JP2003070855A - Lower limbs driving device - Google Patents
Lower limbs driving deviceInfo
- Publication number
- JP2003070855A JP2003070855A JP2001265899A JP2001265899A JP2003070855A JP 2003070855 A JP2003070855 A JP 2003070855A JP 2001265899 A JP2001265899 A JP 2001265899A JP 2001265899 A JP2001265899 A JP 2001265899A JP 2003070855 A JP2003070855 A JP 2003070855A
- Authority
- JP
- Japan
- Prior art keywords
- angle
- joint
- thigh
- lower leg
- patient
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、下肢の機能を回復
するためのトレーニングに用いられる下肢駆動装置、特
に股関節や膝関節の角度・負荷を訓練中に計測できる下
肢駆動装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lower limb drive device used for training for recovering the function of the lower limbs, and more particularly to a lower limb drive device capable of measuring the angle and load of hip joints and knee joints during training.
【０００２】[0002]
【従来の技術】筋力の低下した肢体の機能を回復するた
めに関節を中心にして外部から機械的に肢体を駆動した
り、関節の動きに負荷をかけたりする装置がある。例え
ば、本願の出願人は特開１１−３４７０８１号公報で、
股関節を回転させる大腿用運動機構部と膝関節を回転さ
せる下腿用運動機構部を備えた下肢駆動装置を提案して
いる。この下肢駆動装置は、アームで患者の大腿部と下
腿部を掴んで、大腿部と下腿部を所定の軌跡で運動させ
る装置である。2. Description of the Related Art There are devices that mechanically drive a limb from the outside centering on a joint or apply a load to the movement of the joint in order to restore the function of the limb having a weakened muscle strength. For example, the applicant of the present application discloses in Japanese Patent Laid-Open No. 11-347081.
We have proposed a lower limb drive device that includes a thigh movement mechanism that rotates a hip joint and a leg movement mechanism that rotates a knee joint. This lower limb drive device is a device that grips a patient's thigh and lower thigh with an arm and moves the thigh and lower thigh along a predetermined locus.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、この従
来の下肢駆動装置では、アームの回転軸と患者の関節の
回転軸が一致しないので、患者の関節の角度や関節に加
わる負荷トルクを計測することができないという問題が
あった。また、患者の関節にゴニオメータセンサを取り
付ければ、患者の関節角度を計測することはできるが。
ゴニオメータの取り付け調整は煩雑であり、その準備に
手間が掛かるという問題があった。そこで、本発明は下
肢駆動装置のアームの角度をおよびアームに加わる力か
ら、運動中の患者の関節の角度および関節に加わる負荷
トルクをリアルタイムで計測できる下肢駆動装置を提供
することを目的とする。However, in this conventional lower limb drive device, since the rotation axis of the arm and the rotation axis of the joint of the patient do not match, the angle of the joint of the patient and the load torque applied to the joint must be measured. There was a problem that I could not do it. Moreover, if a goniometer sensor is attached to the joint of the patient, the joint angle of the patient can be measured.
There is a problem that the installation and adjustment of the goniometer is complicated and it takes time to prepare. Therefore, an object of the present invention is to provide a lower limb drive device capable of measuring in real time the angle of a joint of a patient who is exercising and the load torque applied to the joint from the angle of the arm of the lower limb drive device and the force applied to the arm. .
【０００４】[0004]
【課題を解決するための手段】上記の課題を解決するた
めに、請求項１の発明はアームと前記アームの先端に回
動自在に取り付けられて患者の大腿を固定する大腿装着
部を備え、前記アームの動作によって前記患者の股関節
を回転駆動する下肢駆動装置において、前記アームと前
記大腿装着部の成す角度を検出する大腿角度検出器と、
前記大腿角度検出器で検出された角度をもとに前記患者
の股関節の角度を推定する股関節角度推定部を備えるも
のである。請求項２の発明は、アームと前記アームの先
端に回動自在に取り付けられて患者の下腿を固定する下
腿装着部を備え、前記アームの動作によって前記患者の
膝関節を回転駆動する下肢駆動装置において、前記アー
ムと前記下腿装着部の成す角度を検出する下腿角度検出
器と、前記下腿角度検出器で検出された角度をもとに前
記患者の膝関節の角度を推定する膝関節角度推定部を備
えるものである。請求項３の発明は、患者の大腿部を固
定する大腿装着部をその先端に回転自在に取り付けた第
１のアームと、前記第１のアームと前記大腿装着部の成
す角度を検出する大腿角度検出器と、前記大腿角度検出
器で検出された角度をもとに前記患者の股関節の角度を
推定する股関節角度推定部と、前記患者の下腿部を固定
する下腿装着部をその先端に回動自在に取り付けた第２
のアームと、前記第２のアームと前記下腿装着部の成す
角度を検出する下腿角度検出器と、前記下腿角度検出器
で検出された角度をもとに前記患者の膝関節の角度を推
定する膝関節角度推定部を備えるものである。請求項４
の発明は、前記下腿角度検出器で検出された角度の値か
ら、前記患者の下腿部の骨軸を水平にした時に前記下腿
角度検出器で検出された角度の値を差し引いた値を用い
て、前記患者の膝関節の角度を推定するものである。請
求項５の発明は、前記大腿角度検出器で検出された角度
の値に、前記患者の膝を伸展させて、前記患者の下腿部
の骨軸と大腿部の骨軸が同一直線になるように調整した
ときに前期下腿角度検出器で検出された角度の値から同
じときに前記大腿角度検出器で検出された角度の値を差
し引いた値を加えた値を用いて、前記患者の股関節の角
度を推定するものである。請求項６の発明は、前記アー
ムと前記大腿装着部の間の力を検出する大腿力検出器
と、前記大腿力検出器の出力と前記大腿角度検出器の出
力から前記患者の股関節に加わる負荷を推定する股関節
負荷推定部を備えるものである。ことを特徴とする請求
項１に記載の下肢駆動装置。請求項７の発明は、前記ア
ームと前記下腿装着部の間の力を検出する下腿力検出器
と、前記下腿力検出器の出力と前記下腿角度検出部の出
力から前記患者の膝関節に加わる負荷を推定する膝関節
負荷推定部を備えるものである。請求項８の発明は、前
記第１アームと前記大腿装着部の間の力を検出する大腿
力検出器と、前記大腿力検出器の出力と前記大腿角度検
出器の出力から前記患者の股関節に加わる負荷を推定す
る股関節負荷推定部と、前記第２アームと前記下腿装着
部の間の力を検出する下腿力検出器と、前記下腿力検出
器の出力と前記下腿角度検出器の出力から前記患者の膝
関節に加わる負荷を推定する膝関節負荷推定部を備える
ものである。請求項９の発明は、前記股関節角度推定部
の出力を事前に設定した値と比較して、その結果の大小
により、警告、一時停止、非常停止のいずれかを選択し
て実行する関節可動域監視部を備えるものである。請求
項１０の発明は、前記膝関節角度推定部の出力を事前に
設定した値と比較して、その結果の大小により、警告、
一時停止、非常停止のいずれかを選択して実行する関節
可動域監視部を備えるものである。請求項１１の発明
は、前記股関節角度推定部の出力または前記膝関節角度
推定部の出力を事前に設定した値と比較して、その結果
の大小により、警告、一時停止、非常停止のいずれかを
選択して実行する関節可動域監視部を備えるものであ
る。請求項１２の発明は、前記股関節負荷推定部の出力
を事前に設定した値と比較して、その結果の大小によ
り、警告、一時停止、非常停止のいずれかを選択して実
行する関節負荷監視部を備えるものである。請求項１３
の発明は、前記膝関節負荷推定部の出力を事前に設定し
た値と比較して、その結果の大小により、警告、一時停
止、非常停止のいずれかを選択して実行する関節負荷監
視部を備えるものである。請求項１４の発明は、前記股
関節負荷推定部の出力または前記膝関節負荷推定部の出
力を事前に設定した値と比較して、その結果の大小によ
り、警告、一時停止、非常停止のいずれかを選択して実
行する関節負荷監視部を備えるものである。In order to solve the above-mentioned problems, the invention of claim 1 is provided with an arm and a thigh attachment part rotatably attached to the tip of the arm to fix the thigh of the patient, In a lower limb drive device that rotationally drives the hip joint of the patient by the operation of the arm, a thigh angle detector that detects an angle formed by the arm and the thigh attachment portion,
A hip joint angle estimating unit for estimating the angle of the hip joint of the patient based on the angle detected by the thigh angle detector is provided. The invention according to claim 2 further comprises an arm and a lower leg mounting portion that is rotatably attached to the tip of the arm to fix the lower leg of the patient, and a lower limb drive device that rotationally drives the knee joint of the patient by the operation of the arm. In, a lower leg angle detector that detects an angle formed by the arm and the lower leg mounting portion, and a knee joint angle estimation unit that estimates the angle of the knee joint of the patient based on the angle detected by the lower leg angle detector. It is equipped with. According to the invention of claim 3, a first arm having a thigh mounting portion for fixing the thigh of a patient rotatably attached to the tip thereof, and a thigh for detecting an angle formed by the first arm and the thigh mounting portion. An angle detector, a hip joint angle estimation unit that estimates the angle of the hip joint of the patient based on the angle detected by the thigh angle detector, and a lower leg attachment unit that fixes the lower leg of the patient at its tip. Second rotatably attached
Arm, a lower leg angle detector that detects an angle formed by the second arm and the lower leg attachment portion, and an angle of the knee joint of the patient is estimated based on the angle detected by the lower leg angle detector. A knee joint angle estimation unit is provided. Claim 4
The invention of uses the value obtained by subtracting the value of the angle detected by the lower leg angle detector when the bone axis of the lower leg of the patient is horizontal from the value of the angle detected by the lower leg angle detector. Then, the angle of the knee joint of the patient is estimated. According to a fifth aspect of the present invention, the knee of the patient is extended to the value of the angle detected by the thigh angle detector so that the bone axis of the lower leg of the patient and the bone axis of the thigh are on the same straight line. Using the value obtained by subtracting the value of the angle detected by the thigh angle detector at the same time from the value of the angle detected by the lower leg angle detector when adjusted so that the patient's The angle of the hip joint is estimated. According to a sixth aspect of the present invention, a thigh force detector that detects a force between the arm and the thigh attachment portion, an output of the thigh force detector, and a load applied to the hip joint of the patient from the output of the thigh angle detector. A hip joint load estimation unit for estimating The lower limb drive device according to claim 1, wherein: According to a seventh aspect of the present invention, a lower leg force detector for detecting a force between the arm and the lower leg mounting portion, and an output of the lower leg force detector and an output of the lower leg angle detecting portion are applied to the knee joint of the patient. A knee joint load estimating unit for estimating a load is provided. The invention of claim 8 relates to a thigh force detector for detecting a force between the first arm and the thigh attachment portion, an output of the thigh force detector and an output of the thigh angle detector to a hip joint of the patient. The hip joint load estimation unit that estimates the applied load, the lower leg force detector that detects the force between the second arm and the lower leg attachment unit, the output from the lower leg force detector and the output from the lower leg angle detector, A knee joint load estimation unit that estimates a load applied to a patient's knee joint is provided. The invention of claim 9 compares the output of the hip joint angle estimating unit with a preset value, and depending on the magnitude of the result, selects a warning, a temporary stop, or an emergency stop, and executes the range of motion of the joint. The monitoring unit is provided. The invention according to claim 10 compares the output of the knee joint angle estimation unit with a preset value, and warns depending on the magnitude of the result,
The joint range of motion monitoring unit for selecting and executing either temporary stop or emergency stop is provided. The invention of claim 11 compares the output of the hip joint angle estimating unit or the output of the knee joint angle estimating unit with a preset value, and depending on the magnitude of the result, any one of warning, temporary stop, and emergency stop. The joint range of motion monitoring unit for selecting and executing is performed. The invention of claim 12 compares the output of the hip joint load estimation unit with a preset value, and selects the warning, the temporary stop, or the emergency stop, and executes the joint load monitoring depending on the magnitude of the result. Parts. Claim 13
According to the invention, the output of the knee joint load estimating unit is compared with a preset value, and a joint load monitoring unit for executing a warning load, a temporary stop, or an emergency stop is selected according to the magnitude of the result. Be prepared. According to a fourteenth aspect of the present invention, the output of the hip joint load estimating unit or the output of the knee joint load estimating unit is compared with a preset value, and depending on the magnitude of the result, any one of warning, temporary stop, and emergency stop is selected. The joint load monitoring unit for selecting and executing
【０００５】[0005]
【発明の実施の形態】以下、本発明の実施例を図に基づ
いて説明する。図１は本発明の実施例を示す下肢駆動装
置のブロック図である。図において、１１１は下肢駆動
装置の機構部であり、１は訓練対象の患者である。２は
患者１の股関節、３は大腿部、４は膝関節、５は下腿部
である。１０は機構部１１１の基台であり、２０は大腿
用運動機構部であり、３０は下腿用運動機構部である。
大腿用運動機構部２０は患者１の股関節２を回転駆動す
る第１のアーム機構であり、基台１０に軸支されて図示
しないモータで回転駆動される第１リンクと、第１リン
ク２１の先端に軸支されて図示しない連動機構により第
１リンク２１の基台１０に対する回転角度と等しい角度
だけ逆方向に回転駆動される第２リンク２２と、第２リ
ンク２２の先端に軸支されて患者１の大腿部３に装着さ
れる大腿装着部２３からなり、第２リンク２２と大腿装
着部２３の間の回転角度を検出する大腿角度検出器２４
と、大腿装着部２３と第２リンク２２の間に生じる力を
検出する大腿力検出器２５を備えている。下腿用運動機
構部３０は患者１の膝関節４を回転駆動する第２のアー
ム機構であり、基台１０に軸支されて図示しないモータ
で回転駆動される第３リンク３１と、第３リンク３１の
先端に軸支されて図示しないモータで回転駆動される第
４リンク３２と、第４リンク３２の先端に軸支されて患
者１の下腿部５に装着される下腿装着部３３からなり、
第４リンク３２と下腿装着部３３の間の回転角度を検出
する下腿角度検出器３４と、下腿装着部３３と第４リン
ク３２の間に生じる力を検出する下腿力検出器３５を備
えている。なお、機構部１１１は基本的には、本願の出
願人が特開平１１−３４７０８１号公報で開示した下肢
駆動装置と同一であるが、本願発明の説明に不要な機構
の説明は省略した。１１６は関節角度推定部であり、大
腿角度検出器２４と下腿角度検出器３４で検出された大
腿装着部２３と下腿装着部３３の角度データから、患者
１の股関節２の角度と膝関節４の角度を求める演算装置
である。１１７は関節負荷推定部であり、大腿力検出器
２５と下腿力検出器３５で検出した力から、患者１の股
関節２に負荷されるトルクと膝関節４に負荷されるトル
クを求める演算装置である。１１８は関節角度補正部で
あり、大腿角度検出器２４と下腿角度検出器３４で検出
された大腿装着部２３と下腿装着部３３の角度データを
事前に計測した基準値で補正する演算装置である。１１
９は表示部であり、股関節２の角度、膝関節４の角度、
股関節２の負荷トルク、膝関節４の負荷トルクを文字や
図形で表示する表示装置である。１２０は保存部であ
り、股関節２の角度、膝関節４の角度、股関節２の負荷
トルク、膝関節４の負荷トルクを記憶する記憶装置であ
る。１２１は訓練データであり、保存部１２０に記憶さ
れた患者１の股関節２の角度、膝関節４の角度、股関節
２の負荷トルク、膝関節４の負荷トルクのデータファイ
ルである。１２２は関節可動域監視部であり、股関節２
の角度と膝関節４の角度を常に監視して、所定の基準値
と比較し、その結果に応じて、警告、一時停止、あるい
は非常停止の処理を選択して実行する安全装置である。
１２３は関節負荷監視部であり、股関節２の負荷トルク
と膝関節４の負荷トルクを常に監視して、所定の基準値
と比較し、その結果に応じて、警告、一時停止、あるい
は非常停止の処理を選択して実行する安全装置である。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a lower limb drive device showing an embodiment of the present invention. In the figure, 111 is a mechanical part of the lower limb drive device, and 1 is a patient to be trained. Reference numeral 2 is a hip joint of the patient 1, 3 is a thigh, 4 is a knee joint, and 5 is a lower leg. Reference numeral 10 is a base of the mechanism section 111, 20 is a thigh movement mechanism section, and 30 is a lower leg movement mechanism section.
The thigh movement mechanism unit 20 is a first arm mechanism that rotationally drives the hip joint 2 of the patient 1, and includes a first link pivotally supported by the base 10 and rotationally driven by a motor (not shown), and a first link 21. A second link 22 that is pivotally supported at the tip and is rotationally driven in the opposite direction by an angle equal to the rotation angle of the first link 21 with respect to the base 10 by an interlocking mechanism (not shown), and is pivotally supported at the tip of the second link 22. A thigh angle detector 24, which includes a thigh mounting portion 23 mounted on the thigh portion 3 of the patient 1, and detects a rotation angle between the second link 22 and the thigh mounting portion 23.
And a thigh force detector 25 for detecting a force generated between the thigh attachment portion 23 and the second link 22. The lower leg movement mechanism unit 30 is a second arm mechanism that rotationally drives the knee joint 4 of the patient 1, and includes a third link 31 that is pivotally supported by the base 10 and is rotationally driven by a motor (not shown), and a third link. The third link 32 is rotatably supported by the tip of 31 and is rotationally driven by a motor (not shown), and the crus mounting part 33 is rotatably supported by the tip of the fourth link 32 and is mounted on the crus 5 of the patient 1. ,
A lower leg angle detector 34 that detects a rotation angle between the fourth link 32 and the lower leg mounting portion 33 and a lower leg force detector 35 that detects a force generated between the lower leg mounting portion 33 and the fourth link 32 are provided. . The mechanism unit 111 is basically the same as the lower limb drive device disclosed by the applicant of the present application in Japanese Patent Application Laid-Open No. 11-347081, but the description of the mechanism unnecessary for the description of the present invention is omitted. Reference numeral 116 denotes a joint angle estimation unit, which determines the angle of the hip joint 2 and the knee joint 4 of the patient 1 from the angle data of the thigh attachment unit 23 and the lower leg attachment unit 33 detected by the thigh angle detector 24 and the lower leg angle detector 34. It is a computing device for obtaining an angle. Reference numeral 117 denotes a joint load estimation unit, which is a computing device for obtaining the torque applied to the hip joint 2 and the torque applied to the knee joint 4 of the patient 1 from the forces detected by the thigh force detector 25 and the lower leg force detector 35. is there. Reference numeral 118 denotes a joint angle correction unit, which is a calculation device that corrects the angle data of the thigh attachment unit 23 and the lower leg attachment unit 33 detected by the thigh angle detector 24 and the lower leg angle detector 34 with reference values measured in advance. . 11
Reference numeral 9 denotes a display unit, which is the angle of the hip joint 2, the angle of the knee joint 4,
The display device displays the load torque of the hip joint 2 and the load torque of the knee joint 4 in characters or figures. A storage unit 120 is a storage device that stores the angle of the hip joint 2, the angle of the knee joint 4, the load torque of the hip joint 2, and the load torque of the knee joint 4. 121 is training data, and is a data file of the angle of the hip joint 2, the angle of the knee joint 4, the load torque of the hip joint 2, and the load torque of the knee joint 4 of the patient 1 stored in the storage unit 120. Reference numeral 122 denotes a joint range of motion monitoring unit, which is the hip joint 2
Is a safety device which constantly monitors the angle of the knee joint 4 and the angle of the knee joint 4, compares them with a predetermined reference value, and selects and executes warning, temporary stop, or emergency stop processing according to the result.
Reference numeral 123 denotes a joint load monitoring unit, which constantly monitors the load torque of the hip joint 2 and the load torque of the knee joint 4 and compares them with a predetermined reference value. Depending on the result, warning, temporary stop, or emergency stop is performed. It is a safety device that selects and executes a process.
【０００６】図２は関節角度推定部１１６の詳細を示す
ブロック図である。関節角度推定部１１６は、股関節２
の角度を推定する股関節角度推定部１８１と膝関節４の
角度を推定する膝関節角度推定部１８２からなり、推定
結果は保存部１２０内の関節角度保存部１８３に記憶さ
れる。FIG. 2 is a block diagram showing details of the joint angle estimating unit 116. The joint angle estimation unit 116 uses the hip joint 2
And a knee joint angle estimating unit 182 that estimates the angle of the knee joint 4. The estimation result is stored in the joint angle storing unit 183 in the storing unit 120.
【０００７】図３は関節角度を推定する方法を説明する
説明図である。股関節２の角度の推定方法を図３に基づ
いて説明する。第２リンク２２は第１リンク２１に連動
して同じ角度で逆向きに動くので、第２リンク２２の、
基台１０に対する傾きは常に一定角度となる。したがっ
て、大腿角度検出器２４によって得られる大腿装着部２
３と第２リンク２２の成す角度から、大腿装着部２３の
基台１０に対する傾きが求まる。今、この大腿装着部２
３の基第１０に対する角度θpdを大腿角度と定義し、更
正時のオフセット（オフセットの決定法は後述する）を
θpd_offとし、大腿角度検出器２３の検出角度θpd_rea
lとすると大腿角度θpdは次の式で得られる。FIG. 3 is an explanatory view for explaining a method of estimating the joint angle. A method of estimating the angle of the hip joint 2 will be described with reference to FIG. Since the second link 22 moves in the opposite direction at the same angle in conjunction with the first link 21,
The inclination with respect to the base 10 is always a constant angle. Therefore, the thigh mounting portion 2 obtained by the thigh angle detector 24
From the angle formed by 3 and the second link 22, the inclination of the thigh attachment portion 23 with respect to the base 10 can be obtained. Now, this thigh attachment part 2
The angle θpd of 3 with respect to the tenth base is defined as the thigh angle, the offset at the time of calibration (a method for determining the offset will be described later) is set as θpd_off, and the detection angle θpd_rea of the thigh angle detector 23 is
The thigh angle θpd is given by the following equation.
【０００８】 θpd ＝ θpd_real＋θpd_off （式１）[0008] θpd = θpd_real + θpd_off (Equation 1)
【０００９】ここで、大腿角度θpdと大腿部３の骨軸
（股関節２と膝関節４を結ぶ直線）の傾きが同じと仮定
する（体幹は基台１０に対して平行だからである）と、
股関節の角度θhは、次の式で求めることができる。Here, it is assumed that the thigh angle θpd and the bone axis of the thigh 3 (the straight line connecting the hip joint 2 and the knee joint 4) have the same inclination (because the trunk is parallel to the base 10). When,
The angle θh of the hip joint can be calculated by the following formula.
【００１０】 θh ＝ θpd （式２）[0010] θh = θpd (Equation 2)
【００１１】次に膝関節４の角度の推定方法について説
明する。膝関節４の角度θkを測定するためには、まず
下腿装着部３３の基部１０に対する角度θpkを求める必
要がある。下腿角度検出器３４は、下腿装着部３３と第
４リンク３２の間の角度を出力する。第４リンク３２の
傾きは、第３リンク３１の回転角度θJ2と第４リンク３
２の回転角度θJ3とにより決まる。今、下腿装着部３３
の基部１０に対する角度θpkを下腿角度と定義し、更正
時のオフセット（オフセットの決定法は後述する）をθ
pk_offとし、下腿角度検出器３４の検出角度をθpk_rea
lとすると、下腿角度θpkは下記の式で得られる。Next, a method of estimating the angle of the knee joint 4 will be described. In order to measure the angle θk of the knee joint 4, it is necessary to first obtain the angle θpk of the lower leg attachment portion 33 with respect to the base portion 10. The lower leg angle detector 34 outputs the angle between the lower leg attachment portion 33 and the fourth link 32. The inclination of the fourth link 32 depends on the rotation angle θ J2 of the third link 31 and the fourth link 3
2 rotation angle θ J3 . Now, the lower leg mounting portion 33
The angle θpk with respect to the base portion 10 is defined as the lower leg angle, and the offset at the time of calibration (a method of determining the offset will be described later) is θ
pk_off and the detection angle of the lower leg angle detector 34 is θpk_rea
Assuming l, the lower leg angle θpk is obtained by the following equation.
【００１２】 θpk ＝ θpk_real＋θpk_off＋θJ2＋θJ3 （式３）Θpk = θpk_real + θpk_off + θ J2 + θ J3 (Equation 3)
【００１３】ここで、下腿角度θpkと下腿部５の骨軸
（膝関節４と足関節６を結ぶ直線）の傾きが同じと仮定
すると、膝関節４の角度θkは、大腿角度θpdと、下腿
角度θpkとから、次の式で求めることができる。Assuming that the lower leg angle θpk and the bone axis of the lower leg 5 (the straight line connecting the knee joint 4 and the ankle joint 6) have the same inclination, the angle θk of the knee joint 4 is equal to the thigh angle θpd. It can be calculated from the lower leg angle θpk by the following formula.
【００１４】 θk ＝ θpd−θpk （式４）[0014] θk = θpd−θpk (Equation 4)
【００１５】図４は関節負荷推定部１１７の詳細を示す
ブロック図である。関節角度推定部１１７は、股関節２
の負荷トルクを推定する股関節負荷推定部２０１と膝関
節４の負荷トルクを推定する膝関節負荷推定部２０２か
らなり、推定結果は保存部１２０内の関節負荷保存部２
０３に記憶される。FIG. 4 is a block diagram showing the details of the joint load estimating unit 117. The joint angle estimator 117 uses the hip joint 2
And a knee joint load estimating unit 202 that estimates the load torque of the knee joint 4, and the estimation result is the joint load storing unit 2 in the storing unit 120.
It is stored in 03.
【００１６】図５は関節負荷を推定する方法を説明する
説明図である。股関節２の負荷トルクの推定方法を図５
に基づいて説明する。大腿力検出器２５の出力の大腿装
着部２３を基準とする座標系のＺ軸方向の成分をＦdz_r
eal、下腿力検出器３５の下腿装着部３３を基準とする
Ｘ軸方向の値をＦkx_real、Ｚ軸方向の値をＦkz_realと
する。これらの値を下記の式で変換する。ただし、Ｓｋ
＝ｓｉｎ（θpk）、Ｃｋ＝ｃｏｓ（θpk）である。FIG. 5 is an explanatory view for explaining a method for estimating the joint load. FIG. 5 shows a method for estimating the load torque of the hip joint 2.
It will be described based on. The component of the output of the thigh force detector 25 in the Z-axis direction of the coordinate system based on the thigh mounting portion 23 is Fdz_r.
Eal, the value in the X-axis direction with respect to the lower leg mounting portion 33 as the reference is Fkx_real, and the value in the Z-axis direction is Fkz_real. These values are converted by the following formula. However, Sk
= Sin (θpk) and Ck = cos (θpk).
【００１７】 Ｆdz_g ＝ − Ｆdz_real （式５） Ｆkx_g ＝ −（ Ｃｋ・Ｆkx_real − Ｓｋ・Ｆkz_real ） （式６） Ｆkz_g ＝ −（ Ｓｋ・Ｆkx_real ＋ Ｃｋ・Ｆkz_real ） （式７）[0017] Fdz_g = -Fdz_real (Equation 5) Fkx_g =-(Ck · Fkx_real − Sk · Fkz_real) (Equation 6) Fkz_g =-(Sk · Fkx_real + Ck · Fkz_real) (Equation 7)
【００１８】更に、股関節２にかかる負荷（トルク）τ
hと膝関節４にかかる負荷（トルク）τkは、大腿部の長
さをＬd、股関節２から大腿力検出器２５間の長さをＡ
d、膝関節４から下腿力検出器３５間の長さをＡｋ、Ｓ
ｄ＝ｓｉｎ（θpd）、Ｃｄ＝ｃｏｓ（θpd）とすると、
以下の式で算出することができる。Further, the load (torque) τ applied to the hip joint 2
For the load (torque) τk applied to h and the knee joint 4, the length of the thigh is Ld, and the length between the hip joint 2 and the thigh force detector 25 is A.
d, the length between the knee joint 4 and the lower leg force detector 35 is Ak, S
If d = sin (θpd) and Cd = cos (θpd),
It can be calculated by the following formula.
【００１９】 τh ＝ −（Ｌd・Ｓｄ＋Ａｋ・Ｓｋ）・Ｆkx_g ＋（Ｌd・Ｃｄ＋Ａｋ・Ｃｋ）・Ｆkz_g ＋ Ａd・Ｆdz_g （式８） τk ＝Ａｋ・Ｓｋ・Ｆkx_g − Ａｋ・Ｃｋ・Ｆkz_g （式９）[0019] τh =-(Ld · Sd + Ak · Sk) · Fkx_g + (Ld ・ Cd + Ak ・ Ck) ・ Fkz_g + Ad · Fdz_g (Equation 8) τk = Ak ・ Sk ・ Fkx_g -Ak / Ck / Fkz_g (Equation 9)
【００２０】なお、本実施例では、大腿用運動機構部と
下腿用運動機構部の先端に配置した力検出器を用いて負
荷を算出したが、股関節の位置のパラメータを用いるこ
とにより下腿用運動機構部の先端に配置した力検出器の
みから股関節と膝関節の負荷を算出することも可能であ
る。In this embodiment, the load is calculated using the force detectors arranged at the tips of the thigh movement mechanism section and the lower leg movement mechanism section, but the lower leg movement is calculated by using the parameter of the position of the hip joint. It is also possible to calculate the loads on the hip joint and the knee joint only from the force detector arranged at the tip of the mechanism section.
【００２１】図６は下腿角度を補正するためのオフセッ
トの求め方の説明図であり、図７は大腿角度を補正する
ためのオフセットの求め方の説明図である。前述したよ
うに、関節角度推定部１１６では、大腿角度（大腿装着
部２３の基台１０に対する角度）θpdと大腿部の骨軸３
１１（股関節２と膝関節４を結ぶ直線）の傾きが同じと
仮定して、股関節の角度θhを求め、下腿角度（下腿装
着部３３の基台１０に対する角度）θpkと下腿部の骨軸
（膝関節４と足関節６を結ぶ直線）の傾きが同じと仮定
して、膝関節の角度θkを求めた。しかし、実際には、
大腿部３、下腿部５の形状には個人差があるため、装着
部と骨軸の間で個人差による偏差が生じ、この偏差が推
定時の誤差となる。本発明の関節角度補正部は、この装
着部と骨軸の間で生じる偏差を補正するためのもので、
次の手順に従って補正を行なう。
インピーダンス制御の慣性と弾性のパラメータを０と
し、機構部が脚の動きに追従して自由に動くように制御
を切り替える。
操作者が下腿部５を持ち図６の様に下腿部５の骨軸３
１２が水平になるように動かす。下腿部５の骨軸３１２
を水平に合わせる方法としては、水準器により基台１０
が水平になるように下肢駆動装置を設置しておき、下腿
部５に水準器を置き水平に合わせる方法や、下肢駆動装
置に基台に対して水平になるように規制するジグを設け
て、そのジグに骨軸３１２を合わせる方法があるがどち
らを選んでも良い。
下腿装着部３３に設けたスイッチ３０１を押し、下腿
角度検出器３４の値を下腿装着部３３と下腿部５の骨軸
３１２の間で生じるオフセットθk_off＝−θpkとし
て、メモリに保存する。
患者１の下腿角度θpk’は、オフセットθk_offを用
いて下記の式の様に補正する。
θpk’＝θpk＋θk_off
＝ θpk_real＋θpk_off＋θJ2＋θJ3＋θk_off （式１０）
次に操作者が患者１の下腿部５を持ち図７の様に、膝
関節４を伸展させて、大腿部３の骨軸３１１と下腿部５
の骨軸３１２が一直線になるように、大腿部３と下腿部
５を動かす。
下腿装着部３３に設けたスイッチ３０１を押し、下腿
角度θpk’と大腿角度θpdとの差を大腿装着部２３と大
腿部３の骨軸３１１の間で生じるオフセットθd_off＝
θpk’−θpdとして、メモリに保存する。
患者１の大腿角度θpd’を、偏差θd_offを用いて下
記の式の様に補正する。FIG. 6 is an explanatory diagram of how to determine the offset for correcting the lower leg angle, and FIG. 7 is an explanatory diagram of how to determine the offset for correcting the thigh angle. As described above, in the joint angle estimation unit 116, the thigh angle (the angle of the thigh mounting unit 23 with respect to the base 10) θpd and the thigh bone axis 3
Assuming that the inclination of 11 (a straight line connecting the hip joint 2 and the knee joint 4) is the same, the hip joint angle θh is obtained, and the lower leg angle (angle of the lower leg mounting portion 33 with respect to the base 10) θpk and the lower leg bone axis. The angle θk of the knee joint was calculated on the assumption that the inclinations of the straight line connecting the knee joint 4 and the ankle joint 6 are the same. But in reality,
Since there are individual differences in the shapes of the thigh 3 and the lower leg 5, a deviation due to an individual difference occurs between the mounting portion and the bone axis, and this deviation becomes an error at the time of estimation. The joint angle correction unit of the present invention is for correcting the deviation generated between the mounting unit and the bone axis,
Perform the correction according to the following procedure. The inertial and elastic parameters of impedance control are set to 0, and the control is switched so that the mechanical unit moves freely following the movement of the leg. The operator holds the lower leg 5 and the bone shaft 3 of the lower leg 5 as shown in FIG.
Move 12 so that it is horizontal. Bone shaft 312 of the lower leg 5
As a method of aligning the
The lower limb drive is installed so that the limb is horizontal, and a level is placed on the lower leg 5 to align it horizontally, or a jig that regulates the lower limb drive so that it is horizontal to the base is provided. There is a method of aligning the bone shaft 312 with the jig, but either one may be selected. The switch 301 provided on the lower leg mounting portion 33 is pressed, and the value of the lower leg angle detector 34 is stored in the memory as an offset θk_off = −θpk generated between the lower leg mounting portion 33 and the bone shaft 312 of the lower leg portion 5. The lower leg angle θpk ′ of the patient 1 is corrected by the following equation using the offset θk_off. θpk '= θpk + θk_off = θpk_real + θpk_off + θ J2 + θ J3 + θk_off ( Equation 10) then the operator as the crus 5 has 7 of the patient 1, thereby extending the knee joint 4, the femoral 3 bone shaft 311 And lower leg 5
The thigh portion 3 and the lower leg portion 5 are moved so that the bone axis 312 of is aligned. The switch 301 provided on the lower leg mounting portion 33 is pressed, and the difference between the lower leg angle θpk ′ and the thigh angle θpd is generated between the thigh mounting portion 23 and the bone axis 311 of the thigh 3 θd_off =
It is stored in the memory as θpk′−θpd. The thigh angle θpd ′ of the patient 1 is corrected using the deviation θd_off according to the following equation.
【００２２】 θpd’＝θpd＋θd_off ＝ θpd_real＋θpd_off＋θd_off （式１１）[0022] θpd '= θpd + θd_off = Θpd_real + θpd_off + θd_off (Equation 11)
【００２３】股関節２の角度θhと膝関節４の角度θk
は、補正後の大腿角度θpd’と下腿角度θpk’とから下
記の式で求めれば良い。The angle θh of the hip joint 2 and the angle θk of the knee joint 4
Can be obtained from the corrected thigh angle θpd ′ and lower leg angle θpk ′ by the following formula.
【００２４】 股関節２の角度：θh ＝ θpd’ （式１２） 膝関節４の角度：θk ＝ θpd’−θpk’ （式１３）[0024] Angle of hip joint 2: θh = θpd '(Equation 12) Angle of knee joint 4: θk = θpd'-θpk '(Equation 13)
【００２５】図８は、本発明の下肢駆動装置の表示部に
表示されるデータ表示の例を示す図であり、図８（ａ）
は健常者の関節角度と関節負荷を時間軸を共通にして上
下２段のグラフとして表示した例を示し、図8（ｂ）は
患者の関節角度と関節負荷を同様に表示した例を示す。
上段の関節角度グラフは、横軸に時間、縦軸に関節角度
をとり、股関節角度データ５０１を実線で、膝関節角度
データ５０２を点線で示している。下段の関節負荷グラ
フは、横軸に時間、縦軸に関節負荷をとり、股関節負荷
データ５０３を実線で、膝関節負荷データ５０４を点線
で示している。本実施例では、時間軸を共通にして、股
関節と膝関節の角度を同時に表示するため、データから
訓練中の運動パターンを容易に知ることができる。例え
ば、関節角度グラフに示すデータは、股関節２と膝関節
４を同時に屈曲する屈曲運動を行った後で、膝関節４を
伸展したまま股関節２を屈曲するＳＬＲ運動を行ってい
ることがわかる。また、本実施例では、各関節の角度に
加えて各関節の負荷を同時に表示するため、データから
訓練中の筋の状態を容易に知ることができる。患者の関
節負荷グラフの屈曲運動時の関節負荷をみると、最大屈
曲時ではなく、屈曲と伸展の途中で負荷が最大となって
いる。これは、関節可動域の途中で筋肉が硬くなるジャ
ックナイフ現象と呼ばれるもので、表示したデータから
患者の筋に痙性が生じていることがわかる。更に、健常
者と患者の関節角度グラフを比べると、屈曲運動では、
膝関節・股関節ともに同じ角度まで曲がっているが、Ｓ
ＬＲ運動では、健常者に比べて患者の膝関節が伸びず、
股関節も曲がっていないことがわかる。また、健常者と
患者の関節負荷グラフを比べると、健常者に比べＳＬＲ
運動における患者の関節負荷が、股関節・膝関節ともに
大きいことがわかる。これは、患者の２関節筋が短縮し
ているために観られる現象であり、このような現象は、
１関節ごとの関節角度と関節負荷の表示ではとらえるこ
とができないものである。FIG. 8 is a diagram showing an example of data display displayed on the display unit of the lower limb drive apparatus of the present invention.
Shows an example in which the joint angle and joint load of a healthy person are displayed as a two-stage graph with the time axis being common, and FIG. 8B shows an example in which the joint angle and joint load of the patient are similarly displayed.
In the upper joint angle graph, the horizontal axis represents time and the vertical axis represents the joint angle, and hip joint angle data 501 is shown by a solid line and knee joint angle data 502 is shown by a dotted line. In the lower joint load graph, the horizontal axis represents time and the vertical axis represents joint load, and hip joint load data 503 is shown by a solid line and knee joint load data 504 is shown by a dotted line. In this embodiment, since the time axis is common and the angles of the hip joint and the knee joint are displayed at the same time, the exercise pattern during training can be easily known from the data. For example, the data shown in the joint angle graph shows that after performing the flexion motion of flexing the hip joint 2 and the knee joint 4 at the same time, the SLR motion of flexing the hip joint 2 with the knee joint 4 extended is performed. Further, in the present embodiment, since the load of each joint is displayed simultaneously in addition to the angle of each joint, the state of the muscle being trained can be easily known from the data. Looking at the joint load during flexion exercise in the joint load graph of the patient, the load is maximum not during maximum flexion but during flexion and extension. This is called the Jackknife phenomenon in which the muscle becomes hard during the range of motion of the joint, and it can be seen from the displayed data that the patient's muscles are spastic. Furthermore, comparing the joint angle graphs of healthy subjects and patients, in flexion exercise,
Both knee and hip joints are bent to the same angle, but S
In the LR exercise, the knee joint of the patient does not stretch compared to a healthy person,
You can see that the hip joint is not bent either. Also, comparing the joint load graphs of healthy subjects and patients, the SLRs are better than those of healthy subjects.
It can be seen that the patient's joint load during exercise is large for both hip and knee joints. This is a phenomenon observed because the patient's biarticular muscle is shortened, and such a phenomenon is
It cannot be grasped by displaying the joint angle and joint load for each joint.
【００２６】図８（ｃ）、図８（ｄ）は、横軸に関節角
度、縦軸に関節負荷をとり、関節角度と関節負荷の関係
をリサージュ図形として表示する例を示す図であり、
（ｃ）は健常者の例、（d）は患者の例を示す。上段は
股関節のリサージュ図を、下段に膝関節のリサージュ図
を、横軸に関節角度を縦軸に関節負荷をとり表示してい
る。本実施例では、関節角度と関節負荷のリサージュ図
形として表示するため、図形の形や面積から訓練中の患
者の状態を容易に知ることができる。例えば、健常者と
患者の股関節のリサージュ図を比較すると、患者のデー
タでは、屈曲時と伸展時で負荷の大きさに違いがあるた
め、健常者のリサージュ図に比べて患者のリサージュ図
の面積が大きいことがわかる。また、健常者と患者の膝
関節のリサージュ図を比較すると、健常者のリサージュ
図に比べて患者のリサージュ図の形に歪みがみられ、こ
れにより患者の膝に障害があることがわかる。なお、以
上のようなデータ表示が容易に行なえるように、本発明
の下肢駆動装置においては、関節角度推定部１１６で推
定した股関節角度データと膝関節角度データ、関節負荷
推定部１１７で推定した股関節負荷データと膝関節負荷
データを、時間的に同期がとれた形で保存するために
は、データを記録する順序を決めて一定周期ごとに保存
部（メモリ）１２０に収納し、時間的に同期がとれた形
で保存する。このように股関節角度データ、膝関節角度
データ、股関節負荷データ、膝関節負荷データが時間的
に同期のとれた形で保存することができるため、前記の
ようにデータを時系列に並べたり、同じタイミングで記
録された複数のデータを関連付けて表示することが、フ
ラインでも可能となる。FIGS. 8 (c) and 8 (d) are diagrams showing an example in which the horizontal axis represents the joint angle and the vertical axis represents the joint load, and the relationship between the joint angle and the joint load is displayed as a Lissajous figure.
(C) shows an example of a healthy person, (d) shows an example of a patient. The upper chart shows the Lissajous chart of the hip joint, the lower chart shows the Lissajous chart of the knee joint, the horizontal axis represents the joint angle, and the vertical axis represents the joint load. In this embodiment, since the joint angle and the joint load are displayed as a Lissajous figure, the state of the patient under training can be easily known from the shape and area of the figure. For example, when comparing the Lissajous chart of the hip joint between the healthy subject and the patient, in the patient data, there is a difference in the magnitude of the load during flexion and extension, so the area of the Lissajous chart for the patient is larger than that for the healthy subject. It turns out that is large. In addition, when comparing the Lissajous diagram of the knee joint between the healthy subject and the patient, the shape of the Lissajous diagram of the patient is distorted as compared with the Lissajous diagram of the healthy subject, which indicates that the knee of the patient has a disorder. In the lower limb drive apparatus of the present invention, the hip joint angle data and the knee joint angle data estimated by the joint angle estimating unit 116 and the joint load estimating unit 117 are estimated so that the above data display can be easily performed. In order to store the hip joint load data and the knee joint load data in a time-synchronized form, the order in which the data is recorded is determined, and the data is stored in the storage unit (memory) 120 at regular intervals. Save in a synchronized fashion. As described above, the hip joint angle data, the knee joint angle data, the hip joint load data, and the knee joint load data can be stored in a time-synchronized form. It is also possible to display a plurality of pieces of data recorded at timings in association with each other.
【００２７】図１に示すように、関節可動域監視部１２
２は関節角度推定部１１６で推定した膝関節角度データ
を常時監視しているが、ここで関節可動域監視部１２２
の機能について図９に基づいて説明する。図９は、関節
可動域監視部１２２について説明するための説明図であ
る。図に示すように、膝関節４の関節角度について、警
告の設定値をθ１、一時停止の設定値をθ２、非常停止
の設定値をθ３とし、あらかじめパラメータとして設定
しておく。膝関節角度データが、θ１以下のときは関節
可動域監視部１２２は膝関節角度が「正常」の範囲にあ
ると判断して何もしないが、膝関節角度データが、θ１
〜θ２の範囲にある時は、「警告」と判断して、警告音
（声）の発声、警告ランプの点灯あるいは点滅、警告の
ための図形または文字の画面表示をする。膝関節角度デ
ータがθ２〜θ３の範囲にある時は、「一時停止」と判
断して、教示時にあってはインピーダンス制御の停止、
訓練時にあってはプレーバックの停止を行なう。膝関節
角度データがθ３以上の時は、「非常停止」と判断して
サーボ電源を落とす。膝関節４の屈曲方向や、股関節２
についても同様に行なう。As shown in FIG. 1, the joint range of motion monitoring unit 12
2 constantly monitors the knee joint angle data estimated by the joint angle estimating unit 116, but here, the joint range of motion monitoring unit 122
The function of will be described with reference to FIG. FIG. 9 is an explanatory diagram for explaining the joint movable range monitoring unit 122. As shown in the figure, for the joint angle of the knee joint 4, a warning set value is θ1, a temporary stop set value is θ2, and an emergency stop set value is θ3, which are set as parameters in advance. When the knee joint angle data is θ1 or less, the joint range of motion monitoring unit 122 determines that the knee joint angle is within the “normal” range and does nothing, but the knee joint angle data is θ1.
When it is in the range of .about..theta.2, it is judged as "warning", and a warning sound (voice) is uttered, a warning lamp is turned on or blinks, and a graphic or character for warning is displayed on the screen. When the knee joint angle data is in the range of θ2 to θ3, it is judged as “temporary stop”, and impedance control is stopped at the time of teaching,
Playback is stopped at the time of training. When the knee joint angle data is θ3 or more, it is judged as "emergency stop" and the servo power is turned off. Bending direction of knee joint 4 and hip joint 2
The same applies to.
【００２８】図１に示すように、関節負荷監視部１２３
は関節負荷推定部１１７で推定した膝負荷データを常時
監視しているが、ここで関節負荷監視部１２３の機能に
ついて図１０に基づいて説明する。図１０は、関節負荷
監視部１２３について説明するための説明図である。図
に示すように、膝関節４の関節負荷について、警告の設
定値をτ１、一時停止の設定値をτ２、非常停止の設定
値をτ３とし、あらかじめパラメータとして設定してお
く。関節負荷推定部１１７で推定した膝関節負荷データ
がτ１以下の場合は、関節負荷監視部１２３は関節負荷
が「正常」の範囲にあると判断して何もしないが、関節
負荷データが、τ１〜τ２の範囲にある時は、「警告」
と判断して、警告音（声）の発声、警告ランプの点灯あ
るいは点滅、警告のための図形または文字の画面表示を
する。関節負荷データがτ２〜τ３の範囲にある時は
「一時停止」と判断して、教示時にあってはインピーダ
ンス制御の停止、訓練時にあってはプレーバックの停止
を行ない、τ３以上の時は「非常停止」と判断してサー
ボ電源を落とす。膝関節４の屈曲方向や、股関節２につ
いても同様に行なう。なお、本実施例では、警告、一時
停止、非常停止の条件をそれぞれ一定のパラメータとし
て設定しているが、加えて良い関節負荷は、疾患や訓練
の内容、患者の状態などにより変わってくるため、疾患
や訓練の内容によりパラメータを選択する機能や患者ご
とにパラメータを調整する機能を設けても良い。As shown in FIG. 1, the joint load monitoring unit 123.
Constantly monitors the knee load data estimated by the joint load estimating unit 117. Here, the function of the joint load monitoring unit 123 will be described with reference to FIG. FIG. 10 is an explanatory diagram for explaining the joint load monitoring unit 123. As shown in the figure, regarding the joint load of the knee joint 4, the warning set value is τ1, the temporary stop set value is τ2, and the emergency stop set value is τ3, which are set as parameters in advance. If the knee joint load data estimated by the joint load estimating unit 117 is τ1 or less, the joint load monitoring unit 123 determines that the joint load is within the “normal” range and does nothing, but the joint load data is τ1. "Warning" when it is in the range of ~ τ2
Then, a warning sound (voice) is uttered, a warning lamp is lit or blinked, and a graphic or character for warning is displayed on the screen. When the joint load data is in the range of τ2 to τ3, it is judged as "temporary stop", impedance control is stopped at the time of teaching, and playback is stopped at the time of training. Turn off the servo power by judging "emergency stop". The same applies to the bending direction of the knee joint 4 and the hip joint 2. In this embodiment, the conditions of warning, temporary stop, and emergency stop are set as constant parameters, but the joint load that may be added varies depending on the disease, training content, patient condition, etc. A function for selecting parameters according to the disease or the content of training or a function for adjusting parameters for each patient may be provided.
【００２９】[0029]
【発明の効果】以上述べたように、本発明によれば、股
関節と膝関節の２つの関節について、関節角度と関節負
荷を同時に計測し表示・保存することができるため、２
つの関節に付随して運動する関節筋などより複雑な下肢
の運動の解析が可能となる。また、計測した関節角度と
関節負荷を常に監視することでより安全な装置の提供が
可能となる。As described above, according to the present invention, the joint angle and the joint load can be simultaneously measured and displayed / saved for the two joints of the hip joint and the knee joint.
It is possible to analyze more complicated lower limb movements such as joint muscles that move with one joint. In addition, a safer device can be provided by constantly monitoring the measured joint angle and joint load.
【図１】本発明の実施例を示す下肢駆動装置のブロック
図である。FIG. 1 is a block diagram of a lower limb drive device showing an embodiment of the present invention.
【図２】本発明の実施例を示す関節角度推定部のブロッ
ク図である。FIG. 2 is a block diagram of a joint angle estimating unit showing an embodiment of the present invention.
【図３】関節角度を推定する方法を説明する説明図であ
る。FIG. 3 is an explanatory diagram illustrating a method of estimating a joint angle.
【図４】本発明の実施例を示す関節負荷推定部のブロッ
ク図である。FIG. 4 is a block diagram of a joint load estimating unit showing an embodiment of the present invention.
【図５】関節負荷を推定する方法を説明する説明図であ
る。FIG. 5 is an explanatory diagram illustrating a method for estimating a joint load.
【図６】大腿角度を補正するためのオフセットの求め方
の説明図である。FIG. 6 is an explanatory diagram of how to obtain an offset for correcting the thigh angle.
【図７】下腿角度を補正するためのオフセットの求め方
の説明図である。FIG. 7 is an explanatory diagram of how to obtain an offset for correcting the lower leg angle.
【図８】表示部に表示されるデータ表示の例を示す図で
あり、（ａ）は健常者の関節角度と関節負荷を時系列に
表示したグラフであり、（ｂ）は患者の関節角度と関節
負荷を時系列に表示したグラフであり、（ｃ）は健常者
の関節の角度と負荷のリサージュであり、（ｄ）は患者
の関節の角度と負荷のリサージュである。FIG. 8 is a diagram showing an example of data display displayed on the display unit, (a) is a graph showing joint angles and joint loads of a healthy person in time series, and (b) is a joint angle of a patient. And (c) is a graph showing a joint load and a joint load in a time series, (c) is a joint angle and a load Lissajous of a healthy person, and (d) is a joint angle and a load Lissajous of a patient.
【図９】関節可動域監視部について説明するための説明
図である。FIG. 9 is an explanatory diagram illustrating a joint movable range monitoring unit.
【図１０】関節負荷監視部について説明するための説明
図である。FIG. 10 is an explanatory diagram illustrating a joint load monitoring unit.
１：患者、２：股関節、３：大腿部、４：膝関節 ５：
下腿部、６：足関節、１０：基台、２０：大腿用運動機
構部、２１：第１リンク、２２：第２リンク、２３：大
腿装着部、２４：大腿角度検出器、２５：大腿力検出
器、３０：下腿用運動機構部、３１：第３リンク、３
２：第４リンク、３３：下腿装着部、３４：下腿角度検
出器、３５：下腿力検出器、１１１：機構部、１１６：
関節角度推定部、１１７：関節負荷推定部、１１８：関
節角度補正部、１１９：表示部、１２０：保存部（メモ
リ）、１２１：訓練データ（ファイル）、１２２：関節
可動域監視部、１２３：関節負荷監視部、３０１：スイ
ッチ、３１１、３１２：骨軸、1: Patient, 2: Hip joint, 3: Thigh, 4: Knee joint 5:
Lower leg, 6: Ankle joint, 10: Base, 20: Thigh movement mechanism part, 21: First link, 22: Second link, 23: Thigh attachment part, 24: Thigh angle detector, 25: Thigh Force detector, 30: lower leg movement mechanism section, 31: third link, 3
2: 4th link, 33: Lower leg attachment part, 34: Lower leg angle detector, 35: Lower leg force detector, 111: Mechanism part, 116:
Joint angle estimation unit 117: Joint load estimation unit 118: Joint angle correction unit 119: Display unit 120: Storage unit (memory) 121: Training data (file) 122: Joint range of motion monitoring unit 123: Joint load monitoring unit, 301: switch, 311, 312: bone axis,
Claims (14)
り付けられて患者の大腿を固定する大腿装着部を備え、
前記アームの動作によって前記患者の股関節を回転駆動
する下肢駆動装置において、前記アームと前記大腿装着
部の成す角度を検出する大腿角度検出器と、前記大腿角
度検出器で検出された角度をもとに前記患者の股関節の
角度を推定する股関節角度推定部を備えることを特徴と
する下肢駆動装置。1. An arm and a thigh mounting portion rotatably attached to a tip of the arm to fix the patient's thigh,
In the lower limb drive device that rotationally drives the hip joint of the patient by the operation of the arm, a thigh angle detector that detects an angle formed by the arm and the thigh attachment portion, and an angle detected by the thigh angle detector are used as a basis. The lower limb drive device further comprising a hip joint angle estimation unit that estimates the hip joint angle of the patient.
り付けられて患者の下腿を固定する下腿装着部を備え、
前記アームの動作によって前記患者の膝関節を回転駆動
する下肢駆動装置において、前記アームと前記下腿装着
部の成す角度を検出する下腿角度検出器と、前記下腿角
度検出器で検出された角度をもとに前記患者の膝関節の
角度を推定する膝関節角度推定部を備えたことを特徴と
する下肢駆動装置。2. An arm and a lower leg mounting portion rotatably attached to a tip of the arm for fixing the lower leg of a patient,
In the lower limb drive device that rotationally drives the knee joint of the patient by the operation of the arm, a lower leg angle detector that detects an angle formed by the arm and the lower leg attachment portion, and an angle detected by the lower leg angle detector are also included. A lower limb drive device further comprising a knee joint angle estimation unit that estimates the angle of the knee joint of the patient.
先端に回転自在に取り付けた第１のアームと、前記第１
のアームと前記大腿装着部の成す角度を検出する大腿角
度検出器と、前記大腿角度検出器で検出された角度をも
とに前記患者の股関節の角度を推定する股関節角度推定
部と、前記患者の下腿部を固定する下腿装着部をその先
端に回動自在に取り付けた第２のアームと、前記第２の
アームと前記下腿装着部の成す角度を検出する下腿角度
検出器と、前記下腿角度検出器で検出された角度をもと
に前記患者の膝関節の角度を推定する膝関節角度推定部
を備えることを特徴とする下肢駆動装置。3. A first arm rotatably attached to a distal end of a thigh mounting portion for fixing the thigh of a patient, and the first arm.
A thigh angle detector that detects an angle between the arm and the thigh attachment part, a hip joint angle estimator that estimates the hip joint angle of the patient based on the angle detected by the thigh angle detector, and the patient A second arm having a lower leg mounting portion for fixing the lower leg portion rotatably attached to its tip; a lower leg angle detector for detecting an angle formed by the second arm and the lower leg mounting portion; A lower limb drive apparatus comprising a knee joint angle estimation unit that estimates the angle of the knee joint of the patient based on the angle detected by the angle detector.
から、前記患者の下腿部の骨軸を水平にした時に前記下
腿角度検出器で検出された角度の値を差し引いた値を用
いて、前記患者の膝関節の角度を推定することを特徴と
する請求項２または請求項３に記載の下肢駆動装置。4. A value obtained by subtracting the value of the angle detected by the lower leg angle detector when the bone axis of the lower leg of the patient is horizontal from the value of the angle detected by the lower leg angle detector. The lower limb drive apparatus according to claim 2 or 3, wherein the angle of the knee joint of the patient is estimated by using the angle.
に、前記患者の膝を伸展させて、前記患者の下腿部の骨
軸と大腿部の骨軸が同一直線になるように調整したとき
に前期下腿角度検出器で検出された角度の値から同じと
きに前記大腿角度検出器で検出された角度の値を差し引
いた値を加えた値を用いて、前記患者の股関節の角度を
推定することを特徴とする請求項２から請求項４までの
いずれかに記載の下肢駆動装置。5. The knee of the patient is extended to the value of the angle detected by the thigh angle detector so that the bone axis of the lower leg of the patient and the bone axis of the thigh are on the same straight line. The value obtained by subtracting the value of the angle detected by the thigh angle detector at the same time from the value of the angle detected by the lower leg angle detector when adjusted to the The lower limb drive device according to any one of claims 2 to 4, wherein the angle is estimated.
出する大腿力検出器と、前記大腿力検出器の出力と前記
大腿角度検出器の出力から前記患者の股関節に加わる負
荷を推定する股関節負荷推定部を備えることを特徴とす
る請求項１に記載の下肢駆動装置。6. A thigh force detector for detecting a force between the arm and the thigh mounting portion, and estimating a load applied to a hip joint of the patient from outputs of the thigh force detector and the thigh angle detector. The lower limb drive apparatus according to claim 1, further comprising a hip joint load estimation unit that operates.
出する下腿力検出器と、前記下腿力検出器の出力と前記
下腿角度検出部の出力から前記患者の膝関節に加わる負
荷を推定する膝関節負荷推定部を備えることを特徴とす
る請求項２に記載の下肢駆動装置。7. A lower leg force detector for detecting a force between the arm and the lower leg mounting portion, a load applied to a knee joint of the patient from an output of the lower leg force detector and an output of the lower leg angle detecting portion. The lower limb drive device according to claim 2, further comprising a knee joint load estimation unit for estimating.
を検出する大腿力検出器と、前記大腿力検出器の出力と
前記大腿角度検出器の出力から前記患者の股関節に加わ
る負荷を推定する股関節負荷推定部と、前記第２アーム
と前記下腿装着部の間の力を検出する下腿力検出器と、
前記下腿力検出器の出力と前記下腿角度検出器の出力か
ら前記患者の膝関節に加わる負荷を推定する膝関節負荷
推定部を備えることを特徴とする請求項３に記載の下肢
駆動装置。8. A thigh force detector for detecting a force between the first arm and the thigh attachment portion, an output of the thigh force detector, and a load applied to the hip joint of the patient from the output of the thigh angle detector. A hip joint load estimation unit that estimates the force, and a lower leg force detector that detects a force between the second arm and the lower leg attachment unit,
The lower limb drive apparatus according to claim 3, further comprising a knee joint load estimation unit that estimates a load applied to the knee joint of the patient from the outputs of the lower leg force detector and the lower leg angle detector.
した値と比較して、その結果の大小により、警告、一時
停止、非常停止のいずれかを選択して実行する関節可動
域監視部を備えることを特徴とする請求項１または請求
項３に記載の下肢駆動装置。9. A joint range of motion monitoring unit that compares the output of the hip joint angle estimating unit with a preset value and selects and executes warning, temporary stop, or emergency stop depending on the magnitude of the result. The lower limb drive device according to claim 1 or 3, further comprising:
定した値と比較して、その結果の大小により、警告、一
時停止、非常停止のいずれかを選択して実行する関節可
動域監視部を備えることを特徴とする請求項２または請
求項３に記載の下肢駆動装置。10. The range of motion of the joint is compared by comparing the output of the knee joint angle estimating unit with a preset value and selecting either warning, temporary stop or emergency stop according to the magnitude of the result. The lower limb drive device according to claim 2 or 3, further comprising a portion.
膝関節角度推定部の出力を事前に設定した値と比較し
て、その結果の大小により、警告、一時停止、非常停止
のいずれかを選択して実行する関節可動域監視部を備え
ることを特徴とする請求項３に記載の下肢駆動装置。11. The output of the hip joint angle estimating section or the output of the knee joint angle estimating section is compared with a preset value, and either warning, temporary stop or emergency stop is selected depending on the magnitude of the result. The lower limb drive apparatus according to claim 3, further comprising a joint range-of-movement monitoring unit that is executed.
定した値と比較して、その結果の大小により、警告、一
時停止、非常停止のいずれかを選択して実行する関節負
荷監視部を備えることを特徴とする請求項６または請求
項８に記載の下肢駆動装置。12. A joint load monitoring unit that compares the output of the hip joint load estimation unit with a preset value and selects and executes any one of warning, temporary stop, and emergency stop depending on the magnitude of the result. The lower limb drive device according to claim 6 or 8, further comprising:
定した値と比較して、その結果の大小により、警告、一
時停止、非常停止のいずれかを選択して実行する関節負
荷監視部を備えることを特徴とする請求項７または請求
項８に記載の下肢駆動装置。13. A joint load monitoring unit that compares the output of the knee joint load estimation unit with a preset value and selects and executes warning, temporary stop, or emergency stop according to the magnitude of the result. The lower limb drive device according to claim 7 or 8, further comprising:
膝関節負荷推定部の出力を事前に設定した値と比較し
て、その結果の大小により、警告、一時停止、非常停止
のいずれかを選択して実行する関節負荷監視部を備える
ことを特徴とする請求項８に記載の下肢駆動装置。14. Comparing the output of the hip joint load estimation unit or the output of the knee joint load estimation unit with a preset value, and selects one of warning, temporary stop, and emergency stop depending on the magnitude of the result. The lower limb drive apparatus according to claim 8, further comprising a joint load monitoring unit that executes the above.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001265899A JP4702585B2 (en) | 2001-09-03 | 2001-09-03 | Lower limb drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001265899A JP4702585B2 (en) | 2001-09-03 | 2001-09-03 | Lower limb drive device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2003070855A true JP2003070855A (en) | 2003-03-11 |
| JP2003070855A5 JP2003070855A5 (en) | 2008-06-26 |
| JP4702585B2 JP4702585B2 (en) | 2011-06-15 |
Family
ID=19092296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001265899A Expired - Fee Related JP4702585B2 (en) | 2001-09-03 | 2001-09-03 | Lower limb drive device |
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| Country | Link |
|---|---|
| JP (1) | JP4702585B2 (en) |
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| CN109662866A (en) * | 2019-02-01 | 2019-04-23 | 中山大学 | A kind of adaptive healing robot control method based on performance |
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| Publication number | Publication date |
|---|---|
| JP4702585B2 (en) | 2011-06-15 |
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