JP2009254740A - Walking aid device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking aid device which achieves precise walking aid by detecting the relative positions of both legs. <P>SOLUTION: The walking aid device 100 includes a first walking aid member mounted to one leg, a second walking aid member mounted to the other leg, and a controller 6 for controlling the first and second walking aid members. The first walking aid member is provided with a light-receiving element 4 for detecting light from a light-emitting element 5 of the second walking aid member. The controller 6 recognizes the relative positions between the first and second walking aid members according to the detection signal of the light-receiving element 4, and controls the first and second walking aid members. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a walking assist device that assists a user's walking motion.

  Development of a walking assist device that is attached to a user's leg and assists walking motion has progressed, and walking assist devices having various functions have been proposed (for example, Patent Documents 1 and 2). The walking assist device disclosed in Patent Document 1 assists the ankle joint by estimating the walking mode based on the ground contact state of the sole. Specifically, the assist force applied to the ankle joint is determined according to the phase of the walking motion estimated from the ground contact state of the sole.

  Further, the walking assistance device disclosed in Patent Document 2 assists walking on a flat ground, rising, and falling by estimating a walking mode from the ground contact state of the sole and the inclination of the foot.

  On the other hand, Patent Documents 3 and 4 propose a foot detector that includes an obstacle sensor and an ultrasonic sensor, estimates the height from the floor and obstacles using these sensors, and notifies the operator of road surface information. Yes.

JP-A-2005-500 JP 2004-261622 A JP 2003-144482 A JP 2004-121267 A

  The walking assist device disclosed in Patent Document 1 assists walking on a flat ground, and does not assist a lifting operation with a step. Similarly, the walking assist device disclosed in Patent Document 2 does not assist the raising / lowering operation of the step, and the operator sets the assist force generation trigger during the rising operation. The law is not specified. In particular, Patent Document 2 describes that the walking assistance device disclosed in this document cannot move up and down stairs (see paragraph 0036).

  The foot detectors disclosed in Patent Documents 3 and 4 can detect the state of contact with the floor and obstacle information in front of the shoes, but in the first place assist the user's walking. is not. Even if the techniques disclosed in Patent Documents 3 and 4 are applied to the walking assist device disclosed in Patent Documents 1 and 2, specifically, information necessary for assisting the raising / lowering operation of the step is detected. Since the technique to do is not specified, it is not possible to obtain a walking assistance device that assists the walking motion of the steps.

  The present invention has been made to solve such a problem, and an object thereof is to provide a walking assistance device capable of detecting the relative positions of both legs and realizing accurate walking assistance.

  The walking assist device according to the present invention includes a first walking assist member mounted on one leg, a second walking assist member mounted on the other leg, the first walking assist member, and the second. A walking assist device for assisting a user's walking motion, wherein the walking assisting device is provided in the first walking assisting member and is spaced apart from the second walking assisting member. A sensor for detecting a second walking assistance member is provided, and the controller recognizes a relative position between the first walking assistance member and the second walking assistance member in accordance with a detection signal of the sensor. Then, the first walking auxiliary member and the second walking auxiliary member are controlled.

  Here, the sensor of the first walking assisting member is composed of a plurality of sensors arranged apart from each other in the front-rear direction, and the controller is configured to perform the first based on detection signals of the plurality of sensors. You may make it recognize the relative position of the front-back direction of a walking assistance member and a said 2nd walking assistance member.

  In addition, the sensor of the first walking assisting member is composed of a plurality of sensors arranged apart from each other in the vertical direction, and the controller is configured to perform the first walking based on detection signals of the plurality of sensors. You may make it recognize the relative position of the up-down direction of an auxiliary member and a said 2nd walking auxiliary member.

  In a preferred embodiment, the second walking assisting member has a light emitting element, and the sensor of the first walking assisting member emits light emitted from the light emitting element provided in the second walking assisting member. It is a light receiving element to detect.

  At this time, when the first walking auxiliary member and the second walking auxiliary member are arranged in a horizontal row, a light receiving element of the first walking auxiliary member, a light emitting element of the second walking auxiliary member, and It is desirable that these are displaced in the front-rear direction.

  The light receiving element is preferably provided in the vicinity of the heel of the first walking assist member, and the light emitting element is provided in the vicinity of a toe of the second walking assist member.

  Furthermore, the second walking assistance member includes a sensor that detects the first walking assistance member at a position spaced apart from the first walking assistance member, and the controller includes the first walking assistance member and the first walking assistance member. In accordance with a detection signal of a sensor provided in the second walking assistance member, the first walking is recognized by recognizing a relative position between the first walking assistance member and the second walking assistance member. It is desirable to control the auxiliary member and the second walking auxiliary member.

  In addition, the first walking assist member and the second walking assist member each include a tactile sensor that contacts a user's shin and calf, and the controller uses the detection signal of the tactile sensor to determine the first It is preferable to control one walking assisting member and the second walking assisting member.

  Here, the controller recognizes that the first walking auxiliary member and the second auxiliary member are aligned based on the detection signal of the sensor, and uses the detection signal of the tactile sensor as a detection signal. When it is recognized that the pressure is applied from the shin based on this, it is recognized that it is the rising mode.

  Further, the controller recognizes that the first walking auxiliary member and the second auxiliary member are aligned based on the detection signal of the sensor, and based on the detection signal of the tactile sensor. When recognizing that the pressure is applied from the calf, it recognizes that it is in the falling mode.

  Each of the first walking assist member and the second walking assist member includes an obstacle sensor that detects an obstacle ahead of the toe, and the controller is based on a detection signal of the obstacle sensor. It is preferable to control the first walking assistance member and the second walking assistance member.

  Further, each of the first walking assistance member and the second walking assistance member includes an obstacle sensor for detecting an obstacle in front of the knee, and the controller is based on a detection signal of the obstacle sensor. It is desirable to control the first walking assistance member and the second walking assistance member.

  The present invention is preferably applied when the first walking assistance member and the second walking assistance member are provided on a user's leg and are not connected to each other.

  In a preferred embodiment, the first walking assist member and the second walking assist member include a knee joint actuator unit that assists a user's knee motion and an ankle that assists the user's ankle motion, respectively. A joint actuator unit is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the walk auxiliary | assistance apparatus which can detect the relative position of both legs and can implement | achieve exact walk assistance can be provided.

Embodiment 1 of the Invention
The configuration of the walking assist device according to the first embodiment will be described with reference to FIG. The walking assistance device shown in FIG. 1 shows a state of being attached to one leg, and is actually composed of two walking assistance members that are attached to each of both legs of the user. In the walking assistance device according to the present embodiment, since each of the two walking assistance members is physically separated, it is difficult to recognize their relative positions.

  That is, the vertical relationship between the left and right feet cannot be recognized only by the detection signals of the obstacle sensors and the grounding sensors provided on the walking assist member and the angle information of the knee and ankle joints. At this time, if the walking assist device continues the prescribed operation, it is possible to estimate the vertical direction based on the history information of the knee and ankle joint angles, but the error becomes large, and the determination may be wrong. Further, when the walking assist device performs an operation other than the prescribed operation, the angle of the femoral joint is not known, so that the vertical relationship is not known at that time.

  For example, when climbing a step, the movement differs depending on whether the leg is a swing leg or a standing leg in the middle of the step. It is difficult to determine the free leg / stand of the next action from the grounded state. Also, even when going down a step, when the free leg starts, the free leg is at the top, and the free leg is shrunk to kick forward, but when the free leg goes down, it will stretch out so that it can land quickly The phases are different and the determination is necessary.

  For this reason, in this Embodiment, the sensor which detects the said other walking assistance member is provided in the position spaced apart from the other walking assistance member in at least one walking assistance member. This sensor is, for example, a light receiving element, an ultrasonic sensor, a camera or the like, and is typically an optical sensor.

  As shown in FIG. 1, the walking assist device (walking assisting member) 100 includes a thigh support member 10, a foot support member 20, and a connecting member 30. The thigh support member 10 is attached to the user's thigh and applies force to the thigh when assisting the walking motion. In the example shown in FIG. 1, the thigh support member 10 has a structure that contacts and supports the thigh from the back side of the user, but may have a structure that covers the thigh.

  The foot support member 20 is attached to the user's foot and applies force to the shin, calf and foot when assisting the walking motion. The foot support member 20 has a shoe-type structure such as a so-called ski boot, and is divided into a calf support portion 21, a shin support portion 22, and a foot support portion 23. The calf support part 21, the shin support part 22, and the foot support part 23 are fixed to each other after being mounted on the user's foot.

  The connecting member 30 is a long member that connects and supports the knee joint actuator unit 71 fixed to the thigh support member 10 and the ankle joint actuator unit 72 fixed to the foot support member 20. An upper end portion of the connecting member 30 is connected to the knee joint actuator portion 71, and a lower end portion thereof is connected to the ankle joint actuator portion 72.

  The knee joint actuator unit 71 is provided at the position of the user's knee joint in the mounted state, and assists the movement of the knee. The knee joint actuator unit 71 generates torque around the knee joint between the thigh support member 10 and the connecting member 30 in accordance with a control signal output from the controller 6. The knee joint actuator unit 71 is configured by, for example, an electric motor or a cylinder.

  The ankle joint actuator unit 72 is provided at the position of the user's ankle joint in the mounted state, and assists the movement of the ankle. The ankle joint actuator unit 72 generates a torque around the ankle joint between the foot support member 20 and the connecting member 30 in accordance with a control signal output from the controller 6. The ankle joint actuator unit 72 is configured by, for example, an electric motor or a cylinder.

  The foot support member 20 is provided with a tactile sensor 1, an obstacle sensor 2, a tactile sensor 3, and a light receiving element 4. The tactile sensor 1 is provided inside each of the shin support portion 22 and the calf support member 21 of the foot support member 20, that is, on the side in contact with the user's foot, and the user's shin or calf contacts the foot support member 20. Detect pressure. The tactile sensor 1 is constituted by, for example, a pressure sensor.

  The obstacle sensor 2 is a distance sensor that is provided in the vicinity of the toes of the foot support portion 23 of the foot support member 20 and detects the front obstacle 200 and the distance from the foot tip to the front obstacle 200. The obstacle sensor 2 is composed of, for example, an infrared light emitting element and a light receiving element. Obstacle sensor 2 according to the present embodiment has a plurality of infrared light emitting elements arranged in different directions.

  A plurality of tactile sensors 3 are provided on the soles of the foot support portions 23 of the foot support member 20 and detect the ground contact state (magnitude and position of force) at a plurality of locations such as a toe ball (toe) and a heel. The tactile sensor 3 is constituted by, for example, a pressure sensor.

  The light receiving element 4 is an optical sensor, and a plurality of light receiving elements 4 are provided on the back side surface / inner side surface of the foot support portion 23 of the foot support member 20 and the back side surface of the calf support member 21, and the other foot support member 20 (that is, the right side of the right side) The light is emitted from the light emitting elements 51 to 54 (see FIG. 2) provided on the left foot support member 20 in the case of the foot support member 20 and on the right foot support member 20 in the case of the left foot support member 20. Infrared light is detected, and the relative positions of the right foot support member and the left foot support member are detected. In the walking assistance device according to the present embodiment, not only the positional relationship in the front-rear direction of the left and right foot support members but also the positional relationship in the vertical direction can be detected.

  Specifically, as shown in FIG. 2, light receiving elements 41 to 44 are provided in the vicinity of the bag, with the bag spaced apart from the side surface to the back side. The light receiving element 41 is provided on the front side of the bag. The light receiving element 42 is provided on the back side of the light receiving element 41. The light receiving element 43 includes a light receiving surface whose normal is directed backward. The light receiving element 44 is disposed so as to face the outside of the back surface. Further, as shown in FIG. 1, a plurality of light receiving elements 4 are provided on the back side surface of the calf support member 21 so as to be separated from each other in the vertical direction. In this example, three light receiving elements 4 are provided.

  Further, as shown in FIG. 2, the inner surface of the foot support portion 23 of the foot support member 20 is red toward the other foot support member 20 in a state where the pair of foot support members 20 are aligned in the lateral direction. A plurality of light emitting elements 51 to 54 that emit external light are provided apart from each other in the front-rear direction. The light emitting element 51 is provided near the tip of the thumb. The light emitting element 52 is provided near the base of the thumb. The light emitting element 53 is provided in the vicinity of the arch. The light emitting element 54 is provided in the vicinity of the arch of one of the foot support members 20 (in this example, only on the right side) and behind the light emitting element 53. In the left foot support member 20 where the light emitting element 54 is not provided, a light receiving element 45 is provided at a position facing the light emitting element 54.

  Although not shown in FIGS. 1 and 2, the knee and ankle angles are measured in the vicinity of the knee and ankle of the wearing user, that is, in the vicinity of the knee joint actuator portion 71 and the ankle joint actuator portion 72. Encoders and potentiometers are also provided.

  FIG. 3 is a block diagram illustrating a configuration of the walking assist device according to the first embodiment. As shown in the figure, detection signals from the tactile sensor 1, the obstacle sensor 2, the tactile sensor 3, and the light receiving element 4 are input to the controller 6. Further, an output signal of an encoder or a potentiometer (not shown) that measures the angle of the knee or ankle is also input to the controller 6. The controller 6 detects the state of the user based on these detection signals and the like, and controls the knee joint actuator unit 71 and the ankle joint actuator unit 72 to assist the user in walking. The controller 6 also has a function of controlling light emission of the light emitting element 5. The controller 6 includes a CPU, a RAM, a ROM, and the like, and is provided at an arbitrary place of the walking assist device.

  Next, a method for determining the front and rear of the left and right feet will be described with reference to FIG. As shown in FIG. 4A, when the right foot comes out ahead of the left foot, the light emitted from the light emitting element 52 provided in the vicinity of the toe of the left foot is provided in the vicinity of the heel of the right foot. It is detected by the light receiving element 41. Further, as shown in FIG. 4B, when the left foot is in front of the right foot, the light emitted from the light emitting elements 51 and 52 provided in the vicinity of the toe of the right foot It is detected by the light receiving elements 41 and 42 provided in the vicinity. Therefore, in the light receiving element 41 provided in the vicinity of the heel, when light from the light emitting element 51 provided in the vicinity of the toe of the other foot is detected, the foot wearing the walking assist device provided with the light receiving element 41 is used. Can be recognized to be in front of the other leg.

  In the example shown in FIG. 4, the same light emitting element and light receiving element are provided on the left and right feet. However, even if only the light emitting element is provided on one foot and the light receiving element is provided on the other foot, the front and rear direction of the left and right feet. Can be determined. In particular, when two walking auxiliary members mounted on the left and right feet are arranged in a horizontal row, the light receiving element of one walking auxiliary member and the light emitting element of the other walking auxiliary member are shifted in the front-rear direction. Since it can recognize the shift | offset | difference of the front-back direction, it can recognize the relative position of the front-back direction between walking assistance members more correctly. Further, as in the example shown in FIG. 4, by providing the light emitting element and the light receiving element at the same position on the left and right feet, the relative position in the front-rear direction between the walking auxiliary members can be recognized more accurately. .

  In addition, when a plurality of light receiving elements are arranged apart from each other in the vertical direction, the relative position in the vertical direction between both feet can be recognized.

  Here, instead of providing a plurality of light receiving elements, a plurality of light emitting elements may be arranged separately in the front-rear direction or in the vertical direction. In this case, since the light receiving element needs to recognize which light emitting element of the plurality of light emitting elements has received light, the blinking pattern of the light emitted from each light emitting element is changed, or the frequency is changed. Change it.

  Then, the control example of the walking assistance apparatus concerning this Embodiment 1 is demonstrated using FIGS. FIG. 5 is a diagram illustrating an arrangement of various sensors of the walking assistance device exemplified in this control example. R represents a sensor of the walking assist device worn on the right foot, and L represents a sensor of the walking assist device worn on the left foot. S1, S2, and S3 are tactile sensors 3 provided on the soles. S4 is an obstacle sensor 2 provided on the toe. S5 is the light receiving element 4 provided in the bag. S6 is the tactile sensor 1 provided on the shin. S7 is the tactile sensor 1 provided in the calf. S8 is the light receiving element 4 provided in the calf above the ankle. Although not shown in FIG. 5, the light emitting element 5 is provided at the position shown in FIG. 1 and FIG.

  FIG. 6 shows the detection state of the sensor and the operation state of the actuator in each of various states A (step-up operation), B (rise operation), C (falling operation), and D (step-down operation). ing. In the detection state of the sensor, “1” indicates a detection state, “0” indicates a non-detection state, and “2” indicates a state that may be either. In the operating state of the actuator, “+” indicates a contracting direction, “−” indicates a extending direction, and “0” indicates none. Also in the controller 6, control is executed using a map as shown in FIG.

  Subsequently, the detection state of the sensor and the operation state of the actuator in the state A (step-up operation) will be described with reference to FIGS. Each state A1 to A7 corresponds to A1 to A7 shown in the table of FIG. Moreover, in the figure, it has shown that the sensor of the code | symbol enclosed by the double line is in a detection state.

  In the initial state A1 shown in FIG. 7, both feet are usually aligned before the step of the staircase 201. That is, both legs are standing. At this time, since the soles of both feet are in contact with the ground, the tactile sensors S1 to S3 are in a detection state. The obstacle sensor S4 detects the staircase 201. Further, the tactile sensor S6 provided on the shin is in a detection state according to the forward tilt posture of the user. When such a state, that is, pressing of the thumb ball of both feet and pressurization to the front of the shin, is detected, the mode proceeds to the stair climbing mode. At this time, as shown in the table of FIG. 6, the knee joint actuator unit 71 and the ankle joint actuator unit 72 respectively provided on both legs are in a state where the assist force is zero.

  Next, in order to ascend the stairs 201, the user begins to lift the right foot, and when the left leg is in the standing leg and the right leg is in the free leg state, as shown in the table of FIG. 6, it is provided on the sole of the right leg. The tactile sensors S1 to S3 are not detected. Along with this, assist by the knee joint actuator unit 71 and the ankle joint actuator unit 72 is started. Specifically, the controller 6 performs control so that the knee joint actuator unit 71 of the left foot assists in the direction in which the knee is extended or the assist force becomes zero, and the ankle joint actuator unit 72 of the left foot assists in the direction of contracting the ankle. Control. The controller 6 controls the right foot knee joint actuator unit 71 to assist in the direction of contracting the knee, and controls the right foot ankle joint actuator unit 72 to assist in the direction of contracting the ankle.

  Next, when the user lifts the right foot and crosses the step, the detection state of the left foot sensor does not change, but the obstacle sensor 2 provided on the toe of the right foot detects that the step has been exceeded and the obstacle is detected. It changes to the non-detection state. At this time, the controller 6 controls the right leg ankle joint actuator unit 72 to assist in the direction of extending the ankle or to have zero assist force, while the left leg actuator remains unchanged.

  In the state A2 immediately before the lifted right foot touches the ground shown in FIG. 8, the detection state of the left foot sensor does not change, but the obstacle sensor 2 provided on the right toe again detects the next step. To do. At this time, the controller 6 controls the left leg ankle joint actuator 72 to assist the right leg ankle joint actuator 72 in the direction of extending the ankle.

  In the state A3 shown in FIG. 9 in which the left leg starts to be lifted, the left leg is a free leg and the right leg is a standing leg, the touch sensors S1 to S3 are in the detected state on the sole of the left leg and are provided on the sole of the right leg. The tactile sensors S1 and S2 thus set are in a non-detection state. The obstacle sensor S4 provided on the toes of both feet is in a state where a step is detected. At this time, the controller 6 assists in the direction in which the knee joint actuator portion 71 and the ankle joint actuator portion 72 of the left leg are contracted, and assists in the direction of extension of the knee joint actuator portion 71 and the ankle joint actuator portion 72 of the right leg. Control to do.

  In the state A4 in which the left foot is located above the right foot, as shown in FIG. 10, the obstacle sensor S4 provided on the toe of the left foot is in a non-detection state where no step is detected, and the light receiving element provided on the heel of the right leg S5 and the light receiving element S8 provided on the calf detect light emitted from the light emitting element 5 provided on the left foot. More specifically, first, the light receiving element S5 provided on the heel of the right leg detects light from the light emitting element 5, and then the light receiving element S8 provided on the calf detects light from the light emitting element 5. In this way, when the light output from the light emitting element provided on the toe of the other foot is detected by the light receiving element provided on the heel, the leg provided with the light receiving element is behind the leg provided with the light emitting element. Can be recognized. At this time, the controller 6 performs control so that the left leg ankle joint actuator unit 72 assists in the direction of extending the ankle joint.

  Next, in the state A5 immediately before the left foot is in contact with the ground shown in FIG. 11, the obstacle sensor S4 on the left leg detects the step, and the light receiving element S5 provided on the heel of the right leg and the light receiving provided on the calf. The element S8 changes to a state in which light emitted from the light emitting element 5 provided on the left foot is not detected. At this time, there is no change in the operation of each actuator of the left leg and the right leg.

  As shown in FIG. 12, when the user shifts to a state A6 where the right foot starts to be lifted, the touch sensors S1 and S2 provided on the soles of the left foot are in a detection state, and the touch sensor S6 provided on the shin is It enters the detection state. Further, S1 to S3 provided on the sole of the right foot are in a non-detection state. At this time, the controller 6 controls the left leg knee joint actuator unit 71 and the ankle joint actuator unit 72 to assist in extending the knee joint and the ankle joint, and the right leg knee joint actuator unit 71 and the ankle joint. Each of the actuator units 72 is controlled to assist in a direction in which the knee joint and the ankle joint are contracted.

  Next, as shown in the table of FIG. 6, when the state shifts to the state where the right foot is located above the left foot, the light receiving element S5 provided on the left leg and the light receiving element S8 provided on the calf. Detects light from the light emitting element 5 provided on the right foot. Further, the obstacle sensor S4 provided on the toe of the right foot is in a state in which no step is detected. At this time, the controller 6 performs control so that the ankle joint actuator 72 of the right leg assists in the direction of contracting the ankle joint, although the operation of the left leg actuator does not change.

  Finally, as shown in FIG. 13, the user shifts to a state A <b> 7 where both legs are standing on the uppermost stage of the stairs 201. In this state, touch sensors S1 to S4 provided on the soles of both feet detect the grounding state. At this time, as shown in the table of FIG. 6, the knee joint actuator unit 71 and the ankle joint actuator unit 72 respectively provided on both legs are in a state where the assist force is zero.

  As described above, in the stair climbing mode, when the free leg is contracted and brought into contact with the ground, an assist force is generated on the knee and the ankle. Initially, since the light receiving element cannot be detected, it is determined that the free leg is above. While the assist force is generated in the upper leg, the lower leg is separated from the ground and becomes a free leg. And by kicking up the thigh, the upper leg detects a change in light from the light emitting element attached to the lower leg by the light receiving element. The free leg is switched to the upper standing leg to generate assist force. When the stairs are fully climbed, the obstacle sensors on both feet are in a non-detection state, so the mode is switched to the normal walking mode.

  Subsequently, the detection state of the sensor and the operation state of the actuator in the state B (rise operation) will be described with reference to FIGS. 6, 14, and 15.

  In the state B1 immediately after the user starts to stand up from the state where the user sits on a box 202 such as a chair shown in FIG. 14, the touch sensors S1 to S3 provided on the soles of both feet detect the grounding state. To do. The tactile sensor S6 provided on the shins of both legs is in a detection state according to the forward tilt posture of the user. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 respectively provided on both legs assist in the direction of extending the knee joint / ankle.

  In the state B2 shown in FIG. 15 where the user has finished the rising operation and has started up, the tactile sensor S6 provided on the shins of both legs is in a non-detection state. At this time, the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on both legs are in a state where the assist force is zero.

  As described above, when it is detected that the front and back relations coincide with each other and it is recognized that both feet are aligned, and when it is detected that pressure is applied to the front part of the shin, the controller 6 determines that it is in the rising mode. can do. Then, when it is determined that the rising mode is set, the knee and ankle joints are assisted so as to have a prescribed value for the upright posture.

  Subsequently, the detection state of the sensor and the operation state of the actuator in the state C (falling operation) will be described with reference to FIGS. 6, 16, and 17.

  In the state C1 immediately after the start of the falling motion shown in FIG. 16, the touch sensors S1 to S3 provided on the soles of both feet detect the grounding state, and the touch sensor S7 provided on the calves of both legs detects It becomes a state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 respectively provided on both legs assist in a direction in which the knee joint / ankle is contracted.

  In the state C2 shown in FIG. 17 where the user finishes the falling operation and sits on the box 202, the tactile sensors S1 and S2 provided on the soles of both feet are not detected. At this time, the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on both legs are in a state where the assist force is zero.

  In this way, when it is detected that the front and back relations coincide with each other and it is recognized that both feet are aligned, and it is detected that pressure is applied to the calf (back of the shin), the controller 6 Can be determined. Then, when it is determined as the falling mode, the controller 6 assists so that the ankle is upright and the knee can be bent at a right angle. The controller 6 stops the assist operation in response to the operation assist up to the specified angle and when the ground contact state changes (for example, when both feet are away from the ground). Moreover, if it detects that one leg has left | separated from the ground, the controller 6 will transfer to staircase down mode.

  Subsequently, the detection state of the sensor and the operation state of the actuator in the state D (step down operation) will be described with reference to FIGS. 6 and 18 to 24.

  In the initial state D <b> 1 shown in FIG. 18, the user has both feet aligned at the top of the staircase 201. That is, both legs are standing. At this time, since the soles of both feet are in contact with the ground, the tactile sensors S1 to S3 are in a detection state. The tactile sensor S7 provided in the calf is in a detection state according to the user's backward tilt posture. At this time, as shown in the table of FIG. 6, the controller 6 controls the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on both legs to assist in the direction of contracting the knee joint / ankle.

  In the state D2 in which the right foot is projected forward as shown in FIG. 19, the tactile sensors S1 to S3 provided on the sole of the right foot are changed to the non-detection state, and the light receiving element S5 provided on the heel is further moved to the left foot. Light emitted from the provided light emitting element 5 is detected. The light receiving element S8 provided in the calf has not yet detected the light emitted from the light emitting element 5. At this time, as shown in the table of FIG. 6, the controller 6 performs control so that the ankle joint actuator 72 provided on the right leg assists in the direction of extending the ankle or the assist force becomes zero.

  Furthermore, when the user bends the left knee so that the right foot is lower than the left foot as shown in FIG. 20 (state D3), the light receiving element S5 provided on the heel of the right leg is provided on the left foot. The light emitted from the light emitting element 5 is detected, and the light receiving element S8 provided in the calf also detects the light emitted from the light emitting element 5. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on the left leg assist in a direction to contract the knee joint and the ankle joint. Further, the controller 6 controls the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on the right leg to assist in the direction of extending the knee joint and the ankle joint.

  Next, in the state D4 shown in FIG. 21 in which the user moves forward with the right leg as a standing leg and the left leg as a free leg, the tactile sensors S1 to S3 provided on the soles of the left legs are not detected. Thus, the tactile sensors S1 and S2 provided on the sole of the right foot are in a detection state. The tactile sensor S6 provided on the shin of the right leg is also in the detection state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 of the left leg assists in the direction of contracting the knee joint, and the ankle joint actuator unit 72 assists in the direction of extending the ankle joint. Further, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on the right leg assist in the direction of contracting the knee joint and the ankle joint.

  As shown in FIG. 22, in a state D5 where the user bends the knee of the right leg that is the standing leg so that the left leg is lower than the right leg, the light receiving element S5 provided on the heel of the left leg and the calf are provided. The received light receiving element S8 detects the light emitted from the light emitting element 5 provided on the right foot. More precisely, first, the light receiving element S5 provided on the leg heel detects light emitted from the light emitting element 5 provided on the right foot, and then the light receiving element S8 provided on the calf is provided on the right foot. The light emitted from the light emitting element 5 is detected. Furthermore, as the user's left foot is lowered, the light receiving element S5 becomes a non-detection state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 of the left leg assist in the direction of extending the knee joint and the ankle joint. Further, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on the right leg assist in the direction of contracting the knee joint and the ankle joint.

  Next, when the left leg is grounded and the right foot leaves the floor, the tactile sensors S1 and S2 provided on the sole of the left foot are in the detection state, and the tactile sensor S6 provided on the shin of the left leg is also in the detection state. Each sensor on the right leg is in a non-detection state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 of the left leg assist in the direction of contracting the knee joint and the ankle joint. In addition, the controller 6 controls the knee joint actuator unit 71 provided on the right leg to assist in the direction in which the knee joint is contracted, and the ankle joint actuator unit 72 assists in the direction in which the ankle joint is contracted, or the assist force is zero. Control to be

  As shown in FIG. 23, in a state D6 immediately before the user stands on both legs at the bottom of the stairs 201 and stops, the tactile sensors S1 and S2 provided on the soles of both feet are in the detection state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on each of the legs assist in a direction in which the knee joint and the ankle joint are contracted.

  As shown in FIG. 24, in the stop state D7, all tactile sensors S1 to S3 provided on the soles of both feet are in the detection state, and the contact sensor S7 provided in the calf is in the detection state. At this time, the controller 6 performs control so that the knee joint actuator unit 71 and the ankle joint actuator unit 72 provided on each of the legs assist in the direction of extending the knee joint and the ankle joint.

  As described above, the obstacle sensor 2 is in a non-detection state when descending the stairs, but when the back of the shin of the stance (that is, calf) and the pressure of the heel are detected, the direction in which both knees are contracted is the same as in the fall mode. Can assist. In this state, when it is detected that the free leg has moved away from the ground, the mode shifts to the stairs descending mode. The direction in which the knee and heel of the free leg are extended when the standing leg is retracted while the free leg is released from the ground, and the free leg has been detected in the detection state of the light receiving element of the free leg. To assist. Thereafter, when it is detected that the thumb ball of the free leg is in contact with the ground, the free leg becomes a standing leg and assists in the direction of contraction. At that time, the next free leg is kicked while being contracted, and when the vertical relationship of the legs is changed, it is changed in the extending direction. In addition, when you go down the stairs, both the free leg and the stance stand do not change the vertical relationship, so support in the direction of contraction. Then, when it is detected that the toes and heels of both feet are grounded and both feet are aligned, the stairs descending mode is terminated.

  Subsequently, the case of walking on a flat ground will be described. At the start of walking, move the free leg away from the ground and move the free leg in a contracting direction. Furthermore, when the thigh of the free leg is kicked forward, pressure is applied to the front shin of the standing leg. When the heel of the free leg comes into contact with the ground, the stance is changed, and the heel of the stance is changed from the heel to the ball and the place of contact with the ground to assist the knee and ankle joints. In accordance with this, the free leg can also be steadily walked by being assisted as described above, and the process leading to the stop of walking reduces the difference between the front and rear directions of both feet and reduces the pressure on the shin. Furthermore, it can be recognized by detecting that both feet are aligned.

Other embodiments.
As shown in FIG. 25, the obstacle sensor 2 is composed of a plurality of sets of light emitting elements and light receiving elements, and each pair is arranged in a different direction, so that the obstacles are arranged in a plurality of directions. It may be possible to detect. In FIG. 27, the structure of the walking assistance apparatus regarding this example is shown. As shown in the figure, the irradiation range W of the plurality of light emitting elements 21 provided on the toes of the walking assistance device is as wide as 180 degrees forward. The light emitted from each light emitting element 21 has a blinking pattern indicating different identification information ID1 to IDn, and the light receiving element 4 can recognize which light emitting element 21 emits the light. At this time, the respective lights may not have different blinking patterns but may have different frequencies.

  Further, an obstacle may be detected over a wide range by sweeping a light emitting element such as a laser. In this case, it is necessary to detect the angle at the time of sweep.

  As shown in FIG. 26, a sweepable distance sensor 8 may be attached in the vicinity of the knee joint actuator unit 71. A detection signal of the distance sensor 8 is output to the controller 6. The distance sensor 8 uses the lower front side of the user as a sweep (detection) range, and detects the situation of the walking destination. In particular, the detection information of the distance sensor 8 can be used to determine whether the obstacle 200 does not rise on the upper surface of the obstacle 200 but can be straddled. Further, the distance sensor 8 (laser sensor) can detect the descending staircase, thereby switching to the staircase descending operation mode. The straddling operation is basically the same as the step-up operation. However, the free leg comes to ground from the toe.

  As shown in FIG. 28, a camera 9 (image acquisition device) may be provided on the toes of the walking assistance devices attached to both legs. In the example shown in FIG. 28A, a pointer 9a is further provided on the inner surface of the buttocks of the walking assistance device. When the pointer 9a is detected by the camera 9, it can be recognized that the foot on which the detected camera 9 is attached is behind, and the relative positions of the both feet (front-rear direction and up-down direction) Can be detected.

  As shown in FIG. 28B, the relative positions of both feet can be detected only by the camera 9 without providing the pointer 9a. In this case, it is preferable that the irradiation range of the camera 9 is directed inward (the other leg side) as shown in FIG. In this case, specifically, the photographed image of the camera 9 is analyzed to detect the position of the other leg. In FIG. 28 (b), the camera 9 is provided on the walking assist device for both feet, but the present invention is not limited to this, and the relative position (front-rear direction and up-down direction) of both feet is also provided by providing the camera 9 only on one foot. ) Can be detected.

1 is a schematic side view of a walking assistance device according to an embodiment of the invention. It is explanatory drawing which looked at the walking assistance apparatus concerning embodiment of invention from the upper surface. It is a block diagram which shows the structure of the walking assistance apparatus concerning embodiment of invention. It is explanatory drawing for demonstrating the front-back determination operation | movement of the walking assistance apparatus concerning embodiment of invention. It is a figure which shows arrangement | positioning of each sensor of the walking assistance apparatus concerning embodiment of invention. It is a table which shows the detection state of the sensor of the walking assistance apparatus concerning embodiment of invention, and the operation state of an actuator. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is a side view which shows the state of the walking assistance apparatus concerning embodiment of invention. It is explanatory drawing which looked at the walking assistance apparatus concerning embodiment of invention from the upper surface. It is explanatory drawing which looked at the walking assistance apparatus concerning embodiment of invention from the upper surface.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Tactile sensor 2 Obstacle sensor 3 Tactile sensor 4 Light receiving element 5 Light emitting element 6 Controller 8 Distance sensor 9 Camera 10 Thigh support member 20 Foot support member 30 Connection member 21 Calf support part 22 Tibial support part 23 Foot support part 71 Knee joint actuator Part 72 Ankle joint actuator part 100 Walking assist device

Claims (14)

A first walking assistance member attached to one leg, a second walking assistance member attached to the other leg, and a controller for controlling the first walking assistance member and the second walking assistance member; A walking assist device for assisting a user's walking motion,
A sensor provided on the first walking assistance member for detecting the second walking assistance member at a position spaced apart from the second walking assistance member;
The controller recognizes a relative position between the first walking auxiliary member and the second walking auxiliary member according to a detection signal of the sensor, and detects the first walking auxiliary member and the first walking auxiliary member. A walking assistance device for controlling two walking assistance members. The sensor of the first walking assistance member is composed of a plurality of sensors arranged apart from each other in the front-rear direction,
2. The walking according to claim 1, wherein the controller recognizes a relative position in the front-rear direction of the first walking assistance member and the second walking assistance member based on detection signals of the plurality of sensors. Auxiliary device. The sensor of the first walking auxiliary member is composed of a plurality of sensors arranged apart from each other in the vertical direction,
The said controller recognizes the relative position of the up-down direction of a said 1st walking assistance member and a said 2nd walking assistance member based on the detection signal of the said several sensor. Walking assist device. The second walking auxiliary member has a light emitting element,
The sensor of the first walking assistance member is a light receiving element that detects light emitted from a light emitting element provided in the second walking assistance member. Walking assist device.   When the first walking assist member and the second walking assist member are arranged in a horizontal row, the light receiving element of the first walking assist member and the light emitting element of the second walking assist member are in the front-rear direction. The walking assistance device according to claim 4, wherein the walking assistance device is arranged so as to be shifted. The light receiving element is provided in the vicinity of a heel of the first walking assisting member,
The walking assist device according to claim 5, wherein the light emitting element is provided in the vicinity of a toe of the second walking assisting member. The second walking auxiliary member includes a sensor that detects the first walking auxiliary member at a position spaced apart from the first walking auxiliary member,
The controller is configured to detect a relative value between the first walking assist member and the second walking assist member according to a detection signal of a sensor provided in the first walking assist member and the second walking assist member. The walking assistance device according to claim 1, wherein the first walking assistance member and the second walking assistance member are controlled by recognizing a specific position. The first walking assist member and the second walking assist member each include a tactile sensor that comes into contact with a user's shin and calf,
The walking assist device according to claim 1, wherein the controller controls the first walking assisting member and the second walking assisting member based on a detection signal of the tactile sensor. .   The controller recognizes that the first auxiliary walking member and the second auxiliary member are aligned on the basis of the detection signal of the sensor and detects the shin on the basis of the detection signal of the tactile sensor. 9. The walking assistance device according to claim 8, wherein when it is recognized that a pressure is applied, the rising mode is recognized.   The controller recognizes that the first walking auxiliary member and the second auxiliary member are aligned based on the detection signal of the sensor, and calf based on the detection signal of the tactile sensor. 9. The walking assist device according to claim 8, wherein the walking assist device recognizes the falling mode when recognizing that the pressure is applied. The first walking assist member and the second walking assist member each include an obstacle sensor that detects an obstacle in front of the toe,
The walking controller according to claim 1, wherein the controller controls the first walking assistance member and the second walking assistance member based on a detection signal of the obstacle sensor. apparatus. The first walking assistance member and the second walking assistance member each include an obstacle sensor that detects an obstacle in front of the knee,
The walking controller according to any one of claims 1 to 11, wherein the controller controls the first walking assistance member and the second walking assistance member based on a detection signal of the obstacle sensor. apparatus.   The walking assistance device according to claim 1, wherein the first walking assistance member and the second walking assistance member are provided on a user's leg and are not connected to each other.   Each of the first walking assist member and the second walking assist member includes a knee joint actuator unit that assists the user's knee motion and an ankle joint actuator unit that assists the user's ankle motion. The walking assist device according to any one of claims 1 to 13,

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