JP2006087548A - Muscle trouser - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that running and jumping is impossible and soft movement indispensable for assisting and restoring bipedal walking function are hardly made because both a walking function assisting instrument and a walking function restoring instrument are heavy. <P>SOLUTION: In a muscle trouser, a plurality of Mckibben type artificial muscles are expandably and contractably arranged on winding type supporters with magic bands which are detachable to at least the waist portion, thigh portions, shin portions, foot portions of the lower body of a human, a gas supplying and discharging unit for supplying gas to and discharging the gas from the respective Mckibben type artificial muscles to expand and contract the same is arranged in the muscle trouser. Alternatively, in the muscle trouser, a plurality of Mckibben type artificial muscles are extendably and contractably arranged in trouser pants integrally worn on the waist portion, thigh portions, shin portions and foot portions, a gas supplying and discharging unit for supplying gas to and discharging from the gas the respective Mckibben type artificial muscles to expand and contract the same is arranged in the muscle trouser. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a bilateral walking muscle luther.

Conventionally, the assisting device for bipedal walking function and the device for recovery are handled separately.
The walking function recovery equipment includes an exercise therapy device and a 2-belt walking training device in which a joint is attached to the side of the leg and is driven by a motor and a piston, and the walking function assisting device is a hand cart that supports the body. Type walking aids and pedestrians that can be moved with hands on.

However, since both the walking function assisting device and the walking function recovery device are heavy, running and jumping are impossible, and it is difficult to create the soft movement that is indispensable for assisting and recovering the biped walking function. It was.

The present invention solves the above-mentioned problems, and technical means characterized by the following are (1) and (2).
(1) A plurality of McKiban-type artificial muscles can be stretched and placed on a wrapping supporter with a magic band that can be attached to and removed from at least the waist, thigh, shin, and feet of the lower body of a person. A masstrouser provided with a gas supply / exhaust device for supplying / extracting gas to each of the McKibban artificial muscles to expand and contract.
(2) A plurality of macchivan-type artificial muscles are arranged in a trouser pants that integrally wear at least the lower back, thigh, shin, and feet of the lower body of a person, Masstruder equipped with a gas supply / exhaust device that expands and contracts by supplying and discharging gas.
A preferred example of the gas supply / exhaust device includes an air compressor and a pneumatic controller that are controlled by lower limb motion control software of a small computer to cause the Macchiban artificial muscle to expand and contract.

The muscle trouter of the present invention freely controls a large number of McKiban type artificial muscles embedded in trousers (trousers) integrated with a foot by a lower limb motion control software using a computer control algorithm in a gas supply / exhaust device. By expanding and contracting, various complicated movements related to the lower limbs of the person, walking, running, jumping and other soft and complex movements performed by human muscles can be easily performed.
As a result, it is possible to assist a person's biped walking function or to easily restore the walking function. Therefore, it can be used for assisting the walking function of the elderly in the super-aging society and restoring the walking function of the handicapped person, and since it can also be used for healthy people, the applicability is extremely high and the effect of the invention is very high Big. The economic effect of this new invention is also expected to increase in the future.

In the present invention, the preferred shape of the trouser trousers worn integrally with the lower limbs (including the legs), the equipment and the arrangement thereof are as follows.
As one form, as shown in FIG. 2, a supporter with a magic band that wraps around the lower limbs (including feet), that is, ankle, heel, shin, thigh, waist and buttocks. There is a form of orthosis with artificial muscle attached. Further, as another form, there is a form of a bra that can be easily attached and detached by changing the shape of the trousers, and the trouser trousers 100 itself of FIG. 1 can be adapted to various body shapes. As an example, the trouser trouser 100 of FIG. 1 itself is composed of each of the supporters S1 to S9 to which the Macchivan-type artificial muscles 1 to 10 are attached and other parts. In addition, a magic band is embedded so as to be wound around the lower limb portion, and there is an orthopedic appliance. As another example, there is a form in which an orthosis comprising the supporters Sa to Sd in FIG. In any case, the trouser trousers have a form that fits any body shape and can be easily attached and detached. The shape of the artificial muscle may be a muscle-like flat shape composed of several small air muscles other than one large cylindrical shape.
The air compressor of the gas supply / exhaust device preferably employs a small portable compressed air tank, which is made of FRP material or soft new material. The air pressure controller and the computer that controls the air pressure controller are preferably miniaturized. Compressed air supplied from a small portable compressed air tank is controlled by a small air pressure controller connected to a small computer, and the air pressure supplied to the artificial muscle is based on data from sensors attached to the trouser trousers. The trousers are also equipped with waist and shoulder bands so that it can be expanded and contracted by changing it so that bipedal walking function recovery and assistance can be performed.
A portable small computer, a portable small compressed air tank, and a portable small pneumatic controller may be arranged on the band, or may be carried on the back. In particular, it may be better to hold the elderly person's posture on his back so as not to bend as much as possible.
Regarding the arrangement and shape, various shapes are conceivable, such as a shape that bears on the back that brings about health improvement by correcting the posture, and a shape that enhances convenience, comfort, or exercise promotion.
In the present invention, the McKiban artificial muscle to be embedded in the trouser trousers is as follows.
There are currently three types of artificial muscles. In other words, conductive polymer actuators (ICPF), polymer gels, etc. are expanded and contracted by chemical reaction, but they are small and have little force. Metal-based artificial muscle (biometal fiber) expands and contracts its length with an electric current, but is small and small in force. A flexible actuator (Macchivan-type artificial muscle) expands and contracts its length by air pressure, but its shape is arbitrary and its force is large. Macchivan-type artificial muscle is made of rubber and mesh-like fibers. When compressed air is not applied, that is, if the inner diameter of the cylinder when the air pressure is 0 is 1 and the length is 1, the maximum compressed air pressure is applied. The muscle has an inner diameter that increases (eg, 1.3) and a length of 0.7. McKibban artificial muscles can move human muscles and joints efficiently and smoothly compared to the other two types of artificial muscles.
In the present invention, the McKiban type artificial muscle arrangement form on the trouser trousers is as follows.
As shown in Fig. 1 and Fig. 2, eleven McKiban artificial muscles 1-10 are necessary for bipedal function recovery and assistance, but in the case of rehabilitation for the purpose of functional recovery of muscles and bones in certain parts Can remove some of the artificial muscles.
Next, as shown in FIG. 6, names are given to the McKiban artificial muscles shown in FIGS. In FIG. 6, it is attached to the aggregate directly. However, in the case of the muscle luther, the artificial muscles straddle each of the supporters replacing the aggregate, that is, SP1 to SP9 in FIG. 1 and Sa to Sd in FIG. What is necessary is just to connect and fix both ends.
The arrangement of each McKivan type artificial muscle conforms to the arrangement of muscles in the case of humans. In the following, using the names of artificial muscles attached in FIG. 6, the essential reasons for 11 artificial muscles of 1 to 10 for one leg and 22 artificial muscles for two legs in total will be described.
Artificial muscle 1 ', corresponding to the Achilles tendon, is essential for maintaining body balance, running, and jumping on two legs. The artificial muscle 1 that corresponds to the peroneus muscle (long and short) on the outside of the ankle and the artificial muscle 2 that corresponds to the tibial muscle on the inside (front and back) of the ankle are necessary to maintain the balance of the body It is indispensable for the movement of moving inward and outward. Artificial muscles 1 and 2 are paired to perform a movement that rotates the foot left and right around the ankle. The artificial muscle 3 corresponding to the anterior tibial muscle is essential for moving the tip up and down for the above purpose. Artificial muscle 4 corresponding to the triceps surae muscle (Fukuhakugi muscle) is essential for expanding and contracting the knee from the heel for the above purpose. The artificial muscle 5 corresponding to the quadriceps muscle is essential for extending the shin bent backward for the above purpose. Artificial muscle 6 corresponding to hamstrings is essential for bending the shin back for the above purpose. Artificial muscles 5 and 6 are paired with each other around the waist. Artificial muscle 7 corresponding to the gluteal muscle is essential for bending the thigh back for the above purpose. The artificial muscle 8 corresponding to the iliopsoas muscle is indispensable for extending the thigh bent backward and raising it for the above purpose. Artificial muscles 7 and 8 are paired with each other and have a circular motion in which the thighs are lifted up and down around the waist, and are pulled up and down. For the above purpose, the artificial muscle 9 corresponding to the gluteus medius (including the gluteus medius) is indispensable for bending the thigh outward around the waist. The artificial muscle 10 corresponding to the adductor muscle (including the pubic muscle) is indispensable for bending the thigh inward about the waist for the above purpose. Artificial muscles 9 and 10 are paired with each other and have a circular motion in which the thighs are raised and lowered left and right around the waist. The arrangement form of 22 artificial muscles attached to the trouser trousers shown in FIG. 1 or the orthosis shown in FIG. 2 is the same as the arrangement form shown above, and the same parts are denoted by the same reference numerals.
The trouser according to the present invention is a device characterized in that the material constituting the trouser is lightweight and portable, and the arrangement form of the artificial muscle to be embedded is walking on two legs like a person when there are two legs. If you do not have one or two legs, you can restore the walking function and assist, and if you wear a brace on the prosthetic leg of that part, you will have a structure with artificial muscles so that you can walk on two legs In addition, it has a functional feature that enables various operations such as walking, running, standing, sitting, jumping and bouncing as smoothly as a person.
In particular, it is a type that wraps around the lower limbs (including feet) as shown in Fig. 2 and is equipped with a magic band (consisting of a fine elastic hook implantation band and a catching ring implantation band) on the stopper. The form of the orthosis to which artificial muscles 1 to 10 are attached is also suitable for rehabilitation for restoring and maintaining the bone and muscle functions of the bedridden person's legs.
In the present invention, typical examples of lower limb motion control software are as follows.
Compressed air supplied by an air compressor connected to a 100V power supply is supplied to the pneumatic controller. In order to supply the supplied compressed air to the tubes attached to each of the 22 macchivan-type artificial muscles, 11 on one leg arranged in the muscle luther, the tube side is connected to a pneumatic controller. In order to control the movement of the lower limbs, the pressure of the compressed air of the Macchivan-type artificial muscle supplied from 22 tubes is controlled by a computer connected to the pneumatic controller via USB by changing the opening / closing angle of the valve. The opening / closing angle of the valve can be changed by a voltage up to 0V-5V (corresponding to a value of 0-125). 0V corresponds to air pressure of 0.5V, and 5V corresponds to safe maximum air pressure.
In order to extend and contract the right shin, which is a part of the lower limb, the computer compresses the artificial muscle 6 with an arbitrary pressure to the artificial muscle 6 corresponding to the hamstrings, and the shin is bent backward. In order to return the shin from the state, the air pressure of the artificial muscle 6 is set to zero. By repeating this, it is possible to create a telescopic motion control pattern that bends and stretches the shin.
Other complicated operations, for example, bipedal stretching, stepping, walking, etc. can be generated by a computer by controlling all artificial muscles simultaneously as described above.
If the air compressor and power supply are replaced with a small portable compressed air tank, and the pneumatic controller is replaced with a portable pneumatic controller, then the mast rouser becomes portable. The basic logic of portable artificial muscle control is exactly the same as when it is not portable.
The extension movement pattern of each of the 22 Macchiban-type artificial muscles for biped walking is more complicated than the above-mentioned extension pattern of the shin. The extension pattern is described in Japanese Patent Application No. 2004-198467 Humanoid Robot (2004.7.15 ) In detail.
Based on the extension / contraction program for each of the 22 artificial muscles, it is possible to generate and execute a control pattern that takes in the functional characteristics of a human foot and restores the biped walking function or assists the biped walking function. The artificial muscle expansion / contraction pattern of the above-mentioned Japanese Patent Application No. 2004-198467 can be used as a control method for a biped walking orthosis of a person without a lower limb.

An embodiment of the present invention will be described in detail with reference to FIGS.
FIG. 1 shows a masstrouser 100 in which a plurality of artificial muscles 1 to 10 for moving a person's lower limbs are embedded. FIG. 3 shows an air compressor 401 and a pneumatic controller 402 for freely expanding and contracting the artificial muscles. , A power supply 403, various sensors (not shown) such as a pressure sensor, and a control system including a computer 404 incorporating control software that enables movement and exercise of the artificial muscle.
The biped walking function assist device and the biped walking function recovery device have the same system, but the function assisting device allows the person to wear and move the device. It is preferable to replace the compressed air tank, the pneumatic controller 402 with a small and lightweight portable pneumatic controller, and the computer 404 with a small one-board microcomputer or one-chip microcomputer. Either can be used to restore walking function.
FIG. 1 shows a front view of a trouser 100 configured by connecting SA to trouser pieces S1 to S9, and A shows a mustrouser with a plurality of artificial muscles 1 to 10 having the above-mentioned names embedded in trouser pieces S1 to S9. 100 shows a front view of B, B shows its rear view, C shows a front rear view when worn, D shows an outer view of the right side of the muscle trouter 100 in which a plurality of artificial muscles 1 to 10 are embedded, and E The right side inner side view is shown, and F is a side view when worn.
Rubber or new material is embedded in the trouser 100.
FIG. 2 shows a wearing tool in which the plurality of artificial muscles 1 to 10 are arranged. This wearing tool may be embedded between the front and back surfaces of a trouser (not shown), or may be directly worn on a normal trouser clothing or body. Fig. 2 shows supporters Sa to which artificial muscles 1 to 10 are attached and a magic band (a combination of a fine elastic hook planting ring and a ring-type hook ring planting band) is attached to the fastener. Only Sd and artificial muscle 1-10 are shown. The supporters Sa to Sd are made of lightweight, flexible, and high-strength materials (including metals), which include Sa for waist, Sb for thigh, Sc for shin, and Sd for ankle.
FIG. 4 shows an example of a control software screen displayed on the computer 404.
The control software shown in FIG. 4 connects 11 air tubes of the plurality of artificial muscles 1 to 10 shown in FIG. 1 to the pneumatic controller 402 shown in FIG. The tool itself, the masstrouser 100 in which it is embedded, and each part of the artificial muscles 1 to 10 embedded in the trouser 100 are freely expanded and contracted to assist various movements, exercises such as walking, running, and jumping.
The control software is different when using it as a function assisting tool for various movements, walking, jumping, etc. of healthy people, and when it is used as a walking function recovery tool for the elderly and disabled, but each control software is incorporated. .
In FIG. 1, a total of six artificial muscles are arranged on one side of the front of the trouser 100 so that the knee joint, ankle joint, and hip joint move, and a supporter is embedded in the dotted line portion. Of course, a supporter is used that does not give health or unpleasant feeling even when walking on two legs for a long time and gives comfort. In addition, as shown in FIG. 1, four artificial muscles, four on one side and four on one side, a total of eight artificial muscles are arranged so that the knee joint, ankle joint, and hip joint move. Is the part of the front supporter. Trouser has 22 artificial muscles. Of course, the number of artificial muscles can be further increased when there is a demand for realizing complex movements. The two support bands shown in FIG. 1 are for supporting the trousers with shoulders. Of course, other types of support bands B1 and B2 may be used. FIG. 2 shows a form of a wearing tool in which a plurality of artificial muscles are arranged. Various materials may be used. The function is essentially the same as in FIG. 1, but the application is slightly different.
<Experimental example>
In fact, instead of human beings, we conducted experiments using a biped walking humanoid robot, and as a result of performing various actions, the originality and novelty of the Mastrudra were great, and the industrial effect was very large. I was able to confirm. Moreover, as a result of a simple experiment in which a person wears and stretches an artificial muscle to assist the movement of the foot, its usefulness has been confirmed.
FIG. 5 shows an execution screen of an example of a simple bending / stretching program displayed on the computer 404. On this execution screen, click the “Home position execution” (Home position is one, but here is one home position) button 501 to expand and contract the biped artificial muscles shown in FIGS. 1 and 2 attached to the humanoid robot. When the “execute bending” button 502 is clicked, the body is stretched and bent from the pressure of the artificial muscle in the home position, that is, crouched. When the “execute home position” button 501 is clicked again, the user stands. Click each button once and it will bend and stretch. In FIG. 5, there is also a button 503 for “removing pressure (pressure air)”. When this button is clicked, the supply pressure of the artificial muscle becomes zero, and the artificial muscle is stretched. The same is true for people.
Although not shown here, various operations, stepping, walking, running, and jumping movements can be similarly performed by changing the pressure of the artificial muscle with a control program. A description of the bending / extending program, the various operation and motion control programs in FIG. 5 is omitted.

The present invention freely expands and contracts the artificial muscles of the trousers (trousers) integrated with a foot embedded with a plurality of artificial muscles, thereby making it possible to perform a soft and gentle walking action that cannot be obtained with conventional walking aids and rehabilitation tools. In addition, it can be used extensively in that there is no restriction on the range of movement of the lower limbs, making it possible to obtain a superior effect such as making human life comfortable and bringing about a new industrial breakthrough.
As examples of industrial application fields of the present technology, the following fields are considered as some examples, but there are many other application fields.
(1) Fields that support human life with biped walking function assistance and welfare field (2) Fields that recover motor function by function recovery of one or two legs after illness (3) Homeland security field, defense field (4) Service, guidance, entertainment, and other fields

Trousers with multiple artificial muscles (trousers) (various sensors omitted) Wearing device with multiple artificial muscles Configuration diagram of artificial muscle expansion and contraction control system Example of control software screen displayed on computer 404 Example of execution screen of bending and stretching program displayed on computer 404 It is explanatory drawing from each surface which attached the artificial muscle directly to the aggregate.

Explanation of symbols

1-10 Tube type artificial muscle
100 Masstrause
401 air compressor
402 Pneumatic controller
403 power supply
404 computer
S1-S9 supporter
Sa ~ Sd Supporter
B1, B2 support band
1 'Achilles tendon
1 (long, short) peroneus
2 (front and back) tibial muscle
3 Anterior tibial muscle
4 triceps surae muscle
5 quadriceps
6 Hamstrings
7
8 iliopsoas muscle
9 Middle gluteus (including gluteus medius)
10 adductor muscle (including pubic muscle)

Claims (2)

A plurality of McKiban type artificial muscles are telescopically arranged on a wrapping type supporter with a magic band that can be attached to and detached from at least the waist, thighs, shins, and feet of the lower body of the human body. A mass-trouser characterized in that a gas supply / exhaust device for supplying / extracting gas to each of the artificial muscles to expand and contract is attached. A plurality of macchivan-type artificial muscles are arranged to be stretchable on a trouser trouser that wears at least the waist, thigh, shin, and feet of the lower body of a person, and gas is supplied to each of the macchivan-type artificial muscles. A mass-trouser characterized in that a gas supply / exhaust device for supplying / discharging and extending / contracting movement is attached.

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