JP2010017465A - Walking assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking assist device assisting the walking of a user having disability in a leg, to one closely resembled to the normal walking. <P>SOLUTION: This walking assist device S includes a link mechanism 3 for bending and extending the knee joint of a user, a drive motor for actuating the link mechanism 3, a storage means 15 for storing a walking patten acquired by associating the movement of the knee joint in the walk with a rotation signal of the drive motor, and a rotation speed control means 19 controlling the rotation of the drive motor based on the walking pattern. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a technical field of a walking assistance device that assists a user's walking.

  In recent years, a walking assist device has been designed to help prevent muscle weakness by assisting elderly people and victims with weak muscle strength by walking, raising and lowering stairs, standing up from a sitting position, and sitting up from a standing position. Exists (see, for example, Patent Document 1).

  The auxiliary device of Patent Document 1 includes a first link that is fixed to the side of the abdominal band that is wound around the user's abdomen, and a second link that is fixed to the side of the leg pad that is wound around the thigh of the user. The movement of the thigh of the user is assisted by connecting with an electric actuator and swinging the second link back and forth with respect to the first link with the electric actuator.

  In this type of walking assistance device, the operation of the electric actuator is controlled in advance by a control program.

JP 2002-301124 A

  However, the conventional walking assist device is used for a user who is relatively close to a healthy person, and compensates for the muscular strength that is insufficient when a load is applied to the human body, such as a stair climbing operation. Various deficiencies arise when adapted to the user. For example, when walking on a normal road, the walking assist function does not operate. Therefore, when a user with a disability uses the conventional walking assist device, the walking assist function does not operate even if a walking disorder occurs.

  Therefore, in order to solve an example of such a problem, an object of the present application is to provide a walking assistance device that can make a walking of a user with a foot disorder close to a normal walking.

In order to solve the above-described problem, the walking assist device according to claim 1 includes a link mechanism unit for bending and extending a user's knee joint, a drive motor for operating the link mechanism unit, and walking. Storage means for storing a walking pattern in which the operation of the knee joint is associated with a rotation signal of the drive motor, and rotation control means for controlling the rotation of the drive motor based on the walking pattern are provided.

  According to such a configuration, the link mechanism forcibly moves the user's foot in an appropriate walking pattern, so that the user is aware of the appropriate walking pattern and the walking state of the disabled foot is in a normal walking state. Can approach.

  The walking assistance device according to claim 2 is the walking assistance device according to claim 1, wherein the walking pattern changes at least one of an angle of a knee joint or a time required for one step of movement. And a walking pattern selecting means for selecting one walking pattern from the plurality of walking patterns.

  According to such a configuration, walking training can be performed with a walking pattern adapted to the degree of failure of the user.

  The walking assist device according to claim 3 is the walking assist device according to claim 1 or 2, wherein the walking pattern selection means can select a plurality of walking patterns, and the rotation control means When the plurality of walking patterns are selected, the plurality of walking patterns are combined, and the drive motor is rotationally controlled based on each of the walking patterns. According to this configuration, since various walking patterns occur continuously, walking exercise can be performed efficiently.

  According to a fourth aspect of the present invention, there is provided a walking assistance device according to any one of the first to third aspects, wherein the walking assistance device according to any one of the first to third aspects includes an activation request receiving unit that receives an activation request for activating the drive motor by a user operation. Furthermore, it is characterized by providing. According to this configuration, the walking assistance device can be activated at the timing of the user.

  The best mode for carrying out the present application will be described below with reference to the drawings. FIG. 1 is a state diagram when a walking assistance device is mounted on a user, FIG. 2 is a state diagram when a driving unit is mounted on both feet of the user, FIG. 3 is a configuration diagram of the walking assistance device, and FIG. 4A is a diagram showing the relationship between the knee joint bending angle and the elapsed time for one step when a pedestrian walks at a predetermined speed, and FIG. 4B is a diagram. 4A is a diagram showing a waveform obtained from the angular velocity of the knee joint based on FIG. 4A, FIG. 4C is a diagram showing a signal example of a drive motor based on the waveform of FIG. 4B, and FIG. 5 is a walking pattern of both feet FIG. 6 is a diagram illustrating an example of a plurality of walking patterns. In addition, embodiment described below is embodiment at the time of applying this application as the walk assistance apparatus S which assists a user's knee joint in a walk.

  As shown in FIGS. 1 and 2, the walking assist device S of the present embodiment includes a pair of drive units 10 that are respectively attached to the user's feet by a fastener 6 such as a magic tape (registered trademark) or a band. . As shown in FIG. 1, the drive unit 10 is attached with a link mechanism portion 3 that is attached to a joint portion of a user's knee portion 5 and that flexes and extends the knee joint.

  As shown in FIG. 1, the link mechanism unit 3 includes, for example, a first link 3a attached to a side surface of an upper leg rest 4 wound around the user's thigh and a lower leg wound around the user's lower leg. A second link 3b attached to the side surface of the abutment 7, and a third link 3c that obtains power from the drive unit 10 and swings the second link 3b in the front-rear direction with respect to the first link 3a. Is done.

  The first link 3a is attached to extend from the user's waist side to the knee 5 side, and the second link 3b is attached to extend from the user's knee 5 side to the tip (ground) side of the foot, The first link 3a and the second link 3b are connected so as to be rotatable in the vicinity of the knee portion 5 of the user. Moreover, the edge part of the 3rd link 3c is connected with the center vicinity of the said 2nd link 3b.

  Although the upper leg rest 4 and the lower leg rest 7 are not shown, each includes a pair of leg rest members, and the leg rest members cover the thigh and lower leg portions of the user. And is detachably attached by the fixture 6.

  The upper and lower leg rests 4 and 7 are formed by molding, for example, PP resin, and a stretchable sponge member or the like is attached to a portion in contact with the user's thigh.

  In addition, as shown in FIG. 2, a communication unit 20 for data communication between the drive units 11 and 12 can be attached to and detached from the drive unit 11 for the left foot and the drive unit 12 for the right foot that are attached to both feet. It is attached. The communication unit 20 includes a cable 21 and a relay box 22 that accommodates a communication board, a battery, and the like disposed in the middle of the cable 21, and is attached to a user's waist by a fixing tool such as a belt 23. It is done.

  In addition, the communication unit 20 includes a communication head 25 including communication terminals that can communicate data without contact at both ends of the cable 21. On the other hand, the housing 10a of the drive unit 10 has a hole 10b into which the communication head 25 can be inserted, and the communication head 25 can be attached to and detached from the hole 10b.

  On the other hand, as shown in FIG. 3, the drive unit 10 includes a communication head 14 capable of receiving power or communicating predetermined data inside the housing 10 a. And the communication head 25 is inserted in the hole 10b which the housing | casing 10a of the drive unit 10 has, is electrically connected without contact, and data communication is possible.

  Further, as shown in FIG. 3, the drive unit 10 includes a drive unit 17 that drives the link mechanism unit 3 and a storage battery 18 that supplies electricity to the drive unit 17. Either one of the units 11 and 12 includes a storage unit 15 in which a plurality of walking patterns are stored in advance, an operation unit 16 operated by a user, and a control unit that comprehensively controls each unit that needs to be electrically controlled. 19 is provided.

  The operation unit 16 is operated by a user and includes a start button, a selection button for selecting one or a plurality of walking patterns from a plurality of walking patterns, and the like. In addition, the operation part 16 of this embodiment functions as a walking pattern selection means of this application.

  Although not shown, the drive unit 17 includes a drive motor (DC motor) having a rotation mechanism and a drive control unit that drives and controls the drive motor at a predetermined rotation direction and speed.

  Although not shown, the drive motor is connected to the third link 3c via a gear box whose rotation shaft includes a predetermined gear group. Then, the rotational driving force obtained by rotating the rotating shaft of the driving motor is converted into a linear motion via the gear group and transmitted to the third link 3c, and the driving force is transmitted to the second link 3b. It is like that. And the 2nd link 3b is rock | fluctuated to the front-back direction with respect to the 1st link 3a with the rotation direction of a DC motor, assists the motion of the joint in a user's knee part 5, and assists a user's walk.

  The control unit 19 includes a CPU (Central Processing Unit) mainly having a calculation function, a working RAM, and a ROM that stores various data and programs. The CPU executes various programs stored in the ROM, for example, thereby controlling both of the plurality of drive units and each unit and overall control of the walking assist device S as a whole. Note that the control unit 19 of the present embodiment functions as a rotation control unit and an activation request reception unit of the present application.

  Specifically, the control unit 19 receives an activation request for activating the walking assist device S by the operation of the operation unit 16 by the user, and drives (rotates) the drive motor based on the walking pattern stored in the storage unit 15 in advance. ) A drive signal Sh for control is generated. More specifically, as shown in FIG. 3, the control unit 19 receives a drive motor activation request, for example, by a user operation of the operation unit 16 (pressing a start button and a selection button), and from the storage unit 15. A predetermined walking pattern selected by the user is read out, and a driving signal Sh for driving and controlling the driving motor such as a rotation direction and a rotation speed of the driving motor is generated based on the walking pattern, and the driving signal Sh is driven. To the unit 17.

  Here, the walking pattern will be described with reference to FIG. FIG. 4A is an example showing the relationship between the knee joint bending angle and the elapsed time for one step when a pedestrian walks at a predetermined speed.

  As shown in FIG. 4 (a), the phase of the walking cycle when the pedestrian moves forward at a predetermined speed is roughly divided into a swing phase and a stance phase. In the swing phase, the foot moves away from the ground and moves forward (swings the foot forward), and the knee joint bends and extends from about 0 ° to a maximum of about 75 °. On the other hand, in the stance phase, the foot is placed on the ground and kicks the ground (the foot is swung back), and the knee joint bends and extends from 0 ° to a maximum of about 25 °.

  FIG. 4B is a waveform in which the rotational speed (angular velocity) of the knee joint per hour is obtained based on the bending angle of the knee joint with respect to the elapsed time shown in FIG. 4A. These are waveforms obtained by approximating the waveform shown in FIG. 4B to the rotation signal of the drive motor. FIG. 4C shows an example of a signal for controlling the drive motor, and represents the walking pattern of this embodiment. As described above, the waveform shown in FIG. 4C is a waveform in which the operation of the knee joint in walking shown in FIG. 4A is associated with the rotation signal of the drive motor. Based on this waveform, the duty ratio of the drive motor is continuously changed to control the rotational speed of the drive motor, and the link mechanism unit 3 is operated.

  As shown in FIG. 5, the walking is performed by repeating the swing phase and the stance phase, and when one leg is in the swing phase, the other leg is almost in the stance phase. . Therefore, the phase of the walking pattern of the other foot (right foot) is shifted from the walking pattern of one foot (left foot) by a predetermined period (almost the free leg period).

  That is, the rotation of the drive motor for operating the link mechanism 3 attached to the left and right feet is controlled by the control unit 19 so that the other drive motor is shifted from the one drive motor by a predetermined period of the walking pattern. Be controlled.

  In the storage unit 15 of this embodiment, as shown in FIG. 6, a reference waveform, a waveform in which the period of the waveform (time required for one step of movement) and the amplitude (angle of the knee joint) are changed as appropriate. Multiple types of walking patterns are stored in advance. Then, the control unit 19 of the walking assistance device S selects one or a plurality of walking patterns from a plurality of walking patterns according to the severity of the user's obstacle or a proficiency state, and controls the drive motor based on the walking pattern. To do.

  The walking pattern includes a reference normal walking pattern (FIG. 6A), a walking pattern in which only the period is changed with respect to the normal walking pattern (FIGS. 6B and 6C), and the normal walking. A walking pattern (FIGS. 6D and 6E) in which only the amplitude is changed with respect to the pattern, and a walking pattern in which the period and amplitude are changed with respect to the normal walking pattern (FIGS. 6F to 6I) )) Is stored. By changing only the amplitude of the walking pattern small, the angle of the knee joint is controlled shallowly in the operation of the link mechanism unit 3, and by changing only the cycle long, the operation of the link mechanism unit 3 is controlled slowly.

  This walking pattern is selected by the user using the operation unit 16, but may be automatically selected by the control unit by selecting the degree of obstacle, for example.

  Below, the operation example using the said walking pattern is demonstrated using FIG. 7 thru | or FIG. FIG. 7 is a diagram illustrating an example in which a walking pattern is operated for one cycle, FIG. 8 is a diagram illustrating an example in which the same walking pattern is continuously operated, and FIG. 9 is a diagram illustrating an example in which different walking patterns are continuously operated. is there.

  For example, it is presumed that a user with a severe degree of disability is required to perform training that repeats a stepping action because walking is difficult. Therefore, as shown in FIG. 7, the process is terminated by controlling the rotation of the drive motor for a predetermined walking pattern for one cycle.

  Specifically, the control unit 19 of the walking assistance device S operates the one walking pattern selected by the user for one cycle by the operation of the operation unit 16 by the user (pressing the start button and the selection button). Control the rotation of the drive motor. According to the walking assist device S configured as described above, the link mechanism unit 3 operates such that a predetermined walking pattern is generated by one cycle by a user operation. Therefore, the user can perform rehabilitation while grasping the state of the foot step by step.

  Further, the user gradually moves the normal walking pattern to the body by operating the link mechanism unit 3 so that a normal walking pattern is generated as shown in FIG. It becomes possible to remember.

  In the example of FIG. 7A, a walking pattern is selected that has a smaller amplitude (shallow knee joint angle) and a longer cycle (slower one step) than the normal walking pattern. Depending on the state of the foot, it is preferable to select a walking pattern in which only one of the amplitude and the period changes with respect to the normal walking pattern.

  In addition, it is estimated that a user with a mild or moderate degree of disability needs to perform training that repeats walking exercise. Therefore, as shown in FIG. 8, the rotation of the drive motor is controlled so that the predetermined walking pattern is continuously repeated a predetermined number of times, and the process is terminated.

  Specifically, when the user operates the operation unit 16 (presses the start button and the selection button), the control unit 19 of the walking assist device S repeats one walking pattern selected by the user a predetermined number of times continuously. The rotation of the drive motor is controlled so as to operate. According to the walking assist device S configured as described above, the link mechanism unit 3 operates such that a predetermined walking pattern is repeatedly and continuously generated by a user operation. Therefore, the user can perform rehabilitation while grasping the state of the foot by walking.

  Further, the user gradually changes the normal walking pattern by operating the link mechanism unit 3 so that a normal walking pattern is generated as shown in FIG. Can be remembered.

  In the example of FIG. 8A, the walking pattern is selected such that the amplitude is smaller (the knee joint angle is shallower) and the cycle is longer (one step is slower) than the regular walking pattern. Depending on the state of the foot, it is preferable to select a walking pattern in which only one of the amplitude and the period changes with respect to the normal walking pattern.

  Also, as shown in FIG. 9, in order to bring the user's walking state closer to a normal walking pattern, a walking pattern is generated in which the link mechanism unit 3 operates slowly and the knee joint angle is shallow, and gradually The rotation of the drive motor may be controlled so that a walking pattern in which the link mechanism unit 3 operates fast and the knee joint angle moves deeply is generated.

  In addition, the user changes only the speed in a predetermined walking pattern according to the state of the foot (the period is gradually shortened) (see FIG. 9B), and only the bending angle of the knee joint is changed (the amplitude is changed). It may be possible to select a walking pattern that is gradually increased.

  According to the walking assist device S configured in this way, it is particularly useful for rehabilitating the foot for a user with a foot injury. That is, when there is a problem with the foot, the user can not know the stepping timing in particular, but according to the walking assist device S of the present embodiment, the link mechanism unit 3 is forced to operate, so the user naturally This is because the stepping-in timing is naturally acquired by the body. Further, since the walking pattern is selected according to the severity of the user's obstacle and the drive motor is controlled by the walking pattern, the link mechanism unit 3 can be operated according to the severity of the obstacle of the user. In this way, it is possible to make the walking state of a disabled foot close to a normal walking state while making the user aware of an appropriate walking pattern.

  In addition, this embodiment is one form and is not limited to this form. For example, although the storage battery is provided for each drive unit, it may be provided in either one. Moreover, although it is necessary to operate both drive units 11 and 12 in synchronization, a control unit may be provided in each of the drive units 11 and 12.

It is a state figure at the time of mounting a walk auxiliary device on a user. It is a state figure at the time of mounting a drive unit on a user's both feet. It is a block diagram of a walking assistance apparatus. FIG. 4A is a diagram illustrating a walking pattern, and FIG. 4A is a diagram illustrating a relationship between a knee joint bending angle and an elapsed time for one step when a pedestrian walks at a predetermined speed. FIG. 4B is a diagram showing a waveform obtained by determining the angular velocity of the knee joint based on FIG. 4A, and FIG. 4C is a diagram showing an example of a signal of the drive motor based on the waveform of FIG. It is a figure which shows the walking pattern of both feet. It is a figure which shows an example of a several walking pattern. It is a figure which shows an example which makes a walk pattern operate | move 1 period. It is a figure which shows an example which operates the same walking pattern continuously. It is a figure which shows an example which operates a different walking pattern continuously.

Explanation of symbols

S walking assist device 3 link mechanism unit 10 drive unit 19 control unit

Claims (4)

A link mechanism for flexing and extending the user's knee joint;
A drive motor for operating the link mechanism,
Storage means for storing a walking pattern in which movement of the knee joint during walking is associated with a rotation signal of the drive motor;
Rotation control means for controlling rotation of the drive motor based on the walking pattern;
A walking assistance device comprising: The walking pattern has a plurality of walking patterns in which at least one of an angle of a knee joint or a time required for one step of movement is changed,
The walking assistance device according to claim 1, further comprising walking pattern selection means for selecting one walking pattern from the plurality of walking patterns. The walking pattern selection means can select a plurality of walking patterns,
The rotation control means includes
3. When the plurality of walking patterns are selected, the plurality of walking patterns are combined and the drive motor is rotationally controlled based on each of the walking patterns. Walking assist device.   The walking assist device according to any one of claims 1 to 3, further comprising a start request receiving unit that receives a start request for starting the drive motor by a user operation.

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