JP7326865B2 - power assist suit - Google Patents

Description

The present invention relates to a power assist suit that assists the movements of the wearer's left thigh and right thigh relative to the waist.

In recent years, various types of power assist suits have been proposed that reduce the burden on the wearer's lower back and the like in various fields such as manufacturing, distribution, construction, agriculture, nursing care, and rehabilitation.

For example, in the assist device described in Patent Literature 1 below, there is provided a body attachment that is attached to the body of the subject including the periphery of the body to be assisted of the wearer, and a body attachment that is attached to the body attachment and the body to be assisted. , and an actuator unit that assists the movement of the body part to be assisted. The actuator unit has an output link that rotates around the joint of the body to be assisted and is attached to the body to be assisted, and an output shaft that generates assist torque for assisting the rotation of the body to be assisted via the output link. and an actuator having a

The output shaft of the actuator is connected to the inner end of the spiral spring. The outer end of the spiral spring is connected via a pulley to the speed increasing shaft of a speed reducer that reduces the rotation angle from the output shaft of the actuator. A reduction shaft of the speed reducer is connected to the output link. Output link rotation angle detection means for detecting the rotation angle of the output link is provided on the speed increasing shaft of the speed reducer. Also provided is a motor rotation angle detection means for detecting the rotation angle of the output shaft of the actuator.

The rotation angle of the output shaft detected by the motor rotation angle detection means, the rotation angle of the output link detected by the output link rotation angle detection means, and the spring constant of the spiral spring are stored in the spiral spring. A resultant torque is required. Then, the wearer torque is extracted from the calculated combined torque, and the actuator outputs an assist torque corresponding to the wearer torque.

JP 2018-199186 A

However, in the assist device described in Patent Document 1, when a problem occurs in the output link rotation angle detection means, it becomes difficult to accurately detect the rotation angle of the output link. A large amount of assist torque is output, and the wearer may feel discomfort. In addition, if the actuator outputs an assist torque that exceeds the upper limit of the mechanical strength of the spiral spring, the spiral spring will be deformed, etc., and it will suddenly become impossible to output an appropriate assist torque. There is a possibility that the wearer may suddenly feel a load when lifting up the body, and may feel discomfort.

Therefore, the present invention has been invented in view of such points, and provides a highly reliable power assist suit that can output an appropriate assist torque by an actuator and does not give discomfort to the wearer. intended to provide

In order to solve the above problems, the first invention is a body attachment that is worn at least around the waist of a wearer, and a body attachment that is attached to the left thigh of the wearer together with the body attachment. a left actuator unit that generates an assist torque for assisting movement of the left thigh relative to the waist; and a control device for controlling the left actuator unit and the right actuator unit, wherein each of the left actuator unit and the right actuator unit an output link attached to the wearer's left thigh or right thigh and rotating around the joint of the left thigh or the right thigh; and the left thigh via the output link Alternatively, an actuator having an output shaft that generates assist torque for assisting rotation of the right thigh around the joint, one end of which is connected to the output link, and the other end of which is connected to the output shaft of the actuator. an elastic member for storing a combined torque obtained by synthesizing a wearer torque input from the output link rotated by the wearer's force and the assist torque input from the output shaft; and a deformation state detection device for detecting a deformation state of the member, wherein the control device detects the deformation state of the elastic member detected by the deformation state detection device of each of the left actuator unit and the right actuator unit. Based on a combined torque acquisition unit that acquires the combined torque stored in each of the elastic members, and based on the combined torque stored in each of the elastic members acquired via the combined torque acquisition unit, The power assist suit includes a spring failure determination section that determines whether or not the elastic members of the left actuator unit and the right actuator unit are out of order.

Next, according to a second aspect of the invention, in the power assist suit according to the first aspect, the spring failure determination unit determines if the combined torque acquired via the combined torque acquisition unit is equal to or greater than a predetermined torque threshold. In the power assist suit, it is determined that the elastic member has failed.

Next, a third invention is the power assist suit according to the first invention or the second invention, further comprising a power supply unit for supplying electric power to the left actuator unit and the right actuator unit, wherein the control device comprises: A power assist suit comprising a power supply control section that controls to stop power supply to the left actuator unit and the right actuator unit when the spring failure determination section determines that the elastic member has failed. is.

Next, a fourth invention is the power assist suit according to one of the first to third inventions, wherein the deformation state detection device detects the rotation angle of the output shaft. a rotation angle detection device and an output link rotation angle detection device that detects the rotation angle of the output link, and the combined torque acquisition unit detects the output shaft rotation angle detection device. and the rotation angle of the output link detected by the output link rotation angle detection device.

Next, in a fifth aspect of the invention, in the power assist suit according to the fourth aspect, the left actuator unit and the right actuator unit each have a deceleration shaft connected to the output link and a speed-up shaft connected to the output link. A power assist suit having a speed reducer connected to the output link rotation angle detection device.

Next, a sixth aspect of the present invention is a body attachment worn at least around the waist of a wearer, and a body attachment attached to the left thigh of the wearer together with the body attachment, and A left actuator unit that generates an assist torque for assisting movement of the thigh; a right actuator unit that generates an assist torque to assist, a power supply unit that supplies electric power to the left actuator unit and the right actuator unit, and a control device that controls the left actuator unit and the right actuator unit, Each of the left actuator unit and the right actuator unit is mounted on the left thigh or the right thigh of the wearer and rotates about the joint of the left thigh or the right thigh. a link, an actuator having an output shaft that generates an assist torque for assisting rotation of the left thigh or the right thigh around the joint via the output link, and one end connected to the output link. The other end is connected to the output shaft of the actuator, and the wearer torque is input from the output link rotated by the power of the wearer, and the assist torque is input from the output shaft. and a deformation state detection device for detecting a deformation state of the elastic member, wherein the control device controls the deformation of each of the left actuator unit and the right actuator unit. a combined torque acquisition unit that acquires the combined torque stored in each of the elastic members based on the deformation state of the elastic member detected by a state detection device; a first rotation torque acquisition unit that acquires a first rotation torque for rotating the output link of each of the left actuator unit and the right actuator unit based on the combined torque stored in the elastic member; a current detection section for detecting a current value supplied to each of the left actuator unit and the right actuator unit; and the current detected by the current detection section and supplied to each of the left actuator unit and the right actuator unit. a second rotation torque acquiring unit for acquiring a second rotation torque for rotating the output link of each of the left actuator unit and the right actuator unit based on the values; a device failure determination unit that determines whether or not the deformation state detection devices of the left actuator unit and the right actuator unit are malfunctioning, based on the difference between the torque and the two rotation torques. is.

Next, according to a seventh invention, in the power assist suit according to the sixth invention, the device failure determination section determines that the difference between the first rotation torque and the second rotation torque is a predetermined error threshold value. In the above case, the power assist suit determines that the deformed state detection device is out of order.

Next, according to an eighth invention, in the power assist suit according to the sixth invention or the seventh invention, the controller controls the deformation state of the left actuator unit or the right actuator unit by the device failure determination section. The power assist suit includes a power supply control section that controls to stop power supply to the left actuator unit and the right actuator unit when it is determined that the detection device is out of order.

Next, a ninth invention is the power assist suit according to one of the sixth to eighth inventions, wherein the deformation state detection device detects the rotation angle of the output shaft. a rotation angle detection device and an output link rotation angle detection device that detects the rotation angle of the output link, and the combined torque acquisition unit detects the output shaft rotation angle detection device. and the rotation angle of the output link detected by the output link rotation angle detection device.

Next, according to a tenth aspect of the invention, in the power assist suit according to the ninth aspect, the device failure determination section determines the first rotation torque and the second rotation torque of the left actuator unit and the right actuator unit, respectively. In the power assist suit, it is determined whether or not the output link rotation angle detection devices of the left actuator unit and the right actuator unit are out of order, based on the difference from the rotation torque.

Next, in an eleventh aspect of the invention, in the power assist suit according to the ninth aspect or the tenth aspect, the left actuator unit and the right actuator unit each have a speed reduction shaft connected to the output link. , a power assist suit having a reduction gear whose speed increasing shaft is connected to the output link rotation angle detection device.

Next, a twelfth invention is the power assist suit according to one of the first to eleventh inventions, wherein the elastic member includes a spiral spring.

According to the first invention, the control device calculates the combined torque stored in each elastic member based on the deformation state of each elastic member detected by the deformation state detection device of each of the left actuator unit and the right actuator unit. get. Then, the control device determines whether or not the elastic members of the left actuator unit and the right actuator unit will fail (eg, deform, break, etc.) based on the combined torque stored in each elastic member.

As a result, when the control device determines that the elastic member of the left actuator unit or the right actuator unit fails, it becomes possible to adjust the assist torque by the actuator so as not to exceed the upper limit of the mechanical strength of the elastic member. , it is possible to avoid failure of the elastic member. In addition, it is possible to provide a highly reliable power assist suit that can output an appropriate assist torque by the actuator and that does not give the wearer a sense of discomfort such as feeling a sudden load.

According to the second invention, the control device determines that the elastic member has failed (eg, deformed, broken, etc.) when the combined torque is equal to or greater than a predetermined torque threshold. As a result, by acquiring in advance a "torque threshold" when the elastic member fails (for example, deformation, breakage, etc.) by CAE (Computer Aided Engineering) analysis or experiment, the control device can determine whether the elastic member fails ( For example, it becomes possible to accurately determine whether or not the elastic member will fail before it deforms, breaks, etc.), and the reliability of the power assist suit can be improved.

According to the third invention, the control device stops supplying electric power to the left actuator unit and the right actuator unit when it is determined that the elastic member has failed based on the combined torque. As a result, the assist torque by the actuator is set to "0", so that the combined torque can be slowly reduced by the spring force of the elastic member. As a result, it is possible to provide a highly reliable power assist suit that does not give the wearer a sense of discomfort, such as feeling a sudden load, when assisting an operation of lifting or lowering a load.

According to the fourth aspect of the invention, the combined torque acquisition unit is configured to match the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device. Obtain the resultant torque based on Therefore, when assisting the lifting operation and lowering operation of the load, the combined torque can be obtained with a simple configuration including the output shaft rotation angle detection device and the output link rotation angle detection device.

According to the fifth invention, the output link rotation angle detection device is connected to the output link via the speed reducer. As a result, the change in the rotation angle of the output link can be increased and detected by the output link rotation angle detection device, so that the detection accuracy of the rotation angle of the output link can be improved. , it is possible to improve the detection accuracy of the combined torque.

According to the sixth aspect of the invention, the control device detects the combined torque stored in each elastic member based on the deformation state of each elastic member detected by the deformation state detection device of each of the left actuator unit and the right actuator unit. get. Then, the control device acquires the first rotation torque for rotating the output link of each of the left actuator unit and the right actuator unit based on the combined torque stored in each elastic member.

Further, the control device acquires the second rotation torque for rotating each output link based on the current values supplied to each of the left actuator unit and the right actuator unit. Then, based on the difference between the first rotation torque and the second rotation torque, the control device determines whether or not the deformation state detection devices of the left actuator unit and the right actuator unit are out of order.

Thereby, when the control device determines that the deformation state detection device of the left actuator unit or the right actuator unit is out of order, it becomes possible to stop outputting inappropriate assist torque by the actuator. A highly reliable power assist suit that can output an appropriate assist torque from an actuator when assisting the lifting and lowering of a load, and does not cause discomfort to the wearer. can provide.

According to the seventh invention, the control device determines that the deformation state detection device is out of order when the difference between the first rotation torque and the second rotation torque is equal to or greater than a predetermined error threshold. As a result, by obtaining in advance the "error threshold" when the deformation state detection device is out of order by CAE (Computer Aided Engineering) analysis or experiment, the control device can determine whether the deformation state detection device is out of order. It is possible to accurately determine whether or not there is a problem, and it is possible to improve the reliability of the power assist suit.

According to the eighth invention, the control device determines that the deformation state detection device of the left actuator unit or the right actuator unit is out of order based on the difference between the first rotation torque and the second rotation torque. If so, the power supply to the left actuator unit and the right actuator unit is stopped. As a result, the assist torque by the actuator is set to "0", so that the combined torque can be slowly reduced by the spring force of the elastic member. As a result, it is possible to provide a highly reliable power assist suit that does not give the wearer a sense of discomfort, such as feeling a sudden load, when assisting an operation of lifting or lowering a load.

According to the ninth aspect of the invention, the combined torque acquisition unit is configured to match the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device. Obtain the resultant torque based on Therefore, when assisting the lifting operation and lowering operation of the load, the combined torque can be obtained with a simple configuration including the output shaft rotation angle detection device and the output link rotation angle detection device.

According to the tenth invention, the control device rotates the left actuator unit and the right actuator unit based on the difference between the first rotation torque and the second rotation torque of each of the left actuator unit and the right actuator unit. It is determined whether or not the output link rotation angle detection device is out of order.

As a result, when the control device detects a failure of the output link rotation angle detection device of the left actuator unit or the right actuator unit, the rotation angle of the output link cannot be accurately detected. Torque output can be stopped. A highly reliable power assist suit that can output an appropriate assist torque from an actuator when assisting the lifting and lowering of a load, and does not cause discomfort to the wearer. can provide.

According to the eleventh invention, the output link rotation angle detection devices of the left actuator unit and the right actuator unit are connected to the output link via the speed reducer. As a result, the change in the rotation angle of the output link can be increased and detected by the output link rotation angle detection device, so that the detection accuracy of the rotation angle of the output link can be improved. , the accuracy of the first rotation torque can be improved.

According to the twelfth invention, by using the spiral spring, it is only necessary to adjust the expansion and contraction amount of the spiral spring (that is, the rotation angle of the output shaft), compared to the case where the output torque of the actuator is adjusted by current. Therefore, the assist torque can be easily adjusted.

It is a perspective view explaining the example of the whole structure of a power assist suit. FIG. 2 is an exploded perspective view of the power assist suit shown in FIG. 1; 1. It is a perspective view explaining the example of the external appearance of the body fittings in the power assist suit shown in FIG. 2 is a perspective view for explaining an example of the appearance of an actuator unit in the power assist suit shown in FIG. 1 and load detecting means; FIG. FIG. 4 is a perspective view for explaining an example of the appearance of a frame that is a component of the body attachment; FIG. 4 is an exploded view for explaining an example of the structure of a waist support part that is a component of the body attachment; FIG. 4 is an exploded view for explaining an example of the structure of a jacket part that is a component of the body attachment; 2 is a perspective view of a (right) actuator unit in the power assist suit shown in FIG. 1. FIG. 9 is a perspective view illustrating another example of the (right) actuator unit shown in FIG. 8. FIG. 4 is an exploded perspective view illustrating an example of the internal structure of the actuator unit; FIG. FIG. 4 is a cross-sectional view illustrating an example of an internal structure of an actuator unit; FIG. 10 is a diagram illustrating an upright state in which the wearer wearing the power assist suit straightens his or her back. FIG. 13 is a diagram illustrating a state in which the wearer is in a forward leaning posture from the state shown in FIG. 12 and the frame portion and the like are rotated around the virtual rotation axis; It is a figure explaining the example of the appearance of an operation unit. It is a figure explaining input-output of a control apparatus. It is a figure explaining the change (adjustment) of an operation mode, a gain, and an increase speed from an operation unit. It is a control block diagram which controls an actuator unit with a control apparatus. FIG. 18 is a flowchart for explaining the entire processing procedure based on the control block diagram shown in FIG. 17; FIG. FIG. 19 is a flowchart for explaining the details of the processing of [S100: adjustment determination, input processing, calculation of torque change amount, etc.] in the flowchart shown in FIG. 18; FIG. FIG. 19 is a flowchart for explaining the details of [S150: failure detection processing] in the flowchart shown in FIG. 18; FIG. FIG. 21 is a flowchart for explaining the details of the process of [S1600R: right actuator failure detection process] in the flowchart shown in FIG. 20; FIG. FIG. 19 is a flowchart for explaining the details of the processing of [S200: operation mode determination] in the flowchart shown in FIG. 18; FIG. FIG. 19 is a flow chart for explaining the details of the process of [S300: load determination (determination of gain C _p )] in the flow chart shown in FIG. 18; FIG. FIG. 10 is a diagram for explaining the load detected by the load detecting means when the wearer is standing still without holding the luggage. FIG. 25 is a diagram for explaining the load detected by the load detecting means in a state in which the wearer has lowered his/her waist and picked up the load from the state shown in FIG. 24 ; FIG. 10 is a diagram for explaining an example of the load mass obtained based on the detection signal from the load detection means when the wearer actually lowers his/her waist to grip the load and then lifts the gripped load. 25 is a diagram for explaining the acceleration detected by the acceleration detection means and the load detected by the load detection means by adding acceleration detection means to the state shown in FIG. 24; FIG. FIG. 28 is a diagram for explaining acceleration detected by the acceleration detection means and load detected by the load detection means in a state in which the wearer has lowered his/her waist and lifted the luggage in his/her hands from the state shown in FIG. 27 ; The weight of the load obtained based on the detection signal from the load detection means and the detection signal from the acceleration detection means when the wearer actually lowers his/her waist and grips the load and then lifts the gripped load. It is a figure explaining the example of. FIG. 19 is a flowchart for explaining the details of the processing of [SD000R: (right) lifting] in the flowchart shown in FIG. 18; FIG. It is a figure explaining the state of the lifting operation|work of a wearer. It is a figure explaining the example of the wearer's torque change amount / assistance amount characteristic. FIG. 5 is a diagram illustrating an example of forward tilt angle/lowering torque limit value characteristics; FIG. 10 is a diagram for explaining how the forward tilt angle and the lifting assist torque change over time when the wearer performs the lifting work; FIG. 19 is a flowchart for explaining the details of the processing of [SU000: lifting] in the flowchart shown in FIG. 18; FIG. FIG. 36 is a state transition diagram for explaining the details of the processing of [SS000: operation state determination] in the flowchart shown in FIG. 35; FIG. 7 is a diagram illustrating how the forward tilt angle and the lifting assist torque change with respect to the transition of the operation state when the wearer performs lifting work. FIG. 36 is a flow chart for explaining the details of the process of [SS100R: (right) increase speed switching determination] in the flow chart shown in FIG. 35 ; FIG. It is a figure explaining the example of the time and switching lower limit characteristic, and the time and switching upper limit characteristic. It is a figure explaining the example of the rate-of-increase/transition time characteristic. It is a figure explaining the example of the time and assistance amount characteristic. FIG. 36 is a flowchart for explaining the details of the process of [SS170R: (right) assist torque calculation] in the flowchart shown in FIG. 35; FIG. It is a figure explaining the example of the time / lifting torque characteristic, and the forward inclination angle / maximum lifting torque characteristic. It is a figure explaining the example of a gain/attenuation coefficient characteristic. It is a figure explaining the example of an assist ratio and a torque attenuation rate characteristic.

The overall structure of the power assist suit 1 will be described below with reference to FIGS. 1 to 16. FIG. For example, the power assist suit 1 assists the rotation of the thigh relative to the waist (or the waist relative to the thigh) when the wearer lifts a load (or when the wearer lifts a load), or assists the wearer in walking. It is a device that assists the rotation of the thigh relative to the waist. The X-axis, Y-axis, and Z-axis in each figure are orthogonal to each other. The direction corresponds to the upward direction.

● [Overall structure of power assist suit 1 (Fig. 1, Fig. 2)]
FIG. 1 shows the overall appearance of the power assist suit 1. As shown in FIG. 2 shows an exploded perspective view of the power assist suit 1 shown in FIG.

As shown in the exploded perspective view of FIG. 2, the power assist suit 1 includes a waist support portion 10, a jacket portion 20, a frame portion 30, a backpack portion 37, a cushion 37G, a right actuator unit 4R, a left actuator unit 4L, a load detector, and a load detector. It is composed of units 71R, 71L and the like. The waist support portion 10, the jacket portion 20, the frame portion 30, the backpack portion 37, and the cushion 37G constitute the body fitting 2 (see FIG. 3). (See FIG. 4). Acceleration detection means 75 is provided in the backpack section 37 . In addition, the wearer of the power assist suit 1 adjusts the operation mode (lifting assist, lifting assist, etc.), assist torque gain, assist torque increasing speed, and checks the adjusted state. It has an operation unit R1 (so-called remote controller) and a housing portion R1S for housing the operation unit R1.

The load detection units 71R and 71L are, for example, insoles of shoes. The load detection unit 71R is placed inside the wearer's right shoe and on the wearer's right sole, and the load detection unit 71L is placed inside the wearer's left shoe. , and placed on the sole of the left foot of the wearer. The load detection unit 71R includes a load detection means 72R (for example, a pressure sensor) capable of detecting the load around the toe of the wearer's right sole, and the load around the heel of the right sole of the wearer. A load detection means 73R (for example, a pressure sensor) is provided. Although not shown, the load detection unit 71R also has wireless communication means for wirelessly transmitting detection signals from the load detection means 72R and 73R to the operation unit R1, a power source for the communication means, and the like. The load detection unit 71L also has load detection means 72L and 73L, wireless communication means, a power supply, etc., and these are the same as the load detection unit 71R, so description thereof will be omitted.

Based on the detection signals from the load detection means 72L, 72R, 73L, and 73R, the control device 61 (see FIG. 15) determines the weight of the wearer or the weight of the wearer when the wearer does not hold the luggage. Wearer weight, which is the weight of the wearer, can be detected. In addition, the control device 61 (see FIG. 15), based on the detection signals from the load detection means 72L, 72R, 73L, and 73R, if the wearer is holding the luggage, combines the masses of the wearer and the luggage. A mass or combined weight, which is the weight of the wearer and luggage, can be detected. The control device 61 can detect the mass of the cargo or the weight of the cargo based on the combined mass or combined weight and the mass of the wearer or the weight of the wearer. A load-related quantity (package mass or package weight before correction, or package mass or package weight after correction) based on the package weight is obtained.

The acceleration detection means 75 is, for example, an acceleration sensor, and is provided, for example, in the backpack section 37, and detects the acceleration of the movement of a part of the wearer's body (in this case, the wearer's upper body (upper body)). Detect motion acceleration. Since the backpack part 37 is fixed to the back of the wearer, the acceleration detecting means 75 detects the body movement acceleration av (see FIGS. 27 and 28) parallel to the spine along the back surface of the wearer and the A body action acceleration aw (see FIGS. 27 and 28) perpendicular to the back surface of the person is detected. The control device 61 can obtain the vertical component body motion acceleration az (see FIG. 28) based on the body motion accelerations av, aw, and the like.

As will be described later, the control device 61 determines the load mass (load weight) based on the detection signals from the load detection means 72L, 72R, 73L, and 73R based on the detection signal from the acceleration detection means 75. By correcting using the body motion acceleration az, the load-related quantity (in this case, the load mass or load weight after correction) is obtained.

The body attachment 2 (see FIG. 3) is worn around at least the waist of the wearer. The right actuator unit 4R and the left actuator unit 4L (see FIG. 4) are attached to the body fitting 2 and the wearer's thighs, and are attached to the wearer's waist or the wearer's thighs. Support (assist) the movement of the lower back against Below, the body attachment 2 and the actuator unit 4 will be described in order.

● [Appearance of body attachment 2 (Fig. 3)]
As shown in FIGS. 2 and 3, the body attachment 2 includes a waist support portion 10 worn around the wearer's waist, a jacket portion 20 worn around the wearer's shoulders and chest, and a jacket portion. 20, and a backpack portion 37 and a cushion 37G attached to the frame portion 30. As shown in FIG. The frame portion 30 is arranged around the wearer's back and waist.

● [Overall configuration of frame unit 30 (Figs. 2, 3, and 5)]
The frame section 30, as shown in FIGS. 2 and 5, has a main frame 31, a right sub-frame 32R, a left sub-frame 32L, and the like. As shown in FIG. 5, the main frame 31 has supports 31SR and 31SL in which a plurality of belt connection holes 31H are arranged in the vertical direction, a connecting portion 31R, and a connecting portion 31L. One end (upper end) of the right sub-frame 32R is connected to the connecting portion 31R, and one end (upper end) of the left sub-frame 32L is connected to the connecting portion 31L. The right sub-frame 32R and the left sub-frame 32L have elasticity, and the left-right spacing of the lower ends is adjusted together with the waist support section 10 according to the waist width of the wearer (see FIG. 1).

As shown in FIG. 1, the lower end of the right sub-frame 32R is connected (fixed) to the connecting portion 41RS of the right actuator unit 4R, and the lower end of the left sub-frame 32L is connected to the connecting portion 41LS of the left actuator unit 4L. Connected (fixed).

● [Overall configuration of waist support unit 10 (Figs. 2, 3, and 6)]
As shown in FIGS. 3 and 6, the waist support part 10 includes a right waist mounting part 11R worn around the waist of the right half of the wearer and a left waist wearing part 11R worn around the waist of the left half of the wearer. and a portion 11L. As shown in FIG. 6, the right waist attachment portion 11R and the left waist attachment portion 11L are connected by a back waist belt 16A, an upper buttock belt 16B, and a lower buttock belt 16C.

As shown in FIGS. 1 and 2, the waist support portion 10 includes a connecting belt 19R having a connecting ring 19RS connected to the connecting portion 29RS of the jacket portion 20, and a connecting ring connected to the connecting portion 29LS of the jacket portion 20. and a connecting belt 19L having 19LS. Further, as shown in FIG. 2, the waist support section 10 has a mounting hole 15R for connecting to the connecting portion 40RS of the right actuator unit 4R and a connecting portion of the left actuator unit 4L at positions intersecting the virtual rotation axis 15Y. and a mounting hole 15L for connecting to 40LS.

Further, as shown in FIG. 6, a notch 11RC is formed at a position on the wearer's back side in the right waist attachment portion 11R to divide it into a right waist portion 11RA and a right buttock portion 11RB. A notch portion 11LC is formed at a position on the back side of the wearer in the left waist attachment portion 11L to divide the left waist portion 11LA and the left buttock portion 11LB.

As shown in FIG. 6, the waist support section 10 includes a right waist tightening belt 13RA, a waist belt holding member 13RB (waist buckle), a left waist tightening belt 13LA, a waist belt holding member 13LB (waist buckle), and a right pelvis upper belt. 17RA, right pelvis lower belt 17RB, left pelvis upper belt 17LA, left pelvis lower belt 17LB, upper right belt holding member 17RC (upper right handjob), lower right belt holding member 17RD (lower right handjob), pulling part 13RAH, upper left belt holding member 17LC (upper left handjob), left lower belt holding member 17LD (lower left handjob), pulling part 13LAH, etc., various belts whose length can be adjusted to keep it in close contact with the wearer's waist without slipping. .

● [Backpack section 37 and configuration around the backpack section 37 (Figs. 1 to 3)]
The backpack part 37 is attached to the main frame 31 which is the upper end part of the frame part 30, as shown in FIGS. As shown in FIG. 3, the right shoulder belt 24R, the right armpit belt 25R, the left shoulder belt 24L, and the left armpit belt 25L of the jacket portion 20 are connected to the main frame 31 or the backpack portion 37. As shown in FIG.

As shown in FIGS. 1 to 3, the backpack section 37 has a simple box-like shape and accommodates a control device, a power supply unit, communication means, and the like. As shown in FIG. 3, a support 31SR in which a plurality of belt connection holes 31H (corresponding to belt connection portions) are vertically arranged at positions facing the shoulders of the wearer on the back side of the main frame 31; 31SL is provided. In other words, a plurality of belt connection holes 31H (belt connection portions) are provided so that the position of the jacket portion 20 in the height direction with respect to the frame portion 30 can be adjusted according to the physique of the wearer. Therefore, the height of the jacket part 20 can be adjusted to an appropriate position according to the physique of the wearer.

In addition, even when the upper body of the wearer leans forward, the assist torque can be increased by lengthening the cushion 37G (or the backrest portion 37C) in contact with the wearer's back in the direction from the shoulders to the waist of the wearer. The output actuator units (4R, 4L) can be properly supported. Furthermore, even when the wearer's upper body is tilted to the left or right, the cushion 37G (or the backrest portion 37C) contacts the center of the curvature of the wearer's back, thereby outputting the assist torque. 4L) can be more appropriately supported (support rigidity is increased).

Further, as shown in FIG. 3, the belt connection portion 24RS of the right shoulder belt 24R is connected to one of the belt connection holes 31H (belt connection portion) of the support 31SR. Similarly, as shown in FIG. 3, the belt connecting portion 24LS of the left shoulder belt 24L is connected to one of the belt connecting holes 31H (belt connecting portion) of the support 31SL. Note that the supports 31SR and 31SL may be provided in the backpack portion 37 .

Belt connection portions 37FR and 37FL are provided on the left and right sides of the lower end of the backpack portion 37, as shown in FIG. As shown in FIG. 3, the belt connection portion 25RS of the right armpit belt 25R is connected to the belt connection portion 37FR. Similarly, as shown in FIG. 3, the belt connection portion 25LS of the left armpit belt 25L is connected to the belt connection portion 37FL. Note that the belt connecting portions 37FR and 37FL may be provided on the main frame 31 .

● [Overall configuration of jacket portion 20 (Figs. 2, 3, and 7)]
As shown in FIG. 3, the jacket part 20 includes a right chest mounting part 21R that is worn around the chest of the right half of the wearer and a left chest wearing part 21L that is worn around the chest of the left half of the wearer. have. The right chest attachment part 21R is connected to the left chest attachment part 21L by, for example, a hook-and-loop fastener 21F or a buckle 21B, thereby facilitating attachment and detachment of the jacket part 20 to the wearer.

As shown in FIG. 3, the right chest mounting portion 21R includes a right shoulder belt 24R and a belt connection portion 24RS that are connected to the belt connection hole 31H of the main frame 31 (or the backpack portion 37), and the backpack portion 37 (or It has a right armpit belt 25R and a belt connection portion 25RS that are connected to the belt connection portions 37FR and 37FL of the main frame 31). Further, as shown in FIG. 3, the left chest attachment portion 21L includes a left shoulder belt 24L and a belt connection portion 24LS connected to the main frame 31 (or the backpack portion 37), and the backpack portion 37 (or the main frame 31). It has a left armpit belt 25L and a belt connecting portion 25LS to be connected. Further, as shown in FIG. 3, the right chest mounting portion 21R has a connecting belt 29R and a connecting portion 29RS for connecting with the right waist mounting portion 11R, and the left chest mounting portion 21L has the left waist mounting portion 11L. It has a connecting belt 29L and a connecting portion 29LS for connecting with.

7, the jacket portion 20 includes a fixing portion 28R, a fixing portion 28L, a right shoulder belt 23R, a right shoulder belt holding member 23RK (right shoulder job), a left shoulder belt 23L, and a left shoulder belt holding member 23LK (left shoulder job). ), right armpit belt 26R, right armpit belt holding member 26RK (right armpit job), left armpit belt 26L, left armpit belt holding member 26LK (left armpit job), etc. , various belts with adjustable lengths, etc.

● [Overall Configuration of Right Actuator Unit 4R and Left Actuator Unit 4L (Figs. 2, 4, 8, 9)]
FIG. 4 shows the appearance of the right actuator unit 4R and the left actuator unit 4L shown in FIG. 2, and load detection units 71L and 71R. Since the left actuator unit 4L is bilaterally symmetrical to the right actuator unit 4R, the description of the left actuator unit 4L will be omitted in the following description.

As shown in FIG. 4, the right actuator unit 4R has a torque generation section 40R and an output link 50R that is a torque transmission section. The torque generating portion 40R has an actuator base portion 41R, a cover 41RB, and a connecting base 4AR. As shown in FIG. 4, the output link 50R rotates around the joint (hip joint in this case) of the body to be assisted (thigh in this case) to is attached to the The assist torque for assisting the rotation of the body part to be assisted via the output link 50R is generated by the electric motor (actuator) in the torque generating section 40R.

The output link 50R has an assist arm 51R (corresponding to a first link), a second link 52R, a third link 53R, and a thigh mounting portion 54R (corresponding to a body holding portion). The assist arm 51R is rotated about the rotation axis 40RY by a combined torque obtained by synthesizing the assist torque generated by the electric motor in the torque generating section 40R and the wearer torque generated by the movement of the wearer's thigh. do. One end of the second link 52R is rotatably connected to the tip of the assist arm 51R about the rotation axis 51RJ, and one end of the third link 53R is connected to the other end of the second link 52R to rotate about the rotation axis 52RJ. is rotatably connected to the A thigh attachment portion 54R is connected to the other end of the third link 53R via a third joint portion 53RS (a spherical joint in this case).

Next, details of the link mechanism of the right actuator unit 4R will be described with reference to FIGS. 4, 8, and 9. FIG. As examples of link mechanisms, an example of an output link 50R shown in FIG. 8 and an example of an output link 50RA shown in FIG. 9 will be described.

The output link 50R shown in FIG. 8 includes an assist arm 51R (corresponding to a first link), a second link 52R, a third link 53R, and a thigh mounting portion 54R (corresponding to a body holding portion), each of which is a joint portion. It is composed of a plurality of connecting members by being connected with each other.

One end of the second link 52R is connected to the tip of the assist arm 51R by the first joint portion 51RS so as to be rotatable about the rotation axis 51RJ. The first joint portion 51RS has a connection structure having a degree of freedom=1 that allows the second link 52R to rotate about the rotation axis 51RJ with respect to the assist arm 51R.

One end of the third link 53R is connected to the other end of the second link 52R by a second joint portion 52RS so as to be rotatable about the rotation axis 52RJ. The second joint portion 52RS has a connection structure having a degree of freedom=1 that allows the third link 53R to rotate about the rotation axis 52RJ with respect to the second link 52R.

The other end of the third link 53R is connected to the thigh mounting portion 54R at a third joint portion 53RS (eg, a spherical joint). Therefore, the third joint portion 53RS between the third link and the thigh attachment portion 54R (body support portion) has a connection structure with a degree of freedom of three. From the above, the total number of degrees of freedom of the output link 50R shown in FIG. 8 is 1+1+3=5.

The total number of degrees of freedom of the output link 50R should be 3 or more. For example, the third joint portion 53RS may be configured so that the thigh attachment portion 54R can rotate about the rotation axis with respect to the other end of the third link 53R (the degree of freedom=1). good. Therefore, the total number of degrees of freedom of the output link in this case is 1+1+1=3, since the degree of freedom of the first joint portion 51RS is "1" and the degree of freedom of the second joint portion 52RS is "1". It is more preferable to provide a stopper for limiting the rotation range of the second link and the third link.

The output link 50RA shown in FIG. 9 includes an assist arm 51R (corresponding to the first link), a second link 52RA (and a second joint portion 52RS), a third link 53RA, and a thigh mounting portion 54R (for body holding portion). equivalent) are connected to each other by joint portions, and are configured by a plurality of connecting members.

The end of the second link 52RA is connected to the tip of the assist arm 51R by the first joint portion 51RS so as to be rotatable about the rotation axis 51RJ. The first joint portion 51RS has a connection structure having a degree of freedom=1 that allows the second link 52RA to rotate about the rotation axis 51RJ with respect to the assist arm 51R.

The second link 52RA and the second joint portion 52RS are integrated, and the second link 52RA has a third link 53RA that is reciprocally slidable along a longitudinal slide axis 52RSJ. They are connected at a joint portion 52RS. The second joint portion 52RS has a connecting structure having a degree of freedom=1 that allows the third link 53RA to slide relative to the second link 52RA along the slide axis 52RSJ.

The other end of the third link 53RA is connected to the thigh mounting portion 54R at a third joint portion 53RS (for example, a spherical joint). Therefore, the third joint portion 53RS between the third link 53RA and the thigh attachment portion 54R (body support portion) has a connection structure with a degree of freedom of three. From the above, the total number of degrees of freedom of the output link 50RA shown in FIG. 9 is 1+1+3=5.

Since the total number of degrees of freedom should be 3 or more, the third joint portion 53RS may have a connection structure with a degree of freedom of 1 so that the thigh mounting portion 54R can rotate about the rotation axis. It is more preferable to provide stoppers for limiting the rotation range of the second link 52RA and the sliding range of the third link 53RA.

● [Internal structure of torque generating section 40R in right actuator unit 4R (Figs. 10 and 11)]
Next, each member housed in the cover 41RB of the torque generating section 40R (see FIG. 4) will be described with reference to FIGS. 10 and 11. FIG. 11 is a cross-sectional view taken along the line AA in FIG. 10. FIG. As shown in FIGS. 10 and 11, the cover 41RB contains a reducer 42R, a pulley 43RA, a transmission belt 43RB, a pulley 43RC having a flange portion 43RD, a spiral spring 45R, a bearing 46R, an electric motor 47R (actuator), a sub A frame 48R and the like are accommodated. An assist arm 51R having a shaft portion 51RA is arranged outside the cover 41RB.

In addition, outlets 33RS and 33LS (connection ports) for actuator drive, control, and communication cables are provided in portions of the actuator units (4R, 4L) near the frame portion 30. As shown in FIG. Cables (not shown) connected to the cable outlets 33RS and 33LS are arranged along the frame portion 30 and connected to the backpack portion 37 .

As shown in FIG. 11, the torque generating portion 40R includes an actuator base portion 41R to which a subframe 48R on which an electric motor 47R and the like are mounted, a cover 41RB attached to one side of the actuator base portion 41R, an actuator and a connecting base 4AR attached to the other side of the base portion 41R. The connection base 4AR is provided with a connection portion 40RS that is rotatable about a rotation axis 40RY.

As shown in FIGS. 10 and 11, the output link rotation angle detection means 43RS (rotation angle sensor or the like) for detecting the rotation angle of the assist arm 51R with respect to the actuator base portion 41R is connected to the acceleration shaft 42RB of the speed reducer 42R. is connected to a pulley 43RA connected to . The output link rotation angle detection means 43RS is, for example, an encoder or an angle sensor, and outputs a detection signal corresponding to the rotation angle to the control device 61 (see FIG. 15). Further, the electric motor 47R is provided with motor rotation angle detection means 47RS capable of detecting the rotation angle of the motor shaft (corresponding to the output shaft). The motor rotation angle detection means 47RS is, for example, an encoder or an angle sensor, and outputs a detection signal corresponding to the rotation angle to the control device 61 (see FIG. 15).

As shown in FIG. 10, the sub-frame 48R is formed with a through hole 48RA for fixing the speed reducer housing 42RC of the speed reducer 42R and a through hole 48RB for inserting the output shaft 47RA of the electric motor 47R. The shaft portion 51RA of the assist arm 51R is fitted into the hole portion 42RD of the reduction shaft 42RA of the reduction gear 42R, and the reduction gear housing 42RC of the reduction gear 42R is fixed to the through hole 48RA of the sub-frame 48R. As a result, the assist arm 51R is rotatably supported by the actuator base portion 41R about the rotation axis 40RY, and rotates together with the deceleration shaft 42RA. Also, the electric motor 47R is fixed to the sub-frame 48R, and the output shaft 47RA is inserted through the through-hole 48RB of the sub-frame 48R. The sub-frame 48R is fixed to the mounting portion 41RH of the actuator base portion 41R with fastening members such as bolts.

As shown in FIG. 10, a pulley 43RA is connected to the acceleration shaft 42RB of the reduction gear 42R, and an output link rotation angle detection means 43RS is connected to the pulley 43RA. A support member 43RT fixed to the sub-frame 48R is connected to the output link rotation angle detection means 43RS. Thereby, the output link rotation angle detection means 43RS can detect the rotation angle of the acceleration shaft 42RB with respect to the sub-frame 48R (that is, with respect to the actuator base portion 41R). Moreover, since the rotation angle of the assist arm 51R is increased by the speed increasing shaft 42RB of the speed reducer 42R, the output link rotation angle detection means 43RS and the control device 61 can achieve higher resolution. A rotation angle of the assist arm 51R can be detected. By detecting the rotation angle of the output link with higher resolution, the control device can perform more precise control. The shaft portion 51RA of the assist arm 51R, the speed reducer 42R, the pulley 43RA, and the output link rotation angle detection means 43RS are arranged coaxially along the rotation axis 40RY.

The speed reducer 42R has a gear speed reduction ratio n _G (1<n _G ), and rotates the speed increasing shaft 42RB when the speed reducing shaft 42RA is rotated by a rotation angle (θ _L , _R ). Rotate by an angle n _G θ _L , _R . Further, the speed reducer 42R rotates the speed reduction shaft 42RA by the rotation angle _θL , _R when the speed increasing shaft 42RB is rotated by the rotation angle _{nGθL , R} . A transmission belt 43RB is wound around a pulley 43RA to which the speed increasing shaft 42RB of the reduction gear 42R is connected and a pulley 43RC. Accordingly, wearer torque from the assist arm 51R is transmitted to the pulley 43RC via the speed increasing shaft 42RB, and assist torque from the electric motor 47R is transmitted to the speed increasing shaft 42RB via the spiral spring 45R and the pulley 43RC. . A pulley reduction ratio n _P (pulley reduction ratio=reduction gear pulley 43RA:motor pulley 43RC=n _P : 1) is set, which is the ratio of the pulley 43RA on the reduction gear side to the pulley 43RC on the motor side. . For example, the gear reduction ratio n _G is set to approximately 50 and the pulley reduction ratio n _P is set to approximately 88/60.

The spiral spring 45R has a spring constant Ks and has a spiral shape with an inner end portion 45RC on the center side and an outer end portion 45RA on the outer peripheral side. An inner end portion 45RC of the spiral spring 45R is fitted into a groove portion 47RB formed in an output shaft 47RA of the electric motor 47R. An outer end portion 45RA of the spiral spring 45R is wound in a cylindrical shape, and a transmission shaft 43RE provided on a flange portion 43RD of a pulley 43RC is fitted and supported by the transmission shaft 43RE (the pulley 43RC is The flange portion 43RD and the transmission shaft 43RE are integrated). The pulley 43RC is rotatably supported around a rotation axis 47RY, and a transmission shaft 43RE projecting toward the spiral spring 45R is provided in the vicinity of the outer peripheral edge of the integrated flange portion 43RD. The transmission shaft 43RE is fitted in the outer end portion 45RA of the spiral spring 45R, and moves the position of the outer end portion 45RA around the rotation axis 47RY. A bearing 46R is provided between the output shaft 47RA of the electric motor 47R and the pulley 43RC. That is, the output shaft 47RA is not fixed to the pulley 43RC, and the output shaft 47RA can freely rotate with respect to the pulley 43RC. The pulley 43RC is rotationally driven by an electric motor 47R via a spiral spring 45R. In the above configuration, the output shaft 47RA of the electric motor 47R, the bearing 46R, the pulley 43RC having the flange portion 43RD, and the spiral spring 45R are arranged coaxially along the rotation axis 47RY.

The spiral spring 45R stores the assist torque transmitted from the electric motor 47R, and the wearer torque transmitted via the assist arm 51R, the speed reducer 42R, the pulley 43RA, and the pulley 43RC due to the movement of the thigh of the wearer. is stored, and as a result, a combined torque obtained by synthesizing the assist torque and the wearer torque is stored. The combined torque stored in the spiral spring 45R rotates the assist arm 51R via the pulleys 43RC and 43RA and the speed reducer 42R. With the above configuration, the output shaft 47RA of the electric motor 47R is connected to the output link (assist arm 51R in the case of FIG. 10) through the speed reducer 42R that reduces the rotation angle of the output shaft 47RA.

The combined torque stored in the spiral spring 45R is obtained based on the amount of change in angle from the no-load state and the spring constant. ), the rotation angle of the output shaft 47RA of the electric motor 47R (obtained by the motor rotation angle detection means 47RS), and the spring constant Ks of the spiral spring 45R. Then, the wearer's torque is extracted from the calculated combined torque, and the electric motor outputs an assist torque corresponding to the wearer's torque.

Further, as shown in FIG. 11, the torque generating portion 40R of the right actuator unit has a connecting portion 40RS that can rotate about the rotation axis 40RY (that is, the virtual rotation axis 15Y). 2 and 1, the connecting portion 40RS is connected (fixed) with a connecting member such as a bolt through the attachment hole 15R of the waist support portion 10. As shown in FIG. Further, as shown in FIGS. 2 and 1, the lower end portion of the right sub-frame 32R of the frame portion 30 is connected (fixed) to the connection portion 41RS of the right actuator unit 4R. Similarly, the connecting portion 40LS of the torque generating portion 40L of the left actuator unit is connected (fixed) with a connecting member such as a bolt through the attachment hole 15L of the waist support portion 10, and is connected (fixed) to the connecting portion 41LS of the left actuator unit 4L. is connected (fixed) to the lower end portion of the left sub-frame 32L of the frame portion 30 . That is, in FIG. 2, the waist support portion 10 and the frame portion 30 are fixed to the torque generation portion 40R of the right actuator unit 4R, and the waist support portion 10 and the frame portion 30 are fixed to the torque generation portion 40L of the left actuator unit 4L. be done. The right actuator unit 4R, the left actuator unit 4L, and the frame portion 30 are integrated, and are connected to the waist support portion 10 by connecting portions 40RS and 40LS (see FIG. 2) that are rotatable about the virtual rotation axis 15Y. It is rotatable (see FIGS. 12 and 13).

As described above, the control device 61 controls the rotation of the spiral spring 45R from the unloaded state based on the detection signal from the output link rotation angle detection means 43RS and the detection signal from the motor rotation angle detection means 47RS. The angle and rotation direction can be detected, and the torque (composite torque) can be detected from these and the spring constant of the spiral spring 45R. In this case, the output link rotation angle detection means 43RS, the motor rotation angle detection means 47RS, and the spiral spring 45R correspond to torque detection means, and the control device 61 controls the output link rotation angle detection means 43RS (angle detection means). ) can be detected based on the detected forward tilt angle (in this case, the combined torque).

In the above description, the electric motor 47R, the spiral spring 45R, the motor rotation angle detection means 47RS, and the output link rotation angle detection means 43RS are all provided in the right actuator unit 4R. Although not shown, the left actuator unit 4L is similarly provided with an electric motor 47L, a spiral spring 45L, a motor rotation angle detection means 47LS, and an output link rotation angle detection means 43LS. In the description to be given later, when the electric motor 47L, the spiral spring 45L, the motor rotation angle detection means 47LS, and the output link rotation angle detection means 43LS are described, they are provided in the left actuator unit 4L. point to something

● [Appearance and configuration of operation unit R1 (Figs. 14 to 16)]
Next, the operation unit R1 for the wearer to easily adjust the assisted state of the power assist suit 1 will be described with reference to FIGS. 14 to 16. FIG. As shown in FIG. 15, the operation unit R1 is connected to the controller 61 in the backpack section 37 (see FIG. 1) via a wired or wireless communication line R1T. The control device R1E of the operation unit R1 can transmit and receive information to and from the control device 61 via the first communication means R1EA. can be sent and received. Further, the control device R1E of the operation unit R1 receives detection signals from the load detection means 72L, 72R, 73L, and 73R via the second communication means R1EB (for example, wireless communication such as Bluetooth (registered trademark), human body communication, etc.). Receivable. As shown in FIG. 1, when the wearer does not operate the operation unit R1, it can be stored in a storage section R1S such as a pocket provided in the jacket section 20 (see FIG. 1).

As shown in FIG. 14, the operation unit R1 includes a main operation portion R1A, a gain automatic/manual switching operation portion R1BS, a gain UP operation portion R1BU, a gain DOWN operation portion R1BD, an increase speed automatic/manual switch operation portion R1CS, an increase speed It has an UP operation unit R1CU, a weight increase speed DOWN operation unit R1CD, a weight measurement operation unit R1K, a display unit R1D, and the like. The gain UP operation section R1BU and gain DOWN operation section R1BD correspond to gain change means, and the increase speed UP operation section R1CU and increase speed DOWN operation section R1CD correspond to increase speed change means. Further, as shown in FIG. 15, the operation unit R1 includes a control device R1E, an operation unit power source R1F, and the like. In addition, the main operation part R1A, the gain UP operation part R1BU, the gain DOWN operation part R1BD, the increase speed UP operation part R1CU, the increase speed DOWN operation part R1CD, the gain automatic/manual switching operation part R1BS, the increase speed automatic/manual switching operation part It is preferable that the R1CS and the weight measurement operation section R1K do not protrude from the surface on which the operation unit R1 is arranged in order to prevent erroneous operations when the operation unit R1 is housed in the housing section R1S (see FIG. 1).

The main operation unit R1A is a switch for starting and stopping the assist control by the power assist suit 1 by the operation of the wearer. As shown in FIG. 15, a main power switch 65 for starting and stopping the power assist suit 1 itself (whole) is provided, for example, in the backpack section 37, and the main power switch 65 is operated to the ON side. Then, the control device 61 and the control device R1E are activated, and when the main power switch 65 is operated to the OFF side, the operations of the control device 61 and the control device R1E are stopped. As shown in FIG. 14, for example, a display area R1DB in the display portion R1D of the operation unit R1 displays whether the current operating state of the power assist suit is ON (operating) or OFF (stopped). .

The automatic gain/manual switching operation unit R1BS is a switch for switching between automatic adjustment of the gain (magnitude) of the assist torque and manual adjustment by the wearer. When the gain automatic/manual switching operation part R1BS is set to the "automatic" side, the operations of the gain UP operation part R1BU and the gain DOWN operation part R1BD are invalidated, and the control device 61 detects the baggage held by the wearer. The mass (or weight) of the load is detected, and the magnitude of the assist torque is automatically adjusted according to the detected mass (or weight) of the load. Further, when the gain automatic/manual switching operation section R1BS is set to the "manual" side, the operations of the gain UP operation section R1BU and the gain DOWN operation section R1BD are enabled, and the control device 61 controls the gain UP operation section R1BU and the gain DOWN operation section R1BU. The magnitude of the assist torque is changed according to the operation of the gain DOWN operation section R1BD. In addition, in order to detect the mass (or weight) of the luggage, it is necessary to measure the mass (or weight) of the wearer. It is used when the controller measures the mass. Further, when the gain is automatic, the gain may be adjusted using a learning model generated by machine learning (neural network, etc.) Alternatively, the communication means 64 or the like may be used to store a learning model of another power assist suit in the storage means, and the learning operation may be performed for adjustment).

The gain UP operation unit R1BU is a switch that increases the gain of the assist torque generated by the power assist suit by the operation of the wearer when the gain automatic/manual switching operation unit R1BS is set to the "manual" side. , and the gain DOWN operation unit R1BD is a switch that reduces the gain of the assist torque generated by the power assist suit by the operation of the wearer. For example, as shown in "operation unit gain (when gain setting = manual")" in FIG. Each time the gain DOWN operation section R1BD is operated, the gain number is decremented by one. Although the example of FIG. 16 shows four examples with gain numbers 0 to 3, the number is not limited to four. Further, as shown in FIG. 14, the control device R1E (see FIG. 15) displays, for example, the current gain number in the display area R1DC of the display section R1D of the operation unit R1.

The increase speed automatic/manual switching operation unit R1CS is a switch for switching between automatic adjustment of the assist torque increase speed (assist torque application timing) and manual adjustment by the wearer. When the increase speed automatic/manual switching operation unit R1CS is set to the "automatic" side, the operations of the increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD are disabled, and the controller 61 increases the assist torque. Automatically adjust the speed (timing to apply assist torque). When the automatic/manual switching operation section R1CS is set to the "manual" side, the operation of the incrementing speed UP operation portion R1CU and the incrementing speed DOWN operation portion R1CD is enabled, and the control device 61 switches the incrementing speed UP. The increase speed of the assist torque is changed according to the operation of the operation portion R1CU and the increase speed DOWN operation portion R1CD. Also, when the rate of increase is automatic, the rate of increase may be adjusted using a learning model generated by machine learning (neural network, etc.) The adjustment may be performed by performing the operation, or the learning model of the other power assist suit may be stored in the storage unit using the communication means 64 or the like, and the adjustment may be performed by performing the learning operation.).

The increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD are operated by the wearer to generate a power assist suit when the increase speed automatic/manual operation unit R1CS is set to the "manual" side. This is a switch that adjusts whether the assist torque increase speed (assist torque application timing) is fast or slow. For example, as shown in FIG. 16, “operation unit increase speed (when “increase speed setting=manual”)”, the controller R1E changes the stored speed number every time the increase speed UP operation unit R1CU is operated. is incremented by one, and the speed number is decremented by one each time the increase speed DOWN operation section R1CD is operated. In the example of FIG. 16, six examples of speed numbers -1 to 4 are shown, but the number is not limited to six. Further, as shown in FIG. 14, the control device R1E (see FIG. 15) displays, for example, the current speed number in the display area R1DD of the display section R1D of the operation unit R1.

Then, the control device R1E of the operation unit R1 operates at predetermined time intervals (for example, intervals of several [ms] to several hundred [ms]), or the main operation section R1A, the gain UP operation section R1BU, the gain DOWN operation section R1BD, and the increase speed UP. Each time any one of the operating unit R1CU, the increasing speed DOWN operating unit R1CD, the gain automatic/manual switching operating unit R1BS, and the increasing speed automatic/manual switching operating unit R1CS is operated, the first communication means R1EA (see FIG. 15) is switched. Send operation information via The operation information includes the above-mentioned stop instruction or start instruction, gain number, gain automatic/manual information from the gain automatic/manual switching operation section, speed number, and increase speed automatic/manual information from the gain automatic/manual switching operation section. , weight measurement instruction information from the weight measurement operation unit, a detection signal from the load detection means, a speed number, and the like.

When the control device 61 of the backpack unit 37 receives the operation information, it stores the received operation information, battery information indicating the battery state of the power supply unit 63 used to drive the power assist suit, and assist information indicating the assist state. etc. is transmitted via the communication means 64 (see FIG. 15). The battery information included in the response information includes the remaining amount of the power supply unit 63 and the like. contains error information indicating the content of the abnormality. As shown in FIG. 15, the control device R1E displays, for example, the remaining battery level and the like in the display area R1DA (see FIG. 14) of the display section R1D of the operation unit R1. Error information (in this case, "abnormality 1" and "abnormality 2") is displayed in the display area R1DF (see FIG. 14) of the display portion R1D.

For example, if any one of the spiral springs 45L and 45R of the left actuator unit 4L or the right actuator unit 4R exceeds the spring torque output limit, the "abnormality 1" icon (see FIG. 14) is displayed as described later. ) is blinking (see FIG. 20). Further, for example, when one of the output link rotation angle detection means 43LS and 43RS of the left actuator unit 4L or the right actuator unit 4R fails, the icon of "abnormality 2" (Fig. 14) is blinking (see FIG. 20).

Further, the control device 61 (see FIG. 15) that has received the operation information from the control device R1E starts the power assist suit when the received operation information includes a start instruction, and stops according to the received operation information. Stop the power assist suit if the instructions were included. Further, the control device 61 stores the value (0 to 3) of the gain C _p in correspondence with the gain number, and increases (right) in correspondence with the speed number, as shown in "control device gain" in FIG. Speeds C _s , _R (right speed numbers: -1 to 4) and (left) increase speeds C _s , _L (left speed numbers: -1 to 4) are stored. C _p , C _s , _R , C _s , and _L described above are used in the processing procedures described below.

In addition, the power assist suit has three operation modes for generating assist torque for assisting the wearer's movement, and the operation modes include a lowering mode, a lifting mode, and a walking mode. The lowering mode is an operation mode that assists the wearer in lowering the load. The lifting mode is an operation mode for assisting the work of lifting the load by the wearer. The walking mode is an operation mode that assists the walking motion of the wearer. Although the details will be described later, the control device 61 selects the above three operation modes based on the torque applied to the left actuator unit 4L and the right actuator unit 4R (see FIG. 1) (or a torque-related quantity related to the torque). switch automatically. As will be described later, the control device 61 switches to the "lifting mode" when determining that the wearer has started the lifting motion, and switches to the "lowering mode" when determining that the wearer has started the lifting motion. , and when it is determined that the wearer has started walking, the mode is switched to "walking mode".

Further, as shown in the example of the "control device operation mode" in FIG. 16, in the "holding mode", the gain can be switched automatically or manually by the gain automatic/manual switching operation part R1BS (see FIG. 14). , there is no automatic/manual switching provided for the rate of increase. In addition, in the "lifting mode", the gain can be switched automatically or manually with the gain automatic/manual switching operation part R1BS (see FIG. 14), The rate of increase can be switched automatically or manually. Also, in the "walking mode", automatic/manual switching is not provided for gain and increasing speed. The "control device operation mode" shown in FIG. 16 is an example, and for example, the weight increase speed may be switched between automatic and manual in the lowering mode, and the gain in the walking mode may be switched between automatic and manual. good too.

As described above, by operating the operation unit R1, the wearer can easily perform the adjustment for achieving the desired assisted state. Further, since the remaining battery level, error information, etc. are displayed on the display portion R1D of the operation unit R1, the wearer can easily grasp the state of the power assist suit. Note that the form of various information displayed on the display unit R1D is not limited to the example of FIG.

● [Input/output of control device 61 (Fig. 15)]
The controller 61 is accommodated in the backpack section 37 as shown in FIG. In the example shown in FIG. 15, a controller 61, a motor driver 62, a power supply unit 63, and the like are accommodated in the backpack section 37. As shown in FIG. The control device 61 has, for example, control means 66 (CPU) and storage means 67 (which stores control programs and the like and corresponds to a storage device). The control device 61 includes an adjustment determination unit 61A, an input processing unit 61B, a torque change amount calculation unit 61C, an operation mode determination unit 61D, a selection unit 61E, a lifting assist torque calculation unit 61F, and a lifting assist torque calculation unit 61G. , a walking assist torque calculation unit 61H, a control command value calculation unit 61I, a load determination unit 61J, a failure detection processing unit 61K, a communication means 64, and the like. The motor driver 62 is an electronic circuit that outputs drive current for driving the electric motor 47R based on a control signal from the control device 61 . The power supply unit 63 is, for example, a lithium battery, and supplies power to the control device 61 and the motor driver 62 . The operation and the like of the communication means 64 will be described later. A detection signal from the acceleration detection means 75 is also input to the control device 61 .

The control device 61 stores operation information from the operation unit R1, detection signals from the motor rotation angle detection means 47RS (detection signals corresponding to the actual motor shaft angles θ _rM and _R of the (right) electric motor 47R), and ( Right) A detection signal (a detection signal corresponding to the actual link angles θ _L and _R of the assist arm 51R) and the like from the output link rotation angle detection means 43RS are input. Based on the input signal, the control device 61 obtains the rotation angle of the (right) electric motor 47R, and outputs a control signal corresponding to the obtained rotation angle to the motor driver 62 (the same applies to the (left) electric motor). ).

● [Control block (Fig. 17) and processing procedure of control device 61 (Fig. 18)]
Next, the processing procedure of the control device 61 will be described using the flowchart shown in FIG. 18 and the control block shown in FIG. The control blocks shown in FIG. 17 include an adjustment determination block B10, an input processing block B20, a torque change amount calculation block B30, a failure detection processing block B35, an operation mode determination block B40, a load determination block B45, a selection block B54, and an assist torque calculation block. It has a block B50, a lifting assist torque calculation block B51, a lifting assist torque calculation block B52, a walking assist torque calculation block B53, a control command value calculation block B60, switches S51 and S52, and the like. The processing contents of each block will be described with reference to the flowchart shown in FIG.

● [Overall process flow (Fig. 18)]
The flowchart shown in FIG. 18 shows a processing procedure for controlling the (right) actuator unit 4R and the (left) actuator unit 4L. The process shown in FIG. 18 is started at predetermined time intervals (for example, several [ms] intervals), and when the process is started, the control device 61 (corresponding to control means) advances the process to step S010. Processing programs of the control device 61 and data such as maps are stored in a storage means 67 (corresponding to a storage device).

In step S010, control device 61 executes the process of S100 (see FIG. 19), and advances the process to step S015. The processing of S100 corresponds to the adjustment determination block B10, the input processing block B20, and the torque change amount calculation block B30 shown in FIG. It corresponds to the calculation unit 61C. Details of the processing of S100 will be described later.

In step S015, control device 61 executes the process of S150 (see FIG. 20), and advances the process to step S018. The processing of S150 corresponds to the failure detection processing block B35 shown in FIG. 17, and corresponds to the failure detection processing section 61K shown in FIG. The process of S150 is a process of detecting a failure of the right actuator unit 4R and the left actuator unit 4L, and the details of the process of S150 will be described later.

In step S018, the control device 61 determines whether or not at least one of the first failure flag and the second failure flag is set to ON in the failure detection process of step S015. If at least one of the first failure flag and the second failure flag is ON (Yes), the control device 61 terminates the process, and if neither the first failure flag nor the second failure flag is ON (No), The process proceeds to step S020.

When the process proceeds to step S020, the control device 61 executes the process of S200 (see FIG. 22) and proceeds to step S025. The process of S200 corresponds to the operation mode determination block B40 shown in FIG. 17, and corresponds to the operation mode determination section 61D shown in FIG. In the process of S200, the control device 61 switches or maintains the operation mode to any one of the "lifting mode", "lowering mode", and "walking mode". Details of the processing of S200 will be described later.

In step S025, control device 61 executes the process of S300 (see FIG. 23), and advances the process to step S030. The processing of S300 corresponds to the load determination block B45 shown in FIG. 17, and corresponds to the load determination section 61J shown in FIG. The process of S300 is a process of determining the value of the gain _Cp , and the details of the process of S300 will be described later.

In step S030, control device 61 determines whether or not the operation mode determined in step S020 is the lifting mode. If the operation mode is the lifting mode (Yes), the control device 61 advances the process to step S045, and if the operation mode is not the lifting mode (No), the process advances to step S035.

When the process proceeds to step S035, the control device 61 determines whether or not the operation mode determined in step S020 is the holding mode. If the operation mode is the holding mode (Yes), the control device 61 advances the process to step S040R, and if the operation mode is not the holding mode (No), the process advances to step S050. The processing of steps S030 and S035 corresponds to the selection block B54 shown in FIG. 17, and corresponds to the selection section 61E shown in FIG.

When the process proceeds to step S040R, the control device 61 executes the process of SD000R (see FIG. 30) and proceeds to step S040L. The process of SD000R is a process of obtaining a control command value for the (right) actuator unit 4R during the lifting operation, and corresponds to the lifting assist torque calculation block B51 shown in FIG. It corresponds to the torque calculator 61F. Details of the processing of SD000R will be described later.

In step S040L, control device 61 executes the process of SD000L (not shown), and advances the process to step S060R. The process of SD000L is a process of obtaining a control command value for the (left) actuator unit 4L during the lifting operation, and corresponds to the lifting assist torque calculation block B51 shown in FIG. It corresponds to the torque calculator 61F. Since the processing of SD000L is the same as that of SD000R, detailed description thereof will be omitted.

When the process proceeds to step S045, control device 61 executes the process of SU000 (see FIG. 35) and proceeds to step S060R. The process of SU000 is a process of obtaining control command values for the (right) actuator unit 4R and (left) actuator unit 4L during the lifting operation, and corresponds to the lifting assist torque calculation block B52 shown in FIG. corresponds to the lifting assist torque calculator 61G shown in FIG. Details of the processing of SU000 will be described later.

When the process proceeds to step S050, the control device 61 executes the process of SW000 (not shown) and proceeds to step S060R. The processing of SW000 is processing for obtaining control command values for the (right) actuator unit 4R and (left) actuator unit 4L during walking, and corresponds to the walking assist torque calculation block B53 shown in FIG. corresponds to the walking assist torque calculator 61H shown in FIG. Details of the processing of SW000 are omitted.

In step S060R, the control device 61 feedback-controls the (right) electric motor based on the (right) assist torque command value obtained in SD000R, SU000, or SW000, and advances the process to step S060L.

In step S060L, the control device 61 feedback-controls the (left) electric motor based on the (left) assist torque command value obtained in SD000L, SU000, or SW000, and ends the process. The processing of steps S060R and S060L corresponds to the control command value calculation block B60 shown in FIG. 17, and corresponds to the control command value calculation section 61I shown in FIG.

● [S100: Details of adjustment determination, input processing, torque change amount calculation, etc. (Fig. 19)]
Next, details of the processing of S100 in step S010 shown in FIG. 18 will be described with reference to FIG. In the process of S100, the control device 61 recognizes whether the automatic/manual switching operation unit for increasing speed is set to "automatic increasing speed" or "manual increasing speed" based on the information from the operation unit. Remember. Then, in the case of "manual increase speed", the control device 61, except for "operation mode = lifting mode or lowering mode and operation state S = 1 to 4", based on information from the operation unit , (right) increment speed C _s , _R , (left) increment speed C _s , _L stores either -1, 0, 1, 2, 3, or 4 (“control device increment speed” in FIG. 16). reference). Based on the information from the operation unit, the control device 61 recognizes and stores whether the automatic gain/manual switching operation unit is set to "automatic gain" or "manual gain". , "operation unit gain (one of 0, 1, 2, or 3, see FIG. 16)" is stored based on information from the operation unit. The above corresponds to the adjustment determination block B10 shown in FIG. 17 and the adjustment determination section 61A shown in FIG.

Further, the control device 61 stores the (right) link angle θ L , _R (t) before update in the previous (right) link angle θ _L , R (t−1), and stores the (left) link angle θ _L , _R (t−1) before update. θ _L , _L (t) is stored in the previous (left) link angle θ _L , _L (t−1). Further, the control device 61 detects the current (right) link angle using the output link rotation angle detection means 43RS (corresponding to the angle detection means, see FIGS. 10 and 11) of the (right) actuator unit, and detects the current (right) link angle. ) Store (update) the link angles θ _L , _R (t). Similarly, the control device 61 detects the current (left) link angle using the output link rotation angle detection means (corresponding to the angle detection means) of the (left) actuator unit, and detects the current (left) link angle θ _L , _L Store (update) (t). Further, the control device 61 obtains the resistance F (see FIGS. 24, 25, 27 and 28) based on the detection signals from the load detection means 72L, 72R, 73L and 73R based on the information from the operation unit. memorize. Based on the detection signal from the acceleration detection means 75, the control device 61 controls the body movement acceleration av (see FIGS. 27 and 28) parallel to the spine along the surface of the wearer's back, and A body motion acceleration aw (see FIGS. 27 and 28) in the direction perpendicular to the back perpendicular to the surface is obtained and stored. The above corresponds to the input processing block B20 shown in FIG. 17 and the input processing section 61B shown in FIG. Note that the (right) link angles θ _L , _R (t) are the (right) anteversion angles of the waist with respect to the thighs (see FIG. 31), and the (left) link angles θ _L , _L (t) are The (left) anteversion angle of the hip relative to the thigh (see Figure 31).

Further, the control device 61 obtains and stores (right) link angle change amounts Δθ _L and R (t) from the following (Equation 1), and (left) link angle change amounts Δθ _L and _R (t) from (Equation 2). Obtain and store _L (t). The (right) link angle change amount Δθ _L , _R (t) and the (left) link angle change amount Δθ _L , _L (t) correspond to angular velocity-related quantities. The output link rotation angle detection means 43RS corresponds to torque detection means.
(Right) Link angle variation Δθ _L , _R (t) = (Right) link angle θ _L , _R (t) - (Right) link angle θ _L , _R (t-1) (Equation 1)
(Left) Link angle variation Δθ _L , _L (t) = (Left) link angle θ _L , _L (t) - (left) link angle θ _L , _L (t-1) (Formula 2)

In addition, the control device 61 obtains and stores the (right) wearer torque change amount τ _S , _R (t) in the following (Equation 3), and the (left) wearer torque change amount τ in (Equation 4) Obtain and store _S , _L (t). Ks is the spring constant of the spiral spring 45R.
(Right) Wearer Torque Variation τ _S , _R (t)=Ks*Δθ _L , _R (t) (Formula 3)
(Left) Wearer Torque Variation τ _S , _L (t)=Ks*Δθ _L , _L (t) (Formula 4)

Further, the control device 61 obtains and stores a (right) combined torque (t) using the following (Equation 5), and calculates and stores a (left) combined torque (t) using (Equation 6).
(Right) Combined torque (t) = Ks*θ _L , _R (t) (Formula 5)
(Left) Combined torque (t) = Ks*θ _L , _L (t) (Formula 6)

Further, the control device 61 detects the motor shaft angle of the (right) electric motor 47R based on the detection signal from the motor rotation angle detection means 47RS of the (right) electric motor 47R, and detects the (right) actual motor shaft angle θ _rM , _R (t) are stored (updated). Similarly, the control device 61 detects the motor shaft angle of the (left) electric motor based on the detection signal from the motor rotation angle detection means (not shown) of the (left) electric motor, and detects the actual motor shaft angle of the (left) electric motor. Store (update) the angle θ _rM , _L (t).

Further, as shown in FIG. 11, the spiral spring 45R of the right actuator unit receives an assist torque from an electric motor 47R, and the wearer's femoral region via a speed reducer 42R, pulleys 43RA, and 43RC. The (right) wearer torque, which is the torque input from the right actuator unit, is input, rotates in the compression direction or the extension direction, and torque is stored. The rotation angle of the spiral spring 45R in the compression direction or extension direction is (the (right) pulley rotation angle θ _P which is the rotation angle of the pulley 43RC, _R (t) - the (right) actual motor shaft angle θ _rM of the electric motor 47R, _R (t)). Then, the (right) spring torque τ _SP , _R (t), which is the torque stored in the spiral spring 45R, is obtained by using the spring constant Ks of the spiral spring 45R to obtain the (right) spring torque τ _SP , _R (t)=Ks *(θ _P , _R (t)−θ _rM , _R (t)).

Here, using the gear reduction ratio n _G , pulley reduction ratio n _P and (right) link angle θ _L , _R (t) described above, pulley rotation angle θ _P , _R (t) = θ _L , _R (t )* _nP * _nG . From the above, the (right) spring torque τ _SP , _R (t) can be expressed by the following (Equation 6-1). _Further , when the sub-encoder rotation angle θ _S , _R (t), _which is the rotation angle of the output link rotation angle _detection means _43RS in FIG. *n _G , so in this case the (right) spring torque τ _SP , _R (t) can be expressed by the following (Equation 6-2).
(Right) Spring torque τ _SP , _R (t) = Ks * (θ _L , _R (t) * n _G * n _P - θ _rM , _R (t)) (Formula 6-1)
(Right) Spring torque τ _SP , _R (t) = Ks * (θ _S , _R (t) * n _P - θ _rM , _R (t)) (Formula 6-2)

Similarly, the (left) spring torque τ _SP , _L (t), which is the torque stored in the spiral spring of the left actuator unit, is the (left) link angle θ _L , _L (t), the gear reduction ratio n _G , Using the pulley speed reduction ratio n _P , the sub-encoder rotation angle θ _S , _L (t) of the output link rotation angle detection means of the left actuator unit, and the (left) actual motor shaft angle θ _rM , _L (t), the following is obtained. It can be expressed as (Formula 6-3) and (Formula 6-4).
(Left) Spring torque τ _SP , _L (t) = Ks * (θ _L , _L (t) * n _G * n _P - θ _rM , _L (t)) (Formula 6-3)
(Left) Spring torque τ _SP , _L (t) = Ks * (θ _S , _L (t) * n _P - θ _rM , _L (t)) (Formula 6-4)

The above (right) spring torque τ _SP , _R (t) is determined by the right wearer torque input from the wearer's right thigh to the right actuator unit and the right assist torque generated by the right actuator unit. It corresponds to the right torque-related quantity, which is the related torque. The right torque-related quantity detection means for detecting the right torque-related quantity detects the swing angle of the right thigh relative to the waist of the wearer. As shown in FIGS. 10 and 11, the right torque-related quantity detection means includes (right) motor rotation angle detection means 47RS for detecting the actual motor shaft angles θ _rM and _R (t), and (right) pulley rotation angle θ and output link rotation angle detection means 43RS (corresponding to right thigh angle detection means) for detecting _P , _R (t). Similarly, the (left) spring torque τ _SP , _L (t) is the left wearer torque input from the wearer's left thigh to the left actuator unit, the left assist torque generated by the left actuator unit, corresponds to the left torque-related quantity, which is the torque related to . The left torque-related quantity detection means for detecting the left torque-related quantity detects the swing angle of the left thigh relative to the waist of the wearer. Although not shown, the left torque-related quantity detection means includes (left) motor rotation angle detection means for detecting the actual motor shaft angle θ _rM , _L (t) and (left) pulley rotation angle θ _P , _L (t). and output link rotation angle detection means (corresponding to left thigh angle detection means) for detecting .

The control device 61 obtains and stores the (right) spring torque τ _SP , _R (t) and the (left) spring torque τ _SP , _L (t) using the above calculation formula and stores them. The above corresponds to the torque change amount calculation block B30 shown in FIG. 17 and the torque change amount calculation section 61C shown in FIG.

● [S150: Failure detection processing (Fig. 20 to Fig. 21)]
Next, details of the processing of S150 in step S015 shown in FIG. 18 will be described with reference to FIGS. 20 and 21. FIG. At S150, the control device 61 detects a failure of the right actuator unit 4R and the left actuator unit 4L. The process of S150 corresponds to the failure detection processing block B35 shown in FIG. 17 and the failure detection processing unit 61K shown in FIG.

In the process of S150, the control device 61 advances the process to step S151. As shown in FIG. 20, in step S151, the control device 61 executes the process of S1600R (see FIG. 21), and then advances the process to step S152. The process of S1600R is a process of detecting a failure of the (right) actuator unit 4R.

In step S152, the control device 61 executes the process of S1600L (not shown), and then proceeds to step S153. The process of S1600L is a process of detecting a failure of the (left) actuator unit 4L. The processing of S1600L executed in step S152 shows the processing procedure executed for the (left) actuator unit 4L, but is the same as the processing procedure of S1600R executed for the (right) actuator unit 4R. We omit detailed explanations.

In step S153, the control device 61 reads the first failure flag from the RAM and determines whether or not it is set to "ON". As will be described later, the first failure flag is the (right) spring torque τ _SP , _R (t) (see FIG. 19) stored in the spiral spring 45R of the right actuator unit 4R and the spiral spring 45L of the left actuator unit 4L. (Left) Set to “ON” when at least one of the spring torques τ _SP and _L (t) (see FIG. 19) reaches the maximum torque that the spiral springs 45R and 45L can produce without breaking. (See Figure 21). The first failure flag is set to "OFF" and stored in the RAM when the controller 61 is activated and reset.

Then, when it is determined that the first failure flag is set to "ON" (S153: YES), the control device 61 advances the process to step S154. In step S154, the control device 61 notifies that the output limit of the power assist suit 1 has been exceeded, and then proceeds to step S155. For example, the control device 61 outputs a notification command instructing the control device R1E (see FIG. 15) of the operation unit R1 (see FIG. 14) to blink the icon "abnormality 1" (see FIG. 14). Then, the icon "Abnormality 1" is flashed to inform the wearer that the power assist suit 1 is "at its output limit". It should be noted that voice guidance to the effect that the power assist suit 1 is at its output limit may be provided via a speaker (not shown).

In step S155, the control device 61 causes the electric motor 47R (see FIG. 15) of the right actuator unit 4R and the electric motor 47L of the left actuator unit 4L to be supplied with electric power via the motor driver 62 (see FIG. 15). After stopping, the process of S150 concerned is completed and it returns (proceeds to step S018 of FIG. 18). Therefore, the state in which the first failure flag is set to "ON" continues until the reset button (not shown) provided on the backpack section 37 is pressed, so that the electric power to the electric motors 47R and 47L is reduced. Supply is also stopped until a reset button (not shown) is pressed.

As a result, the electric power supply to the electric motors 47R and 47L is stopped, so that the torque applied to the spiral springs 45R and 45L disappears, and the (right) spring torque τ _SP , _R and the (left) spring torque τ _SP , _L becomes "0", and it is possible to prevent the spiral springs 45R and 45L from breaking. In addition, since the power supply to the electric motors 47R and 47L is stopped, the spring force of the spiral springs 45R and 45L gradually increases the assist torque (over a period of about 0.5 to 0.7 seconds). ) returns to "0", it is possible to prevent a sudden load from being applied to the waist of the wearer and to prevent the waist from being hurt. In addition, it is possible to provide a highly reliable power assist suit 1 that does not make the wearer feel uncomfortable, such as feeling a sudden load.

On the other hand, if it is determined in step S153 that the first failure flag is set to "OFF" (S153: NO), the control device 61 proceeds to step S156. In step S156, the control device 61 reads the second failure flag from the RAM and determines whether or not it is set to "ON".

Here, the second failure flag is the (right) first output link of the output link 50R (see FIG. 4) calculated from the (right) spring torque τ _SP , _R (t) (see FIG. 19), as will be described later. The rotation torque τ _O1R (first rotation torque) and the (right) second output link rotation torque τ _O2R (second rotation torque) of the output link 50R (see FIG. 4) calculated from the motor current value of the electric motor 47R dynamic torque) is equal to or greater than the "error threshold value", it is determined that the output link rotation angle detection means 43RS is out of order and is set to "ON" (see FIG. 21).

In addition, as will be described later, the second failure flag is the (left) first output link rotation of the output link 50L (see FIG. 4) calculated from the (left) spring torque τ _SP , _L (t) (see FIG. 19). The difference between the dynamic torque τ _O1L (first rotation torque) and the (left) second output link rotation torque τ _O2L (second rotation torque) of the output link 50L calculated from the motor current value of the electric motor 47L is equal to or greater than the "error threshold value", it is determined that the output link rotation angle detection means 43LS is out of order and is set to "ON" (see FIG. 21).

Then, when it is determined that the second failure flag is set to "ON" (S156: YES), the control device 61 advances the process to step S157. In step S157, the control device 61 notifies that either the output link rotation angle detection means 43RS or the output link rotation angle detection means 43LS is out of order, and then proceeds to step S155. If it is determined that the second failure flag is set to "OFF" (S156: NO), the control device 61 terminates the processing of step S156 and returns (to step S018 in FIG. 18). ).

For example, the control device 61 outputs a notification command instructing the control device R1E (see FIG. 15) of the operation unit R1 (see FIG. 14) to blink the icon "abnormality 2" (see FIG. 14). Then, the icon "abnormality 2" is flashed to inform the wearer that either the output link rotation angle detection means 43RS or the output link rotation angle detection means 43LS is out of order. It should be noted that voice guidance to the effect that either the output link rotation angle detection means 43RS or the output link rotation angle detection means 43LS is out of order may be provided via a speaker (not shown).

In step S155, the control device 61 causes the electric motor 47R (see FIG. 15) of the right actuator unit 4R and the electric motor 47L of the left actuator unit 4L to be supplied with electric power via the motor driver 62 (see FIG. 15). After stopping, the process of S150 concerned is completed and it returns (proceeds to step S018 of FIG. 18). Therefore, the state in which the second failure flag is set to "ON" continues until the reset button (not shown) provided on the backpack section 37 is pressed, so that the electric power to the electric motors 47R and 47L is reduced. Supply is also stopped until a reset button (not shown) is pressed.

As a result, the electric power supply to the electric motors 47R and 47L is stopped, so that the torque applied to the spiral springs 45R and 45L disappears, and the (right) spring torque τ _SP , _R and the (left) spring torque τ _SP , _L becomes "0". This makes it possible to stop the output of inappropriate assist torque by the electric motors 47R and 47L. In addition, the electric motors 47R and 47L can output appropriate assist torque when assisting the lifting operation and lowering operation of the load, and the wearer does not feel uncomfortable. A high power assist suit 1 can be provided.

● [S1600R: Right actuator unit failure detection process]
Next, details of the processing of S1600R executed in step S151 shown in FIG. 20 will be described based on FIG. In S1600R, the control device 61 determines that the (right) spring torque τ _SP , _R (see FIG. 19) stored in the spiral spring 45R of the (right) actuator unit 4R is the maximum torque (torque threshold) is reached. Also, in S1600R, the control device 61 determines whether or not the output link rotation angle detection means 43RS is out of order.

The processing of S1600L executed in step S152 shows the processing procedure executed for the (left) actuator unit 4L, but is the same as the processing procedure of S1600R executed for the (right) actuator unit 4R.

As shown in FIG. 21, in the process of S1600R, the control device 61 advances the process to step S1601R. In step S1601R, the control device 61 reads from the RAM the (right) spring torque τ _SP , _R (t) (see FIG. 19) calculated and stored in step S110. Then, the control device 61 determines whether or not the (right) spring torque τ _SP , _R (t) is equal to or greater than the maximum torque (torque threshold) τ _SP , _MAX that the spiral spring 45R can produce without breaking. Note that the torque thresholds τ _SP and _MAX are determined by experiments, CAE (Computer Aided Engineering) analysis, etc., and are stored in advance in the storage means 67 .

Note that the control device 61 calculates the first output link rotation _torque (first rotation torque) _{τ O1 , R} ( t) may be calculated. Then, it may be determined whether or not the first output link rotation torque τ _O1 , _R (t) is equal to or greater than the maximum torque τ _O1 , _MAX (for example, 22 Nm) that can be produced without breaking the spiral spring 45R. Here, n _G (1<n _G ) is the speed reduction ratio of the speed reducer 42R. n _P is the pulley reduction ratio of the pulley 43RA to the pulley 43RC.

τ _O1 , _R (t)=τ _SP , _R (t)*n _P* n _G (equation 21)

Then, when it is determined that the (right) spring torque τ _SP , _R (t) is equal to or greater than the maximum torque (torque threshold) τ _SP , _MAX that can be produced without breaking the spiral spring 45R (S1601R: YES), the controller 61 advances the process to step S1602R. In step S1602R, the control device 61 reads out the first failure flag from the RAM, sets it to "ON", and stores it in the RAM again. proceed). As a result, the control device 61 can accurately determine whether or not the spiral spring 45R will fail before the spiral spring 45R fails (for example, deformation, breakage, etc.). It is possible to improve the quality.

On the other hand, when it is determined that the (right) spring torque τ _SP , _R (t) is less than the maximum torque (torque threshold) τ _SP , _MAX that can be produced without breaking the spiral spring 45R (S1601R: NO), the controller 61 , it is determined that the spiral spring 45R does not malfunction (for example, deformation, destruction, etc.), and the process proceeds to step S1603R.

In step S1603R, the control device 61 determines that the amount of rotation of the speed increasing shaft 42RB detected by the output link rotation angle detection means 43RS during T _S (msec) (eg, approximately 2 msec) is N _S pulses (eg, during approximately 2 msec). 4 pulses) or less. The output link rotation angle detection means 43RS outputs about 1000* _NS pulses (for example, 4096 pulses) when the acceleration shaft 42RB makes one rotation.

Then, if the amount of rotation of the acceleration shaft 42RB detected by the output link rotation angle detecting means 43RS during T _S (msec) (eg, within about 2 msec) is greater than N _S pulses (eg, 4 pulses). If so (S1603R: NO), the control device 61 determines that the output link 50R is rotating, ends the processing of S1600R, and returns (proceeds to step S152 in FIG. 20). ).

On the other hand, if the amount of rotation of the acceleration shaft 42RB detected by the output link rotation angle detection means 43RS during T _S (msec) (eg, approximately 2 msec) is equal to or less than N _S pulses (eg, 4 pulses). If so (S1603R: YES), the control device 61 determines that the output link 50R is hardly rotating, and proceeds to the process of step S1604R. In step S1604R, the control device 61 calculates the first output link rotation torque (first rotation torque) τ _{O1 ,} R of the output link 50R corresponding to the (right) spring torque τ _SP , _R (t) according to Equation 21 above. (t) is calculated and stored in the RAM.

Subsequently, in step S1605R, the control device 61 obtains the current value I _R supplied to the electric motor 47R via the motor driver 62, and then proceeds to the process of step S1606R. In step _S1606R , the control device 61 calculates the second output link rotation torque (second rotation torque) τ _O2 , _R ( t) is calculated and stored in the RAM. Here, _KA is the motor constant (Nm/A) of the electric motor 47R. n _G (1<n _G ) is the speed reduction ratio of the speed reducer 42R. n _P is the pulley reduction ratio of the pulley 43RA to the pulley 43RC.

τ _O2 , _R (t)=K _A * _IR * _nP * _nG (equation 22)

After that, in step S1607R, the control device 61 controls the first output link rotation torque (first rotation torque) τ _O1 , _R calculated by the above equation 21 for T _S (msec) (for example, for about 2 msec). Movement for S seconds (for example, about 0.5 seconds) of the value obtained by subtracting the second output link rotation torque (second rotation torque) τ _O2 , _R (t) calculated by the above equation 22 from (t) After calculating the absolute value of the average by the following equation 23 and storing it in the RAM as the (right) torque error Δτ _R (t), the process proceeds to step S1608R. Note that τ _O1 , _R (t−1) is the previously calculated first output link rotation torque (first rotation torque). τ _O2 , _R (t−1) is the previously calculated second output link rotation torque (second rotation torque).

Δτ _R (t) = |((τ _O1 , _R (t-1)-τ _O2 , _R (t-1)) * ((S/T _S )-1) + (τ _O1 , _R (t)- τ _O2 , _R (t)))/(S/T _S ) | (Equation 23)

In step S1607R, the control device 61 may perform, for example, the following. The control device 61 calculates the second output link rotation torque (second rotation torque) τ _O2 , _R (t) from the first output link rotation torque (first rotation torque) τ _O1 , _R (t). The subtracted values are calculated and totaled every T _S (msec) (eg, every 2 msec) for S seconds (eg, about 0.5 sec). Then, the control device 61 may calculate the absolute value of the average value of the total values, store it in the RAM as the (right) torque error Δτ _R (t), and then proceed to the processing of step S1608R.

In step S1608R, the controller 61 reads from the RAM the (right) torque error Δτ _R (t) calculated and stored in step S1607R. Then, the control device 61 determines whether or not the (right) torque error Δτ _R (t) is equal to or greater than the error threshold τ _LM (for example, approximately 3.8 Nm). Note that the error threshold τ _LM is determined by experiments, CAE (Computer Aided Engineering) analysis, etc., and is stored in advance in the storage means 67 .

Then, when it is determined that the (right) torque error Δτ _R (t) is less than the error threshold τ _LM (for example, about 3.8 Nm) (S1608R: NO), the control device 61 changes the output link rotation angle The detecting means 43RS determines that there is no failure, terminates the processing of S1600R, and returns (proceeds to step S152 in FIG. 20).

On the other hand, when it is determined that the (right) torque error Δτ _R (t) is equal to or greater than the error threshold τ _LM (for example, approximately 3.8 Nm) (S1608R: YES), the controller 61 proceeds to step S1609R. proceed. In step S1609R, the control device 61 reads out the second failure flag from the RAM, sets it to "ON", and stores it in the RAM again. proceed). Thereby, the control device 61 can accurately determine whether or not the output link rotation angle detection means 43RS is out of order, and the reliability of the power assist suit 1 can be improved.

● [S200: Details of operation mode determination (Fig. 22)]
Next, details of the processing of S200 in step S020 shown in FIG. 18 will be described with reference to FIG. In S200, the control device 61 calculates (right) spring torque τ _SP , _R (t) (right torque-related quantity) and (left) spring torque τ _SP , _L (t) (left torque-related quantity) obtained in the processing of S100. etc., the operation mode of the power assist suit is (automatically) switched to or maintained in one of the "lifting mode", "lowering mode", and "walking mode". The "lifting mode" is an operation mode that assists the wearer in lifting the load. The "lifting mode" is an operation mode that assists the wearer in lifting the load. The "walking mode" is an operation mode that assists the wearer's walking motion. As described above, the operation modes include the lifting mode, the lowering mode, and the walking mode, but may include other modes. The process of S200 corresponds to the operation mode determination block B40 shown in FIG. 17 and the operation mode determination section 61D shown in FIG.

In the process of S200, the control device 61 advances the process to step S210. Then, in step S210, the control device 61 determines that the (right) spring torque τ _SP , _R (t) is torque in the forward tilting direction of the wearer and is greater than a first predetermined threshold value, and the (left) spring torque τ _SP , _L (t) are torques in the forward leaning direction of the wearer and are greater than a first predetermined threshold value. For example, the value of the first predetermined threshold is 0 (zero). If the condition is satisfied (Yes), the control device 61 advances the process to step S240A, and if the condition is not satisfied (No), the process advances to step S220. In addition, (right) spring torque τ _SP , _R (t) and (left) spring torque τ _SP , _L (t) are positive (>0) in the case of torque in the forward tilting direction of the wearer. It is negative (<0) in the case of directional torque.

Note that the control device 61 may use a value set in advance in the storage means as the first predetermined threshold value, or may use a learning model generated by machine learning (neural network, etc.) to determine the first predetermined threshold value. value can be adjusted. When adjusting using machine learning, a learning model may be provided in the storage means for learning in the control device 61 and adjusted by performing a learning operation, or another power assist suit may be adjusted using the communication means 64 or the like. The learning model may be stored in the storage means and adjusted by performing a learning operation.

When the process proceeds to step S220, the control device 61 determines that the (right) spring torque τ _SP , _R (t) is a torque directed in the backward tilting direction of the wearer (opposite to the forward tilting direction) and is a second predetermined torque. Satisfy the conditions that the (left) spring torque τ _SP , _L (t) is less than the second predetermined threshold and is less than the threshold, and the (left) spring torque τ SP , L (t) is a torque directed toward the wearer's backward tilting direction (opposite to the forward tilting direction). determine whether or not to For example, the value of the second predetermined threshold is 0 (zero). If the condition is satisfied (Yes), the controller 61 advances the process to step S240B, and if the condition is not satisfied (No), the process advances to step S230.

Note that the control device 61 may use a value set in advance in the storage means as the second predetermined threshold value, or may use a learning model generated by machine learning (such as a neural network) to determine the second predetermined threshold value. value can be adjusted. When adjusting using machine learning, a learning model may be provided in the storage means for learning in the control device 61 and adjusted by performing a learning operation, or another power assist suit may be adjusted using the communication means 64 or the like. The learning model may be stored in the storage means and adjusted by performing a learning operation.

When the process proceeds to step S230, the control device 61 determines that [(right) link angle θ _L , _R (t)+(left) link angle θ _L , _L (t)]/2 is the first motion determination angle θ1. and (right) combined torque (t)*(left) combined torque (t) is less than the first operation determination torque τ1. The control device 61 determines that [(right) link angle θ _L , _R (t)+(left) link angle θ _L , _L (t)]/2 is equal to or smaller than the first motion determination angle θ1, and (right) If the combined torque (t)*(left) combined torque (t) is less than the first operation determination torque τ1 (Yes), the process proceeds to step S240C; otherwise (No), the process of S200 ends. and return (proceeding to step S025 in FIG. 18). In this case, the current operation mode is maintained. Then, the operation mode can be maintained and the assist operation can be continued.

When the process proceeds to step S240A, the control device 61 stores "holding mode" in the operation mode, ends the process of S200, and returns (proceeds to step S025 in FIG. 18).

When the process proceeds to step S240B, the control device 61 stores "lifting mode" in the operation mode, ends the process of S200, and returns (proceeds to step S025 in FIG. 18).

When the process proceeds to step S240C, the control device 61 stores "walking mode" in the operation mode, ends the process of S200, and returns (proceeds to step S025 in FIG. 18).

● [S300: Details of load determination (determination of gain C _p ) (Figs. 23 to 29)]
Next, details of the processing of S300 in step S025 shown in FIG. 18 will be described with reference to FIG. At S300, the control device 61 determines the value of the gain _Cp , which is the magnitude of the assist torque. For example, when the gain automatic/manual switching operation section R1BS shown in FIG. 14 is set to the "manual" side, the gain C _p is Set to 0, 1, 2, or 3. When the gain automatic/manual switching operation section R1BS shown in FIG. 14 is set to the "automatic" side, the control device 61 automatically detects the mass (or weight) of the luggage held by the wearer. Then, the value of the gain _Cp , which is the magnitude of the assist torque, is determined according to the detected mass (or weight) of the load. For example, the control device 61 makes 0, 1, 2, and 3 of the manual gain C _p correspond to cargo mass = 0 [kg], 10 [kg], 15 [kg], and 20 [kg], respectively. . For example _, when the mass of the load is 18 [kg], one of the gains C _p during manual operation is determined to be C _p =2. ) may be 2.6 (proportional, etc.) to match the load mass. The processing of S300 corresponds to the load determination block B45 shown in FIG. 17 and the load determination section 61J shown in FIG.

In the process of S300 (see FIG. 23), the control device 61 advances the process to step S315. Although the drag force F and the body motion accelerations av and aw have already been obtained in the processing of S100 described above, the drag force F and the body motion accelerations av and aw will be described first.

As shown in FIG. 24, when the wearer TS does not hold the baggage BG (baggage mass m), the drag force F=M*g, where M is the wearer's mass and g is the gravitational acceleration. Note that the drag force F is the force that the wearer TS receives from the floor surface. As shown in FIG. 25, when the wearer TS lifts the load BG (load mass m), the drag F=M*g+m*g, where M is the wearer's mass and g is the gravitational acceleration. At the time of step S100, the control device 61 temporarily stores the current drag force F regardless of whether or not the wearer TS is holding the baggage BG.

Further, as shown in FIGS. 27 and 28, the acceleration detection means 75 detects the detection signal of the body action acceleration av in the direction parallel to the spine along the back surface of the wearer TS and the acceleration signal av perpendicular to the back surface of the wearer TS. A detection signal of body movement acceleration aw in the direction perpendicular to the back is output. At the time of step S100, the control device 61 detects and stores the current body motion acceleration av in the spinal-parallel direction based on the detection signal of the body motion acceleration av. The current body motion acceleration aw in the direction is detected and stored.

In step S315, the control device 61 determines whether or not the gain automatic/manual switching operation section R1BS (see FIG. 14) is set to the "automatic" side. If (Yes), the process proceeds to step S320, and if the "manual" side is set (No), the process proceeds to step S360C.

When the process proceeds to step S320, the control device 61 determines whether or not the elapsed time after the power is turned on is less than a predetermined time (for example, less than about 0.2 to 2 [sec]). If so (Yes), the process proceeds to step S330, and if it is equal to or longer than the predetermined time (No), the process proceeds to step S325.

When the process proceeds to step S330, the control device 61 determines whether |current body motion acceleration av| is equal to or less than a predetermined threshold and |current body motion acceleration aw| , in a substantially stationary state), and if it is equal to or less than the predetermined threshold (Yes), the process proceeds to step S340B, and if it is greater than the predetermined threshold (No), the process proceeds to step S350.

When the process proceeds to step S340B, the control device 61 integrates the current drag force F, counts the number of times of integration, and proceeds to step S350.

When the process proceeds to step S325, the control device 61 determines whether or not the elapsed time after power-on is a predetermined time (the same value as the "predetermined time" in step S320), and if it is the predetermined time ( Yes) advances the process to step S340A, and if it is not the predetermined time (No), advances the process to step S350.

When the process proceeds to step S340A, the control device 61 averages the integrated value (integrated value of the drag force F) obtained in step S340B using the number of times of integration, and calculates the average wearer drag force Fav of only the wearer TS. Ask for Then, the control device 61 divides the average wearer drag force Fav by the gravitational acceleration g to obtain the wearer mass M (M=Fav/g), stores it, and advances the process to step S350. Note that the wearer mass M is preferably stored in a nonvolatile memory.

Note that the control device 61 uses the drag force F detected while the weight measurement operation unit R1K (see FIG. 14) is ON, and obtains the mass M of the wearer from the drag force F/g at that time (M= F/g) may be stored. In this case, the wearer TS turns on the weight measurement operation unit R1K without holding the luggage BG.

If the process proceeds to step S350, the control device 61 determines whether or not the current drag force F is greater than the mass of the wearer M*g+predetermined load (for example, 2 to 3 [kg]*g, where g is gravitational acceleration). If it is larger (Yes), the process proceeds to step S355, and if it is not larger (No), the process proceeds to step S360B.

When the process proceeds to step S355, the cargo mass m is calculated by, for example, the following [calculation method 1 of cargo mass m] or [calculation method 2 of cargo mass m], and the process proceeds to step S360A.

[Calculation method 1 for cargo mass m]
As shown in FIG. 25, the control device 61 regards the current drag force F as the drag force due to the mass of the wearer M and the load mass m, and calculates the current drag force F (M*g+m*g)/g− Cargo mass M) is used to calculate cargo mass m. It should be noted that the acceleration detection means 75 can be omitted when this [calculation method 1 of the mass m of the cargo] is used.

In FIG. 26, the horizontal axis is set to time, the vertical axis is set to the mass of the load held by the wearer, and the calculation method is performed when the wearer TS starts lifting the load BG at time t[i]. 1 shows an example of the load mass m actually calculated. f(t) indicated by the dashed-dotted line in FIG. 26 is the ideal luggage mass. Prior to time t[i], the wearer TS does not hold the luggage BG, so the luggage mass is 0 (zero). ), and after time t[i], the load mass is m because the wearer TS is lifting the load BG. However, the load mass calculated by the calculation method 1 becomes ga(t) indicated by the solid line in FIG. Gradually decreasing load mass is erroneously detected due to acceleration when the load is dropped, and after time t[i], gradually increasing load mass is detected due to delay in response of the load detecting means. After the time t[i], there is no big problem because it converges to the correct cargo mass m after the time t[i+1]. In addition, the response delay time is short, and it is difficult to feel a sense of incongruity. However, before the time t[i], it is not a big problem to determine that the package is being picked up even though the package is not in the hands (output link rotation angle detection means 43RS and motor rotation angle detection). By estimating the bending angle of the waist by the means 47RS, the movement to the load can be known), which is not very preferable. Calculation method 2 avoids determining that the package is in hand before this time t[i].

[Method 2 for calculating cargo mass m]
As shown in FIG. 28, the control device 61 considers that the drag force F this time is the drag force due to the wearer's mass M, the load mass m, and the body movement acceleration az of the vertical component of the wearer TS, and determines the load mass m Ask for The control device 61 obtains the body motion acceleration az of the vertical component based on the body motion accelerations av, aw, and the like. For example, the control device 61 obtains the body motion acceleration az from az=√(av ² +aw ² ). In this case, the drag force F=(M+m)*(g+az). In other words, F=M*g+M*az+m*g+m*az, where m is smaller than M, and az is smaller than g (gravitational acceleration). =M*g+M*az+m*g. From this formula, m=[FM*(g+az)]/g, and the control device 61 obtains the cargo mass m from this formula.

FIG. 29 shows the calculation method when the horizontal axis is set to time and the vertical axis is set to the mass of the load held by the wearer, and the wearer TS starts lifting the load BG at time t[i]. 2 shows an example of the load mass m actually calculated. f(t) indicated by a dashed line in FIG. 29 is the ideal luggage mass. Prior to time t[i], the wearer TS does not hold the luggage BG, so the luggage mass is 0 (zero). ), and after time t[i], the load mass is m because the wearer TS is lifting the load BG. The load mass calculated by calculation method 2 is gb(t) indicated by a solid line in FIG. Erroneous detection due to acceleration, etc., when leaning forward is avoided. Note that after time t[i], as in FIG. 26, the load mass that gradually increases is detected due to the delay in the response of the load detecting means. After the time t[i], there is no big problem because it converges to the correct cargo mass m after the time t[i+1]. Also, before the time t[i], there is no problem because it is avoided to determine that the baggage is in hand.

When the process proceeds to step S360A, the control device 61 converts the obtained cargo mass m into the value of the gain _Cp , ends the process of S300, and returns (proceeds to step S030 in FIG. 18). As an example of conversion, for example, when gain numbers 0, 1, 2, and 3 shown in FIG. For example, when the cargo mass m=18 [kg], the control device 61 converts the cargo mass 18 [kg] into a gain C _p =2.6.

When the process proceeds to step S360B, the control device 61 determines that the wearer TS is not holding the load BG (load mass m=0), so the gain C _p is set to 0, and the process of S300 ends. and return (proceeding to step S030 in FIG. 18).

When the process proceeds to step S360C, the control device 61 uses the gain number (obtained in the process of S100 described above) of the "operation unit gain" shown in FIG. , 2, or 3) is substituted for the gain C _p , and the process of S300 is terminated to return (proceeding to step S030 in FIG. 18).

● [SD000R: (Right) Details of lifting (Figures 30 to 34)]
Next, details of the processing of SD000R in step S040R shown in FIG. 18 will be described with reference to FIG. In SD000R, the control device 61 calculates the (right) lifting assist torque generated by the power assist suit in order to assist the wearer's lifting operation. The processing of SD000R shows the processing procedure for calculating the (right) lifting assist torque generated by the (right) actuator unit 4R (see FIG. 1). ) for calculating the (left) lifting assist torque generated in step SD000L (see FIG. 18) is the same, so the description thereof will be omitted. In addition, as shown in FIG. 31, in the lifting operation of unloading the load held by the wearer, the (right) link angle θ _L , _R (t) and the (left) link angle θ _L , _L (t) are , is the anteversion angle of the hip relative to the thigh. In addition, the lifting assist torque that assists the work in the lifting direction of the wearer (direction of "wearer torque" in FIG. 31) is the lifting direction (direction of "assist torque" in FIG. 31) with respect to the wearer. to occur. In the following description, the sign of torque in the lifting direction is - (negative), and the sign of torque in the lowering direction is + (positive).

In the process of SD000R, the controller 61 advances the process to step SD010R. Then, in step SD010R, the control device 61 determines whether or not the (right) link angle θ _L , _R (t) is equal to or less than the first lifting angle θd1, and determines whether the (right) link angle θ _L , _R (t) ) is equal to or smaller than the first lifting angle θd1 (Yes), the process proceeds to step SD015R; otherwise (No), the process proceeds to step SD020R. For example, the first lifting angle θd1 is a forward tilt angle of about 10[°], and if θ _L , _R (t) ≤ θd1, the control device 61 determines that lifting has started or finished.

When the process proceeds to step SD015R, the control device 61 initializes (resets to zero) the (right) integrated assist amount, and proceeds to step SD020R.

When the process proceeds to step SD020R, the control device 61 controls the (right) increase speed C _s , _R , (right) wearer torque change amount τ _S , _R (t), wearer torque change amount/assist amount Based on the characteristics (FIG. 32), the (right) assist amount is calculated, and the process proceeds to step SD025R. As shown in FIG. 32, for example, when (right) increase speed C _s , _R = 1, (right) wearer torque change amount τ _S , _R (t) = τ 11, f11(x) at Cs = 1 Using the characteristics, τd1 corresponding to τ11 is the desired (right) assist amount.

In step SD025R, the control device 61 adds the (right) assist amount obtained in step SD020R to the (right) integrated assist amount (that is, integrates the obtained (right) assist amount), and proceeds to step SD030R. Proceed with processing.

At step SD030R, the control device 61 controls the gain C _p , the (right) link angle (forward tilt angle) θ _L , _R (t), the forward tilt angle/lowering torque limit value characteristic (see FIG. 33), , the (right) lowering torque limit value is calculated, and the process proceeds to step SD035R. As shown in FIG. 33, for example, when the gain C _p =1, the (right) link angle (forward tilt angle) θ _L , and _R (t)=θ11, the characteristic of f21(x) with C _p =1 is used. , .tau.max1 corresponding to .theta.11 is the desired (right) lowering torque limit value. For example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained, and from these two values, C _p =2.6 is obtained. Values can be obtained by interpolating. Note that the forward tilt angle/lowering torque limit value characteristic in FIG. 33 is one of a plurality of maps in which the assist torque-related quantity is preset.

At step SD035R, the control device 61 determines whether or not the |(right) integrated assist amount| is equal to or less than |(right) lowering torque limit|. ) lifting torque limit|or less (Yes), the process proceeds to step SD040R; otherwise (No), the process proceeds to step SD045R.

When the process proceeds to step SD040R, the control device 61 stores the (right) integrated assist amount in the (right) lifting assist torque (that is, the (right) assist torque command values τ _s , _cmd , _R (t)). to end the process and return (proceeding to step S060R in FIG. 18).

When the process proceeds to step SD045R, the control device 61 sets the (right) lowering torque limit value to the (right) lowering assist torque (that is, the (right) assist torque command value τ _s , _cmd , _R (t)). , the process ends and returns (proceeds to step S060R in FIG. 18).

In steps SD035R, SD040R, and SD045R, the controller 61 sets the smaller one of |(right) integrated assist amount| and |(right) lowering torque limit| as the (right) lowering assist torque. .

FIG. 34 shows the state of the lifting assist torque corresponding to the forward tilting angle during the lifting work in the above process. In the example shown in FIG. 34, the wearer is holding a load in an upright state at time=0, completes lifting the load at time T1 while gradually increasing the forward tilt angle, and moves forward until time T2. It shows a case where the person maintains the tilted state and returns to the upright state while gradually decreasing the forward tilting angle. In this case, the lifting assist torque in the lifting direction (- (negative) side in FIG. 34) is as shown in FIG. can be done.

Note that when the wearer stops the forward tilting motion and the change in the forward tilting angle stops (Δθ _L , _R (t) = 0, Δθ _L , _L (t) = 0) (in the example of FIG. 34, the time from time T1 to time T2), or during an upright motion in which the wearer gradually decreases the forward tilting angle from the state of forward tilting (in the example of FIG. 34, from time T2 to time T3), Since the wearer's torque variation is zero or in the opposite direction, the assist amount obtained from the wearer's torque variation/assistance characteristic (see FIG. 32) is zero. That is, in this case, the control device 61 stops updating the integrated assist amount and holds it, and based on the held integrated assist amount and the lowering torque limit value, the (right) lowering assist torque (( Right) Calculate the assist torque command value).

● [SU000: details of lifting (Figs. 35 to 43)]
Next, details of the processing of SU000 in step S045 shown in FIG. 18 will be described with reference to FIG. In SU000, the control device 61 calculates the lifting assist torque to be generated by the power assist suit in order to assist the wearer's lifting work. It should be noted that the (right) link angle θ _L , _R (t) and the (left) link angle θ _L , _L (t) (see FIG. 31) in the work of lifting a load by the wearer are the values of the waist relative to the thigh. forward tilt angle. Also, the lifting assist torque for assisting the work in the lifting direction of the wearer is generated in the lifting direction (direction of "assist torque" in FIG. 31) for the wearer. In the following description, the sign of torque in the lifting direction is - (negative), and the sign of torque in the lowering direction is + (positive).

In the process of SU000, the controller 61 advances the process to step SU010. Then, in step SU010, control device 61 executes the process of SS000 (see FIG. 36), and advances the process to step SU015. As shown in the state transition diagram of FIG. 36, the processing of SS000 is performed when the entire lifting operation from the start of lifting to the end of lifting is divided into the operation states S=0 to 5, and the current operation state S is changed. This is a process for determining, and the details will be described later.

In step SU015, the control device 61 determines whether or not it is time for the operating state S to transition from 0 to 1. If it is time for the operating state S to transition from 0 to 1 (Yes), the process proceeds to step SU020. The process proceeds, and if not (No), the process proceeds to step SU030.

When the process proceeds to step SU020, the control device 61 substitutes 0 (zero) for the (right) virtual elapsed time t _map , _R (t) and the (left) virtual elapsed time t _map , _L (t), (Right) lifting assist torque ((right) assist torque command values τ _s , _cmd , _R (t)), (left) lifting assist torque ((left) assist torque command values τ _s , _cmd , _L (t)) Substitute 0 (zero). Thereafter, control device 61 advances the process to step SU030.

● [Determination of operation state S=1 and processing when operation state S=1 (Fig. 35)]
When the process proceeds to step SU030, the control device 61 determines whether or not the operating state S determined in step SU020 is 1. If the operating state S is 1 (Yes), the process proceeds to step SU031. , and if not (No), the process proceeds to step SU040.

When the process proceeds to step SU031, the control device 61 sets the (right) virtual elapsed time t _map , _R (t) to the task period (for example, when the process shown in FIG. 18 is started every 2 [ms] , 2 [ms]), the task cycle is added to the (left) virtual elapsed time t _map , _L (t), and the process proceeds to step SU032. (Right) virtual elapsed time t _map , _R (t) and (left) virtual elapsed time t _map , _L (t) indicate the (virtual) elapsed time after the operating state S=1.

In step SU032, the control device 61 determines whether or not it is "automatic increase speed", and if it is "automatic increase speed" (Yes), the process proceeds to step SU033R, and if not (No), step The process proceeds to SU034.

When proceeding to step SU033R, the control device 61 executes the process of SS100R (see FIG. 38) and advances the process to step SU033L. The processing of SS100R (see FIG. 38) is processing for changing or maintaining the (right) increase speed C _s , _R and (right) virtual elapsed time t _map , _R (t). ) Acceleration speed C _s , _L and (left) virtual elapsed time t _map , _L (t) are the same as those in SS 100L, and the description thereof will be omitted. In step SU033L, control device 61 executes the process of SS100L, and advances the process to step SU034. Details of the processing of step SS100R will be described later.

In step SU034, the control device 61 determines whether or not the (right) increase rate _Cs , _R and the (left) increase rate _Cs , _L are equal, and determine whether the (right) increase rate Cs, R and the (left) increase rate _Cs , _R ) If the increasing speeds C _s and _L are equal (Yes), proceed to step SU037R; otherwise (No), proceed to step SU035.

When the process proceeds to step SU035, the control device 61 determines whether or not the (right) increase rate _Cs , _R is greater than the (left) increase rate _Cs , _L , and determines whether the (right) increase rate _Cs, , _R is greater than the (left) increase rate C _s , _L (Yes), the process proceeds to step SU036A; otherwise (No), the process proceeds to step SU036B.

When the process proceeds to step SU036A, the control device 61 substitutes the (right) increase rate _Cs , _R for the (left) increase rate _Cs , _L , and proceeds to step SU037R.

When the process proceeds to step SU036B, the control device 61 substitutes the (left) increase rate _Cs , _L for the (right) increase rate _Cs , _R , and proceeds to step SU037R.

When the process proceeds to step SU037R, the control device 61 executes the process of SS170R (see FIG. 42) and advances the process to step SU037L. Note that the process of SS170R (see FIG. 42) is the process of obtaining the (right) lifting assist torque ((right) assist torque command value τ _s , _cmd , _R (t)) in the case of the operating state S=1. , the processing of SS170L, which is the processing of obtaining the (left) lifting assist torque ((left) assist torque command values τ _s , _cmd , _L (t)) in the case of the operating state S=1, is the same, so the explanation is omitted. do. In step SU037L, control device 61 executes the process of SS170L, terminates the process, and returns (proceeds to step S060R in FIG. 18). Details of the processing of step SS170R will be described later.

● [Determination of operating state S=2 and processing when operating state S=2 (Fig. 35)]
When the process proceeds to step SU040, the control device 61 determines whether or not the operating state S determined in step SU020 is 2. If the operating state S is 2 (Yes), the process proceeds to step SU041. If not (No), the process proceeds to step SU050.

When the process proceeds to step SU041, the control device 61 determines whether or not the (previous) operating state S is 1, and if the (previous) operating state S is 1 (Yes), the process proceeds to step SU042. If not (No), the process proceeds to step SU047.

When the process proceeds to step SU042, the control device 61 substitutes 0 (zero) for the (right) virtual elapsed time _tmap , _R (t) and the (left) virtual elapsed time _tmap , _L (t). The process proceeds to step SU047. The processing of step SU042 is processing that is executed when the operating state S transitions from 1 to 2.

When the _process proceeds to step _SU047 , the control device 61 obtains the |maximum value| (right) lifting assist torque ((right) assist torque command values τ _s , _cmd , _R (t)), (left) lifting assist torque ((left) assist torque command values τ _s , _cmd , _L (t)), the process ends and returns (proceeds to step S060R in FIG. 18). For example, when the gain C _p =1, the characteristic of f41(x) with C _p =1 in FIG. 43 is used, and τmax11, which is the maximum value of |f41(x)|, is the maximum value to be obtained. As shown in FIG. 43, the time/lifting torque characteristic (one of the lifting reference characteristics) is prepared according to the gain C _p , and the control device 61 changes the lifting reference characteristic according to the gain C _p . do. For example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained, and from these two values, C _p =2.6 is obtained. Values can be obtained by interpolating. Note that the time/lifting torque characteristic shown in FIG. 43 is one of a plurality of maps in which assist torque-related quantities are preset.

● [Determination of operation state S=3 and processing when operation state S=3 (Fig. 35)]
When the process proceeds to step SU050, the control device 61 determines whether or not the operating state S determined in step SU020 is 3. If the operating state S is 3 (Yes), the process proceeds to step SU051. If not (No), the process proceeds to step SU060.

When the process proceeds to step SU051, the control device 61 obtains the maximum value corresponding to the gain C _p based on the gain C _p and the time/lifting torque characteristics (see FIG. 43), The values are (provisional) (right) lifting assist torque ((provisional) τ _s , _cmd , _R (t)), (provisional) (left) lifting assist torque ((provisional) τ _s , _cmd , _L (t)) , and the process proceeds to step SU057. For example, when the gain C _p =1, the characteristic of f41(x) with C _p =1 in FIG. 43 is used, and τmax11, which is the maximum value of |f41(x)|, is the maximum value to be obtained. For example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained, and from these two values, C _p =2.6 is obtained. Values can be obtained by interpolating.

In _{step SU057} , the _control device 61 performs ( Right) Calculate the torque decay rate τ _d , _R. Similarly, the control device 61, based on the gain C _p , (left) wearer torque change amount τ _S , _L (t), and assist ratio/torque attenuation rate characteristics (see FIG. 45), (left) Calculate the torque decay rate τ _d , _L. Then, the control device 61 obtains and stores (right) assist torque command values τ _s , _cmd , and _{R (t) in the following (Equation 7), and (left) assist torque command values τ s , cmd and R} (t) in the following (Equation 8). Determine and store the values τ _s , _cmd , _L (t). Then, control device 61 terminates the process and returns (proceeds to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t) = (Tentative) τ _s , _cmd , _R (t) * (Right) Torque decay rate τ _d , _R (Formula 7)
(Left) Assist torque command value τ _s , _cmd , _L (t) = (Tentative) τ _s , _cmd , _L (t) * (Left) Torque decay rate τ _d , _L (Formula 8)

For example, when the gain C _p =1, the controller 61 obtains the attenuation coefficients τ _s , _map , _thre =Tb2 based on the gain/attenuation coefficient characteristics shown in FIG. Then, the control device 61 calculates the (right) assist ratio using the following (equation 9), and calculates the (left) assist ratio using (equation 10). For example, when the gain C _p =2.6, Tb3 corresponding to the gain C _p =2 and Tb4 corresponding to the gain _{C p} =3 are obtained. .6 can be obtained by interpolating. Note that the gain/damping coefficient characteristic shown in FIG. 44 is one of a plurality of maps (a plurality of data tables) in which the assist torque-related quantity is preset.
(Right) Assist ratio = [τ _s , _map , _thre - (Right) Wearer torque variation τ _S , _R (t)]/τ _s , _map , _thre (Formula 9)
(Left) Assist ratio = [τ _s , _map , _thre - (Left) Wearer torque variation τ _S , _L (t)]/τ _s , _map , _thre (Formula 10)

Based on the (right) assist ratio and the assist ratio/torque attenuation ratio characteristics (see FIG. 45), the control device 61 obtains the (right) torque decay rate τ _d , _R , and (left) the assist ratio and , the assist ratio/torque attenuation rate characteristics (see FIG. 45), and the (left) torque attenuation rate τ _d , _L is obtained. Then, the control device 61 (provisional) τ _s , _cmd , _R (t) * (right) torque decay rate τ _d , _R (right) lifts the assist torque ((right) assist torque command value τ _s , _cmd , _R (t)), (temporary) τ _s , _cmd , _L (t) * (left) torque decay rate τ _d , _L is (left) lifted assist torque ((left) assist torque command value τ _s , _cmd , _L (t)).

● [Determination of operation state S=4 and processing when operation state S=4 (Fig. 35)]
When the process proceeds to step SU060, the control device 61 determines whether or not the operating state S determined in step SU020 is 4. If the operating state S is 4 (Yes), the process proceeds to step SU061. If not (No), the process proceeds to step SU077.

When the process proceeds to step SU061, the control device 61 sets the (right) virtual elapsed time t _map , _R (t) to the task period (for example, when the process shown in FIG. 18 is started every 2 [ms] , 2 [ms]), the task cycle is added to the (left) virtual elapsed time t _map , _L (t), and the process proceeds to step SU062. (Right) virtual elapsed time t _map , _R (t) and (left) virtual elapsed time t _map , _L (t) indicate the (virtual) elapsed time after the operating state S=4.

At step SU062, the control device 61 substitutes the current τ _s , _cmd , _R (t) into the (previous) τ _s , _cmd , _R (t-1), the current τ _s , _cmd , _L (t ) is substituted for (previous) τ _s , _cmd , _L (t−1), and the process proceeds to step SU067.

At step SU067, the control device 61 obtains and stores (right) assist torque command values τ _s , _cmd , _R (t) from the following (Equation 11), and (left) assist torque Command values τ _s , _cmd , _L (t) are obtained and stored. The damping coefficient K1 is a preset coefficient, and is set to 0.9, for example. Then, control device 61 terminates the process and returns (proceeds to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t) = K1 * (previous) τ _s , _cmd , _R (t-1) (Formula 11)
(Left) Assist torque command value τ _s , _cmd , _L (t) = K1 * (previous) τ _s , _cmd , _L (t-1) (Equation 12)

● [Processing when operating state S=5 (Fig. 35)]
When the process proceeds to step SU077, the control device 61 obtains and stores the (right) assist torque command values τ _s , _cmd , _R (t) by the following (Equation 13), and by (Equation 14) (Left) Assist torque command values τ _s , _cmd , _L (t) are obtained and stored. Then, control device 61 terminates the process and returns (proceeds to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t)=0 (Equation 13)
(Left) Assist torque command value τ _s , _cmd , _L (t)=0 (Equation 14)

As described above, during the lifting operation, the control device 61 sequentially transitions the operation state S from 0 to 5 according to the lifting state, and the calculation method set in advance corresponding to each operation state S is calculated. According to (right) lifting assist torque ((right) assist torque command value τ _s , _cmd , _R (t)), (left) lifting assist torque ((left) assist torque command value τ _s , _cmd , _L (t) ).

● [SS000: Details of operating state determination (Fig. 36)]
Next, details of the processing of SS000 in step SU010 shown in FIG. 35 will be described with reference to FIG. At SS000, the control device 61 determines the operation state S=0 to 5 according to the lifting state in the lifting work of the wearer. As shown in FIG. 37, the outline of the operation state S is the operation state S=0 at the time when the wearer starts to lean forward from the upright state (the state in which the forward leaning of the previous work is completed) and starts the lifting operation. , operation state S=1 transitioning after starting lifting operation, load lifting operation state S=2, operation state gradually decreasing forward tilt angle S=3, S=4, lifting operation completed and standing upright. The resulting operating state S=5. The operating state S includes (right) virtual elapsed time t _map , _R (t), (left) virtual elapsed time t _map , _L (t), and (right) link angle (forward tilt angle) θ _L , _R (t). , (left) link angle (forward tilt angle) θ _L , _L (t), (right) wearer torque variation τ _S , _R (t), (left) wearer torque variation τ _S , _L (t) , is set to correspond to a lifting state including at least one of

● [When operating state S = 0]
The procedure for determining the operating state S will be described below with reference to the state transition diagram shown in FIG. As shown in FIG. 36, the control device 61 determines that the operating state S is 0 at the event ev00 that the lifting is started. It should be noted that determination of whether or not lifting has started is made by (right) link angle θ _L , _R (t), (left) link angle θ _L , _L (t), (right) link angle change amount Δθ _L , _R (t), (left) link angle variation Δθ _L , _L (t), (right) wearer torque variation τ _S , _R (t), (left) wearer torque variation τ _S , _L (t) and the like. When the operating state S=0, the control device 61 causes the operating state S to transition from 0 to 1 when the event ev01 is detected. Note that the event ev01 is "always", and as shown in step SU015 in FIG. 35, the control device 61 unconditionally transitions to the operating state S=1 after setting the operating state S=0.

● [When operating state S = 1]
When the operation state S=1, the control device 61 changes the operation state S from 1 to 2 when the event ev12 is detected. Note that the control device 61 maintains the operating state S=1 when the event ev12 is not detected. Event ev12 is, for example, when (right) virtual elapsed time t _map , _R (t)≧(right) t _map , _thre1 holds, or (left) virtual elapsed time t _map , _L (t)≧(left) (Right) Link angle (forward tilt angle) θ _L , _R (t ₎ , (Left) _Link angle (forward tilt angle) θ _L , _L (t) is satisfied. The (right) t _map and _thre1 are determined based on the (right) increase rate C _s and _R and the increase rate/transition time characteristics (see FIG. 40), and the (left) t _map and _thre1 are determined based on (Left) Determined based on the increase rate _Cs , _L and the increase rate/transition time characteristic (see FIG. 40).

● [When operating state S = 2]
When the operation state S=2, the control device 61 changes the operation state S from 2 to 3 when the event ev23 is detected. Note that the control device 61 maintains the operating state S=2 when the event ev23 is not detected. Event ev23 is, for example, when the (right) wearer torque change τ _S , _R (t) or (left) wearer torque change τ _S , _L (t) becomes relatively weak near the end of the lifting task. or when the (right) link angle (forward tilt angle) θ _L , _R (t) or (left) link angle (forward tilt angle) θ _L , _L (t) reaches the forward tilt angle near the end of the lifting operation. When it becomes, is when it is established.

● [When operating state S = 3]
When the operation state S=3, the control device 61 changes the operation state S from 3 to 4 when the event ev34 is detected. Note that the control device 61 maintains the operating state S=3 when the event ev34 is not detected. Event ev34 is, for example, (right) wearer torque change amount τ _S , _R (t)≧τ _s , _map , _thre , or (left) wearer torque change amount τ _S , _L (t)≧τ _s , _map , _thre , or (right) link angle (forward tilt angle) θ _L , _R (t) or (left) link angle (forward tilt angle) θ _L , _L (t) When it becomes an angle, it is the time when it is established. Note that τ _s , _map and _thre are determined based on the gain C _p and the gain/attenuation coefficient characteristics (see FIG. 44).

● [When operating state S = 4]
When the operation state S=4, the control device 61 changes the operation state S from 4 to 5 when the event ev45 is detected. Note that the control device 61 maintains the operating state S=4 when the event ev45 is not detected. Event ev45 is, for example, (right) virtual elapsed time t _map , _R (t)≧state determination time t41 (for example, about 0.15 [sec]), or (left) virtual elapsed time t _map , _L (t )≧state determination time t41 (for example, about 0.15 [sec]) is satisfied.

● [When operating state S = 5]
When the operation state S=5, the control device 61 changes the operation state S from 5 to 0 when the event ev50 is detected. Note that the control device 61 maintains the operating state S=5 when the event ev50 is not detected. Event ev50 is the start of the lifting work, but after the lifting work is finished, S=0 returns.

● [SS100R: (Right) details of determination of changeover of increase speed (Fig. 38)]
Next, details of the processing of SS100R in step SU033R shown in FIG. 35 will be described with reference to FIG. At SS100R, the control device 61 automatically switches the (right) increase rate C _s , _R to an appropriate value between -1 and 4 in accordance with the lifting action of the wearer. The processing of SS100R shows a processing procedure for automatically switching the (right) increase speed _Cs , _R , but the (left) increase speed _Cs , _L is automatically switched SS100L (see FIG. 35) Since the processing procedure is the same, the explanation is omitted.

In the process of SS100R, the controller 61 advances the process to step SS110R. Then, in step SS110R, the control device 61 stores the current (right) increase rate _Cs , _R in the previous _Cs , _R , and advances the process to step SS115R.

In step SS115R, the control device 61 determines whether or not the switching stop counter is in operation. If the switching stop counter is in operation (Yes), the process proceeds to step SS120R, otherwise (No). advances the process to step SS125R. The switching stop counter is a counter that is started when the (right) increasing speeds C _s and _R are switched (changed) in steps SS140R and SS145R.

When proceeding to step SS120R, the control device 61 determines whether or not the switching stop counter is greater than or equal to the switching standby time. The process proceeds, and if not (No), the process proceeds to step SS150R.

When the process proceeds _{to step SS125R, the control device 61 determines the current elapsed lifting time t up (} Find the switching lower bound τ _s , _mas1 (t) corresponding to t). In addition, the control device 61 determines the current (right) weight increase rate C _s , _R , the elapsed lifting time t _up (t), and the time switching upper limit characteristic (see FIG. 39) based on the current lifting progress. Find the switching upper limit τ _s , _mas2 (t) corresponding to the time t _up (t). The lift elapsed time t _up (t) is the elapsed time from the timing when the lift is started (the operation state S transitions from 0 to >1). Then, the control device 61 advances the process to step SS130R. In the example shown in FIG. 39, at time T1 (at position P1) |(right) wearer torque change amount τ _S , _R (t)|>|switching upper limit τ _s , _mas2 (t) | state, and at time T3 (at the position of _P2 ) | ₍ Right) wearer torque change amount τ _S , _R (t) | shows an example of

In step SS130R, the control device 61 determines whether |(right) wearer torque change amount τ _S , _R (t)| is less than |switching lower limit τ _s , _mas1 (t)| Right) If wearer torque variation τ _s , _R (t)| is less than |switching lower limit τ _s , _mas1 (t)| The process proceeds to SS135R.

When the process proceeds to step SS135R, the control device 61 determines whether |(right) wearer torque change amount τ _s , _R (t)| is greater than |switching upper limit τ _s , _mas2 (t)| If |(right) wearer torque change amount τ _S , _R (t)| is greater than |switching upper limit τ _s , _mas2 (t)| ) advances the process to step SS150R.

When the process proceeds to step SS140R, the control device 61 increases the value of the (right) increase rate _Cs , _R by 1 (however, the maximum value is guarded to 4), activates the switching stop counter, and proceeds to step SS140R. The process proceeds to SS150R.

When the process proceeds to step SS145R, the control device 61 decreases the value of the (right) increase speed C _s , _R by 1 (however, the minimum value is guarded to −1), activates the switching stop counter, and The process proceeds to step SS150R.

When the process proceeds to step SS150R, the control device 61 calculates (right) t _map , _thre1 based on the (right) increase speed C _s , _R and the increase speed/transition time characteristic (see FIG. 40). and advances the process to step S155R. Note that (right) _tmap and _thre1 are used for determination of the operation state (determination of transition to operation state 1-->2) and the like.

At step SS155R, the controller 61 determines whether or not the current (current) (right) increase speed C _s , _R is equal to the previous C _s , _R (see step SS110R). The process ends and returns (returns to step SU033L in FIG. 35), and if not equal (No), the process proceeds to step SS160R.

When the process proceeds to step SS160R, the control device 61 sets the previous C _s , _R , the (right) virtual elapsed time t _map , _R (t), the time/assistance amount characteristic (see FIG. 41), and the gain C A temporary lifting assist torque A1(t) is calculated based on _p and the time/lifting torque characteristic (see FIG. 43). For example, when C _s , _R = 3 last time, the controller 61 calculates f33(x) corresponding to C _s , _R = 3 and (right) virtual elapsed time t _map , _R (t) as shown in FIG. , the temporary lifting assist torque A1(t) is calculated. As shown in FIG. 41, the time/assistance amount characteristics (one of the lifting reference characteristics) are prepared according to the (right) increase speed C _s , _R and the (left) increase speed C _s , _L , The control device 61 changes the lifting reference characteristics according to the (right) weight increase speed C _s , _R and the (left) weight increase speed C _s , _L .

Then, the control device 61 controls the current (current) (right) weight increase speeds C _s and _R , the time/assistance amount characteristics (see FIG. 41), the gain C _p , and the time/lifting torque characteristics (see FIG. 43). ), and the torque deviation reduction virtual elapsed time t _map , _R (s) that becomes the temporary lifting assist torque A1 (t) is calculated, and the calculated torque deviation reduction virtual elapsed time t _map , _R (s) is calculated. ) is substituted (rewritten) for the (right) virtual elapsed time t _map , _R (t). When the time-lifting torque characteristic is used, for example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained. A value corresponding to C _p =2.6 may be interpolated from the values. For example, in the case of the current ₍ current) (right) increase speed C _s , _R = 4, the control device 61, as shown in FIG _. A torque deviation reduction virtual elapsed time t _map , _R (s) is calculated from the assist torque A1(t), and the torque deviation reduction virtual elapsed time t _map , _R (s) is converted to the (right) virtual elapsed time t _map , _R (t). ). Then, the control device 61 terminates the processing and returns (returns to step SU033L in FIG. 35). (Right) When the virtual elapsed time t _map , _R (t) is rewritten, the selected lifting reference The lifting assist torque (temporary lifting assist torque A1(t)) obtained based on the characteristic (time/assist amount characteristic (see FIG. 41) corresponding to the previous (right) weight increase speed _Cs , _R ) and the current Switching torque deviation reduction correction that reduces the deviation between the selected lifting reference characteristics (time/assistance amount characteristics (see Fig. 41) corresponding to the current (current) (right) increase speed _Cs , _R )) corresponds to

In the above explanation, the time/assistance amount characteristic (see FIG. 41), the time/lifting torque characteristic, and the forward tilt angle/maximum lifting torque characteristic (see FIG. 43) indicate that the lifting assist torque, which is the torque in the lifting direction, is It corresponds to a set of lifting reference characteristics. Then, the control device 61 selects an appropriate lifting reference characteristic, obtains the lifting assist torque based on the selected lifting reference characteristic, uses the obtained lifting assist torque as the assist torque, and drives the actuator unit based on the assist torque. . When the time/lifting torque characteristic is used, for example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained. A value corresponding to C _p =2.6 may be interpolated from the values.

● [SS170R: (Right) details of assist torque calculation (Fig. 42)]
Next, details of the processing of SS170R by step SU037R shown in FIG. 35 will be described with reference to FIG. At SS170R, the control device 61 obtains (right) lifting assist torque ((right) assist torque command value) τ _s , _cmd , _R (t). The processing of the SS170R shows the processing procedure for obtaining the (right) lifting assist torque ((right) assist torque command value) τ _s , _cmd , _R (t), but the (left) lifting assist torque ((left) ) Assist torque command value) SS170L (see FIG. 35) for obtaining τ _s , _cmd , _L (t).

In the process of SS170R, the controller 61 advances the process to step SS175R. Then, in step SS175R, the control device 61 outputs the current (current) (right) increase rate C _s , _R , (right) virtual elapsed time t _map , _R (t), gain C _p , time/assist Based on the quantity characteristic (see FIG. 41) and the time/lifting torque characteristic (see FIG. 43), (provisional) τ _s , _cmd and _R (t) are calculated, and the process proceeds to step SS177R. For example, in the case of the current ₍ current) (right) increase speed C _s , _R = 3, the control device 61, as shown in FIG _. The assist torque A1(t) obtained from the virtual elapsed time t _map , _R (t) is stored in (temporary) τ _s , _cmd , _R (t). When the time/lifting torque characteristic is used, for example, when the gain C _p =2.6, the characteristic value of the gain C _p =2 and the characteristic value of the gain C _p =3 are obtained. A value corresponding to C _p =2.6 may be interpolated from the values.

At step SS177R, the control device 61 sets the (right) torque upper limit τ _s , _max , _R (t) based on the forward tilt angle and the forward tilt angle/maximum lifting torque characteristic (see FIG. 43). is calculated, and the process proceeds to step SS180R. For example, the control device 61 calculates the maximum lifting torque B1(t) obtained from the forward tilting angle/maximum lifting torque characteristic and the (right) link angle (forward tilting angle) θ _L , _R (t) shown in FIG. (Right) Torque upper limit τ _s , _max , stored in _R (t). The lifting torque is limited by the "forward tilting angle/maximum lifting torque characteristic" so that it does not become too large when the forward tilting angle is small.

At step SS180R, the control device 61 determines whether |(provisional) τ _s , _cmd , _R (t)| is greater than |(right) torque upper limit τ _s , _max , _R (t)| If larger (Yes), the process proceeds to step SS185R; otherwise (No), the process proceeds to step SS187R.

When the process proceeds to step SS185R, the control device 61 sets the (right) lifting assist torque ((right) assist torque command value τ _s , _cmd , _R (t)) to the (right) torque upper limit value τ _s , _max , Store _R (t), terminate the process, and return (return to step SU037L in FIG. 35).

When the process proceeds to step SS187R, the control device 61 changes the (right) lifting assist torque ((right) assist torque command values τ _s , _cmd , _R (t)) to (tentative) τ _s , _cmd , _R (t ) is stored, the process is terminated, and the process returns (returns to step SU037L in FIG. 35).

As described above, the power assist suit 1 described in the present embodiment has a simple configuration and can be easily worn by the wearer. Further, the assist control for the lifting work and the assist control for the lifting work are simple controls, and the work of lifting and lowering the load can be appropriately assisted. In addition, when assisting the lifting or lowering of a load, the amount of assist torque is automatically adjusted according to the mass or weight of the load held by the wearer, so that the wearer does not feel uncomfortable or dissatisfied. It is possible to suppress the giving more (improve the harmony of the assist). In addition, when the wearer does not hold the luggage, unnecessary assist torque can be prevented from being generated (when the gain C _p =0, the assist torque can be set so as not to be generated). It does not interfere with the movement of the wearer.

Various modifications, additions, and deletions can be made to the structure, configuration, shape, appearance, processing procedure, and the like of the power assist suit of the present invention without changing the gist of the present invention. For example, the processing procedure of the control device is not limited to the flowcharts and the like described in the present embodiment. Also, in the description of the present embodiment, an example using the spiral spring 45R (see FIG. 10) has been described, but a torsion spring (torsion bar or torsion bar spring) may be used instead of the spiral spring.

In the power assist suit 1 described in the present embodiment, an example in which a handpiece or a buckle is used as a belt holding member for holding the belt in a tightened state has been explained. Although an example of connecting and releasing the belt and the like with the buckle has been described, the belt and the like may be connected and released with a belt holding member different from the buckle. In addition, although the pulled belt is prevented from loosening by passing the belt through the foot, a belt holding member other than the foot may be used. Also, a belt holding member having both the function of the foot and the buckle may be used.

In the description of the present embodiment, an example in which the operation unit R1 has both the gain UP operation section R1BU and the gain DOWN operation section R1BD, and the increase speed UP operation section R1CU and the increase speed DOWN operation section R1CD has been described. However, at least one of the gain UP operation portion R1BU and the gain DOWN operation portion R1BD, and the increase speed UP operation portion R1CU and the increase speed DOWN operation portion R1CD may be provided.

In the power assist suit 1 described in the present embodiment, an example was described in which the gain, increase speed, etc., could be changed from the operation unit R1. 64 (see FIG. 15) may be provided so that it can be changed by communication from a smartphone or the like. In addition, the control device 61 is provided with a communication means 64 (for wireless or wired communication) (see FIG. 15), various data are collected by the control device 61, and the collected data are transmitted at predetermined timings (always, at fixed time intervals, It may be transmitted to the analysis system after the assist operation is finished, for example. For example, the collected data includes wearer information and assist information. The wearer information is information about the wearer including, for example, the wearer's torque and the posture of the wearer. The assist information includes, for example, assist torque, electric motor (actuator) rotation angle (actual motor shaft angle θ _rM , _R in FIG. 15), output link rotation angle (actual link angle θ _L in FIG. 15), motion Information related to the inputs and outputs of the left and right actuator units, including mode, gain, increment speed, and the like. The analysis system is a system prepared separately from the power assist suit. Embedded system. Then, the analysis system analyzes (calculates) the optimum set values (optimal values such as gain and increasing speed) specific to the power assist suit 1 (that is, specific to the wearer), and the analysis results (calculated results) may be transmitted to the control device 61 (communication means 64) of the power assist suit 1. By analyzing the wearer's motion, assist force, etc. with the analysis system, it is possible to output the optimum assist torque that takes into account the type of work (repetition, lifting height, etc.) and the wearer's ability. Then, the left and right actuator units adjust their operation based on the analysis information (e.g., gain, increment speed) received from the analysis system (e.g., change the gain, increment speed to the received gain, increment speed). ).

In the description of the present embodiment, an example of obtaining the gain C _p using the wearer mass M and the load mass m was described. *g) may be used to obtain the gain C _p .

In the description of the present embodiment, an example in which load detection means are provided on the left and right soles of the wearer has been described. can be In this case, it is possible to detect the load mass (or load weight) from the load detected by the load detection means, and the detected load mass (or load weight) may be converted into the gain _Cp . Further, instead of providing the load detecting means on the left and right soles or the left and right gloves, a plurality of switches for detecting the presence or absence of a load may be provided. For example, if each switch is a switch that is turned on at 2 [kg] or more, it is possible to detect the approximate cargo weight according to the number of switches that are turned on.

1 Power Assist Suit 2 Body Attachment 4 Actuator Unit 4AR Connection Base 4L Left Actuator Unit 4R Right Actuator Unit 10 Waist Support Part 11L Left Waist Mounting Part 11LA Left Waist 11LB Left Hip 11R Right Waist Mounting Part 11RA Right Waist 11RB Right Hip 11RC, 11LC Notch 13LA Left waist tightening belt 13LB Waist belt holding member (waist buckle)
13RA Right waist tightening belt 13RB Waist belt holding member (waist buckle)
15R, 15L Mounting hole 15Y Virtual rotation axis 16A Back waist belt 16B Upper buttock belt 16C Lower buttock belt 17LA Left pelvis upper belt 17LB Left pelvis lower belt 17LC Upper left belt holding member (upper left foot)
17LD lower left belt holding member (lower left handjob)
17RA Upper right pelvis belt 17RB Lower right pelvis belt 17RC Upper right belt holding member (upper right handjob)
17RD lower right belt holding member (lower right handjob)
19R, 19L Connection belts 19RS, 19LS Connection rings 20, 20A Jacket part 21L Left chest attachment part 21R Right chest attachment part 21F Hook-and-loop fasteners 23L, 24L Left shoulder belts 23R, 24R Right shoulder belts 23LK Left shoulder belt holding member (left shoulder)
23RK right shoulder belt holding member (right shoulder job)
24RS, 24LS Belt connection portion 25L, 26L Left armpit belt 25R, 26R Right armpit belt 25RS, 25LS Belt connection portion 25RL Adhesion belt 26LK Left armpit belt holding member (left armpit)
26RK right armpit belt holding member (right armpit)
28R, 28L Fixed portion 29R, 29L, 29RD, 29LD Connection belt 29RK, 29LK Connection belt holding member (connection joint)
29RS, 29LS connecting portion 30 frame portion 31 main frame 31H belt connection hole 31SR, 31SL support 31L connecting portion (left rotation shaft portion)
31R connection part (right rotation shaft part)
32L Left subframe 32R Right subframe 33RS, 33LS Outlet 37 Backpack part 37C Backrest part 37FL, 37FR Belt connection part 37G Cushion 40R, 40L Torque generation part 40RY Rotation axis 40RS, 40LS Connection part 41R Actuator base part 41RB Cover 42R reduction gear 42RA reduction shaft 42RB speed increasing shaft 43RA, 43RC pulley 43RD flange 43RE transmission shaft 43RS, 43LS output link rotation angle detection means ((right thigh) angle detection means, torque detection means, right torque-related quantity detection means)
45R, 45L spiral spring (torque detection means)
47R, 47L electric motor (actuator)
47RA output shaft 47RS, 47LS motor rotation angle detection means (torque detection means, right torque-related quantity detection means)
48R Subframe 50R, 50RA Output link 51R Assist arm (1st link)
51RJ, 52RJ, 53RJ Rotation Axis 51RS First Joint Section 52R, 52RA Second Link 52RS Second Joint Section 53R, 53RA Third Link 53RS Third Joint Section 54R Thigh Attachment Section (Body Support Section)
55R thigh belt 56R connecting member 57R knee belt 61 control device (control means)
61A adjustment determination unit 61B input processing unit 61C torque change amount calculation unit 61D operation mode determination unit 61E selection unit 61F lifting assist torque calculation unit 61G lifting assist torque calculation unit 61H walking assist torque calculation unit 61I control command value calculation unit 61J load Determination unit 61K Failure detection processing unit 62 Motor driver 63 Power supply unit 64 Communication means 66 Control means (CPU)
67 storage means (storage device)
71L, 71R Load detection unit 72L, 72R, 73L, 73R Load detection means 75 Acceleration detection means av, aw, az Body motion acceleration B10 Adjustment determination block B20 Input processing block B30 Torque change amount calculation block B35 Failure detection processing block B40 Operation Mode determination block B45 Load determination block B50 Assist torque calculation block B51 Lifting assist torque calculation block B52 Lifting assist torque calculation block B53 Walking assist torque calculation block B54 Selection block B60 Control command value calculation block S51, S52 Changeover switch C _p gain C _s , _R (Right) Incremental speed C _s , _L (Left) Incremental speed F Drag force Ks Spring constant (of spiral spring 45R) M Wearer mass m Load mass n _G gear reduction ratio n _P pulley reduction ratio R1 Operation unit R1BS Gain automatic /Manual switching operation unit R1BU Gain UP operation unit (gain changing means, operation switching means)
R1BD Gain DOWN operation unit (gain change means)
R1CU Increment speed UP operation section (increase speed change means)
R1CD Increase speed DOWN operation unit (increase speed change means)
R1K Weight measurement operation unit S Operating state t _map , _R (t) (Right) Virtual elapsed time t _map , _L (t) (Left) Virtual elapsed time t _map , _R (s) Torque deviation reduction virtual elapsed time θ _rM , _R (t), θ _rM , _L (t) Actual motor shaft angle θ _L Actual link angle (attitude angle)
θ _L , _R (t) (Right) Link angle (forward tilt angle)
θ _L , _L (t) (Left) Link angle (forward tilt angle)
Δθ _L , _R (t) (Right) Link angle change amount (angular velocity related amount)
Δθ _L , _L (t) (Left) Link angle change amount (angular velocity related amount)
τ _S , _R (t) (Right) Torque variation of wearer τ _S , _L (t) (Left) Torque variation of wearer τ _s , _cmd , _R (t) (Right) Assist torque ((Right) Assist torque command value)
τ _s , _cmd , _L (t) (left) assist torque ((left) assist torque command value)
τ _SP , _R (t) (Right) Spring torque τ _SP , _L (t) (Left) Spring torque

Claims (5)

a body attachment worn at least around the waist of the wearer;
a left actuator unit attached to the body attachment and the wearer's left thigh to generate an assist torque for assisting movement of the left thigh with respect to the wearer's waist;
a right actuator unit attached to the body attachment and the wearer's right thigh to generate an assist torque for assisting movement of the right thigh with respect to the wearer's waist;
a power supply unit that supplies power to the left actuator unit and the right actuator unit;
a control device that controls the left actuator unit and the right actuator unit;
with
Each of the left actuator unit and the right actuator unit includes:
an output link mounted on the wearer's left thigh or right thigh and rotating around a joint of the left thigh or the right thigh;
an actuator having an output shaft that generates an assist torque for assisting rotation of the left thigh or the right thigh around the joint via the output link;
A wearer torque input from the output link having one end connected to the output link and the other end connected to the output shaft of the actuator and rotated by the wearer's force, and the output shaft an elastic member that stores a combined torque obtained by synthesizing the assist torque input from
a deformation state detection device for detecting a deformation state of the elastic member;
has
The control device is
A combined torque acquisition unit that acquires the combined torque stored in each of the elastic members based on the deformation states of the elastic members detected by the deformation state detection devices of the left actuator unit and the right actuator unit. and,
A first turning torque for turning the output link of each of the left actuator unit and the right actuator unit based on the combined torque stored in each of the elastic members acquired via the combined torque acquisition section. a first rotation torque acquisition unit that acquires
a current detection unit that detects a current value supplied to each of the left actuator unit and the right actuator unit;
The output link of each of the left actuator unit and the right actuator unit is rotated based on the current value supplied to each of the left actuator unit and the right actuator unit detected by the current detection section. a second rotation torque acquisition unit that acquires two rotation torques;
Device failure determination for determining whether or not the deformed state detection devices of the left actuator unit and the right actuator unit are out of order based on the difference between the first rotation torque and the second rotation torque. Department and
has
The deformation state detection device is
an output shaft rotation angle detection device for detecting the rotation angle of the output shaft;
an output link rotation angle detection device for detecting the rotation angle of the output link;
has
The combined torque acquisition unit is
acquiring the combined torque based on the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device;
The device failure determination unit
The output link rotation angle of each of the left actuator unit and the right actuator unit based on the difference between the first rotation torque and the second rotation torque of each of the left actuator unit and the right actuator unit. determining whether the detection device has failed;
power assist suit. In the power assist suit according to claim 1 ,
The device failure determination unit
determining that the deformation state detection device is out of order when the difference between the first rotation torque and the second rotation torque is equal to or greater than a predetermined error threshold;
power assist suit. In the power assist suit according to claim 1 or claim 2 ,
The control device is
When the device failure determination section determines that the deformation state detection device of the left actuator unit or the right actuator unit is malfunctioning, power supply to the left actuator unit and the right actuator unit is stopped. Having a power supply control unit that controls to
power assist suit. In the power assist suit according to claim 1 ,
Each of the left actuator unit and the right actuator unit includes:
A reduction gear having a reduction shaft connected to the output link and a speed increase shaft connected to the output link rotation angle detection device,
power assist suit. In the power assist suit according to any one of claims 1 to 4 ,
the elastic member includes a spiral spring;
power assist suit.

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