit 313 determines whether or not the teaching mode is set based on the information received from the handy terminal 350. The central control unit 313 proceeds to step B12 when in the teaching mode, and proceeds to step B15 when not in the teaching mode.

  In step B12, the central control unit 313 turns off the assist. The central control unit 313 stops the assist by the power assist electric motor 201 while the assist is off, without executing the posture information input sequence process of step A13 and the hip joint control sequence process of step A14 shown in FIG. Return to Step A12.

  In step B13, the central control unit 313 detects the left and right hip joint angles β sent from the motor drivers 321, 322, the detection results by the toe SW333 and the heel SW334 sent from the right foot unit 330, and the left foot unit 340. Necessary for judging the intended motion of the wearer by analyzing the walking motion, upper body motion, and middle waist motion of the wearer based on the detection results of the toe SW343 and the heel SW344 sent from Generate the correct parameters. Among the generated parameters, teaching parameter parameter Nos. “41” to “45” are obtained by this operation analysis.

  In step B14, the central control unit 313 transmits the generated parameter to the handy terminal 350, and ends the parameter rewriting sequence process. The parameter transmitted to the handy terminal 350 is confirmed by the wearer at the handy terminal 350. The confirmed parameters are validated by retransmitting them to the handy terminal 350.

  In step B15, the central control unit 313 receives parameters from the handy terminal 350 and sets the received parameters. In step B16, the central control unit 313 turns on the assist and ends the parameter rewriting sequence process. The reason for turning on the assist after updating the parameters is to ensure the safety of the wearer.

  FIG. 24 is a flowchart illustrating the processing procedure of the posture information input sequence process. When step A13 shown in FIG. 22 is executed, the central control unit 313 proceeds to step C11.

  In step C11, the central control unit 313 reads the floor reaction force switch and detects the presence or absence of the floor reaction force. The floor reaction force switches are the toe SW333 and the heel SW334 of the right sole unit 330, and the toe SW343 and the heel SW344 of the left sole unit 340. Specifically, the central control unit 313 receives the detection results of the toe SW333 and the heel SW334 from the right sole unit 330, and receives the detection results of the toe SW343 and the heel SW344 from the left sole unit 340.

  In step C12, the central control unit 313 reads the angle of the motor encoder. Specifically, the central control unit 313 receives the rotation angle of the rotating shaft of the power assist electric motor 201, that is, the hip joint angle β from the encoder included in the power assist electric motor 201 via the motor drivers 321 and 322. Read. In step C13, the central control unit 313 calculates the hip joint angular velocity, that is, the angular velocity of the rotational angle of the rotating shaft of the power assist electric motor 201, and ends the posture information input sequence process. The encoder included in the power assist electric motor 201 is an angle detection unit.

  FIG. 25 is a flowchart illustrating a processing procedure of hip joint control sequence processing. Steps D11 and D12 are processes for walking motion. Steps D13 and D14 are processes for the upper body motion. Steps D15 and D16 are processes for the middle waist movement. Processing for walking motion, processing for upper body motion, and processing for middle waist motion are processed in parallel. When step A14 shown in FIG. 22 is executed, the central control unit 313 proceeds to steps D11, D13, and D15.

  In step D11, the central control unit 313 performs walking determination. Specifically, the central control unit 313 determines whether or not a walking motion is being performed based on the hip joint angle β and the floor reaction force. In step D12, the central control unit 313 performs walking control. Specifically, the central control unit 313, when performing the walking motion, based on the hip joint angle β and the floor reaction force that change every moment, the free leg side assist torque and the holding leg for assisting the walking motion. Side assist torque is calculated.

  In step D13, the central control unit 313 performs upper body determination. Specifically, the central control unit 313 determines whether or not a body motion is being performed based on the hip joint angle β and the floor reaction force. The upper body motion is an operation of bending the upper body and then raising the upper body. In step D14, the central control unit 313 performs upper body control. Specifically, the central control unit 313 calculates an assist torque for assisting the body motion when performing the body motion. The central control unit 313 calculates assist torque proportional to the hip joint angle β required for both legs.

  In step D15, the central control unit 313 performs middle waist determination. Specifically, the central control unit 313 determines whether or not the middle waist movement is performed based on the hip joint angle β and the floor reaction force. The middle waist motion is a motion in a middle waist posture. In step D16, the central control unit 313 performs middle waist control. Specifically, the central control unit 313 calculates an assist torque for assisting the middle waist motion when performing the middle waist motion. The central control unit 313 calculates assist torque proportional to the hip joint angle β required for both legs. Steps D11 to D16 are calculation steps.

  In step D17, the central control unit 313 makes a determination according to preset priorities for walking control, upper body control, and middle waist control, and in step D18, which is a driving step, the central control unit 313 performs the determination according to the priorities. The motor drivers 321 and 322 are controlled so as to output the calculated assist torque, the power assist electric motor 201 is driven, and the hip joint control sequence process ends.

  In the present embodiment, the priority is set in advance so that the priority of the body control is the highest, the priority of the middle waist control follows, and the priority of the walking control is the lowest. This priority order is determined in particular to assist farm work, but the priority order of walking control, upper body control, and middle waist control can be appropriately changed as necessary.

  As described above, in the present embodiment, by setting priorities for the walking control, the body control, and the middle waist control in advance, the operation is estimated by the central control unit 313 instead of the wearer side, and the walking control, Clearly separated so that upper body control and middle waist control are not mixed.

  FIG. 26 is a flowchart illustrating a processing procedure of walking determination processing. In the walking determination process, the transition ratio from the stopped state to the walking is calculated based on the change of the hip joint angle β and the floor reaction force switch in the posture information of the wearer by the procedure of steps E11 to E20. When step D11 shown in FIG. 25 is executed, the central control unit 313 proceeds to steps E11 and E15.

  In step E11, the central control unit 313 differentiates the hip joint angle β. In step E12, the central control unit 313 calculates the angular velocity. That is, the central control unit 313 sets the value obtained by differentiating the hip joint angle β in step E11 as the hip joint angular velocity. In step E13, the central control unit 313 detects walking determination points for the left and right feet, and in step E14, the central control unit 313 determines whether or not the hip joint angular velocity is in a walking state, and the hip joint angular velocity is walking. When in a state, the generation point of the hip joint angular velocity is set as a walking determination point. Specifically, the point where the hip joint angular velocity exceeds the “flexion side” parameter 41 is defined as the “flexion start point”, and the point where the hip joint angular velocity exceeds the “extension side” parameter 42 is defined as the “extension start point”. Judged that he was in a walking state.

  In step E15, the central control unit 313 calculates the ground contact state of the foot based on the floor reaction force data of the wearer. In step E16, the central control unit 313 obtains a change point of the ground contact state, and step E17. Then, the central control unit 313 determines whether the grounding state is a walking state, and sets it as a grounding determination point. The bending judgment point and the grounding judgment point are combined into a walking judgment point.

  In step E18, the central control unit 313 clears the time integration timer at the walking determination point. The time integration timer is a timer built in the central control unit 313, and is a timer that continues integration from power-on until it is cleared. Since the time integration timer is cleared at the walking determination point, the integration value of the time integration timer does not increase beyond a certain value. Therefore, the central control unit 313 can determine whether or not the user is walking based on the integrated value of the time integration timer.

  In step E19, the central controller 313 determines to continue walking based on the time integration timer value, that is, the integration value of the time integration timer. That is, the central control unit 313 determines whether or not walking is continued based on a time integration timer value until the walking determination point returns to the walking determination point again. In step E20, the central control unit 313 calculates a walking determination ratio and ends the walking determination process.

  As for the walking ratio (%), if the above-mentioned constant value is “constant time” of parameter No. “43” and the upper limit of the integrated value is “increase” of parameter No. “44”, Can be obtained as the “walking ratio”.

歩行割合（％）は、パラメータＮｏ「４４」の「増加」の時間で０％から１００％へ変化することになる。

The walking ratio (%) changes from 0% to 100% during the “increase” time of parameter No “44”.

  If the state without the walking point continues, the integrated value becomes equal to or longer than the “certain time” of the parameter No “43”. At this time, it can be determined that the user is not walking. At this time, the “walking ratio” is decreased to shift the degree of determination of walking to 0%. The parameter No “45” changes from 100% to 0% in the “decrease” time.

  FIG. 27 is a flowchart illustrating the processing procedure of the walking control process. In the walking control process, the free leg side torque and the holding leg side torque required during walking are calculated based on the hip joint angle β and the presence or absence of floor reaction force that change from moment to moment in the posture information of the wearer. . When step D12 shown in FIG. 25 is executed, the central control unit 313 proceeds to step F11.

  In step F11, the central control unit 313 detects the start of assist. Specifically, the central control unit 313 detects that the leg on the free leg side is positioned at the walking determination point. In step F12, the central control unit 313 calculates the assist torque on the free leg side. In step F13, the central control unit 313 calculates the assist torque on the holding leg side. In step F14, the central control unit 313 calculates walking assist torque by performing correction based on the walking ratio.

  FIG. 28 is a flowchart showing a processing procedure for calculating the assist torque on the free leg side. When step F12 shown in FIG. 27 is executed, the central control unit 313 proceeds to step F21.

  In step F21, the central control unit 313 determines whether or not it is a free leg, and if it is determined that it is a free leg, it proceeds to step F22 and reads the hip joint angle β. If it is determined that the leg is not a free leg, the calculation process is terminated. If it is determined that the leg is a swing leg, the walking sequence is executed in order of “starting swinging” → “being raised” → “starting swinging” → “being shaken”, and is finished when the swinging is completed. .

  When the heel SW detects the lift of the foot, it is determined that the foot is “starting to swing up”, and the “maximum holding” torque of the parameter No. “01” is set to the “acceleration time” of the parameter No. “03” on the swing side in step F23. Is output. If the swing-up operation continues even after the acceleration time has elapsed, it is determined as “raising”, and in step F22, based on “maximum holding” in parameter No “01” and “proportional range” in parameter No “02” The assist torque to the swing up in proportion to the read hip joint angle β is output (step F24). When the hip joint angle β reaches or exceeds the “return angle” of the parameter No. “04”, it is determined as “start of swinging”, and the “return angle” of the parameter No. “04” in the swinging direction including “being swung”. Based on the “return output” of the parameter No. “05”, an assist torque proportional to the hip joint angle β is output (step F25). However, the torque is cut within the “dead zone” of parameter No. “13”. Further, in order to prevent a sudden torque change from being a burden on the wearer, the output torque is adjusted in accordance with the “increase rate” of parameter No. “07” in step F26.

  FIG. 29 is a flowchart illustrating a processing procedure of assist torque calculation processing on the holding leg side. When step F13 shown in FIG. 27 is executed, the central control unit 313 proceeds to step F31.

  In step F31, the central control unit 313 determines whether or not it is a holding leg. If it is determined that it is a holding leg, the process proceeds to step F32, and if it is determined that it is not a holding leg, The calculation process ends. If it is determined that the leg is a holding leg, a torque for holding the upright posture is output.

  In step F32, the central control unit 313 reads the hip joint angle β, and in step F33, the central control unit 313 determines that the parameter No “11” is “maximum holding” and the parameter No “12” is “proportional range”. The holding torque proportional to the hip joint angle β is calculated. However, the torque is cut within the “dead zone” of parameter No. “13”. Further, in order to prevent a sudden torque change from being a burden on the wearer, the torque is adjusted according to the “increase rate” of parameter No. “07” and output in step F34.

  FIG. 30 is a flowchart showing the procedure of the body determination process. In the upper body determination process, it is determined whether the hip joint is bent and then the upper body is to be raised using the posture information of the wearer. When step D13 shown in FIG. 25 is executed, the central control unit 313 proceeds to step G11.

  In step G11, the central control unit 313 reads the hip joint angular velocity. In step G12, the central control unit 313 detects a body bending motion start point. Specifically, the position where the hip joint angular velocity calculated in step G11 exceeds the “bending side” of the parameter No “41” is detected, and that position is set as the body bending motion start point. In step G13, the central control unit 313 waits for detection of the start switch. When the switch is detected ON, the central control unit 313 starts body control output and returns to the “dead zone” of the parameter No “24”. Control has ended (steps G14 to G16).

  FIG. 31 is a flowchart showing the processing procedure of the body control process. When step D14 shown in FIG. 25 is executed, the central control unit 313 proceeds to step H11. In step H11, the central control unit 313 calculates assist torque proportional to the hip joint angle β required for both legs. Within the “acceleration time” of parameter No. “23” immediately after the start of body control, the hip joint angle β at the start is based on “maximum holding” of parameter No. “21” and “proportional range” of parameter No. “22”. Is output (step H12), and after the acceleration time, a torque corresponding to the hip joint angle β is set (step H13). However, in order to prevent a sudden torque change from becoming a burden on the wearer, the output torque output is adjusted in accordance with the “increase rate” of parameter No. “25” in step H14.

  FIG. 32 is a flowchart illustrating a processing procedure of the middle waist determination processing. In the middle waist determination process, the middle waist posture is determined using the posture information of the wearer. When the step D15 shown in FIG. 25 is executed, the central control unit 313 proceeds to step K11.

  In step K11, the central control unit 313 reads the hip joint angular velocity. In step K12, the central control unit 313 detects the middle waist movement start point. Specifically, a position where the hip joint angular velocity calculated in step K11 exceeds the “flexion side” of the parameter No “41” is detected, and that position is set as a middle waist movement start point. When the “upper body control” does not start even after the “waiting time” of the parameter No. “33” elapses, it is determined that the middle waist control starts, and the middle waist control is performed until the “dead zone” of the parameter No. “34” is detected. (Steps K13 to K15).

  FIG. 33 is a flowchart showing a processing procedure of the middle waist control processing. When the step D16 shown in FIG. 25 is executed, the central control unit 313 proceeds to step L11. In step L11, an assist torque proportional to the hip joint angle β required for both legs is calculated.

  After starting the middle waist, calculate the torque required to maintain the middle waist from the hip joint angle β at the start in step L11 based on the “maximum holding” of the parameter No “31” and the “proportional range” of the parameter No “32”. Yes. However, in order to prevent a sudden torque change from becoming a burden on the wearer, the output torque is adjusted in step L12 according to the “increase rate” of parameter No. “35”.

  In the heavy duty assist suit 300, the power assist electric motor 201 is arranged on both the left and right sides of the hip joint in order to perform power assist for the lumbar spine. In order to make the power assist electric motor 201 back-dryable, that is, to enable the drive device to be moved from the wearer side, the reduction ratio of the reduction gear added to the power assist electric motor 201 is set to 1. The output of the power assisting electric motor 201 is limited so that the wearer cannot produce more force than the wearer can achieve, and a sufficient assist force is secured in the anti-gravity direction.

  In this way, the heavy duty assist suit 300 makes the power assist electric motor 201 being used back-dryable, so that the reduction ratio of the reduction gear added to the power assist electric motor 201 is about 1/100. Since the output of the electric motor 201 for power assist is limited so that the wearer cannot produce more force than the wearer can reduce, the safety of the wearer can be ensured.

  The heavy work assist suit 300 is an assist mechanism to which the power assist electric motor 201 is attached, so that the passive rotary shafts 206, 211 to 213, 224, and 235, that is, the drive are not disturbed. A rotating shaft to which no device is attached is arranged around the outside of the joint of the target wearer.

  In this way, the heavy duty assist suit 300 has the passive rotary shafts 206, 211 to 213, 224, and 235 around the outer periphery of the joint of the target wearer so as not to hinder the wearer's movement in the direction other than the assist direction. Since it arrange | positions, a wearer's operation | movement is not restrained.

  The heavy work assist suit 300 has a mechanism and control capable of simultaneously power assisting the lumbar spine and the hip joint in the work of lifting and transporting a heavy object. The heavy duty assist suit 300 power assists the lumbar spine to prevent back pain and power assists the hip joint to assist walking. As described above, the heavy duty assist suit 300 can power assist the lumbar spine and the hip joint at the same time in order to assist walking while preventing back pain.

  Also, the heavy work assist suit 300 does not use the weak surface myoelectric potential signal that flows to the muscle when trying to move the muscle, and the rotational torque required to move the body in various work postures of the wearer. Since the assist torque is calculated by dynamically calculating the surface myoelectric potential sensor, there is no troublesomeness. Thus, the heavy duty assist suit 300 is practical without the trouble of wearing the surface myoelectric potential sensor.

  In addition, the heavy work assist suit 300 calculates the assist torque by dynamically calculating the torque required to move the body in various work postures of the wearer, not the operation pattern reproduction method. , There is no discontinuity when switching operations. As described above, the heavy work assist suit 300 does not need to store a large number of operation patterns in a database, and does not become discontinuous when the operation is switched.

  In addition, the spring type or rubber type passive method can power assist only in one direction, but the heavy duty assist suit 300 is an active method using the electric motor 201 for power assist, and assists in both directions. Can do.

  As described above, the two power assist electric motors 201 are arranged in the vicinity of both sides of the wearer's hip joint in the left-right direction, and follow the movements of the wearer's upper body and thigh in the direction of the upper body and thigh. A drive torque for assisting the movement of the part is generated. The upper body frame is attached to the chest and waist of the wearer and holds the two electric motors 201 for power assist. The two lower limb assist arms have one end fixed to the fixed side of the power assist electric motor 201 and the other end attached to the side of the thigh. Therefore, the heavy work assist suit 300 can assist the lifting operation and the walking operation of the heavy load with a small number of driving sources, that is, the two power assist electric motors 201 provided on both sides of the waist.

  Further, the body frame includes a body assist arm, a main frame, a passive rotating shaft 224 and a passive rotating shaft 235. The upper body assist arm is attached to the chest of the wearer. The main frame holds the two power assist electric motors 201 at both ends, extends between the two power assist electric motors 201 along the back of the waist of the wearer, and is attached to the wearer's waist. The The passive rotating shaft 224 and the passive rotating shaft 235 connect the upper body assist arm and the main frame so as to be rotatable about the front and rear axis and the vertical axis. Therefore, the heavy-duty assist suit 300 restrains the movement of the upper body in the left-right direction and the rotation of the upper body, compared to the case where the upper body assist arm and the main frame are connected to each other at two positions. In addition, the lifting operation and the walking operation of heavy objects can be assisted.

  Further, the central control unit 313 reduces the calculated drive torque to a reduction ratio that is less than or equal to a reduction ratio at which a wearer can drive the two power assist electric motors 201 in the opposite directions. It is generated in the electric motor 201 for power assist. Therefore, the assist suit 300 for heavy work can ensure the safety of the wearer.

DESCRIPTION OF SYMBOLS 1 Electric motor for power assists 2-6, 14-18, 23, 24 Frame 8 Slide hole 9 Receiving part 7, 10, 12, 13, 19 Passive rotating shaft 11, 21, 25 Belt 20 Chest cushion 22 Bearing 26 Cushion 27 Angle adjustment mechanism 50 Handy terminal 51 Parameter number selection switch 52 Up switch 53 Down switch 54 Entry switch 55 Parameter display 56 LED
57 walking switch 58 upper body switch 59 middle waist switch 100 heavy duty assist suit 130 communication unit 131,151,161 wireless communication unit 132 power supply control unit 134,142 motor driver 140 control unit 141 motor control unit 150 right foot unit 152,162 , 171 Battery 153,163 Toe SW
154,164 踵 SW
160 Left sole unit 170 Battery unit

Claims (17)

It is placed near both the left and right sides of the wearer's waist or hip joint, and generates driving torque to assist the movement of the upper body and thigh in the direction to follow the movement of the upper body and thigh of the wearer. Two rotational drive units to
An upper body frame that is attached to the chest and waist of the wearer and to which either one of the rotation shaft and the fixed end side of the two rotation drive units is fixed
One end part is fixed to either the rotation shaft of the rotation drive part or the fixed end side, and the other end part includes two thigh frames attached to the side part of the thigh. Power assist robot device. The upper body frame is
A chest frame to be worn on the wearer's chest;
A waist frame that holds the two rotational drive parts at both ends, extends between the two rotational drive parts along the back of the waist of the wearer, and is attached to the waist of the wearer;
The power assist robot apparatus according to claim 1, further comprising: a body connecting part that rotatably connects the chest frame and the waist frame about the front and rear axis and the vertical axis. The rotation drive unit includes a bearing unit configured by an inner ring portion fixed to a rotation shaft of the rotation drive unit, and an outer ring portion provided to be rotatable about an axis of the rotation shaft with respect to the inner ring portion,
One end of the thigh frame is fixed to the inner ring part,
The power assist robot apparatus according to claim 2, wherein the waist frame includes a sub-frame that is attached in close contact with the waist of the wearer and is fixed to the outer ring portion. The chest frame is
A front chest frame extending in the left-right axis direction in front of the wearer's chest;
A rear chest frame extending in the left-right axis direction on the back of the waist of the wearer and connected to the waist frame by an upper body connecting portion;
A right chest frame that displaceably connects the right end of the front chest frame and the right end of the rear chest frame;
A left chest frame that displaceably connects the left end of the front chest frame and the left end of the rear chest frame;
A cushion portion connected to the front chest frame by a chest connection portion that is rotatably connected around a left and right axis of the front chest frame, and is attached in close contact with the chest of the wearer. 4. The power assist robot apparatus according to 3. The chest frame is
A front chest frame extending in the left-right axis direction in front of the wearer's chest;
A rear chest frame extending in the left-right axis direction on the back of the waist of the wearer and connected to the waist frame by an upper body connecting portion;
The power assist robot apparatus according to claim 2, further comprising an adjustment mechanism that adjusts a distance between the front chest frame and the rear chest frame. The chest frame is
6. The power assist robot apparatus according to claim 5, further comprising a connector for connecting / separating a chest side portion including a front chest frame and a waist side portion including a rear chest frame. The waist frame includes a waist adjustment mechanism that adjusts a distance between the two rotation driving parts,
The thigh frame includes a thigh adjustment mechanism that adjusts a distance between one end and the other end of the thigh frame. Power assist robot device.   The thigh frame includes a thigh coupling portion that couples the other end of the thigh frame and the thigh so as to be rotatable about a left-right axis. The power assist robot apparatus according to any one of the above. A first angle detection unit for detecting a rotation angle around the left and right axis of the upper body of the wearer;
A second angle detection unit that is provided in each of the two rotation drive units and detects the rotation angle of the rotation shaft of each rotation drive unit;
A floor reaction force detection unit that is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer and that detects whether a load greater than a predetermined value is applied to the toe portion and the heel portion; The power assist robot apparatus according to any one of claims 1 to 8, further comprising: Based on the rotation angle of the upper body detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the detection result detected by the floor reaction force detection unit Calculating the static torque acting on the upper body and both thighs, the rotational direction and the rotational torque required for the rotation,
Further, based on the calculated static torque, rotational direction, and rotational torque, the driving torque driven by the two rotational driving units is calculated, and the two rotational driving units are driven so as to generate the calculated driving torque. The power assist robot device according to claim 9, further comprising a drive control unit. An angle detection unit that is provided in each of the two rotation drive units and detects a rotation angle of a rotation shaft of each rotation drive unit;
A floor reaction force detection unit that is provided at each of the toe portion and the heel portion of the shoe bottom portion of the shoe worn by the wearer and that detects whether a load greater than a predetermined value is applied to the toe portion and the heel portion; The power assist robot apparatus according to any one of claims 1 to 8, further comprising: Based on the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the detection result detected by the floor reaction force detection unit, the static torque acting on the upper body and both thighs, the rotation direction and Calculate the rotational torque required for rotation,
Further, based on the calculated static torque, rotational direction, and rotational torque, the driving torque driven by the two rotational driving units is calculated, and the two rotational driving units are driven so as to generate the calculated driving torque. The power assist robot apparatus according to claim 11, further comprising a drive control unit.   The drive control unit generates the calculated drive torque in the two rotation drive units by reducing the drive torque to a reduction ratio equal to or less than a reduction ratio that allows the wearer to drive the two rotation drive units in the opposite directions. The power assist robot apparatus according to claim 10 or 12, characterized in that: It further includes a parameter input unit for inputting parameters representing individual differences of the wearers,
14. The power assist robot apparatus according to claim 10, wherein the drive control unit calculates the drive torque based on a parameter input by a parameter input unit.   The drive control unit is detected by the body rotation angle detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the floor reaction force detection unit. The power assist robot apparatus according to claim 10, wherein a parameter representing an individual difference of the wearer is generated based on the detected result. It is a control method of the power assist robot apparatus according to claim 9,
Based on the rotation angle of the upper body detected by the first angle detection unit, the rotation angle of the rotation shaft of the rotation drive unit detected by the second angle detection unit, and the detection result detected by the floor reaction force detection unit Calculating a static torque acting on the upper body and both thighs, a rotational direction and a rotational torque required for the rotation;
Based on the static torque, rotation direction, and rotation torque calculated in the calculation step, the two rotation drive units calculate the drive torque driven by the two rotation drive units and generate the calculated drive torque. And a drive step for driving the power assist robot apparatus. It is a control method of the power assist robot apparatus according to claim 11,
Based on the rotation angle of the rotation shaft of the rotation drive unit detected by the angle detection unit and the detection result detected by the floor reaction force detection unit, the static torque acting on the upper body and both thighs, the rotation direction and A calculation step for calculating a rotation torque required for rotation;
Based on the static torque, rotation direction, and rotation torque calculated in the calculation step, the two rotation drive units calculate the drive torque driven by the two rotation drive units and generate the calculated drive torque. And a drive step for driving the power assist robot apparatus.

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