CN108472192B

CN108472192B - Joint movement assistance system

Info

Publication number: CN108472192B
Application number: CN201680074788.8A
Authority: CN
Inventors: 山本圭治郎
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-12-21
Filing date: 2016-12-06
Publication date: 2020-09-22
Anticipated expiration: 2036-12-06
Also published as: WO2017110453A1; JPWO2017110453A1; CN108472192A; HK1256841A1; JP6445188B2

Abstract

When the person to be attached to the main device brings the joints of the fingers to which the main device is attached into a flexed state or an extended state, the control device receives a second detection value (DM 2) reflecting the flexion angle of the joints from the main device_j、DM3_j). In addition, the control device receives a signal from a magnetic sensor (432) of the joint movement assistance device_j) The transmitted first detection value (DA 2)_j) And a slave magnetic sensor (433)_j) The transmitted first detection value (DA 3)_j). Then, the control device makes the bellows (342)_j) The air pressure in the air tank is changed so that the second detection value (DM 2)_j) And a first detection value (DA 2)_j) The absolute value of the difference of (a) is a predetermined value or less. In addition, the control device enables the corrugated pipe (343)_j) The air pressure in the air tank is changed so that the second detection value (DM 3)_j) And a first detection value (DA 3)_j) The absolute value of the difference of (a) is a predetermined value or less. As a result, the joint movement assistance device tracks the movement of the finger to which the main device is attached. Therefore, the joint movement can be appropriately assisted.

Description

Joint movement assistance system

Technical Field

The present invention relates to an articulation assisting system, and more particularly, to an articulation assisting system that assists an articulation of a predetermined object.

Background

Various apparatuses for rehabilitation have been proposed. Among such apparatuses, there are the following apparatuses: the device replaces a physiotherapist or a family member or the like, or assists a treatment exercise for achieving restoration of the function of the basic action of the patient with the help of the physiotherapist or the family member or the like.

As one of the devices for assisting the movement of the patient concerned, there is a device in which: in the case where fingers are paralyzed and contractually contracted due to a central nervous system disorder such as cerebral infarction, the joint movement of the fingers is assisted by the expansion and contraction of bellows (see patent document 1: hereinafter, referred to as "conventional example 1"). As in the above-described conventional example 1, the joint movement assistance device using the bellows is lighter than the device in the system using the actuator driven by the motor and the wire, and therefore has high practicability. Further, since the joint movement assistance device using the bellows can be driven at a low pressure, a low-vibration and low-noise pump such as a diaphragm pump or a vane pump can be used. From this point of view, it can be said that the joint movement assistance device using the extensible bellows is highly practical.

In the technique of conventional example 1, the bellows that can be expanded and contracted is disposed in the joint that is the subject of assistance. Further, a one-side transmission member connected to one-side end of the bellows is attached to a one-side portion connected to a joint as an assist target. Further, the other-side transmission member connected to the other-side end of the bellows is attached to the other-side portion connected to the joint as the assist target. In such a mounted state, when air is forcibly discharged from the bellows, the bellows contracts, and thereby the joint motion that changes from the joint flexion state to the joint extension state is assisted. Further, when air is forcibly supplied to the bellows, the bellows expands, and thereby the joint motion that changes from the joint extending state to the joint flexing state is assisted.

As one of the methods for operating the joint movement assistance device, a master/slave system is considered in which the joint movement assistance device is used as a slave device and the slave device is remotely operated by a master device. In the case of adopting such a master/slave system, the following configuration is considered: a master device is attached to a healthy hand, and an articulation assisting device as a slave device is made to follow the movement of fingers of the hand to which the master device is attached. As one of the configurations for remotely operating the slave device by the master device, the following configuration is considered: a flexion angle of a finger joint of a hand to which a main device is attached is detected, and air pressure in the bellows is controlled based on the detected flexion angle.

Here, as a technique for detecting the flexion angle of the finger joint, there is a technique of: a sheet-like angle sensor is attached to a joint portion of a finger, and the angle sensor detects the flexion angle of the finger joint (see patent document 2: hereinafter referred to as "conventional example 2"). In the technique of conventional example 2, a method of detecting a change in the amount of light passing through an optical fiber and a method of detecting the amount of change in the linear position due to the flexion of the joint are used as angle sensors. The joint flexion motion prediction device calculates the flexion angular velocity from the flexion angle detected by the angle sensor, and predicts the state of the joint from the flexion angle, the flexion angular velocity, and reference angle data that is a prediction determination reference value for the state of the joint.

When the technique of conventional example 2 is applied to the technique of the joint movement assistance device of conventional example 1, the state of the finger joints of the hand to which the main device is attached is predicted. Then, based on the result of the prediction of the joint state, the control device performs control for forcibly discharging air from the bellows when the finger on the host device side changes from the joint flexion state to the joint extension state. In addition, the following structure is also considered: the controller is configured to forcibly supply air to the bellows when the finger on the main device side changes from the joint-extended state to the joint-flexed state based on the result of the prediction of the joint state.

Documents of the prior art

Patent document

Patent document 1: international publication No. 2011/043095

Patent document 2: japanese laid-open patent publication No. 2009-112540

Disclosure of Invention

Problems to be solved by the invention

In the technique of the above-described conventional example 2, a sheet-like angle sensor is directly attached to the joint portion of the finger. As a result, when the technical idea of conventional example 2 is applied and the articulation assisting apparatus of conventional example 1 is operated as a slave apparatus, if the articulation assisting system is frequently used, the sheet may be plastically deformed to deteriorate the detection characteristic, and the durability of the sensor may be shortened. Further, when the technical idea of conventional example 2 is applied to the master device and the joint movement assistance device of conventional example 1 is operated, it is difficult to make the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device the same in the intermediate state between the joint flexion state and the joint extension state.

Therefore, the following technique is preferable: the joint movement assisting device as a slave device is simply operated appropriately by feedback control based on the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device, without using a sheet-like angle sensor directly attached to the joint portion. The solution to this need is one of the problems to be solved by the present invention.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a novel articulation assisting system capable of remotely operating an articulation assisting device and appropriately assisting an articulation without using a sensor directly attached to an articulation portion.

Means for solving the problems

Which assists the articulation of a first subject, the articulation assistance system being characterized by: a slave device attached to the first object; a main device installed on a second object, the second object being constructed as follows: the second object has any one of symmetry of congruent symmetry, similar symmetry and left-right symmetry with the first object; and a control device that controls the first object to perform an articulation corresponding to an articulation of the second object, the slave device including: at least one bellows, which is freely extendable and retractable, is prepared in accordance with the joint movement to be assisted, and generates a force assisting the joint movement; a pipe that communicates with the bellows; a one-side member connected to one-side end of the bellows and attached to a portion of the first object on one side of a joint related to the joint movement; another side member connected to another side end portion of the bellows and attached to another side portion of the joint of the first object; and a first detection unit that is attached to at least one of the one-side member and the other-side member and detects a first physical quantity reflecting an angle formed by a first direction in which the one-side portion extends from the connection portion with the joint and a second direction in which the other-side portion extends from the connection portion with the joint, the main device including: a one-side corresponding member mounted at a position corresponding to a mounting position of the one-side member on the first object; another-side corresponding member mounted at a position corresponding to a mounting position of the another-side member on the first subject; and a second detection unit that is attached to at least one of the one-side corresponding member and the other-side corresponding member, and that detects a second physical quantity reflecting a second angle formed between a third direction corresponding to the first direction of the first object and a fourth direction corresponding to the second direction of the first object, wherein the control device controls supply of the working fluid into the bellows via the pipe and discharge of the working fluid from the bellows via the pipe, based on a difference between the first physical quantity and the second physical quantity.

In the joint movement assistance system, the slave device is attached to the first object. When the slave device is attached to the first object, a bellows prepared for a joint to be assisted in articulation is disposed in the corresponding joint portion. In the slave device, a first detection unit that detects a first physical quantity reflecting an angle formed by a first direction in which one side portion extends from a connecting portion thereof with the joint and a second direction in which the other side portion extends from the connecting portion thereof with the joint is attached to the one side member and the other side member. In addition, in the articulation assistance system, the main apparatus is mounted on the second subject. In the main device, a second detection unit that detects a second physical quantity reflecting a second angle formed by a third direction corresponding to the first direction of the first object and a fourth direction corresponding to the second direction of the first object is mounted on the one-side corresponding member and the other-side corresponding member. In this joint movement assistance system, the slave device and the master device have the same configuration, except that the slave device includes a bellows and a pipe communicating with the bellows.

In this state, the control device performs feedback control based on the first physical quantity detected by the first detection unit and the second physical quantity detected by the second detection unit, and controls supply of the working fluid into the bellows and discharge of the working fluid from the bellows. As a result, the bellows generates a force that assists the articulation through the expansion stroke and the contraction stroke of the bellows. Therefore, the joint movement assistance device as the slave device can be remotely operated in the master/slave system in which the control is performed using the first physical quantity detected by the first detection unit and the second physical quantity detected by the second detection unit.

Therefore, the joint movement assistance device as the slave device can be easily and appropriately operated by the feedback control in which the first physical quantity and the second physical quantity are directly compared, without calculating the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device.

In this case, it is needless to say that the assistance can be performed with respect to the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state of the hinge joint having the fixed rotation shaft. In this case, it is also possible to assist joint motions of other joints such as a hip joint, a spherical joint, and an elliptical joint, which do not have a fixed rotation axis.

Therefore, according to the joint movement assistance system of the present invention, it is possible to remotely operate the joint movement assistance device and appropriately assist the joint movement without using a sensor directly attached to the joint portion.

Further, if a lightweight and flexible resin bellows is used as a component, the weight of the slave device can be reduced, and the physical burden on the person to whom the joint movement assistance attachment is attached can be reduced, thereby appropriately assisting the joint movement.

In the articulation assistance system of the present invention, the at least one bellows comprises a vertically disposed bellows, the vertically arranged bellows is arranged in a direction perpendicular to the rotational axis of the rotational movement of the joint to be assisted, the slave device may also have a first restraint member on the side of the joint opposite the vertically disposed bellows, the first restraint member elastically restrains the one side member connected to the vertically arranged bellows and the other side member connected to the vertically arranged bellows, by converting the force generated by assisting the expansion and contraction of the bellows into a rotational force, the rotational force for assisting the joint movement is transmitted to the one side portion where the one side member that is elastically constrained is mounted and the other side portion where the other side member that is elastically constrained is mounted via the one side member that is elastically constrained and the other side member that is elastically constrained. The master device may further include a second restriction member that is disposed at a position in the master device corresponding to the position at which the first restriction member is disposed in the slave device, and elastically restricts the one-side corresponding member corresponding to the one-side member that is elastically restricted and the other-side corresponding member corresponding to the other-side member that is elastically restricted.

In this case, when the slave device is attached to the first object, the vertically arranged bellows prepared for the joint to be assisted in the joint movement is arranged at the joint portion in the direction perpendicular to the rotation axis of the rotational movement of the corresponding joint. Further, the slave device has a first restriction member elastically restricting the one side member and the other side member. In addition, the main device has a second constraining member that elastically constrains the one-side corresponding member and the other-side corresponding member. As a result, it is possible to appropriately assist the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state. In this case as well, the slave device and the master device have the same configuration, except that the slave device includes a bellows and a pipe communicating with the bellows.

In the articulation assistance system according to the present invention, the first physical quantity may be a physical quantity determined by a distance from the one side member to the other side member and an angle formed by a direction in which the one side member extends and a direction in which the other side member extends, and the second physical quantity may be a physical quantity determined by a distance from the one side corresponding member to the other side corresponding member and an angle formed by a direction in which the one side corresponding member extends and a direction in which the other side corresponding member extends. It is noted that in a joint mechanism such as a human body, a first angle and a length reflecting a distance from one side member to the other side member are in one-to-one correspondence, and a second angle and a length reflecting a distance from one side corresponding member to the other side corresponding member are in one-to-one correspondence. Therefore, by detecting the physical quantity that changes due to the distance from the one side member to the other side member and the angle formed by the direction in which the one side member extends and the direction in which the other side member extends, and detecting the physical quantity that changes due to the distance from the one side corresponding member to the other side corresponding member and the angle formed by the direction in which the one side corresponding member extends and the direction in which the other side corresponding member extends, it is possible to determine whether there is a difference between the first angle and the second angle.

In the joint movement assistance system of the present invention, the following structure can be adopted: the working fluid is air, and the control device has: an air pressure setting unit that sets an air pressure in the bellows by supplying air to the bellows and discharging air from the bellows; and an air pressure control unit that controls the setting of the air pressure in the bellows by the air pressure setting unit based on a difference between the first physical quantity and the second physical quantity. In this case, since the air pressure control unit adjusts the air pressure in the bellows, the bellows can appropriately assist the joint movement with the force generated in accordance with the adjusted air pressure.

In the joint movement assistance system according to the present invention, the first detection unit and the second detection unit may be detection units configured in the same manner by a magnet and a magnetic sensor, the magnet of the first detection unit may be attached to one of the one side member and the other side member, and the magnetic sensor of the first detection unit may be attached to the other of the one side member and the other side member, which is different from the one member. Further, the magnet of the second detection unit may be attached to one of the one corresponding member and the other corresponding member, and the magnetic sensor of the second detection unit may be attached to the other of the one corresponding member and the other corresponding member, which is different from the one corresponding member. In this case, the detection result of the magnetic sensor reflecting the distance between the magnetic sensor and the magnet is the first physical quantity and the second physical quantity. Therefore, it is possible to appropriately assist the joint motion using both the magnet and the magnetic sensor that are not directly attached to the joint portion.

In the articulation assistance system according to the present invention, the first object may include at least one of the fingers of one hand of the human body, and the second object may include at least one of the fingers of the other hand of the human body, when the main device is attached to the second object. In this case, the case is applied to the case where the person to which the joint movement assistance device is attached has only fingers of one hand contracture, and fingers of the other hand do not contracture. That is, the slave device is mounted on the hand of the human body to which the joint motion should be assisted. The master device is attached to the hand of the human body where the fingers are not contractually contracted. Therefore, the person who is attached with the joint movement assistance device can assist the joint movement of the fingers by himself/herself without being assisted by another person.

In the joint movement assistance system according to the present invention, when the master device is attached to a second object, the first object may include at least one of the fingers of the hand of the human body, and the second object may include at least one of the fingers of the hand of the human body different from the human body. In this case, the slave device is attached to a hand of a human body to which joint movement should be assisted, and the master device is attached to a hand of a human body different from the human body, in which fingers are not contracture. Therefore, the joint movement of the fingers can be assisted with the help of another person such as a physical therapist or a family member.

In the joint movement assistance system according to the present invention, the first object may include one wrist portion of a human body and the second object may include the other wrist portion of the human body when the master device is attached to the second object. In this case, the case is applied to the case where the wrist of only one hand of the person to which the joint movement assistance device is attached is contractable, and the wrist of the other hand is not contractable. That is, the slave device is mounted on the hand of the human body to which the joint motion should be assisted. The main device is attached to the hand of the human body, which is not contracted with fingers. Therefore, the joint movement of the wrist can be assisted by the person himself or herself to whom the joint movement assistance device is attached without the assistance of another person.

In the joint movement assistance system according to the present invention, when the master device is attached to a second object, the first object may include a wrist portion of a human body, and the second object may include a wrist portion different from the human body. In this case, the slave device is attached to a hand of a human body to which joint movement should be assisted, and the master device is attached to a hand of a human body different from the human body, in which fingers are not contracture. Therefore, the joint movement of the wrist can be assisted with the help of another person such as a physical therapist or a family member.

Effects of the invention

As described above, according to the joint movement assistance system of the present invention, the following effects are achieved: the joint movement can be appropriately assisted by remotely operating an articulation assisting device as a slave device without using a sensor directly attached to a joint portion.

Drawings

Fig. 1 is a diagram for explaining the configuration of an articulation assistance system according to an embodiment of the present invention.

Fig. 2 is an external view of the articulation assistance device of fig. 1.

Fig. 3 is a diagram for explaining the structure of the thumb joint movement assistance portion of fig. 2.

Fig. 4 is a graph showing characteristics of the magnetic sensor of fig. 3.

Fig. 5 is a diagram for explaining the configuration of the finger joint movement assistance portion for the index finger in fig. 2.

Fig. 6 is an external view of the host device of fig. 1.

Fig. 7 is a diagram for explaining the structure of the thumb main part of fig. 6.

Fig. 8 is a diagram for explaining the configuration of the finger main part for the index finger of fig. 6.

Fig. 9 is a diagram for explaining the configuration of the control device of fig. 1.

Fig. 10 is a diagram for explaining an example of the state of the finger main part and the state of the finger joint movement assistance part following the finger main part.

Fig. 11 is a diagram (1) for explaining a guide member as a modification.

Fig. 12 is a diagram (2) for explaining a guide member as a modification.

Fig. 13 is a diagram for explaining a modification of the joint movement of the auxiliary wrist.

Description of the reference symbols

100: an articulation assistance system; 200: an articulation assistance device (slave device); 210: a hand mounting portion; 230₁: a thumb joint movement assistance section (finger joint movement assistance section); 230₂、230₃、230₄、230₅: a finger joint movement assistance section; 321_j(j ═ 1, …, 5): a transmission member; 322_k(k 2, …, 5): a transmission member; 323_j、324_j(j ═ 1, …, 5): a transmission member; 331_k(k 2, …, 5): piping; 332_j、333_j(j ═ 1, …, 5): piping; 341_k(k 2, …, 5): bellows (bellows disposed vertically); 342_j、343_j(j ═ 1, …, 5): bellows (bellows disposed vertically); 390₁: a thumb mounting portion; 390_k(k 2, …, 5): a finger mounting section; 391_j(j ═ 1, …, 5): a mounting member (first restricting member); 392_j(j ═ 1, …, 5): finger stall; 393_j(j＝1，…，5)、396_k(k 2, …, 5): a belt member; 412_j、413_j(j ═ 1, …, 5): a first detection unit; 422_j、423_j(j ═ 1, …, 5): a magnet; 432_j、433_j(j ═ 1, …, 5): a magnetic sensor; 442_j、443_j(j ═ 1, …, 5): wiring; 500: a master device; 510: a hand mounting portion; 530₁: a thumb major portion (finger major portion); 530₂、530₃、530₄、530₅: a finger main part; 621_j(j ═ 1, …, 5): a transmission member; 622_k(k 2, …, 5): a transmission member; 623_j、624_j(j ═ 1, …, 5): a transmission member; 690₁: a thumb mounting portion; 690_k(k 2, …, 5): a finger mounting section; 691_j(j ═ 1, …, 5): a mounting member (second restricting member); 692_j(j ═ 1, …, 5): finger stall; 693_j(j＝1，…，5)、696_k(k 2, …, 5): a belt member; 712_j、713_j(j ═ 1, …, 5): a second detection unit; 722_j、723_j(j ═ 1, …, 5): a magnet; 732_j、733_j(j ═ 1, …, 5): a magnetic sensor; 742_j、743_j(j ═ 1, …, 5): wiring; 800: a control device; 811: a pressure pump; 812: a pressure reducing pump; 813: an electric-air pressure control valve (air pressure setting portion); 814: a control unit (air pressure control unit); 815. 816: piping; 941A: bellows (bellows disposed vertically); 921A, 921M, 922A, 922M: a transmission member; 951A: a first detection unit; 951M: a second detection unit; 961A, 961M: a magnet; 971A, 971M: a magnetic sensor; GA1, GA2, GA3, GA4, GM1, GM2, GM3, GM 4: a guide member; AA1, AA3, AM1, AM 3: a shaft member; HB1, HB 2: a human body; HDR 1: right hand (first object); HDR 2: right hand (second object).

Detailed Description

An embodiment of the present invention will be described below with reference to fig. 1 to 10. In addition, in the present embodiment, an articulation assisting system including an articulation assisting device attached to the right hand of a human body and a main device attached to the right hand of a human body different from the human body to which the articulation assisting device is attached is exemplified and described. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[ Structure ]

The structure of one embodiment of an articulation assistance system 100 is shown in FIG. 1. As shown in fig. 1, the articulation assistance system 100 has an articulation assistance device 200 and a main device 500. In addition, the joint movement assistance system 100 has a control device 800. Here, the articulation assisting device 200 corresponds to a slave device.

< Structure of the device for assisting joint movement 200 >

The configuration of the above-described joint movement assistance device 200 will be described.

An external view of the articulation assistance device 200 is shown in fig. 2. FIG. 2 is a view from the back side of the hand of a right hand HDR1 of human body HB1 mounted on a first object as viewed from the back side of the hand with the finger joints in an extended stateAn external view of the joint movement assistance device 200. As shown in FIG. 2, the joint movement assistance device 200 includes a hand attachment portion 210 and a thumb joint movement assistance portion 230₁The finger joint movement assisting section 230₂、230₃、230₄、230₅。

In addition, in the following description, the thumb joint movement assistance part 230 will be described₁And a finger joint movement assistance part 230₂、230₃、230₄、230₅Collectively referred to as "finger joint movement assistance part 230_j(j ═ 1, …, 5) ". In the following description, the thumb joint movement assistance unit 230 is described₁The finger joint movement assistance part 230₂、230₃、230₄、230₅When collectively referred to, the finger joint movement assistance section 230 will be also referred to as_k(k＝2，…，5)”。

Hand attachment section 210

The hand attachment unit 210 will be described. The hand attachment unit 210 is, for example, a cloth member, and is attached to the back and palm of the right hand HDR 1. A thumb joint movement assistance part 230 is attached to the hand attachment part 210₁A portion of one side of (a).

In addition, a finger joint movement assisting section 230 is attached to the hand attaching section 210₂、230₃、230₄、230₅A portion of one side of (a). In a state where the hand attachment unit 210 is attached to the hand, the finger joint movement assistance unit 230_j(j 1, …, 5) is disposed on the finger portion on the back side of the hand.

Thumb joint movement assistance unit 230₁Structure of (1)

For the above-mentioned thumb joint movement assisting part 230₁The structure of (a) will be explained.

Thumb joint movement assistance part 230₁Assisting the joint movement of the thumb. The thumb joint movement assisting part 230 in a state where the hand attaching part 210 is attached to the hand₁Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb.

As shown in fig. 2As shown in fig. 3 (a) and (B), the thumb joint movement assistance part 230₁With bellows 342₁、343₁The piping 332₁、333₁And a transmission member 321₁、323₁、324₁. In addition, the thumb joint movement assistance part 230₁Has a first detecting part 412₁、413₁Thumb mounting part 390₁. Here, bellows 342₁、343₁The bellows is arranged corresponding to the vertical.

In addition, coordinate systems (X) in fig. 3 (a) and (B)₁，Y₁，Z₁) The finger tip direction in the state where the thumb is extended is + Y₁The direction is + Z, which is a direction from the palm side of the finger, i.e., the abdomen side of the finger (hereinafter, also referred to as "finger abdomen") to the back side of the finger, i.e., the back side of the finger (hereinafter, also referred to as "back finger")₁Direction in the same direction as Y₁Direction and Z₁The direction perpendicular to the direction of the little finger is + X₁A coordinate system of directions. Here, FIG. 3 (A) is from + Z₁The thumb joint movement assistance part 230 attached to the thumb is viewed from the side of the direction₁Time graph. In addition, FIG. 3 (B) is from-X₁The thumb joint movement assistance part 230 attached to the thumb is viewed from the side of the direction₁Time graph.

The bellows 342 described above₁The ring-shaped groove is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the first joint of the thumb. Bellows 342₁One side of (in FIG. 3 "-Y)₁Direction side ") end portion and a portion formed on the transmission member 323₁The other end side of (in fig. 3, "+ Y)₁Directional side ") of the first and second connection portions. Bellows 342₁And the other end portion formed on the transmission member 321₁The one end portion side of the first and second connecting portions. Bellows 342 configured in this manner₁A force is generated that assists the articulation of the first joint.

The bellows 343 described above₁And bellows 342₁Similarly, the joint is a stretchable resin member having annular grooves at equal intervals, and is arranged along the second joint of the thumbThe periphery of the shaft is arranged on the back side of the finger. Bellows 343₁And a transmission member 324 formed at one end portion thereof₁On the other side (bellows 343)₁Side) end portion side connection portions. Bellows 343₁And the other end portion formed on the transmission member 323₁The one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 343 configured in this manner₁A force is generated that assists the articulation of the second joint.

Here, the bellows 342₁A flexible resin pipe 332 is attached thereto₁The bellows 342₁Via the piping 332₁Is in communication with the control device 800. Furthermore, when the bellows 342 is in the state of being opened₁The bellows 342 changes when the air pressure therein changes₁Expansion and contraction are performed. As a result, the bellows 342₁A force is generated that assists the aforementioned articulation.

In addition, at the bellows 343₁A flexible resin pipe 333 is mounted thereon₁The bellows 343₁Via a pipe 333₁Is in communication with the control device 800. Also, when the bellows 343₁When the air pressure in the chamber changes, the bellows 343₁Expansion and contraction are performed. As a result, the bellows 343₁A force is generated that assists the aforementioned articulation.

The transmission member 321 described above₁For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. Transmitting member 323₁Via bellows 342₁And a transmission member 321₁Is connected to one end of the long plate portion. Furthermore, the transmission member 321₁The connection part of the end part of one side and the bellows 342₁Is connected with the other end of the connecting rod. Here, the transmission member 321₁When the joint movement assistance device 200 is attached to the right hand, the end portion on one side of the long plate portion and the transmission member 323 can rotate with the joint axis of the first joint of the thumb as the rotation axis₁And (4) connecting.

In addition, the transmission member 321₁Is connected toA first detection part 412 is partially installed₁Magnet 422 (described later)₁. The transmission member 321₁Via thumb mount 390₁Is arranged at the end part of the thumb. Here, when an auxiliary joint for assisting joint movement (hereinafter, also referred to simply as an "auxiliary joint") is used as the first joint, the transmission member 321₁Corresponding to the other side member.

The above-mentioned transmitting member 323₁For example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. Further, the other end of the long plate portion is formed with a plate-like other-side connecting portion extending substantially upright in the direction of the back of the finger. On the other side connecting portion, a supply pipe 332 is molded₁Wiring 442₁An insertion hole into which the insert is inserted.

Transmitting member 324₁Via a bellows 343₁And a transmission member 323₁Is connected to one end of the long plate portion. Further, a transmission member 323₁And the bellows 343₁Is connected with the other end of the connecting rod. Here, the transmission member 323₁When the joint movement assistance device 200 is attached to the right hand, the end portion on one side of the long plate portion and the transmission member 324 can rotate with the joint axis of the second joint of the thumb as the rotation axis₁And (4) connecting.

In addition, the transmission member 321₁Via bellows 342₁And a transmission member 323₁Is connected to the other end of the long plate portion. Further, a transmission member 323₁And the other side connecting portion of (2) and the bellows 342₁Is connected with one side end part of the connecting rod.

In addition, the transmission member 323₁Is provided with a first detection part 413₁Magnet 423 described later₁. In addition, the transmission member 323₁Is provided with a first detecting part 412₁Magnetic sensor 432 described later₁. The transmission member 323₁Via thumb mount 390₁Is arranged at the basal joint part of the thumb.

Here, when the joint to be assisted is the first joint, the transmission member 323₁The other-side connecting portion and the long plate portion correspond to one-side member. When the joint to be assisted is the second joint, the transmission member 323₁The one-side connecting portion and the long plate portion of (a) correspond to the other-side member.

The above-mentioned transmission member 324₁For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. A supply pipe 333 is formed on the connection part₁Wiring 443, wiring₁An insertion hole into which the insert is inserted. Transmitting member 323₁Via a bellows 343₁And a transmission member 324₁Is connected to the other end of the long plate portion. Furthermore, the transmission member 324₁And the connection part of the other end of the bellows 343₁Is connected with one side end part of the connecting rod.

In addition, the transmission member 324₁Is provided with a first detection part 413₁Magnetic sensor 433 described later₁. The transmission member 324₁Via thumb mount 390₁Is mounted on the metacarpal bone of the thumb. Here, when the joint to be assisted is the second joint, the transmission member 324 is used₁Corresponding to a side member.

The first detecting part 412₁Having a magnet 422₁And a magnetic sensor 432₁。

In the present embodiment, the magnet 422 is described above₁Is a cylindrically shaped member. Magnet 422₁Is mounted on the transmission member 321₁Of the connecting part of (2) — Y₁And a direction side. In this embodiment, the magnet 422₁Is + Y₁The direction side is S pole, magnet 422₁And a magnetic sensor 432₁Relative to-Y₁The direction side is an N pole.

The magnetic sensor 432 described above₁To be connected with the magnet 422₁Are oppositely arranged on the transmission member 323₁Is connected to the other side of+ Y of the junction₁And a direction side. Also, the magnetic sensor 432₁Via the wiring 442₁Is connected to the control device 800.

In this embodiment, the magnetic sensor 432₁The magnetic flux sensor is provided with a Hall element for outputting a voltage corresponding to the magnetic flux density of the magnetic flux surface, and the voltage value output by the Hall element is detected. Also, the magnetic sensor 432 will sense the magnetic field₁The detection result of the detection is taken as the first detection value DA2₁And transmitted to the control device 800. Fig. 4 shows the output characteristics of the magnetic sensor when the articulation assisting device 200 is actually attached to a finger of a human body and the flexion angle of the finger is changed. As shown in fig. 4, the flexion angle of the finger and the output voltage of the magnetic sensor are in one-to-one correspondence.

That is, the magnetic sensor 432₁Outputs a voltage value corresponding to the voltage value mounted on the transmission member 321₁Magnet 422₁And is mounted on the transmission member 323₁Magnetic sensor 432 of₁Distance therebetween, and transmission member 321₁The direction in which the long plate portion extends and the transmission member 323₁The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 432₁The output voltage value is a physical quantity reflecting the transmission member 321 in accordance with the flexion or extension of the first joint₁The long plate portion of (2) and the transmission member 323₁Is directed toward the direction in which the first joint extends (first angle).

The first detecting part 413₁Having a magnet 423₁And a magnetic sensor 433₁。

The magnet 423₁Is connected with the magnet 422₁A cylindrical shaped member constructed in the same manner. Magnet 423₁Is mounted on the transmission member 323₁Of one-side connecting part of₁And a direction side. In the present embodiment, the magnet 423₁And a magnetic sensor 433₁Relative to-Y₁The direction side is an N pole.

The magnetic sensor 433₁To be connected with the magnet423₁Are oppositely arranged on the transmission member 324₁Of the connecting part of (2) + Y₁And a direction side. Furthermore, the magnetic sensor 433₁Via the wiring 443₁Is connected to the control device 800.

The magnetic sensor 433₁And a magnetic sensor 432₁Similarly, the sensor is of a hall element type, and detects a voltage value output from the hall element. Then, the magnetic sensor 433₁The detection result of the detection is taken as the first detection value DA3₁And transmitted to the control device 800.

That is, the magnetic sensor 433₁Outputs a voltage value corresponding to the voltage value mounted on the transmission member 323₁Magnet 423₁And is mounted on the transmission member 324₁Magnetic sensor 433₁Distance therebetween, and a transmission member 323₁The direction in which the long plate portion extends and the transmission member 324₁The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 433₁The output voltage value is a physical quantity reflecting the transmission member 323 in accordance with the flexion or extension of the second joint₁And the transmission member 324 in the direction in which the long plate portion extends toward the second joint₁Is directed toward the direction in which the second joint extends (first angle).

The thumb mounting part 390₁Is arranged on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. Thumb mount 390₁Has a mounting member 391₁Finger cot 392₁And a belt member 393₁。

The mounting member 391₁The elastic strip-shaped member is disposed on the finger of the thumb and the dorsal side of the metacarpal in the direction in which the thumb extends. On the mounting member 391₁Is + Z₁A transmission member 321 is fixed to the direction side₁、323₁、324₁The long plate portion of (2). In addition, in the mounting member 391₁On and fixed with a transmission member 324₁Partially opposite side (-Z)₁Directional side), a hand mount 210 is mounted.

Here, the transmission member 321 is attached₁And a transmission member 323₁Mounting component 391 on a first joint therebetween₁Corresponding to the first constraining member. In addition, is installed on the transmission member 323₁And a transmission member 324₁On the second joint therebetween 391₁Corresponding to the first constraining member.

Finger cot 392₁For example, made of leather, is fixed to the mounting member 391₁On the fingertip side. Furthermore, the thumb joint movement assisting part 230₁Finger sleeve 392 for mounting on the thumb₁Fixed to the tip of the thumb. The belt member 393₁For example, a member made of a long cloth, a base joint portion and a transmission member 323₁The long plate part is fixed.

Finger joint movement assisting section 230_k(k 2, …, 5) structure (see below)

For the above-mentioned finger joint movement auxiliary part 230_kThe structure of (k 2, …, 5) will be described.

Finger joint movement assistance part 230₂Assisting the joint movement of the index finger. In addition, the finger joint movement assistance part 230₃To assist the joint movement of the middle finger. In addition, the finger joint movement assistance part 230₄The joint motion of the ring finger is assisted. In addition, the finger joint movement assistance part 230₅Assist in the joint movement of the little finger. The finger joint movement assisting section 230 in a state where the hand attachment section 210 is attached to the hand_k(k 2, …, 5) are attached to the fingers (distal, middle, and proximal) and metacarpal bones of the fingers, respectively.

In fig. 5 (a) and (B), the finger joint movement assistance section 230 is provided_kShows a finger joint movement assistance part 230₂The structure of (1). In addition, coordinate systems (X) in fig. 5 (a) and (B)₂，Y₂，Z₂) The fingertip direction in the state where the index finger is extended is + Y₂A direction from the finger ventral side to the finger dorsal side is + Z₂Direction in the same direction as Y₂Direction and Z₂The direction perpendicular to the direction of the little finger is + X₂A coordinate system of directions.

Here, FIG. 5 (A) is from + Z₂The finger joint movement assistance part 230 installed on the index finger is viewed from the side of the direction₂Time graph. In addition, FIG. 5 (B) is from-X₂The finger joint movement assistance part 230 installed on the index finger is viewed from the side of the direction₂Time graph. In the present embodiment, the finger joint movement assistance part 230₃、230₄、230₅And is also configured to be connected to the finger joint movement assistance part 230₂The same is true.

As shown in FIG. 2 and (A) and (B) of FIG. 5, each finger joint movement assistance part 230_k(k 2, …, 5) each having a bellows 341_k、342_k、343_kThe pipe 331_k、332_k、333_kAnd a transmission member 321_k、322_k、323_k、324_k. In addition, each finger joint movement assistance part 230_kEach having a first detecting part 412_k、413_kAnd a finger attachment part 390_k. Here, bellows 341_k、342_k、343_kThe bellows is arranged corresponding to the vertical.

The above-mentioned bellows 341_kThe first joint is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the first joint. Bellows 341_kOne side of (Y in FIG. 5)_kDirection side ") end portion and end portion formed on the transmission member 322_kThe other end side of (in fig. 5, "+ Y)_kDirectional side ") of the first and second connection portions. Bellows 341_kAnd the other end portion formed on the transmission member 321_kThe one end portion side of the first and second connecting portions. Bellows 341 configured in this manner_kA force is generated that assists the articulation of the first joint.

The bellows 342 described above_kAnd bellows 341_kSimilarly, the second joint is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the second joint. Bellows 342_kAnd a transmission member 323 formed at one end portion thereof_kThe other side end portion side of the first and second connecting portions. Bellows 342_kAnd the other end portion of the transmission member 322_kThe one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 342 configured in this manner_kA force is generated that assists the articulation of the second joint.

The bellows 343 described above_kAnd bellows 341_k、342_kSimilarly, the third joint is a stretchable resin member having annular grooves at equal intervals, and is disposed along the periphery of the joint axis of the third joint on the side substantially perpendicular to the joint axis. Bellows 343_kAnd a transmission member 324 formed at one end portion thereof_kOn the other side (bellows 343)_kSide) end portion side connection portions. Bellows 343_kAnd the other end portion formed on the transmission member 323_kThe one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 343 configured in this manner_kA force is generated that assists the articulation of the third joint.

Here, bellows 341_kAnd bellows 342_kThe inner space of the tube is connected to a flexible resin pipe 331_kBut is communicated. In addition, the bellows 342_kA flexible resin pipe 332 is attached thereto_kThe bellows 342_kVia the piping 332_kIs in communication with the control device 800. Furthermore, when the corrugated tube 341 is used_k、342_kWhen the pressure of the air inside changes, the bellows 341_k、342_kExpansion and contraction are performed. As a result, the bellows 341_k、342_kA force is generated that assists the aforementioned articulation.

In addition, at the bellows 343_kA flexible resin pipe 333 is mounted thereon_kThe bellows 343_kVia a pipe 333_kIs in communication with the control device 800. Also, when the bellows 343_kWhen the air pressure in the chamber changes, the bellows 343_kExpansion and contraction are performed. As a result, the bellows 343_kA force is generated that assists the aforementioned articulation.

The transmission member 321 described above_kFor exampleIs a member made of steel and has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. Transmission member 322_kVia bellows 341_kAnd a transmission member 321_kIs connected to one end of the long plate portion. Furthermore, the transmission member 321_kThe connection part on the one end side of the bellows 341_kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 321_kAnd the transmission member 322 so as to be rotatable about the joint axis of the first joint as a rotation axis_kAnd (4) connecting. The transmission member 321_kVia finger mount 390_kIs arranged at the end part of the finger.

The above-mentioned transmission member 322_kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. Further, the other end of the long plate portion is formed with a plate-like other-side connecting portion extending substantially upright in the direction of the back of the finger. On the one side connection part and the other side connection part, a supply pipe 331 is formed_kAn insertion hole into which the insert is inserted.

Transmitting member 323_kVia bellows 342_kAnd a transmission member 322_kIs connected to one end of the long plate portion. Furthermore, the transmission member 322_kAnd the bellows 342_kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 322 is provided_kOne end of the long plate part and the transmission member 323 so as to be rotatable about the joint shaft of the second joint as a rotation shaft_kAnd (4) connecting.

In addition, the transmission member 321_kVia bellows 341_kAnd a transmission member 322_kIs connected to the other end of the long plate portion. Furthermore, the transmission member 322_kAnd the other side connecting part of the bellows 341_kIs connected with one side end part of the connecting rod.

In addition, theIn the transmission member 322_kIs mounted with the first detection part 412_kMagnet 422 (described later)_k. The transmission member 322_kVia finger mount 390_kIs arranged at the middle joint of the finger. Here, when the joint to be assisted is the second joint, the transmission member 322 is used_kCorresponding to the other side member. The transmission member 322_kVia finger mount 390_kIs arranged at the middle joint of the finger.

The above-mentioned transmitting member 323_kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger. A supply pipe 332 is formed on the other side connecting part_kWiring 442_kAn insertion hole into which the insert is inserted.

Transmitting member 324_kVia a bellows 343_kAnd a transmission member 323_kIs connected to one end of the long plate portion. Further, a transmission member 323_kAnd the bellows 343_kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 323_kAnd the transmission member 324 so as to be rotatable about the joint axis of the third joint as a rotation axis_kAnd (4) connecting.

In addition, the transmission member 322_kVia bellows 342_kAnd a transmission member 323_kIs connected to the other end of the long plate portion. Further, a transmission member 323_kAnd the other side connecting portion of (2) and the bellows 342_kIs connected with one side end part of the connecting rod.

In addition, the transmission member 323_kIs provided with a first detection part 413_kMagnet 423 described later_k. In addition, the transmission member 323_kIs mounted with a first detection part 412_kMagnetic sensor 432 described later_k. The transfer is carried outComponent 323_kVia finger mount 390_kIs arranged at the base joint part of the finger.

Here, when the joint to be assisted is the second joint, the transmission member 323_kThe other-side connecting portion and the long plate portion correspond to one-side member. When the joint to be assisted is the third joint, the transmission member 323_kThe one-side connecting portion and the long plate portion of (a) correspond to the other-side member.

The above-mentioned transmission member 324_kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. A supply pipe 333 is formed on the connection part_kWiring 443, wiring_kAn insertion hole into which the insert is inserted. Transmitting member 323_kVia a bellows 343_kAnd a transmission member 324_kIs connected to the other end of the long plate portion. Furthermore, the transmission member 324_kAnd the connection part of the other end of the bellows 343_kIs connected with one side end part of the connecting rod.

In addition, the transmission member 324_kIs provided with a first detection part 413_kMagnetic sensor 433 described later_k. The transmission member 324_kVia finger mount 390_kIs arranged on the metacarpal bone part of the finger. Here, when the joint to be assisted is the third joint, the transmission member 324 is used_kCorresponding to a side member.

The first detecting part 412_kHaving a magnet 422_kAnd a magnetic sensor 432_k。

The magnet 422_kIs connected with the magnet 422₁A cylindrical shaped member constructed in the same manner. Magnet 422_kIs mounted on the transmission member 322_kOf one-side connecting part of_kAnd a direction side. In this embodiment, the magnet 422_kAnd a magnetic sensor 432_kRelative to-Y_kThe direction side is an N pole.

The magnetic sensor 432 described above_kTo be connected with the magnet 422_kIn an opposed mannerIs mounted on the transmission member 323_kOf the other side connecting part of_kAnd a direction side. Also, the magnetic sensor 432_kVia the wiring 442_kIs connected to the control device 800.

The magnetic sensor 432_kAnd a magnetic sensor 432₁Similarly, the sensor is a hall element type sensor, and detects a voltage value output from the hall element. Also, the magnetic sensor 432_kAs the first detection value DA2_kAnd transmitted to the control device 800.

That is, the magnetic sensor 432_kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 322_kUpper magnet 422_kAnd is mounted on the transmission member 323_kMagnetic sensor 432 of_kDistance therebetween, and transmission member 322_kThe direction in which the long plate portion extends and the transmission member 323_kThe angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 432_kThe output voltage value is a physical quantity reflecting the transmission member 322 in accordance with the flexion or extension of the second joint_kThe long plate portion of (2) and the transmission member 323_kIs directed toward the direction in which the second joint extends (first angle).

The first detecting part 413_kHaving a magnet 423_kAnd a magnetic sensor 433_k。

The magnet 423_kIs connected with the magnet 422_kA cylindrical member is similarly constructed. Magnet 423_kIs mounted on the transmission member 323_kOf one-side connecting part of_kAnd a direction side. In the present embodiment, the magnet 423_kAnd a magnetic sensor 433_kRelative to-Y_kThe direction side is an N pole.

The magnetic sensor 433_kTo communicate with the magnet 423_kAre oppositely arranged on the transmission member 324_kOf the connecting part of (2) + Y_kAnd a direction side. Furthermore, the magnetic sensor 433_kVia the wiring 443_kIs connected to the control device 800.

The magnetic sensor 433_kAnd a magnetic sensor 432_kSimilarly, the sensor is of a hall element type, and detects a voltage value output from the hall element. Furthermore, the magnetic sensor 433_kThe detection result of the detection is taken as the first detection value DA3_kAnd transmitted to the control device 800.

That is, the magnetic sensor 433_kOutput voltage value corresponding to the voltage value installed at the transmission part 323_kUpper magnet 423_kAnd is mounted on the transmission member 324_kMagnetic sensor 433_kDistance therebetween, and a transmission member 323_kThe direction in which the long plate portion extends and the transmission member 324_kThe angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 433_kThe output voltage value is a physical quantity reflecting the transmission member 323 in accordance with the flexion or extension of the third joint₁And the transmission member 324 in the direction in which the long plate portion extends toward the third joint₁Is directed toward the direction in which the third joint extends (first angle).

The finger attachment part 390_k(k 2, …, 5) is attached to the fingers (distal, middle, and proximal) and metacarpal bones. Finger attachment portions 390_k(k 2, …, 5) each has a mounting member 391_kFinger cot 392_kAnd a belt member 393_k、396_k。

The mounting member 391_kThe elastic strip-shaped member is disposed on the finger of the finger and the dorsal side of the metacarpal in the direction in which the finger extends. On the mounting member 391_kIs + Z_kA transmission member 321 is fixed to the direction side_k、322_k、323_k、324_kThe long plate portion of (2). In addition, in the mounting member 391_kAnd a transmission member 324 is fixed_kPartially opposite side (-Z)_kDirectional side) is mounted with a hand mounting portion 210.

Here, the transmission member 321 is attached_kAnd a transmission member 322_kMounting component 391 on a first joint therebetween_kCorresponding to the first restricting member. In addition, is mounted on the transmission member 322_kAnd a transmission member 323_kOn the second joint therebetween 391_kCorresponding to the first constraining member. In addition, is installed on the transmission member 323₁And a transmission member 324₁Mounting part 391 of the third joint therebetween_kCorresponding to the first constraining member.

Finger cot 392_kFor example, made of leather, is fixed to the mounting member 391_kOn the fingertip side. Furthermore, the finger joint movement assistance part 230_kFinger sleeve 392 for mounting on a finger_kFixed to the tip of a finger. The belt member 393_k、396_kFor example, a cloth member in the shape of a strip. Also, belt member 393_kCentering joint part and transmission part 322_kThe long plate part is fixed. Belt member 396_kTo the base joint part and the transmission part 323_kThe long plate part is fixed.

< Structure of master device 500 >

The configuration of the host apparatus 500 described above will be described.

An external view of the host device 500 is shown in fig. 6. Fig. 6 is an external view of the main apparatus 500 attached to the "right hand HDR2 of the human body HB2 (the right hand of a person different from the person to which the articulation assisting apparatus 200 is attached)" as the second object when the joints of the fingers are in the extended state, as viewed from the back side of the hand. As shown in FIG. 6, the main device 500 has a hand attachment portion 510 and a thumb main portion 530₁And a finger main part 530_k(k 2, …, 5). In the present embodiment, "right hand HDR2 of human body HB 2" and "right hand HDR1 of human body HB 1" have congruent symmetry. The term "congruent symmetry" also includes the case of substantial congruence other than perfect congruence.

In the following description, the thumb main part 530 will be described₁And a finger main part 530_k(k 2, …, 5) are collectively referred to as "main part of finger 530_j(j＝1，…，5)”。

Hand attachment section 510

The hand attachment unit 510 described above will be explained. The hand attachment portion 510 is, for example, a clothThe resulting part is mounted on the back and palm of the right hand HDR 2. A thumb main part 530 is attached to the hand attaching part 510₁A portion of one side of (a).

Further, a finger main part 530 is attached to the hand attachment part 510_k(k-2, …, 5). In a state where the hand attachment unit 510 is attached to the hand, the thumb main part 530₁And a finger main part 530_j(k 2, …, 5) is disposed on the finger portion on the dorsal side.

Main part of thumb 530₁Structure of (1)

For the thumb main part 530 mentioned above₁The structure of (a) will be explained.

The thumb main part 530 in a state where the hand mounting part 510 is mounted on the hand₁Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. As shown in fig. 6 and fig. 7 (a), (B) in combination, the thumb main part 530₁Has a transmission member 621₁、623₁、624₁. In addition, the thumb main part 530₁Has a second detecting part 712₁、713₁Thumb mounting 690₁。

In addition, the coordinate system (U) in fig. 7 (a), (B)₁，V₁，W₁) The finger tip direction is + V in the state that the thumb is extended₁A direction of + W from the finger ventral side to the finger dorsal side₁Direction in the same direction as V₁Direction and W₁The direction of the finger is vertical and + U₁A coordinate system of directions. Here, FIG. 7 (A) is from + W₁Thumb main part 530 mounted on thumb as viewed from the direction side₁Time graph. In addition, FIG. 7 (B) is a slave-U₁Thumb main part 530 mounted on thumb as viewed from the direction side₁Time graph.

The above-mentioned transmission member 621₁For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. At the transmitting member 621₁Is provided with a second detection part 712₁Magnet 722 described later₁. The transmission member 621₁Via thumb mount 690₁Is arranged at the end part of the thumb. Here, when the joint to be assisted is the first joint, the transmission member 621₁Corresponding to the other side corresponding part.

The above-mentioned transmission member 623₁For example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger.

At the transmitting member 623₁Is mounted with a second detecting part 713₁Magnet 723 (below)₁. In addition, the transmission member 623₁Is mounted with a second detection part 712₁Magnetic sensor 732 described later₁. Then, the transmission member 623₁On the other side connecting portion of the first substrate, a wiring 742 is formed₁An insertion hole into which the insert is inserted. The transmission member 623₁Via thumb mount 690₁Is arranged at the basal joint part of the thumb.

Here, when the joint to be assisted is the first joint, the transmission member 623 transmits the motion vector to the first joint₁The other-side connecting portion and the long plate portion of (b) correspond to one-side corresponding members. When the joint to be assisted is the second joint, the transmission member 623 transmits the motion vector to the first joint₁The one-side connecting portion and the long plate portion of (b) correspond to the other-side corresponding member.

The transmission member 624₁For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. At the transmission member 624₁Is mounted with a second detection part 713₁Magnetic sensor 733 to be described later₁. Then, the transmission member 624₁Has wiring 743 formed on the connection portion₁An insertion hole into which the insert is inserted. The transmission member 624₁Via thumb mount 690₁Mounting ofOn the metacarpal bone of the thumb. Here, when the joint to be assisted is the second joint, the transmission member 624₁Corresponding to a side-corresponding part.

In the present embodiment, the transmission member 621₁、624₁Length ratio of the connecting portion in the finger back direction of the transmission member 321₁、324₁Has a short length in the finger back direction. In the present embodiment, the transmission member 623₁Length ratio of one side connection part to the other side connection part in the finger back direction transmitting member 323₁The length of the connecting portion (2) in the finger back direction is short (see fig. 3 and 7).

The second detection unit 712 described above₁Having a magnet 722₁And a magnetic sensor 732₁。

The magnet 722₁Is connected with the magnet 422 of the joint movement assisting device 200₁A cylindrical shaped member constructed in the same manner. Magnet 722₁Is mounted on the transmission member 621₁Of the connecting part of (2) — V₁And a direction side. In this embodiment, the magnet 722₁And a magnetic sensor 732₁relative-V₁The direction side is an N pole.

The magnetic sensor 732 described above₁To interact with the magnet 722₁Are oppositely arranged on the transmission component 623₁Of the other side connecting part of₁And a direction side. Also, the magnetic sensor 732₁Via wiring 742₁Is connected to the control device 800.

The magnetic sensor 732₁Is a magnetic sensor 432 associated with the joint movement assistance device 200₁The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 732₁The detection result of the detection is made as the second detection value DM2₁And transmitted to the control device 800.

That is, the magnetic sensor 732₁Outputs a voltage value corresponding to the voltage value mounted on the transmission member 621₁Upper magnet 722₁And is mounted on the transmission member 623₁Magnetic sensor 732 above₁In betweenDistance and transmission member 621₁And a transmission member 623 for transmitting the direction in which the long plate portion extends₁The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 732₁The output voltage value is a physical quantity reflecting the transmission member 621 in accordance with the flexion or extension of the first joint₁And a transmission member 623 for transmitting the direction in which the long plate portion extends toward the first joint₁Is directed toward the direction in which the first joint extends (second angle).

The second detecting unit 713₁Having a magnet 723₁And a magnetic sensor 733₁。

The magnet 723₁Is connected to the magnet 423 of the joint movement assistance device 200₁A cylindrical shaped member constructed in the same manner. Magnet 723₁Is mounted on the transmission member 623₁Of one side connecting part of₁And a direction side. In this embodiment, the magnet 723₁And a magnetic sensor 733₁relative-V₁The direction side is an N pole.

The magnetic sensor 733 described above₁To interact with the magnet 723₁Are oppositely arranged on the transmission component 624₁Of the connecting part of (2) + V₁And a direction side. Also, the magnetic sensor 733₁Via wiring 743₁Is connected to the control device 800.

The magnetic sensor 733₁Is a magnetic sensor 433 of the joint movement assistance device 200₁The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 733₁As the second detection value DM3₁And transmitted to the control device 800.

That is, the magnetic sensor 733₁Outputs a voltage value corresponding to the voltage value mounted on the transmission member 623₁Upper magnet 723₁And is mounted on the transmission member 624₁Magnetic sensor 733 on₁Distance therebetween, and a transmission member 623₁And the transmission member 624 extending in the direction of the long plate part₁In the direction in which the long plate portion extendsAt an angle. Accordingly, the magnetic sensor 733₁The output voltage value is a physical quantity reflecting the transmission member 623 according to the flexion or extension of the second joint₁And the transmission member 624 extending in the direction in which the long plate portion extends toward the second joint₁Is directed toward the second joint (second angle).

The thumb mounting part 690₁Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. Thumb mount 690₁Having mounting members 691₁Finger cot 692₁Belt member 693₁。

The above-mentioned mounting member 691₁The elastic strip-shaped member is disposed on the finger of the thumb and the dorsal side of the metacarpal in the direction in which the thumb extends. At the mounting member 691₁Is + W₁A transmission member 621 is fixed to the direction side₁、623₁、624₁The long plate portion of (2). In addition, at the mounting member 691₁And a transmission member 624 is fixed thereto₁Partially opposite side (-W)₁Directional side) is mounted with a hand mounting portion 510.

Here, the transfer member 621 is mounted₁And transmission member 623₁At the first joint therebetween 691₁Corresponding to the second restricting member. In addition, is mounted on the transmission member 623₁And transmission member 624₁On the second joint therebetween 391₁Corresponding to the second restricting member.

The above finger cot 692₁E.g. made of leather, fixed to the mounting member 691₁On the fingertip side. Furthermore, the thumb is placed on the main part 530₁When mounted on the thumb, finger cot 692₁Fixed to the tip of the thumb. Belt member 693₁For example, a strip-shaped cloth member, a base joint portion and a transmission member 623₁The long plate part is fixed.

Finger Main part 530_k(k 2, …, 5) structure (see below)

For the finger main part 530 described above_k(k＝2, …, 5).

The finger main part 530 in a state where the hand attaching part 510 is attached to the hand₂Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the index finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand₃Is mounted on the fingers (distal and proximal) and metacarpal bone of the middle finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand₄Is arranged on the finger (distal part and basal part) and the metacarpal part of the ring finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand₅Is arranged on the finger (distal joint part and basal joint part) and the metacarpal bone part of the little finger.

In fig. 8 (a), (B), the finger main part 530 is provided_kShows a finger main part 530₂The structure of (1). In addition, the coordinate system (U) in fig. 8 (a), (B)₂，V₂，W₂) The fingertip direction is + V in the state that the index finger is extended₂A direction of + W from the finger ventral side to the finger dorsal side₂Direction in the same direction as V₂Direction and W₂The direction of the finger is vertical and + U₂A coordinate system of directions.

Here, FIG. 8 (A) is from + W₂Directional side view finger main section 530 mounted on index finger₂Time graph. In addition, FIG. 8 (B) is a slave-U₂Directional side view finger main section 530 mounted on index finger₂Time graph. In the present embodiment, the finger main part 530₃、530₄、530₅Also with the finger main part 530₂The same is true.

As shown in fig. 6 and fig. 8 (a) and (B) in combination, each finger main part 530_k(k 2, …, 5) each have a transmission member 621_k、622_k、623_k、624_k. In addition, each finger main portion 530_kRespectively having a second detecting part 712_k、713_kAnd finger attachment 690_k。

The above-mentioned transmission member 621_kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. The transmission member 621_kVia finger mount 690_kIs arranged at the end part of the finger. Alternatively, the finger can be taken from the main part 530_kThe transmission member 621 is omitted from the components of (1)_k。

The above-mentioned transmission member 622_kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger. At the transmitting part 622_kIs provided with a second detection part 712_kMagnet 722 described later_k. The transmission part 622_kVia finger mount 690_kIs arranged at the middle joint of the finger. Here, when the joint to be assisted is the second joint, the transmission member 622_kCorresponding to the other side corresponding part.

The above-mentioned transmission member 623_kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger.

At the transmitting member 623_kIs mounted with a second detecting part 713_kMagnet 723 (below)_k. In addition, the transmission member 623_kIs mounted with a second detection part 712_kMagnetic sensor 732 described later_k. Then, the transmission member 623_kOn the other side connecting portion of the first substrate, a wiring 742 is formed_kAn insertion hole into which the insert is inserted. The transmission member 623_kVia finger mount 690_kIs arranged on the base joint part of the finger.

Here, when the joint to be assisted is the second joint, the transmission member 623 transmits the motion vector to the second joint_kThe other-side connecting portion and the long plate portion of (b) correspond to one-side corresponding members. When the joint to be assisted is the third joint, the transmission member 623 transmits the rotation of the first joint to the second joint_kThe one-side connecting portion and the long plate portion of (b) correspond to the other-side corresponding member.

The transmission member 624_kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. At the transmission member 624_kIs mounted with a second detection part 713_kMagnetic sensor 733 to be described later_k. Then, the transmission member 624_kHas wiring 743 formed on the connection portion_kAn insertion hole into which the insert is inserted. The transmission member 624_kVia finger mount 690_kIs arranged on the metacarpal bone part of the finger. Here, when the joint to be assisted is the third joint, the transmission member 624_kCorresponding to a side-corresponding part.

In the present embodiment, the transmission member 621_k、624_kLength ratio of the connecting portion in the finger back direction of the transmission member 321_k、324_kHas a short length in the finger back direction. In the present embodiment, the transmission member 622_k、623_kThe length ratio of the one-side connecting part to the other-side connecting part in the finger back direction of the transmission member 322_k、323_kThe one-side connection portion and the other-side connection portion of (a) are short in length in the finger back direction (refer to fig. 5 and 8).

The second detection unit 712 described above_kHaving a magnet 722_kAnd a magnetic sensor 732_k。

The magnet 722_kIs connected with the magnet 422 of the joint movement assisting device 200_kA cylindrical shaped member constructed in the same manner. Magnet 722_kMounted on the transfer member 622_kOf one side connecting part of_kAnd a direction side. In this embodiment, the magnet 722_kAnd a magnetic sensor 732_krelative-V_kThe direction side is an N pole.

The magnetic sensor 732 described above_kTo interact with the magnet 722_kAre oppositely arranged on the transmission component 623_kOf the other side connecting part of_kAnd a direction side. Also, the magnetic sensor 732_kVia wiring 742_kIs connected to the control device 800.

The magnetic sensor 732_kIs a magnetic sensor 432 associated with the joint movement assistance device 200₁The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 732_kThe detection result of the detection is made as the second detection value DM2_kAnd transmitted to the control device 800.

That is, the magnetic sensor 732_kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 622_kUpper magnet 722_kAnd is mounted on the transmission member 623_kMagnetic sensor 732 above_kDistance therebetween, and a transmission member 622_kAnd a transmission member 623 for transmitting the direction in which the long plate portion extends_kThe voltage value corresponding to the angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 732_kThe output voltage value is a physical quantity reflecting the transmission member 622 in accordance with the flexion or extension of the second joint_kAnd a transmission member 623 for transmitting the long plate portion extending toward the second joint_kIs directed toward the direction in which the second joint extends (second angle).

The second detecting unit 713_kHaving a magnet 723_kAnd a magnetic sensor 733_k。

The magnet 723_kIs connected to the magnet 423 of the joint movement assistance device 200_kA cylindrical shaped member constructed in the same manner. Magnet 723_kIs mounted on the transmission member 623_kOf one side connecting part of_kAnd a direction side. In this embodiment, the magnet 723_kAnd a magnetic sensor 733_krelative-V_kThe direction side is an N pole.

The magnetic sensor 73 described above3_kTo interact with the magnet 723_kAre oppositely arranged on the transmission component 624_kOf the connecting part of (2) + V_kAnd a direction side. Also, the magnetic sensor 733_kVia wiring 743_kIs connected to the control device 800.

The magnetic sensor 733_kIs a magnetic sensor 433 of the joint movement assistance device 200₁The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 733_kThe detection result of the detection is made as the second detection value DM3_kAnd transmitted to the control device 800.

That is, the magnetic sensor 733_kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 623_kUpper magnet 723_kAnd is mounted on the transmission member 624_kMagnetic sensor 733 on_kDistance therebetween, and a transmission member 623_kAnd the transmission member 624 extending in the direction of the long plate part_kThe angle formed by the direction in which the long plate portion extends. Accordingly, the magnetic sensor 733_kThe output voltage value is a physical quantity reflecting the transmission member 623 according to the flexion or extension of the third joint₁And the transmission member 624 extends in the direction of the third joint₁Is directed toward the direction in which the third joint extends (second angle).

The finger attaching part 690_k(k 2, …, 5) is attached to the fingers (distal, middle, and proximal) and metacarpal bones. Each finger attachment 690_k(k 2, …, 5) each has a mounting member 691_kFinger cot 692_kAnd belt member 693_k、696_k。

The above-mentioned mounting member 691_kThe elastic strip-shaped member is disposed on the finger of the finger and the dorsal side of the metacarpal in the direction in which the finger extends. At the mounting member 691_kIs + W_kA transmission member 621 is fixed to the direction side_k、622_k、623_k、624_kThe long plate portion of (2). In addition, at the mounting member 691_kAnd a transmission member 624 is fixed thereto_kPartially opposite side (-W)_kDirectional side) is mounted with a hand mounting portion 510.

Here, the transfer member 621 is mounted_kAnd a transmission member 622_kAt the first joint therebetween 691_kCorresponding to the second restricting member. In addition, is installed on the transmission member 622_kAnd transmission member 623_k691 on the second joint therebetween_kCorresponding to the second restricting member. In addition, is mounted on the transmission member 623_kAnd transmission member 624_kA mounting part 691 on the third joint therebetween_kCorresponding to the second restricting member.

The above finger cot 692_kE.g. made of leather, fixed to the mounting member 691_kOn the fingertip side. Furthermore, the finger main part 530_kWhen fitted on a finger, finger cot 692_kFixed to the tip of a finger. Belt member 693_k、696_kFor example, a cloth member in the shape of a strip. Moreover, the band member 693_kCentering joint part and transmission part 622_kThe long plate part is fixed. Belt member 696_kTo the base section part and the transmission part 623_kThe long plate part is fixed.

< Structure of control device 800 >

The configuration of the control device 800 will be described.

The control device 800 passes through the pipe 332₁And a thumb joint movement assisting part 230₁Bellows 342 of₁And (4) communicating. Further, the control device 800 passes through the pipe 333₁And a thumb joint movement assisting part 230₁Bellows 343₁And (4) communicating. Further, the control device 800 passes through the pipe 332_kAnd a finger joint movement assisting section 230_kBellows 341_k、342_kAnd (4) communicating. The control device 800 also communicates with the pipe 333 via the pipe 333_kAnd a finger joint movement assisting section 230_kBellows 343_kAnd (4) communicating. In the following description, these bellows will be collectively referred to as "bellows".

Further, the control device 800 passes through the wiring 442_jThe first detection unit 412 of the joint movement assistance device 200_jAnd (4) connecting. Further, the control device 800 passes through the wiring 443_jThe first detection unit 413 of the joint movement assistance device 200_jAnd (4) connecting. Further, the control device 800 passes through the wiring 742_jSecond detection unit 712 connected to host device 500_jAnd (4) connecting. Further, the control device 800 passes through a pipe 743_jSecond detection unit 713 connected to host device 500_jAnd (4) connecting.

As shown in fig. 9, the control device 800 includes a pressure increasing pump 811, a pressure reducing pump 812, an electric-air pressure control valve 813, and a control unit 814. The control device 800 includes

pipes

815 and 816. Here, the electric-air pressure control valve 813 corresponds to an air pressure setting portion, and the control unit 814 corresponds to an air pressure control portion.

The pressure pump 811 is connected to one side of the pump-side connection port of the electric/air pressure control valve 813 via a pipe 815. The pressurizing pump 811 is used when air is forcibly supplied to the bellows. The decompression pump 812 is connected to the other side of the pump side connection port of the electric/air pressure control valve 813 via a pipe 816. The decompression pump 812 is used when air is forcibly discharged from the bellows.

The electric-air pressure control valve 813 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One of the inlet sides of the flow path switching valves is connected to a pressure pump 811, and the other of the inlet sides of the flow path switching valves is connected to a pressure reducing pump 812.

When the flow path switching valve forcibly supplies air to the bellows under the control of the control unit 814, the pressurizing pump 811 and a pipe communicating with a predetermined bellows are connected to each other via the pipe 815 to form a flow path. When the air is forcibly discharged from the bellows by the flow path switching valve under the control of the control unit 814, the decompression pump 812 and a pipe communicating with a predetermined bellows are connected to each other via a pipe 816 to form a flow path.

For example, the auxiliary part 230 is forcibly moved toward the thumb joint₁Bellows 342 of₁When air is supplied, the flow path switching valve is connected to the piping 815 and the piping 332₁Are connected to formForming a flow path. In addition, the bellows 342 is forcibly driven₁When air is discharged, the channel switching valve is connected to the pipe 816 and the pipe 332₁The flow paths are formed by the connection. And, forcibly toward the bellows 343₁When air is supplied, the flow path switching valve is connected to the piping 815 and the piping 333₁The flow paths are formed by the connection. In addition, the pressure is forcibly transmitted from the bellows 343₁When air is discharged, the channel switching valve is connected to the piping 816 and the piping 333₁The flow paths are formed by the connection.

In addition, the finger joint movement assisting unit 230 is forcibly moved to the finger joint_kBellows 341_k、342_kWhen air is supplied, the flow path switching valve is connected to the piping 815 and the piping 332_kThe flow paths are formed by the connection. In addition, the bellows 341 is forcibly removed from the chamber_kBellows 342_kWhen air is discharged, the channel switching valve is connected to the pipe 816 and the pipe 332_kThe flow paths are formed by the connection. And, forcibly toward the bellows 343_kWhen air is supplied, the flow path switching valve is connected to the piping 815 and the piping 333_kThe flow paths are formed by the connection. In addition, the pressure is forcibly transmitted from the bellows 343_kWhen air is discharged, the channel switching valve is connected to the piping 816 and the piping 333_kThe flow paths are formed by the connection.

The control unit 814 performs switching control of discharging air from the bellows and supplying air to the bellows. In this control, when air is supplied to the bellows, the control unit 814 controls the electric-air pressure control valve 813 to form a flow path connecting the pressure pump 811 and the bellows that performs the articulation, thereby adjusting the air pressure in the bellows. When air is discharged from the bellows, the control unit 814 controls the electric-air pressure control valve 813 to form a flow path connecting the decompression pump 812 and the bellows that performs the articulation, thereby adjusting the air pressure in the bellows.

In performing this control, the control unit 814 receives the second detection unit 712 of the slave host device 500_j(j-1, …, 5) transmitted second detection value DM2_jAnd receives a second signal from the joint movement assistance device 200A detecting part 412_jTransmitted first detection value DA2_j. Then, control unit 814 performs feedback control such that first detection value DA2_jAnd a second detection value DM2_jThe absolute value of the difference is equal to or less than a predetermined value, and a supply/discharge control command is generated to supply/discharge to the bellows 342_jFrom bellows 342 or_jAllowing the air to escape. The supply-discharge control command generated in this way is sent to the electric-air pressure control valve 813.

In addition, in performing this control, the control unit 814 receives the second detection unit 713 from the host device 500_j(j-1, …, 5) transmitted second detection value DM3_jAnd receives the first detection part 413 from the joint movement assistance device 200_jTransmitted first detection value DA3_j. Then, control unit 814 performs feedback control such that first detection value DA3_jAnd a second detection value DM3_jThe absolute value of the difference is not more than a predetermined value, and a supply/discharge control command is generated to supply/discharge to the bellows 343_jFrom a bellows 343 or_jAllowing the air to escape. The supply-discharge control command generated in this way is sent to the electric-air pressure control valve 813. As a control method of such a control unit 814, for example, a known PID (Proportional-Integral-Derivative) control may be used. The predetermined value is predetermined by experiments, simulations, experiences, and the like.

[ actions ]

The operation of the articulation assisting system 100 configured as described above will be described with respect to an assisting operation based on the finger articulation of the master/slave system.

In the following description of the operation, the state of the host device 500 will be described as the finger master 530_j(j is 1, …, 5), reference may sometimes be made to the main finger part 530₂A state diagram of (1). In the following description, the state of the joint movement assistance device 200 will be described as the finger joint movement assistance unit 230_j(j＝1，…，5) The finger joint movement assisting unit 230 may be referred to₂A state diagram of (1).

< assisting action of the joint-motion assisting device 200 for the joint flexion state >

First, as shown in fig. 10 (a), the person to be attached to the main apparatus 500 is assumed to place all joints of the finger to which the main apparatus 500 is attached in a flexed state. The control unit 814 receives the magnetic sensor 732 from the host device 500 in such a flexed state_j(j-1, …, 5) transmitted second detection value DM2_jAnd a slave magnetic sensor 733_jThe transmitted second detection value DM3_j. In addition, the control unit 814 receives a signal from the magnetic sensor 432 of the articulation assisting apparatus 200_jTransmitted first detection value DA2_jAnd a slave magnetic sensor 433_jTransmitted first detection value DA3_j。

Next, the control unit 814 calculates the second detection value DM2_jAnd first detection value DA2_jThe difference of (d) and the absolute value of the difference. When the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 342_jThe internal air pressure is increased by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813.

Next, the control unit 814 receives the command from the magnetic sensor 432 of the joint movement assistance device 200_jReceiving bellows 342_jFirst detection value DA2 when air pressure in the air conditioner is changed_j. Next, the control unit 814 calculates the second detection value DM2_jAnd first detection value DA2_jAnd determining whether the absolute value is equal to or less than a predetermined value. When the absolute value is not equal to or less than the predetermined value, control section 814 repeats the feedback control process until second detection value DM2 reaches_jAnd first detection value DA2_jUntil the absolute value of the difference is less than or equal to a predetermined value.

In addition, the control unit 814 calculates the second detection value DM3_jAnd first detection value DA3_jThe absolute value of the difference of (a). Then, when the absolute value is not equal to or less than a predetermined value, control section 814Lower, a bellows 343 is generated_jThe internal air pressure is increased by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813.

Next, the control unit 814 receives the command from the magnetic sensor 433 of the joint movement assistance device 200_jReceiving bellows 343_jFirst detection value DA3 when air pressure in the air conditioner is changed_j. Next, the control unit 814 calculates the second detection value DM3_jAnd first detection value DA3_jAnd determining whether the absolute value is equal to or less than a predetermined value. When the absolute value is not equal to or less than the predetermined value, control section 814 repeats the feedback control process until second detection value DM3 reaches_jAnd first detection value DA3_jUntil the absolute value of the difference is less than or equal to a predetermined value. Here, the predetermined pressure is determined in advance from experiments, simulations, experiences, predetermined values, and the like, from the viewpoint of not rapidly changing the air pressure in the bellows.

When in this way toward the bellows 342_jWhen air is supplied inside, the finger joint movement assisting part 230 attached to the thumb₁Middle corrugated pipe 342₁And (4) expanding. The finger joint movement assistance unit 230 is attached to the index finger, middle finger, ring finger, and little finger (hereinafter also referred to as "four fingers")_k(k 2, …, 5), bellows 342_k、341_kAnd (4) expanding. In addition, when the bellows 343 is fitted in this way_jWhen air is supplied inside, the finger joint movement assisting part 230_jBellows 343 of (j ═ 1, …, 5)_jAnd (4) expanding. As a result, as shown in fig. 10 (B), the finger joint movement assistance part 230 is attached_jThe joints of the fingers (j 1, …, 5) are in a flexed state.

< assisting action of the Joint movement assisting device 200 for the Joint extension State >

Next, the person who is attached to the main apparatus 500 puts all the joints of the fingers into the extended state. Fig. 7 (a) and fig. 7 (B) and fig. 8 (a) and fig. 8 (B) show the case where the fingers of the hand to which the main apparatus 500 is attached are in the state of joint extension.

The control unit 814 calculates the second detection value DM2 in such an extended state_jAnd first detection value DA2_jAnd determining whether the absolute value is equal to or less than a predetermined value. Then, when the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 342_jThe internal air pressure is lowered by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813. The control unit 814 repeats the feedback control process until the second detection value DM2_jAnd first detection value DA2_jUntil the absolute value of the difference becomes equal to or less than a predetermined value.

In addition, the control unit 814 calculates the second detection value DM3_jAnd first detection value DA3_jAnd determining whether the absolute value is equal to or less than a predetermined value. Then, when the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 343_jThe internal air pressure is lowered by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813. The control unit 814 repeats the feedback control process until the second detection value DM3_jAnd first detection value DA3_jUntil the absolute value of the difference is less than or equal to a predetermined value.

When in this way the secondary bellows 342_jWhen the air is exhausted, the finger joint movement auxiliary part 230 mounted on the thumb₁Middle corrugated pipe 342₁And (4) shrinking. In addition, the finger joint movement assistance part 230 attached to four fingers_k(k 2, …, 5), bellows 342_k、341_kAnd (4) shrinking. In addition, when the corrugated tube 343 is fitted in this manner_jWhen the air in the finger joint movement auxiliary part 230 is discharged_jBellows 343 of (j ═ 1, …, 5)_jAnd (4) shrinking. As a result, the finger joint movement assistance part 230 is attached as shown in fig. 3 (a) and (B) and fig. 5 (a) and (B)_jThe joints of the fingers (j 1, …, 5) are in the extended state.

In addition, in the host device 500 when the person to be attached has the joints of the fingers changed to various states such as the flexed state, the extended state, or the intermediate state between the extended state and the flexed state, the second detection value DM2_j、DM3_jThe value of (c) is changed. Then, control device 800 detects DM2 based on the second detection value_jIs detected from the second detection value DM2_jMinus the first detection value DA2_jWhen the obtained value is positive, the bellows 342 is controlled so as to be in accordance with the output characteristic of the magnetic sensor shown in fig. 4_jThe air pressure in the air conditioner is increased in a stepwise manner to obtain a first detection value DA2_jAnd the second detection value DM2_jThe values of (b) are the same within a predetermined range of values. Further, control device 800 detects value DM2 from the second detection value_jMinus the first detection value DA2_jWhen the obtained value of (b) is negative, the bellows 342 is controlled to be in a negative state_jThe air pressure in the chamber is gradually decreased, and the first detection value DA2 is detected_jAnd the second detection value DM2_jThe values of (b) are the same within a predetermined range of values.

Further, control device 800 detects DM3 based on the second detection value_jIs detected from the second detection value DM3_jMinus the first detection value DA3_jWhen the obtained value is positive, the bellows 343 is controlled in accordance with the output characteristic of the magnetic sensor shown in fig. 4_jThe air pressure in the air conditioner is increased in stages to make the first detection value DA3_jAnd the second detection value DM3_jThe values of (b) are the same within a predetermined range of values. Further, control device 800 detects value DM3 from the second detection value_jMinus the first detection value DA3_jIs controlled so that the bellows 343 is made negative_jThe air pressure in the chamber is gradually decreased, and the first detection value DA3 is obtained_jAnd the second detection value DM3_jThe values of (b) are the same within a predetermined range of values. As a result, the joints of the fingers to which the joint movement assistance device 200 is attached are also assisted to the flexed state, the extended state, or an intermediate state between the extended state and the flexed state.

As described above, in the present embodiment, the finger joint movement assistance part 230 of the joint movement assistance device 200 is provided_j(j-1, …, 5) is fitted on a finger of the right hand HDR1 of human body HB 1. Further, in the articulation assisting apparatus 200, the magnet 422_jAnd a magnetic sensor 432_jAre respectively mounted on the transmission members facing each other at the joint portion so as to face each other. In the joint movement assistance device 200, the magnet 423_jAnd a magnetic sensor 433_jAre respectively mounted on the transmission members opposed at the other joint portion so as to be opposed. In addition, the finger main part 530 of the main device 500 is set_j(j-1, …, 5) is fitted on a finger of the right hand HDR2 of human body HB 2. In this articulation assistance system, the slave device and the master device have the same configuration, except that the articulation assistance device 200 includes a bellows and a pipe communicating with the bellows.

With such a configuration, when the person who is attached to the main device 500 puts the joints of the fingers to which the main device 500 is attached into the flexed state or the extended state, the control device 800 receives the second detection value DM2 reflecting the flexion angle of the joints from the main device 500_j、DM3_j. In addition, the control device 800 receives the magnetic sensor 432 from the joint movement assistance device 200_jTransmitted first detection value DA2_jAnd a slave magnetic sensor 433_jTransmitted first detection value DA3_j. Then, the control device 800 performs feedback control so that the second detection value DM2_jAnd first detection value DA2_jThe absolute value of the difference of (a) is a predetermined value or less, and the bellows 342 is made to be in contact with_jControl of air pressure variations within. Further, control device 800 performs feedback control such that second detection value DM3_jAnd first detection value DA3_jThe absolute value of the difference of (a) is a predetermined value or less, and the bellows 343 is made_jControl of air pressure variations within. As a result, the joint movement assistance device 200 can assist the joint movement by following the movement of the finger of the hand to which the main device 500 is attached.

Therefore, according to the present embodiment, it is possible to remotely operate the joint movement assistance device without using a sensor directly attached to the joint portion, thereby appropriately assisting the joint movement.

[ variation of embodiment ]

The present invention is not limited to the above-described embodiments, and various modifications can be made.

For example, in the above-described embodiment, the finger joint movement assistance portions are attached to the thumb, the index finger, the middle finger, the ring finger, and the little finger, respectively, so as to assist the joint movement of the thumb, the index finger, the middle finger, the ring finger, and the little finger. In contrast, an articulation assisting section may be attached to any finger to assist the articulation of the finger. In this case, the same number of finger main parts as the arbitrary number of fingers may be prepared.

In addition, although the above-described embodiment has described the joint movement assistance system having the joint movement assistance device that assists the movement of the fingers of the right hand of the human body, it is obvious that the joint movement assistance system may be a joint movement assistance system having a joint movement assistance device that assists the movement of the fingers of the left hand.

In the above-described embodiment, when the joint movement assistance device is attached to the right hand, the main device is attached to the right hand of a human body different from the human body to which the joint movement assistance device is attached. In contrast, the master device may be attached to the left hand (left-right symmetry) of the different human body.

In the above-described embodiment, the hand to which the main device is attached and the hand to which the joint exercise assisting device is attached have congruent symmetry, but the following may be the case: the hand on which the main device is mounted and the hand on which the joint movement assistance device is mounted have at least one of similar symmetry and bilateral symmetry.

In the case where one hand of the human body is contractual and the other hand is healthy, the joint movement assistance device may be attached to the contractual hand of the human body, and the main device may be attached to the healthy hand (bilateral symmetry) of the human body.

As shown in fig. 11 (a) and (B) and fig. 12 (a) and (B), the host device may be provided with a communication unitThe plate-like guide members GM1, GM2, GM3, and GM4 are attached to the transmission member, and the plate-like guide members GA1, GA2, GA3, and GA4 are attached to the transmission member of the joint movement assistance device. Although shown in fig. 11 (a), (B) and fig. 12 (a), (B), the guide member is mounted on the-U of the transmission member in the main apparatus_jLateral view, but + U in the transfer member_jThe direction side is also provided with a guide member. In addition, although the-X in which the guide member is mounted on the transmission member in the articulation assisting device is shown_jLateral view, but at + X of the transfer member_jThe direction side is also provided with a guide member.

Here, the guide members GM1 and GM2 of the host device are attached to the transmission members disposed at positions facing each other at the second joint portion. Holes through which the shaft member AM1 passes are formed in the guide members GM1 and GM 2. The shaft member AM1 is disposed near the rotation center axis of the second joint. The guide members GM3 and GM4 of the host device are attached to the transmission members disposed at positions facing each other at the third joint portion. Holes through which the shaft member AM3 passes are formed in the guide members GM3 and GM 4. The shaft member AM3 is disposed near the rotation center axis of the third joint.

The guide members GA1, GA2 of the joint movement assistance device are attached to the transmission members disposed at positions facing each other at the second joint portion. Holes through which the shaft members AA1 are inserted are formed in the guide members GA1, GA 2. The shaft member AA1 is disposed near the rotation center axis of the second joint. The guide members GA3, GA4 of the joint movement assistance device are attached to the transmission members disposed at positions facing each other at the third joint portion. Holes through which the shaft members AA3 are inserted are formed in the guide members GA3, GA 4. The shaft member AA3 is disposed near the rotation center axis of the third joint.

By attaching such a guide member to the main device and the articulation assisting device, the main device and the articulation assisting device can perform articulation while the main device and the articulation assisting device are engaged with each otherIn the device, it is not easy for the magnet and the magnetic sensor corresponding to the magnet to be at V_jAn offset is generated on the shaft. In addition, in the joint movement assistance device, it is not easy for the magnet and the magnetic sensor corresponding to the magnet to be disposed at Y_jAn offset is generated on the shaft. Therefore, the reliability of the detection results of the first and second detection units can be ensured.

In the above-described embodiment, the joint movement of the finger is assisted. In contrast, the joint movement of the wrist can be assisted. In this case, as shown in fig. 13 (a), on the slave device side, a magnet 961A may be attached to a transmission member 921A connected to the other end of the bellows 941A, and a magnetic sensor 971A may be attached to a transmission member 922A connected to the one end of the bellows 941A. Here, in the joint movement assistance system that assists joint movement of the wrist, the magnet 961A and the magnetic sensor 971A correspond to the first detection section.

As shown in fig. 13 (B), the master device side may be configured such that a magnet 961M is attached to the transmission member 921M attached to a position corresponding to the attachment position of the transmission member 921A of the slave device, and a magnetic sensor 971M is attached to the transmission member 922M attached to a position corresponding to the attachment position of the transmission member 922A of the slave device. Here, in the joint movement assistance system that assists joint movement of the wrist, the magnet 961M and the magnetic sensor 971M correspond to the second detection section.

In addition, when the joint movement assistance device is attached to the right hand in assisting the joint movement of the wrist, the main device may be attached to the right hand of a human body different from the human body to which the joint movement assistance device is attached. In contrast, the master device may be attached to the left hand (left-right symmetry) of the different human body.

In addition, when the joint movement of the wrist is assisted, the following may be used: the hand to which the main device is attached and the hand to which the joint exercise assisting device is attached have at least one of congruent symmetry, similar symmetry, and bilateral symmetry.

In addition, when one hand of the human body is contractually contracted and the other hand is healthy in assisting the joint movement of the wrist, the joint movement assisting device may be attached to the contractually contracted hand of the human body and the main device may be attached to the healthy hand (bilateral symmetry) of the human body.

In the above-described embodiment, the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state are assisted. In contrast, in the present invention, it is also possible to assist the joint motion of another joint such as a hip joint, a ball joint, or an oval joint.

In the above-described embodiment, the first detection unit and the second detection unit are each configured by a magnet and a magnetic sensor. In contrast, for example, an ultrasonic reflection sensor may be used as the first detection unit and the second detection unit to detect the angle between the transmission members facing each other at the joint portion.

In the present embodiment, a resin bellows is used, but any material may be used as long as it is freely extendable and retractable and does not increase the weight of the device attached to the human body.

In the joint movement assistance device according to the present invention, the working fluid is air, but may be other gas, or may be a liquid such as water or oil.

When the joint movement assistance device of the present invention is used in the fields of care and welfare, the device can be used not only for rehabilitation but also for the weak as a power assist device. The joint movement assistance device according to the present invention can be used as a power assist device for grasping an object or the like, in addition to the fields of care and welfare.

In the above-described embodiment, the present invention is applied to an articulation assisting system for assisting an articulation of a human body, but the present invention may be applied to an articulation assisting system for a predetermined object such as an endoskeletal mammal or an endoskeletal robot having an articulation mechanism.

Industrial applicability

As described above, the joint movement assistance system according to the present invention can be applied to a joint movement assistance system that assists joint movement of a predetermined object.

Claims

1. An articulation assistance system that assists an articulation of a first subject, the articulation assistance system being characterized in that,

the joint movement assistance system includes:

a slave device attached to the first object;

a main device installed on a second object, the second object being constructed as follows: the second object has any one of symmetry of congruent symmetry, similar symmetry and left-right symmetry with the first object; and

a control device that controls the first object to perform an articulation corresponding to an articulation of the second object,

the slave device has:

at least one bellows, which is freely retractable, is prepared for each joint to be assisted, and generates a force for assisting the movement of the joint;

a pipe that communicates with the bellows;

a one-side member connected to one-side end of the bellows and installed at a position of the first object at a side connected to a joint, wherein the joint is a joint related to the joint motion;

another side member connected to the other end of the bellows and attached to another side portion of the first object, which is connected to the joint; and

a first detection unit that is attached to at least one of the one side member and the other side member, and that detects a first physical quantity that is determined by a distance from the one side member to the other side member and a first angle formed by a first direction in which the one side portion extends from the connection portion between the one side portion and the joint and a second direction in which the other side portion extends from the connection portion between the other side portion and the joint, the first detection unit being attached to at least one of the one side member and the other side member and having no element attached to the joint,

the master device has:

a one-side corresponding member mounted at a position corresponding to a mounting position of the one-side member on the first object;

another-side corresponding member mounted at a position corresponding to a mounting position of the another-side member on the first subject; and

a second detection unit that is attached to at least one of the one-side corresponding member and the other-side corresponding member, and that does not have an element attached to a portion corresponding to the joint portion of the first object, and that detects a second physical quantity that is determined by a distance from the one-side corresponding member to the other-side corresponding member and a second angle formed by a third direction in which the one-side corresponding member corresponding to the first direction of the first object extends and a fourth direction in which the other-side corresponding member corresponding to the second direction of the first object extends,

the control device controls supply of the working fluid into the bellows through the pipe and discharge of the working fluid from the bellows through the pipe, based on a difference between the first physical quantity and the second physical quantity.

2. The articulation assistance system of claim 1,

the at least one bellows includes a vertically disposed bellows disposed in a direction perpendicular to a rotational axis of the rotational motion of the joint to be assisted,

the slave device further includes a first restraint member that elastically restrains the one side member connected to the vertically arranged bellows and the other side member connected to the vertically arranged bellows, on a joint side opposite to the vertically arranged bellows, and transmits a rotational force for assisting the joint movement to a portion on one side where the one side member elastically restrained is mounted and a portion on the other side where the other side member elastically restrained is mounted via the one side member elastically restrained and the other side member elastically restrained by helping to convert a force generated by expansion and contraction of the bellows into a rotational force,

the master device further includes a second constraining member that is disposed at a position corresponding to a position at which the first constraining member is disposed in the slave device in the master device, and elastically constrains a one-side corresponding member corresponding to the one-side member elastically constrained and another-side corresponding member corresponding to the other-side member elastically constrained.

3. The articulation assistance system of claim 1,

the slave device further includes plate-like guide members attached to the one side member and the other side member, respectively,

the plate-like guide member attached to the one side member and the plate-like guide member attached to the other side member are attached via a shaft member disposed in the vicinity of a rotational movement center axis of the joint of the first object,

the main device further includes a plate-like guide member attached to the one-side corresponding member and the other-side corresponding member,

the plate-like guide member attached to the one-side corresponding member and the plate-like guide member attached to the other-side corresponding member are attached via a shaft member disposed in the vicinity of a rotational movement center axis of the joint of the second object.

4. The articulation assistance system of claim 1,

the working fluid is air and the working fluid is,

the control device has:

an air pressure setting unit that sets an air pressure in the bellows by supplying air to the bellows and discharging air from the bellows; and

and an air pressure control unit that controls setting of the air pressure in the bellows by the air pressure setting unit based on a difference between the first physical quantity and the second physical quantity.

5. The articulation assistance system of claim 1,

the first detection portion and the second detection portion are detection portions constituted by a magnet and a magnetic sensor in the same manner,

the magnet of the first detection portion is mounted on one of the one side member and the other side member, the magnetic sensor of the first detection portion is mounted on the other one of the one side member and the other side member which is different from the one member,

the magnet of the second detection unit is attached to one of the one-side corresponding member and the other-side corresponding member, and the magnetic sensor of the second detection unit is attached to the other of the one-side corresponding member and the other-side corresponding member, which is different from the one-side corresponding member.

6. The articulation assistance system according to any one of claims 1 to 5,

the first object includes at least one of fingers of one hand of a human body,

the second object includes at least one of the fingers of the other hand of the human body.

7. The articulation assistance system according to any one of claims 1 to 5,

the first object includes at least one of fingers of a hand of a human body,

the second object includes at least one of fingers of a hand of a human body different from the human body.

8. The articulation assistance system according to any one of claims 1 to 5,

the first object includes a wrist portion of a human body,

the second object includes the other wrist portion of the human body.

9. The articulation assistance system of claim 6,

the first object includes a wrist portion of a human body,

the second object includes the other wrist portion of the human body.

10. The articulation assistance system of claim 7,

the first object includes a wrist portion of a human body,

the second object includes the other wrist portion of the human body.

11. The articulation assistance system according to any one of claims 1 to 5,

the first object includes a wrist portion of a human body,

the second object includes a wrist portion of a human body different from the human body.

12. The articulation assistance system of claim 6,

the first object includes a wrist portion of a human body,

13. The articulation assistance system of claim 7,

the first object includes a wrist portion of a human body,