JP2002263151A - All direction movement type walking helping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking helping device capable of performing optional translation/turning motions within a horizontal plane and flexibly following any in-plane motions of a human without deviation. SOLUTION: This all direction movement type walking helping device is constituted of a vertical direction holding means 106 for holding the upper body of a walker 101 in a vertical direction, a translation/turning force information detection means 107 for detecting the translation/turning force information within the horizontal plane added from the walker 101 through the vertical direction holding means 106, an all direction moving mechanism 102 capable of performing the optional translation/turning motions within the horizontal plane and a walking controller (figure 2) for force-controlling the all direction moving mechanism 102 in all directions on the basis of the force information within the horizontal plane.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention reduces the load on persons who have difficulty walking on their own in medical welfare facilities, homes, etc.
The present invention relates to an omnidirectional mobile walking assistance device for performing walking training.

[0002]

2. Description of the Related Art FIG. 9 shows an example of a conventional walking assist device which is commercially available. In FIG. 9, 901 is a pedestrian with a disability, 902 is a housing for a walking assistance device, and 903 to 90.
Reference numeral 6 denotes a driven caster, and reference numeral 907 denotes a holding unit (armrest) that supports a pedestrian in a vertical direction. The pedestrian 901 always touches the holding unit 907 and keeps weight in the vertical direction,
In the horizontal direction, it moves with the walking assist device by pushing in any direction. For such a walking assistance device, automation and intelligence are required in terms of power assist for pedestrians with disabilities or more active walking support. Conventionally, as a measure for realizing this, there is Japanese Patent Application Laid-Open No. 7-184966 "walking assist device". A schematic diagram is shown in FIG. In the figure, 1
001 is a pedestrian with a disability, 1002 is a housing for a walking assistance device, 1003 and 1004 are driving wheels, 1005 and 1006 are driven casters, 1007 is a joint attached to the housing 1002 and is rotatable around the X axis, 1008 is a joint. An arm that is attached to the joint 1007 and that can translate in the longitudinal direction;
1009 is attached to the tip of the arm 1008, and the pedestrian 1
001 is a holding part (armrest) that supports the 001 in the vertical direction. The vertical force applied by the pedestrian 1001 to the holding unit 1009 is detected by a force detection unit provided in the joint 1007, and the angle of the joint 1007 is controlled based on the detected force to adjust the load on the foot and waist of the pedestrian 1001. I do. Further, the force in the front-rear direction applied to the holding unit 1009 by the pedestrian 1001 is detected by force detection means provided on the arm 1008, and based on this, the front-rear movement of the arm 1008 or the rotation of the drive wheels 1005 and 1006 is controlled. The pedestrian can move back and forth as desired.

[0003]

However, in the method shown in the conventional example, the moving mechanism is assumed to operate only in the front-rear direction, and is not compatible with walking in all directions as normally performed by humans. I haven't. FIG. 11 shows a problem of the conventional example. In the figure, 1101 is a pedestrian with a disability, 1102 is a walking assistance device, and 1103 is a holding unit. In the figure, if the pedestrian 1101 tries to move back and forth (Fig. (A)), the moving direction F of the pedestrian 1101
1101 and the moving direction F1102 of the walking assistance device 1102
And thus, the conventional moving mechanism can correctly follow. However, when the user tries to move to the side (FIG. (B)), the moving direction of the walking assist device 1102 is F because the moving mechanism of the walking assist device does not have the ability to move to the side.
1102, the moving direction F1101 of the pedestrian 1101
And does not follow the pedestrian 1101 as intended. Also, when the pedestrian tries to turn on the spot (FIG. (C)), if the walking assist device 1102 is of the two-wheel differential type, the pedestrian turns with the midpoint O1102 of the two drive wheels as the rotation axis. However, there is a problem that the pedestrian 1101 is displaced from the intended turning center (self-center) O1101 and has a sense of incongruity. Therefore, an object of the present invention is to provide an omnidirectional mobile walking assistance device that can easily follow a pedestrian in all directions in a horizontal plane in translation and turning motion, and can provide a positive walking support without a sense of incongruity. It is in.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, an omnidirectional mobile walking assistance device according to the first aspect of the present invention holds a walking assistance device housing and a pedestrian's upper body vertically. Holding means, a force detecting means disposed between the housing of the walking assistance device and the holding means, and detecting translation / turning force information in a horizontal plane applied from the pedestrian via the holding means; An omnidirectional moving mechanism capable of arbitrary translation and turning movements, a drive unit for driving the omnidirectional moving mechanism, and force controlling the omnidirectional moving mechanism in all directions based on force information in the horizontal plane. And a travel control device. Further, according to a second aspect of the present invention, in the omnidirectional mobile walking assistance device according to the first aspect, the holding means includes a force detecting means for detecting a vertical force when the pedestrian moves up and down. And a drive unit for controlling the holding means in the vertical direction based on the information on the vertical force, and a drive unit for driving the holding means by the drive control apparatus. Further, according to a third aspect of the present invention, in the omnidirectional mobile walking assist device according to the second aspect, the holding means has a slider that allows the relative posture of the pedestrian and the moving body in a horizontal plane to be freely rotatable. Features. By the above means, the walking assistance device can perform any translation and turning motion in the horizontal plane, and can flexibly follow any human motion in the plane without any deviation. In addition, the power control enables power assist or more aggressive walking support for a pedestrian with a disability.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a first embodiment of the present invention. In FIG. 1, 101 is a pedestrian with a disability, 102 is a housing for a walking assistance device, 103 is an omnidirectional moving mechanism, and 104 and 105 are driven casters. 106
Is a holding unit (armrest) that supports the pedestrian in the vertical direction. A force detecting means 107, which will be described later, is disposed between the holding unit 106 and the walking assistance device housing 102, and can detect a translation force in the X-axis direction and the Y-axis direction and a moment force around the Z-axis. It is. The pedestrian 101 is always in contact with the holding portion 106, keeps weight in the vertical direction, and applies a force to the force detecting means 107 in an arbitrary direction in the horizontal plane in the horizontal direction. The configuration of the omnidirectional moving mechanism 103 is described in, for example, Japanese Patent Application Laid-Open No. S2000-2725 according to the same applicant.
Japanese Patent Application Laid-Open No. 05-2005 discloses the use of a driving mechanism (for example, Japanese Unexamined Patent Publication No.
No. 85129). Reference numeral 108 denotes a distance sensor which is disposed on the outer periphery of the walking assistance device housing 102 and is capable of measuring a distance to an external environment. When the user walks in a desired direction while holding in the vertical direction, the force detecting means 107 detects this force as three forces of the X-axis, the Y-axis, and the Z-axis, and outputs the force information of the X-axis and the Y-axis. The traveling control device controls the omnidirectional moving mechanism 103 in all directions based on the
Force control is performed in the vertical direction based on the Z-axis force information.

FIG. 2 shows an example of a control block diagram according to the present invention. That is, FIG. 2 shows a travel control device that controls the omnidirectional moving mechanism in all directions based on force information in a horizontal plane. Walking assistance device housing 201 and holding unit 20
2 in the horizontal plane and two degrees of freedom in rotation in the horizontal plane are applied by the force detection means 203 to the analog voltage signal S.
Output as x, Sy, Sz. The signals are A /
After being input to the D converter 204 and converted into a digital signal, it is output to the force information calculation unit 205. Force information calculation unit 2
05 performs a process of converting the detection force on the force detection means into a force generated by the pedestrian, in addition to the offset and dead zone processing, and the translation force Fx, Fy, and moment Mz are obtained through such processing. Calculated and virtual impedance setting unit 2
06 is output. Further, in the virtual impedance setting unit 206, the movement speeds Vx, Vy, and ω of the walking assistance device are described as the behavior of the mass system model having virtual inertia and viscosity.
z is determined. Using this as the vehicle body command speed, the reverse kinematics calculation unit 207 calculates a motor command speed to the motor 208 which is a driving unit for driving the omnidirectional moving mechanism. The command speed signal is converted into an analog voltage by the D / A converter 209 and input to the driver 210. The driver 210 compares the speed information detected by the pulse generator 211 directly connected to the motor 208 and controls the motor 208 to follow the command speed. FIG. 3 shows the pedestrian's subjective coordinate origin 305 and the coordinate origin 3 of the force detection device.
It is explanatory drawing which shows the relationship with 06. In the figure, 301
Is a pedestrian with a disability, 302 is a housing for a walking assistance device, 30
Reference numeral 3 denotes a holding unit, and 304 denotes a force detecting unit. As shown in the figure, the subjective coordinate origin 305 of the pedestrian 301 and the coordinate origin 306 of the force detection device 304 are different. Therefore, using the force information Sx, Sy, Sz of the force detection device and the distance L between the origins of both coordinates, the force information Fx, F on the subjective coordinates of the pedestrian 301.
y and Mz are obtained as follows. Fx = Sx Fy = Sy Mz = Sz + L × Sy The coordinate origin of the vehicle body in the inverse kinematics calculation unit is set to the subjective coordinate origin 305 of the pedestrian.

FIG. 4 is a diagram showing the operation of the walking assistance device when the first embodiment is used. 40 in the figure
1 is a pedestrian with a disability, 402 is a walking assistance device, 403
Denotes a holding unit, and 404 denotes a force detection device. In the figure, when the pedestrian 401 tries to move back and forth ((a) of FIG.
1 and the moving direction F402 of the walking assistance device 402 coincide with each other, so that the omnidirectional moving mechanism can accurately follow. Also, when the user tries to move to the side (FIG. (B)), the moving direction F401 of the pedestrian 401 and the walking assistance device 4
02 coincides with the movement direction F402, so that the omnidirectional movement mechanism can accurately follow the movement direction. Also, when the pedestrian tries to turn on the spot (FIG. (C)), the walking information is assisted by the action of the force information calculation unit 205 (FIG. 2) and the inverse kinematics calculation unit 207 (FIG. 2). Since the device 402 turns around the subjective coordinate origin O401 of the pedestrian 401 as a rotation axis, the pedestrian 401
And the turning center intended by the user can be performed, and a turning operation without a sense of incongruity is possible. The inertia / viscosity parameters J and d of the virtual impedance setting unit can be arbitrarily set according to the degree of pedestrian's obstacle and the degree of recovery. If the value is set to a small value, the walking assist device can be operated with a small force. Various usages are also possible. Conversely, if the value is set to a large value, the setting can be made in consideration of safety so that the device does not move suddenly even when a large force is applied. In addition, since these set values can be set independently for each of the two degrees of freedom of translation and the one degree of rotation, it is easy to easily set only a desired direction. As more aggressive walking support measures,
If the walking assist device is operated according to a predetermined traveling pattern according to the degree of obstacle of the pedestrian, and the omnidirectional moving mechanism is flexibly controlled according to the repulsive force from the pedestrian,
Walking training for pedestrians with disabilities is also possible. As a safety function during traveling, if the distance to the external environment is measured by a distance sensor on the periphery of the walking assistance device, and if it is within a certain distance, movement in that direction is restricted,
Safe walking is possible without contacting the outside environment.

Next, FIG. 5 shows a second embodiment of the present invention. In the figure, 501 is a pedestrian with a disability, 502 is a walking assistance device, 503 is an omnidirectional movement drive mechanism, and 504 to
507 is a driven caster, and 508 is a walking assistance device 50
2 are distance sensors that are arranged in a large number on the outer periphery of the device 2 and can measure a distance to an external environment. The walking assist device 502 includes a slider 5
09 is fixed, and an arm 51 is attached to the slider 509.
0 is attached so as to be able to translate in the vertical direction. On the other hand, a holding device 511 is attached to the waist of the pedestrian 501, and is connected to the arm 510 via the force detection device 512. The force detecting device 512 can detect the translational force on the X-axis and the Y-axis and the moment force around the Z-axis. The operation of the omnidirectional moving mechanism is the same as that described in the first embodiment. In the second embodiment, the walking assistance device 502
Is located behind the pedestrian 511, and there is an example in which a caregiver assists the pedestrian with a disability in such a way as to support the vicinity of the rear waist belt of the pedestrian who has such a disability at an actual welfare site. It is considered that there is an effect that the user 511 can walk with peace of mind as if he / she is supported by the assistant without directly facing the robot.

FIG. 6 shows an example of a control block diagram of an arm serving as holding means in the present embodiment. That is, it shows a drive control device for vertically controlling the force of the arm as the holding means. The height of the arm 601 can be adjusted by rotating a motor 605 serving as a driving unit via a belt 602, pulleys 603 and 604. The vertical force detected by the force detecting means 606 attached to the tip of the arm 601 is output as an analog voltage signal. The signal is input to an A / D converter 607 and converted into a digital signal.
The offset / dead zone processing is performed to calculate the translational force Fz. Further, in the virtual impedance setting unit 609, the movement amount from the elastic equilibrium height of the arm is obtained as the behavior of the mass system model having virtual inertia, viscosity, and elasticity. The sum of the preset equilibrium height of the pedestrian and the preset equilibrium height of the individual pedestrian is the command height of the arm. On the other hand, the angle of the motor 605 is detected by a pulse generator 611 directly connected to the motor, and converted into digital angle information by a counter 612. Based on the angle information, the current height of the arm 601 is obtained by the position response calculation unit 613. The difference between the arm command height and the current height is calculated by a subtractor 614, multiplied by a position gain 615, and converted into an analog voltage by a D / A converter 616. Based on this voltage value, the driver 61
7, the motor 605 is controlled to the command height. As a result, when the pedestrian puts weight downward, the arm descends with a behavior similar to a virtual spring, and the control that supports the weight of the pedestrian and flexibly follows load changes is achieved. realizable.

[0010] A third embodiment of the invention in FIG. 7, a guide 702 is fixed to the holding device 701, and a member 703 is slidably attached along the guide 702. The member 703 includes a holding device 701.
And a means for measuring the relative position with respect to the holding device 701. Also,
The member 703 has a force detecting means 704,
The arm 705 is fixed to. Furthermore, when the holding device 701 is used in combination with a slider that allows the pedestrian and the walking assistance device, which is a moving body, to rotate freely in a horizontal plane, the raising operation of the pedestrian from the bed is shown in FIG. Can be realized as follows. That is, the walking assist device 803 approaches while the pedestrian 801 with a disability is sitting on the bed 802 at first, and sets the arm 804 at an appropriate position with the helper's hand and fixes the holding device 805 to the waist of the pedestrian. I do. From this state, the arm 804 rises, and the pedestrian 801
To help the person stand up. After moving an appropriate distance from the bed, the walking assist device 803 can also go around the pedestrian by releasing the clutch of the holding device and turning the walking assist device 803 with the slider 806 around the pedestrian.

[0011]

As described above, according to the present invention, the means for vertically holding the pedestrian's upper body, and the translation / turning force information in the horizontal plane applied from the pedestrian via the holding means are provided. Detecting means, an omnidirectional moving mechanism capable of arbitrary translation and turning movement in a horizontal plane, and a travel control device for force-controlling the moving mechanism in all directions based on force information in the horizontal plane. As a result, any translation and turning movement in the horizontal plane is possible, and it is possible to flexibly follow any human movement in the plane without deviation. In addition, the force control has an effect that power assist for a pedestrian with a disability or more aggressive walking support becomes possible.

[Brief description of the drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a control block diagram in the embodiment of FIG. 1;

FIG. 3 is a diagram showing the operation of a force information calculation unit according to the present invention.

FIG. 4 shows the operation of the present invention.

FIG. 5 is a diagram showing a second embodiment of the present invention.

FIG. 6 is a control block diagram according to a third embodiment of the present invention.

FIG. 7 is a diagram showing a fourth embodiment of the present invention.

FIG. 8 is a diagram showing the operation of the fifth embodiment of the present invention.

FIG. 9 is a diagram showing a conventional walking assistance device.

FIG. 10 is a diagram showing a conventionally proposed measure.

11 is a diagram showing a problem of the prior proposed measures

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 101 Pedestrian 102 Walking assistance device housing 103 Omnidirectional movement mechanism 104, 105 Followed caster 106 Holding part (armrest) 107 Force detecting means 108 Distance sensor

Claims (3)

[Claims] 1. A walking assistance device housing, holding means for vertically holding a pedestrian's upper body, and being disposed between the walking assistance device housing and the holding means and holding the pedestrian from the pedestrian. Force detecting means for detecting translational / swiveling force information in a horizontal plane applied via the means, an omnidirectional moving mechanism capable of performing any translation / swiring movement in the horizontal plane, and a drive unit for driving the omnidirectional moving mechanism, omnidirectional type walking aid apparatus, comprising a running control apparatus for a force controlling the omnidirectional moving mechanism on the basis of the force information of the horizontal plane in all directions. 2. The apparatus according to claim 1, wherein the holding unit includes a force detecting unit that detects a vertical force when the pedestrian moves up and down, and controls the holding unit in a vertical direction based on information of the detected vertical force. The omnidirectional mobile walking assistance device according to claim 1, further comprising a drive control device that drives the holding unit by the drive control device. 3. The omnidirectional mobile walking assistance device according to claim 2, wherein the holding unit includes a slider that enables the relative posture of the pedestrian and the moving body in a horizontal plane to be rotatable.