JP2003250844A - Power assistance leg - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To produce a force overpowering a vertical force exceeding the tolerance by the strength of the legs exceeding the ability of a human being. <P>SOLUTION: The power assistance leg having a fixed portion worn on a leg portion, a bending portion bending, following the movement of the leg portion, a driving portion providing an extension and contraction force to the bending portion, and a sensor portion detecting the movement of the leg portion, and a control portion controlling the driving portion so as to extend and contract the bending portion in the same manner as the leg portion from an electrical signal of the sensor portion, and can extend the leg portion from the bent condition against a vertical force exceeding the tolerance. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fixing portion to be mounted on a leg portion, a bending portion that bends according to the movement of the leg portion, a drive portion that gives a bending and stretching force to the bending portion, and a leg portion. The present invention relates to a power assist leg that includes a sensor unit that detects a movement, and a control unit that controls the drive unit so that the bending portion bends and extends in the same movement as the leg portion based on an electric signal from the sensor unit.

[0002]

2. Description of the Related Art Conventionally, a person drives a leg by his own force. Therefore, when a force exceeding the tolerance of itself is applied in the vertical direction, a person cannot extend the leg from the bent state to the vertically upward direction. For example, there is a problem that when a caregiver performs a nursing operation such as holding and transporting a bedridden patient in nursing care, the burden on the waist becomes large and back pain is likely to occur. Further, in order to eliminate low back pain, supporters for holding the lower back are used and widely used, but the root cause has not been solved yet.

[0003]

When a force in excess of one's own allowance is applied in the vertical direction, a person cannot extend a leg from a bent state. However, since it may have a significant impact on the human body, there was a need for a method that has more leg power than the ability without significantly affecting the human body. Further, there is no method for easily detecting the movement of the leg.

The present invention has been proposed in order to deal with the above situation, and it is possible to generate a force exceeding the allowable vertical force with a leg force higher than human ability. A fixing part to be attached to the leg part, a bending part that bends in accordance with the movement of the leg part, a driving part that gives a bending and stretching force to the bending part, and a sensor part that detects the movement of the leg part, An object of the present invention is to provide a power assist leg that includes a control unit that controls the drive unit so that the bending portion bends and extends in the same movement as the leg portion based on the electric signal of the sensor unit.

[0005]

[Means for Solving the Problems] A fixing portion to be mounted on a leg portion, a bending portion that bends in accordance with the movement of the leg portion, a drive portion that gives a bending and stretching force to the bending portion, and a movement of the leg portion From the sensor part to detect and the electric signal of this sensor part,
A power assist leg having a control unit that controls the drive unit so that the bending portion bends and extends in the same manner as the leg portion, and the leg portion is bent with respect to a vertical force exceeding its own allowance. You will be able to extend from the state.
Further, only the sensor part provided in the shoe part or a combination of sensors that directly detect the movement of muscles, detects the force when a person extends from the bent state of the leg, and outputs an electric signal to the control part. By assisting through the drive,
People can behave as if they exerted more power than their ability.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an explanatory diagram showing a half of the configuration of a power assist leg according to an embodiment of the present invention, which is symmetrical. The figure a is an explanatory view seen from the front side, and the figure b is an explanatory view seen from the side. The artificial leg 1 includes a fixing portion 2 to be mounted on the leg portion, a bending portion 3 that bends in accordance with the movement of the leg portion, a drive portion and a gear portion 4 that give a bending and stretching force to the bending portion, and a leg portion. A sensor unit 5 for detecting the movement of the driver, a control unit 6 for controlling the drive unit so as to bend and bend the bent portion in a movement similar to that of the leg, based on an electric signal from the sensor unit, a power supply unit 7, And a waist holding portion 8.

The leg portion 1'of the power assist leg 1 is made of a metal such as aluminum / magnesium / calcium / titanium or an alloy containing the main component, or a resin such as polyurethane resin / polyamide resin / fluorine resin / polyester resin, or the main component. And a resin mixture. The power assist leg's leg 1'can be fixed to a human's leg via the fixing portion 2, and it can be fitted into the human's leg from the rear or can cover the leg, such as a belt or a velcro (registered trademark). Alternatively, the fixing method may be used. The leg portion 1 ′ of the power assist leg can be freely rotated by the bent portion 3. The drive section 4 allows the bending section 3 to freely change the angle θ between the legs. Drive unit 4
, A motor, an air actuator, or a hydraulic motor can be applied, and a large torque is obtained by a combination of gears.The bent portion drives the rotation of the motor through a pinion-rack mechanism, a piston-crank mechanism, or a pulley. It can also be driven by changing the linear motion by the belt drive. In addition, the bent portion is provided with a stopper so that the angle θ ′ of the human leg does not exceed 180 °. In addition, the drive unit is an elastic body that does not require a drive power source,
Alternatively, a magnetic repulsive force between the same poles of a permanent magnet material or an electromagnet may be used.

[0008] A person wearing a power assist leg can use the sensor portion 5 provided in the shoe portion or a combination of the sensor portion 5 and the sensor portion that can be installed on the fixed portion 2 to detect the movement of the muscle of the leg portion. By detecting the force applied to the leg when extending from the bent state, outputting an electric signal to the control unit and assisting through the drive unit, it is possible for a person to behave as if he or she exerted force beyond the ability become.

FIG. 2 is an explanatory view showing the arrangement of sensors for detecting the movement of the legs provided on the shoe. Reference numeral 9 indicates the sole of the foot, and the sensors are arranged at the toe and heel at the position of 10. To be done.

FIG. 3 is an explanatory view showing an arrangement of sensors provided in a portion where the power assist leg comes into contact with a muscle of a human leg, 11 is a human thigh, and 12 is a human knee. Yes, the sensor is located 13 below the anterior thigh muscle.

FIG. 4 is an explanatory view showing how to detect the force applied to a person's leg. As one embodiment, the toe part of the sole of the foot or the like can be detected according to the force applied to the leg in a bent state. The electrical signal output from the sensor attached to the heel, according to the change in the force applied when stretching the bent leg, in response to the electrical signal output from the sensor attached to the heel. There is a correlation between the forces applied to the legs, and the force detected based on this correlation is detected as an electrical signal, and the force based on the correlation is output to the drive unit via the control unit. Here, the number of sensors provided may be one or a plurality of two or more.

An embodiment of the operation using the present invention will be described below. For example, there is a problem that when a caregiver holds a bedridden patient and performs an operation such as transportation in nursing care, the burden on the waist is large and back pain is likely to occur. For example, in the case of a lifting motion, the power assist leg of the present invention is attached, the caregiver bends the leg, turns his / her hand from the neck and waist of the bedridden patient, and connects his / her hand below the back of the bedridden patient. In order to reduce the burden on the caregiver when pulling the upper body toward the caregiver and extending the bent leg at this time by assisting with the power assist leg, try to lift the bedridden patient on the leg when holding it up. Force is applied to the sensor arranged in the direction of the sole of the shoe, an electric signal is output from the sensor, the output electric signal is input to the control unit, and the control unit works to drive the leg of the power assist leg. A command is issued to drive the angle θ in a direction to widen, and as a result, the force exerted by the caregiver is reduced as compared with the case where the power assist leg is not attached.

[0013]

The present invention is constructed as described above, and includes a fixing portion to be mounted on a leg portion, a bending portion which bends in accordance with the movement of the leg portion, and a drive portion which gives bending force to the bending portion. ,
A power assist leg including a sensor unit that detects the movement of the leg unit and a control unit that controls the drive unit so that the bending unit bends and extends in the same movement as the leg unit based on an electric signal from the sensor unit. By this, it becomes possible to extend the leg portion from the bent state with respect to the vertical force exceeding the allowance. In addition, a sensor provided in the shoe portion detects a force when a person extends vertically upward from the bent state of the leg portion, outputs an electric signal to the control portion, and assists through the drive portion, thereby the person You will be able to act as if you exerted more power than you were capable of.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a one-leg configuration of a power assist leg according to an embodiment of the present invention.

FIG. 2 is an explanatory view showing an arrangement of sensors for detecting movement of legs provided on a shoe.

FIG. 3 is an explanatory diagram showing an arrangement of sensors provided in a portion where a power assist leg comes into contact with a muscle of a human leg.

FIG. 4 is an explanatory diagram showing the output characteristics of the sensor section 5 and the drive section in one embodiment of the present invention.

[Explanation of symbols]

1 power assist leg 2 Fixed part 3 bends 4 Drive and gear 5 Sensor section 6 control unit 7 power supply 8 Waist support 9 soles 10 Sensor position on the sole 11 people's thighs 12 knees 13 Thigh sensor position

Claims (20)

[Claims] 1. A power assist leg, characterized in that when a person moves his or her weight, a drag force from the floor is detected, the movement of the leg is estimated, and the movement of the leg is assisted. 2. A fixing part to be mounted on a leg, a bending part that bends according to the movement of the leg, a drive part that applies a bending and stretching force to the bending part, and a sensor part that detects the movement of the leg part. And a control unit that controls the drive unit so that the bending portion bends and extends in the same movement as the leg portion based on an electric signal of the sensor unit, and assists the movement of the human leg portion. And power assist legs. 3. A fixing part to be mounted on a leg, a bending part that bends in accordance with the movement of the leg, a drive part that applies a bending and stretching force to the bending part, and a sensor part that detects the movement of the leg part. And a control unit that controls the drive unit so that the bending unit bends and extends in the same movement as the leg unit based on an electric signal of the sensor unit, and a holding unit that holds the human waist. A power assist leg that assists the movement of the legs of the. 4. The power assist leg according to claim 2, wherein the sensor section for detecting the movement of the leg section has a shoe section below the power assist leg, and the sensor is installed on the shoe section. 5. The power according to claim 2, wherein the sensor unit for detecting the movement of the leg is provided at a portion where the power assist leg comes into contact with a muscle of a human leg, and the sensor is provided. Assist legs. 6. The sensor unit for detecting the movement of the leg has a shoe below the power assist leg, and the sensor for detecting the movement of the leg provided on the shoe and the power assist leg are The power assist leg according to claim 2 or 3, wherein the power assist leg is a combination of a sensor unit that detects a movement of the leg unit that is installed in a portion that comes into contact with a muscle of the leg. 7. The power assist leg according to claim 4, wherein a pressure sensor is used as a sensor part for detecting the movement of the leg part provided on the shoe part. 8. The power assist leg according to claim 4, wherein the sensors of the sensor section for detecting the movement of the leg section provided on the shoe section are arranged on the toe side and the heel side. 9. The power assist leg according to claim 5, wherein a muscle hardness sensor is used in a sensor portion provided at a portion where the power assist leg comes into contact with a muscle of a human leg. 10. The power assist according to claim 5, wherein the position of the sensor of the sensor unit provided in the portion of the human leg that comes into contact with the muscle is below the muscle on the front side of the thigh. leg. 11. The power assist leg according to claim 2, wherein an output signal from the sensor unit is wirelessly input to the control unit. 12. The power assist leg according to claim 2, wherein the drive unit that gives a bending / stretching force transmits the output from the sensor unit to the control unit and is driven via the control unit. 13. The power assist leg according to claim 2 or 3, wherein an electromagnetic motor is used for a drive unit that applies a bending and stretching force. 14. A pneumatically driven actuator is used for a drive unit for applying a bending and stretching force.
Or the power assist leg described in 3. 15. The power assist leg according to claim 2, wherein a hydraulically driven actuator is used for a drive unit that applies a bending and stretching force. 16. The power assist leg according to claim 2 or 3, wherein an elastic body is used for a drive unit that applies a bending and stretching force. 17. The power assist leg according to claim 2 or 3, wherein a magnetic repulsive force between the same poles of a permanent magnet or an electromagnet is used for the drive unit that gives a bending and stretching force. 18. The material constituting the power assist leg is
A metal of aluminum / magnesium / titanium / calcium or an alloy containing these metals as a main component.
Alternatively, the power assist leg according to claim 3. 19. The material constituting the power assist leg is
The power assist leg according to claim 2 or 3, which is a polyurethane resin / polyamide resin / fluorine resin / polyester resin or a resin mixture containing these resins as a main component. 20. The power assist leg according to claim 2, wherein the leg portion of the power assist leg is lifted by being grounded to the floor surface so that the entire body weight is not applied to the human body.