JP2008043675A - Movement assisting apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movement assisting apparatus which needs no external power, receives no constraints of place or time, and can be worn by a patient without a coach for safety. <P>SOLUTION: The movement assisting apparatus is used for assisting the movement of a part of the body and comprises an energy regenerating mechanism which is arranged on a healthy part of the body and carries out rotary or linear movement by means of joint movement of the healthy part, and a movement assisting mechanism which is driven by electric energy generated by the rotary or linear movement of the energy regenerating mechanism and is arranged on a disabled part of the body to drive and assist joint movement of the disabled part. The movement assisting apparatus is characterized by that the force of the movement assisting mechanism is controlled in accordance with torque generated by the energy regenerating mechanism. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a motion support device, and more particularly, to a motion support device that uses regenerative energy to support movement of a disabled part of the body and can be worn by an individual patient.

With the progress of an aging society in recent years, the number of patients with disabilities in lower limbs or upper limbs is increasing. For patients with these disorders, it is no exaggeration to say that whether or not the disorder can be overcome depends largely on whether or not effective rehabilitation can be sufficiently performed.
For this reason, the development of intelligent technology that supports the above-mentioned rehabilitation is becoming increasingly important.

  As such an intelligent rehabilitation support technology, for example, in Patent Document 1 below, a plurality of yarns for suspending them are connected to a device to be worn on the elbow and wrist of the upper limb, Winding by winding the other ends of the plurality of yarns connected to each other through the turning elements located on the upper support member at a distance from each other while controlling the lead-out lengths of the respective yarns An upper limb movement assisting mechanism having a configuration held by a driving device is disclosed.

However, because the upper limb movement assist mechanism represented by this uses external power, it cannot be said that the patient can wipe away anxiety such as machine runaway. In addition, a physical therapist or other instructor must be present at all times.
In addition, when a patient uses it personally, it is usually installed in a room such as a rehabilitation room, and the patient must use it in turn in the presence of a physical therapist.

As described above, it is difficult to perform rehabilitation for each patient for a long time, and as a result, it takes time for the patient to recover. In the worst case, the patient interrupts rehabilitation halfway and becomes bedridden. It cannot be denied that it will be.
The technique disclosed in Patent Document 1 makes it possible to dispose the mechanism on a wheelchair or a bedside. However, in consideration of the shortage of wheelchairs in recent years, not all people always perform rehabilitation. It's hard to say that you can.

By the way, as a life support for patients who have completed initial rehabilitation and returned to society, so-called wearable devices that can be worn by individual patients using a small and lightweight battery as a driving source have been proposed. Semi-active short leg braces, etc. that consume less are being developed.
However, with such a device, even if an attempt is made to actively apply force according to the situation, a small and light battery is not possible in terms of energy.

  In the above, the assist technology for the upper and lower limbs is taken as an example, but it goes without saying that assist technologies for other parts with disabilities have been proposed.

Japanese Patent Publication No. 07-114789

  The present invention has been made in view of the above circumstances, and does not require external power, is not subject to location and time constraints, and further has no individual instructor for ensuring safety. It is intended to provide an operation support device that can be worn by children.

  The invention according to claim 1 is an operation support device that supports the movement of a part of the body, and is mounted on a healthy part of the body and performs energy recovery by rotating or linearly moving the joint part of the healthy part. A mechanism that is driven by electrical energy generated by rotation or linear motion of the energy regeneration mechanism, and is attached to a part having a physical disability and supports joint movement of the part having the obstacle by the driving; And an action support device in which the force of the exercise support mechanism is controlled in accordance with torque generated by the energy regeneration mechanism.

  The invention according to claim 2 further includes a battery that stores electrical energy generated by rotation or linear motion of the energy regeneration mechanism, and the exercise support mechanism uses the battery that stores the electrical energy as a power source to prevent the failure. The operation support device according to claim 1, wherein the operation support device supports a part having the same.

  The invention according to claim 3 relates to the operation support device according to claim 2, wherein a boost chopper is incorporated in the energy regeneration mechanism and the input path of the battery.

According to the first aspect of the present invention, it is an operation support device that supports the movement of a part of the body, and is attached to a healthy part of the body and performs a rotation or linear motion by joint movement of the healthy part. An energy regeneration mechanism and exercise support that is driven by electrical energy generated by rotation or linear motion of the energy regeneration mechanism and is attached to a part having a physical disorder and supports joint movement of the part having the disorder by the drive. And the force of the movement support mechanism is controlled according to the torque generated by the energy regeneration mechanism, so that it is possible to support a part having a failure without requiring external power.
In addition, by adjusting the joint motion of a healthy part according to the judgment of the patient, it is possible to appropriately perform support adjustment of the damaged part. In particular, since the magnitude of the force applied to the site having a disability can be directly felt at a healthy site, it is very effective for adjusting the support.

According to the second aspect of the present invention, the battery further stores the electric energy generated by the rotation or linear operation of the energy regeneration mechanism, and the exercise support mechanism has a failure using the battery storing the electric energy as a power source. By supporting the part, it is possible to apply a sufficiently large control force as compared to regenerating and controlling the energy necessary for supporting the joint movement of the part having a disorder.
Further, by providing the battery, it is possible to sufficiently cover the electric energy, and it is possible to configure a plurality of exercise support mechanisms for one energy regeneration mechanism.

  According to the third aspect of the present invention, charging is performed even when the electromotive force of the energy regeneration mechanism is lower than the voltage of the battery by incorporating the boost chopper in the energy regeneration mechanism and the input path of the battery. It becomes possible.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of an operation support device according to the invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of a usage pattern of an operation support device according to the present invention.

  An operation support device according to the present invention supports an operation of a part of a body, and is attached to a healthy part of the body and performs an energy regeneration mechanism that rotates or linearly moves by a joint motion of the healthy part. (1) and driven by electrical energy generated by rotation or linear motion of the energy regeneration mechanism (1), and mounted on a part having a physical disorder, and the joint movement of the part having the physical disorder is performed by the driving. And an exercise support mechanism (2) for supporting.

The energy regeneration mechanism (1) is a mechanism for use as a so-called generator, and can convert mechanical energy into electric energy (hereinafter referred to as a regenerative device), for example, a motor (generator), a piezoelectric element, It is configured by including other piezoelectric materials.
As a power generation configuration in this energy regeneration mechanism (1), a means for generating power by directly rotating a joint motion in a healthy part of the body (see FIG. 1A), or converting a joint motion into a linear motion. Examples include means for generating power (see FIG. 1B).

  As shown in FIG. 1 (a), power generation by rotational movement, that is, energy regeneration, is applied to a first link part (11) interlocked with a body part (for example, a thigh), and the first part of the body. On the other hand, the second link part (12) interlocked with the second part (for example, the lower leg part) of the body that performs the rotational movement through the joint, the first link part (11), and the second link part (12 ) And the regenerative device (A) that is rotatably connected to the link portions (11, 12).

That is, with the above configuration, the regenerative device performs a rotational motion when the first part of the body and the second part of the body perform a joint operation, and electrical energy is generated along with the rotation, that is, power is generated.
The generated electric energy is supplied as regenerative energy to the exercise support mechanism.

  As shown in FIG. 1B, the energy regeneration mechanism by linear motion includes a first link portion (11) interlocked with a body part (for example, a thigh), and a joint with respect to the first part of the body. The second link part (12) interlocked with the second part of the body (for example, the lower leg part) that performs the rotational movement via the first, the first link part (11) and the second link part (12) rotate. Rotating pin (13) to be connected to the regenerative device (B), one end of which is pivotally attached to the first link portion (11) and the other end is rotatably attached to the second link portion (12). ).

  Accordingly, the first part of the body and the second part of the body perform joint movement (for example, movement of the knee in the case of the thigh and the lower leg), so that the regenerative mechanism performs expansion and contraction to generate power.

In the energy regeneration mechanism (1), it is preferable to combine a speed increasing device when generating electric power by rotational movement, and an expansion mechanism (for example, a lever) when generating electric power by linear movement.
Thereby, efficient energy regeneration can be performed.
Further, when a piezoelectric element is used as the energy regeneration mechanism (1), since the piezoelectric element has a small allowable displacement, a mechanism (for example, a speed reducer, a lever, etc.) that reduces the amount of motion due to joint motion of the body is combined, or It is preferable to use a piezoelectric element utilizing bending deformation.

Next, the exercise support mechanism (2) will be described.
The exercise support mechanism (2) is a mechanism for supporting joint motion of a part having a physical disorder, and is electrically connected to the energy regeneration mechanism (1).
The exercise support mechanism (2) includes a so-called actuator that is driven by electric energy (regenerative energy) generated from the energy regeneration mechanism (1).
Examples of the actuator include a motor, a piezoelectric element, and other piezoelectric materials as in the energy regeneration mechanism (1). In addition, a shape memory alloy that uses heat generated by electric energy can be preferably used. .

  Examples of the configuration of exercise support by the exercise support mechanism (2) include a configuration based on rotational motion (see FIG. 1C) and a configuration based on linear motion (see FIG. 1D).

  As shown in FIG. 1 (c), the configuration of the exercise support by the rotational motion includes a first support link portion (21) integrally attached to a part of the body (for example, a thigh), and a first part of the body. On the other hand, a second support link unit (22), a first support link unit (21), and a second unit that are integrally attached to a second part (for example, the lower leg) of the body that performs a rotational motion via a joint. It consists of an actuator (C) which supports the support link part (21, 22) rotatably between the support link part (22).

  Here, as described above, the actuator (C) is driven by the regenerative energy, and rotates the first support link portion (21) and the second support link portion (22) in an arbitrary direction. Assist joint movements in areas with disabilities. That is, taking as an example the joint movement (knee movement) between the thigh and crus, when the patient tries to stand up, the force is applied to lift the thigh and the patient tries to sit down. When doing so, support is provided by urging the braking force to support the weight of the patient.

  Further, as shown in FIG. 1 (d), exercise support by linear motion is performed on the first support link portion (21) integrally attached to a part of the body (for example, the thigh) and the first part of the body. On the other hand, a second support link unit (22), a first support link unit (21), and a second unit that are integrally attached to a second part (for example, the lower leg) of the body that performs a rotational motion via a joint. A rotating pin (23) that rotatably connects the support link part (22), one end is attached to the first support link part (21), and the other end is rotatably attached to the second support link part (22). The support link portion (21, 22) is supported and the actuator (D) is configured to extend and contract.

As a result, similar to the support configuration based on the rotational motion described above, the actuator (D) performs a linear motion by the regenerative energy to support the joint motion of the part having a physical disorder.
As described above, a basic part of the operation support device according to the present invention is configured, and external power is not required, and it is possible to support a part having a failure.

Hereinafter, the basic system of the operation support device according to the present invention will be described.
FIG. 2 is a circuit diagram showing the basic principle of the operation support device according to the present invention.
In the following description, a case where a motor is used for the energy regeneration mechanism (1) and the exercise support mechanism (2) will be described as an example. (The motor corresponding to the energy regeneration mechanism (1) is referred to as the motor 1, and the motor corresponding to the exercise support mechanism (2) is referred to as the motor 2.)

  As shown in FIG. 2, the motion support device according to the present invention rotates the motor 1 (output side) in the circuit by the joint movement of a healthy part in the body, and the induced voltage generated thereby causes the motor 1 in the circuit to enter the circuit. An electric current is passed to generate torque in the motor 2 (input side) connected in the circuit so as to perform work (support) for a part having a failure.

Here, if the motor 1 is rotated at the rotational speed dθ ₁ / dt, the induced voltage e ₁ is expressed by the following equation (1).

尚、Ｌはリアクタンス、Ｒは抵抗である。
逆起電力ｅ_２は、次式（３）で表される。

更に、モータ１に加えるトルクＴ_１は次式（４）で、モータ２に加わるトルクＴ_２は次式（５）で表記することができる。

尚、Ａ_１及びＡ_２はアクチュエータ係数である。 Further, when the rotational speed dθ ₂ / dt of the motor 2 and the counter electromotive force are e ₂ , the differential equation of the circuit is expressed by the following equation (2).

Note that L is reactance and R is resistance.
The counter electromotive force e ₂ is expressed by the following equation (3).

Further, the torque T ₁ applied to the motor 1 can be expressed by the following equation (4), and the torque T ₂ applied to the motor 2 can be expressed by the following equation (5).

A ₁ and A ₂ are actuator coefficients.

これより、構造系の運動方程式は、次式（７）と決定される。

尚、Ｊ_２はモータ２の慣性モーメント、Ｃは減衰係数である。 Next, in the differential equation of the circuit expressed in the above equation (2), if it is considered that the excitation frequency is sufficiently slower than the response of the electrical system, the term of L · di / dt can be ignored. It can represent with following Formula (6).

From this, the equation of motion of the structural system is determined as the following equation (7).

Incidentally, J ₂ is the moment of inertia of the motor 2, C is the attenuation coefficient.

これを変形し、上式（６）に代入して整理すると、次式（９）となる。

Here, since the motion in this structural system is a so-called slow phenomenon caused by humans, if J ₂ · d ² θ ₂ / dt ² which is an inertial term is ignored, the above equation (7) can be expressed by the following equation (8 ).

When this is transformed and substituted into the above equation (6) and rearranged, the following equation (9) is obtained.

また、上式（９）を上式（４）及び（５）に代入すると、次式（１１）及び（１２）となり、トルクの関係式が得られる。

Therefore, the speed relational expression (10) can be obtained by substituting the above expression (9) into the above expression (8).

Further, when the above equation (9) is substituted into the above equations (4) and (5), the following equations (11) and (12) are obtained, and a relational expression of torque is obtained.

From the above, according to the above equation (12), since the torque is in a proportional relationship between the input side and the output side, the patient can feel the torque on the output side from the input side. That is, when the motor 2 (motion support mechanism) supports joint movement of a part having a failure, a force corresponding to the magnitude of the reaction force generated at the part having the failure is a reaction when the motor 1 (energy regeneration mechanism) is moved. It can be felt as a force, and a feeling as if the part having the obstacle is directly moved can be obtained.
Therefore, the patient can appropriately adjust the support of the damaged part by adjusting the joint motion of the healthy part according to his / her own judgment.
Further, from the relational expression of the speed expressed by the above equation (10), if the output resistance C increases, the output speed becomes smaller than the input speed. Instead, the patient can rehabilitate with a sense of reality.

Also, if the resistance R is variable, fine adjustment on the output side becomes possible. For example, by performing position or speed feedback, the resistance is changed by a feedback signal, and the control force on the output side is changed. It is also possible to make it. (See Figure 3)
Incidentally, the equivalent actuator coefficients A ₁ and A _2, by passing through the deceleration devices and speed increasing device or the like in the circuit, can be determined independently, it is possible to change the characteristics.

In addition, by arranging a battery (not shown) in the above circuit, the battery charging current (current supplied to the battery) is once taken into the battery, and the function of the faulty part is fed back. It becomes possible to apply a control force suitable for the situation using the energy of the battery.
At this time, by incorporating a step-up chopper (not shown) in the input path between the input side and the battery, charging can be performed even when the electromotive force on the input side is lower than the voltage of the battery.
In addition to this, it is also possible to adopt a configuration in which a circuit having a small resistance, a circuit in which a battery is arranged, and PWM are combined.

Finally, the part using the operation support device according to the present invention is illustrated.
The operation support device according to the present invention is not particularly limited in use as long as the regenerative energy is sufficient, but the exercise support mechanism (output side) is attached to the location where the energy regeneration mechanism (input side) is attached. Are preferably configured in a one-to-one relationship.
For example, right elbow (energy regeneration mechanism side) to left elbow (exercise support mechanism side), shoulder, elbow and wrist (energy regeneration mechanism side) to crotch, knee and ankle (exercise support mechanism side) It can be configured as follows.

In addition, since the above-described battery can sufficiently cover the electric energy, a plurality of exercise support mechanisms can be configured for one energy regeneration mechanism. It is also possible to move (support) three joints of a finger (for example, an index finger) at the same time with three motion support mechanisms by providing it on the elbow.
At this time, it is preferable to perform variable resistance and high-frequency switching in order to distribute an appropriate amount of regenerative energy to the above-described three joints.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used as a device that supports the operation of a part having a disorder in the body.

It is a figure which shows an example of the usage pattern of the operation assistance apparatus which concerns on this invention. It is a circuit diagram which shows the basic principle of the operation | movement assistance apparatus which concerns on this invention. It is a figure which shows the application example of the circuit of the operation assistance apparatus which concerns on this invention.

Explanation of symbols

1 Energy regeneration mechanism 2 Exercise support mechanism

Claims (3)

An operation support device that supports the movement of a part of the body,
An energy regeneration mechanism that is attached to a healthy part of the body and that rotates or linearly moves by joint movement of the healthy part;
And an exercise support mechanism that is driven by electrical energy generated by rotation or linear motion of the energy regeneration mechanism and that is attached to a part having a physical disorder and supports joint movement of the part having the disorder by the drive. And
An operation support device, wherein the force of the exercise support mechanism is controlled according to torque generated by the energy regeneration mechanism. A battery for storing electrical energy generated by rotation or linear motion of the energy regeneration mechanism;
The motion support device according to claim 1, wherein the exercise support mechanism supports the part having the obstacle by using a battery in which the electric energy is stored as a power source.   The operation support device according to claim 2, wherein a boost chopper is incorporated in an input path of the energy regeneration mechanism and the battery.

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