JP2010263934A - Action assisting apparatus and information management device for managing the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently manage the using condition of an action assisting apparatus and to maintain an optimum state. <P>SOLUTION: The action assisting apparatus includes: a first detection means for detecting the angle of the joint of a wearer; a second detection means for detecting biological signals accompanying the muscle activity of the wearer; a third detection means for detecting the drive torque of a drive source; a storage means for storing a reference parameter database, a command signal database and action history information comprising detection signals of the first-third detection means; a communication means for transmitting the action history information to a manager side and receiving a reference parameter and/or a command signal from the manager side; an updating control means for storing updating information corresponding to the pertinent phase of the updating information; and a control means for estimating the phase of the action of the wearer by comparing a joint angle signal with the reference parameter and driving the drive source on the basis of the command signal corresponding to the estimated phase. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a motion assisting device and an information management device that manages the motion assisting device, and in particular, to efficiently manage the usage status of the motion assisting device and maintain an optimal state, and the operation The present invention relates to an information management device that manages auxiliary devices.

  In recent years, the number of persons with musculoskeletal weakness and damage due to aging, accidents, illnesses, motor dysfunction due to underdevelopment, etc. continues to increase rapidly. In many cases, people who have a disability in such motor functions have difficulty even if they can be performed easily by a healthy person.

  For this reason, various power assist devices for assisting or substituting the operations of these people have been developed. As these power assist devices, for example, a bioelectric potential attached to the body of a user (hereinafter referred to as “wearer”) is detected based on the will of the wearer. There is a wearable movement assist device that controls a drive unit to apply a driving force to a wearer's joint to assist the movement of the wearer's joint and assist the movement (see, for example, Patent Document 1).

  Such a wearable movement assisting device is applied not only to assisting the wearer in accordance with the intention of the wearer but also to performing rehabilitation (hereinafter referred to as rehabilitation) for the purpose of recovery of motor function, for example. (For example, refer to Patent Document 2).

  By applying the wearable movement assist device in this manner, the operation is assisted according to the wearer's intention, and the intended movement can be performed without overloading by guiding the wearer's movement. It is possible to train to learn various operations without being limited to the above example.

Japanese Patent Laid-Open No. 2005-23003 JP 2008-264509 A

  By the way, for example, rehabilitation is intended to restore physical function by performing predetermined actions while receiving necessary assistance under the guidance of doctors and physical therapists. For this reason, normally, while regularly receiving guidance from a doctor or the like, an operation based on the guidance is repeatedly performed personally (for example, without a doctor or the like). In addition, when the instruction of a doctor or the like is completed, exercise training is continuously performed personally. In this way, when training is performed by repeating the same motion after receiving guidance of a predetermined motion once, the motion that was previously guided by a doctor etc. is actually due to factors such as recovery of motor function In some cases, the physical condition at the time of rehabilitation was not suitable.

  In addition, for example, even when a new exercise program having a high rehabilitation effect is devised, the exercise program cannot be transmitted until the next instruction from a doctor or the like. Similarly, in training not only for rehabilitation, but also for training some kind of movement, it is difficult to train optimally for the physical condition at that time when the guidance of the instructor cannot be received frequently. was there.

  In addition, even when wearing a wearable movement assist device and performing rehabilitation, assist the wearer's movement so that the movement when receiving guidance can be reproduced according to the wearer's intention. However, it is possible for the instructor to change the target action according to the degree of recovery of the wearer or to assist the wearer to perform a new exercise program without directly instructing the action. There wasn't.

  Therefore, the present invention provides a wearable movement assist device that assists the wearer's movement so that a new movement can be transmitted to the wearer without receiving direct guidance from the leader. An object of the present invention is to provide an information management device that manages a simple operation assisting device.

  In order to solve the above problems, the present invention employs means for solving the problems having the following characteristics.

  According to a first aspect of the present invention, there is provided a wearable motion assisting device that assists or substitutes the motion of the wearer with a motion assisting wearing tool having a drive source for applying power to the wearer. First detecting means for detecting the angle of the joint of the wearer in accordance with movement, second detecting means for detecting a biological signal accompanying the muscle activity of the wearer, and detecting a driving torque of the driving source A reference parameter database comprising a third detection means and a data group in which the joint angle of the wearer and the biological signal are set in association with each other in a series of phases constituting the movement pattern of the wearer, A command signal database consisting of a data group in which command signals for generating power corresponding to each of the reference parameters are generated in the drive source, and detection signals of the first to third detection means. Storage means for storing operation history information comprising: communication means for transmitting the operation history information to an administrator side and receiving the reference parameter and / or command signal from the administrator side; and The update control means for storing the update information in the storage means corresponding to the corresponding phase, the joint angle signal detected by the first detection means, and the reference parameter updated by the update control means are compared. By doing so, it comprises control means for estimating the phase of the wearer's movement and driving the drive source based on a command signal corresponding to the estimated phase.

  According to the first aspect of the invention, the usage status of the motion assisting device and the wearer's physical status are transmitted to the manager side based on the motion history information, and the reference parameter and / or command signal from the manager side is received. The driving source of the wearable motion assisting device can be driven by the updated reference parameter and / or command signal, so that the administrator knows the latest state of the wearer and the wearable motion assisting device. Thus, reference parameters and command signals suitable for the situation can be transmitted. In addition, since the drive source of the wearable movement assist device is controlled based on the updated reference parameters, etc., new movements can be transmitted to the wearer without receiving direct guidance from the leader. The operation of the wearer can be assisted.

  The invention described in claim 2 further includes phase determination means for selecting a phase of the wearer's movement by comparing a joint angle detected by the first detection means with a joint angle of the reference parameter. And the data type selected by the phase determination means is stored in the storage means as the operation history information.

  According to invention of Claim 2, usability can be improved by selecting an optimal phase for every wearer. In addition, by storing the type of data selected by the phase determination unit as the operation history information, the usage frequency of the phase can be grasped.

  The invention described in claim 3 includes autonomous control means for generating a command signal for causing the drive source to generate power according to the phase determined by the phase determination means.

  According to the third aspect of the present invention, the drive source can be optimally controlled according to the phase. Thereby, the operation assistance without a sense of incongruity can be provided to the wearer.

  The invention described in claim 4 is an information management device that acquires operation history information from the operation assisting device according to any one of claims 1 to 3 and manages the operation status of the operation assisting device. The analysis unit that analyzes the operation history information transmitted from the operation assisting device, the update data generation unit that updates the corresponding reference parameter based on the result analyzed by the analysis unit, and the update data Update data sending means for sending an update data request instruction to the operation assistance device and sending the update data to the requested operation assistance device in order to send the update data generated by the generation means It is characterized by having.

  According to the invention described in claim 4, it is possible to centrally manage the wearer's physical information and the operation history of the wearable movement assisting device by the information management device. Further, for maintenance, the reference parameter and / or the command signal can be easily changed / updated according to the wearer's physical information and the operation history of the wearable movement assist device.

  The invention described in claim 5 is an authentication unit that authenticates a creator of received phase data for update, and an update transmitted from an operation assisting device authorized to generate update data authenticated by the authentication unit. And control means for controlling to store only data.

  According to the fifth aspect of the present invention, the reliability of the update data can be improved, and information such as general users can be managed with priority, so that more accurate analysis is performed. be able to.

  According to the present invention, it is possible to transmit a new motion to the wearer without receiving direct guidance from the instructor by efficiently managing the usage state of the motion assisting device and maintaining the optimum state. The operation of the wearer can be assisted.

It is a figure which shows the state with which one Example of the mounting | wearing type movement assistance apparatus for lower body in this embodiment was mounted | worn. It is a figure which shows the state with which one Example of the mounting | wearing type movement assistance apparatus for upper body in this embodiment was mounted | worn. It is a figure which shows an example of schematic structure of the storage apparatus for operation assistance apparatuses in this embodiment. It is a figure for demonstrating the management system of a mounting | wearing type movement assistance apparatus. It is a block diagram which shows the control system applied to one Example of the mounting | wearing type movement assistance apparatus in this embodiment. It is a figure which shows an example of each data stored in a data storage means. It is a figure which shows an example for demonstrating the connection of the operation instruction signal between phases. It is a figure which shows an example of a function structure of the information management apparatus in this embodiment.

<About the present invention>
In the present invention, the operation history information (for example, joint angle, biological signal, drive torque of the drive source, etc.) of the motion assist device is used to check the usage status of one or a plurality of motion assist devices via a wired or wireless communication network. The information management device is sent to the information management device provided on the manager (the person who performs system management such as maintenance of the wearable motion assisting device or the leader who instructs the wearer on the operation) The history information transmitted from each wearable motion assist device is accumulated, and the history information is analyzed to analyze the usage situation where failure is likely to occur. Based on the analysis result, the reference parameter of the motion assist device And / or updating the command signal, downloading the new reference parameter and / or command signal to the motion assisting device, and updating each motion assisting device.

  Furthermore, the update information is transmitted from the information management center in response to a request signal from the operation assisting device or periodically or at an arbitrary timing. Further, the operation assisting device reflects the update information from the information management center in the reference parameter database and / or the command signal database.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of an operation assisting device according to the present invention having the above-described features and an information management device for managing the operation assisting device will be described in detail with reference to the drawings.

  In the following description, as an example, a hardware configuration and drive for providing more natural walking, standing and sitting movements, etc., by a wearable movement assist device for the purpose of assisting / reconstructing lower body movement functions by biped walking A control method will be described.

  In addition, the wearable motion assist device in the present embodiment uses, for example, a surface myoelectricity (EMG: Electromyogram / Myoelectricity) in which a command signal from the upper center is generated in the form of a potential on the muscle surface via the spinal cord as a biological signal. In order to further reduce the burden on the muscular joint and the uncomfortable feeling, the compensation by the impedance adjustment applying the moment of inertia and viscoelasticity is controlled.

  The biological signal is a signal caused by electricity generated in the wearer's body, and is a signal that can be measured from the body and that changes in time series in accordance with a movement of the body and a signal from the brain. . For example, biological signals include nerve potentials, muscle potentials, brain waves, cardiac potentials, potentials generated by motion artifacts (effects of motion), potentials generated by biochemical reactions, pulse waves generated by heartbeats, etc. It means a signal generated by biological activity such as vibration.

<Mountable motion assist device: Lower body (hardware configuration)>
FIG. 1 is a diagram showing a state in which one example of a wearable movement assisting device for the lower body in the present embodiment is worn. The wearable motion assist device 10a detects a biological signal (for example, a signal from a human body such as a surface myoelectric potential) generated when a muscle force is generated by a signal from the brain, and from the actuator based on the detection signal. It act | operates so that driving force of this may be provided.

  When the wearer 1 wearing the wearable movement assisting device 10a performs a walking motion with his / her own intention, a drive torque corresponding to the biological signal generated at that time is applied as an assisting force from the wearable motion assisting device 10a. For example, it is possible to walk with a force that is half of the muscular strength required for normal walking. Therefore, the wearer 1 can walk while supporting the overall weight by the resultant force of his / her muscle strength and the drive torque from the actuator (in the present embodiment, using an electric drive motor).

  At that time, the wearable movement assist device 10a controls the assisting force (motor torque) applied according to the movement of the center of gravity accompanying the walking movement to reflect the intention of the wearer 1 as described later. Therefore, the actuator of the wearable movement assist device 10a is controlled so as not to apply a load that is against the intention of the wearer 1, and is controlled so as not to hinder the operation of the wearer 1.

  In addition to the walking motion, the wearable motion assisting device 10a is, for example, an operation when the wearer 1 stands up from a state of sitting on the chair, an operation when sitting on the chair from the standing state, and the wearer 1 It is possible to assist the operation corresponding to the wearer's intention, such as an operation of going up or down the stairs. In particular, when the muscular strength is weak, it is difficult to move up the stairs or move up from the chair, but the wearer 1 wearing the wearable movement assisting device 10a has a driving torque according to his / her intention. It becomes possible to operate without worrying about a decrease in muscle strength.

  Here, an example of the configuration of the wearable motion assisting device 10a shown in FIG. 1 will be described. As shown in FIG. 1, the wearing type movement assisting device 10 a is provided with an actuator (corresponding to a drive source) in a movement assisting wearing tool 11 worn by the wearer 1.

  The actuator includes a right thigh drive motor 12 located at the right hip joint of the wearer 1, a left thigh drive motor 13 located at the left hip joint of the wearer 1, and a right knee located at the right knee joint of the wearer 1. It has the drive motor 14 and the left knee drive motor 15 located in the wearer's 1 left knee joint. These drive motors 12, 13, 14, and 15 are drive sources composed of servo motors whose drive torque is controlled by a control signal from a control device, and have a reduction mechanism that reduces the motor rotation at a predetermined reduction ratio. It is small and can provide sufficient driving force.

  The wearable movement assist device 10a has a waist belt 16 to be worn on the waist of the wearer 1, and batteries 17, 18 and the like functioning as a power source for driving the drive motors 12 to 15 are attached. . The batteries 17 and 18 are rechargeable batteries, and one or a plurality of them are distributed on the left and right so as not to interfere with the walking motion of the wearer 1.

  The wearable movement assist device 10a has a control bag 19 to be worn on the back of the wearer 1, and stores devices such as a control device, a motor driver, a measuring device, and a power supply circuit. The lower portion of the control back 19 is supported by the waist belt 16 and attached so that the weight of the control back 19 does not become a burden on the wearer 1.

  In addition, the wearable movement assist device 10a includes myoelectric potential sensors 20a and 20b that detect surface myoelectric potential (EMGhip) associated with movement of the right thigh of the wearer 1 and surface myoelectric potential associated with movement of the left thigh of the wearer 1. The EMG sensors 21a and 21b for detecting (EMGhip), the myoelectric sensors 22a and 22b for detecting the surface myoelectric potential (EMGknee) associated with the movement of the right knee, and the surface myoelectric potential (EMGknee) associated with the movement of the left knee. It has myoelectric potential sensors 23a and 23b to detect.

  These myoelectric potential sensors 20a, 20b, 21a, 21b, 22a, 22b, 23a, and 23b are detection means for measuring the surface myoelectric potential when the skeletal muscles generate muscle force, and are weak potentials generated in the skeletal muscles. It has an electrode which detects. In the present embodiment, the myoelectric potential sensors 20a, 20b, 21a, 21b, 22a, 22b, 23a, and 23b are detachably attached to the skin surface of the wearer 1 with, for example, an adhesive seal that covers the periphery of the electrodes. To be attached.

  The myoelectric potential sensors 20a and 21a are attached to the front side of the base of the thigh of the wearer 1 and measure the myoelectric potential corresponding to the muscle strength when the leg is pushed forward by detecting the surface myoelectric potential of the iliopsoas muscle. .

  The myoelectric potential sensors 20b and 21b are attached to the buttocks of the wearer 1 to detect the surface myoelectric potential of the greater gluteus muscle, for example, to measure the myoelectric potential corresponding to the muscle force when kicking backward or going up the stairs. To do.

  The myoelectric potential sensors 22a and 23a are attached to the front upper side of the wearer 1, detect the surface myoelectric potential of the quadriceps femoris muscle, and measure the myoelectric potential corresponding to the muscle force that moves downward from the knee.

  The myoelectric potential sensors 22b and 23b are affixed to the rear side above the knee of the wearer 1, detect the surface myoelectric potential of the biceps femoris, and measure the myoelectric potential according to the muscle force that returns the knee downward. Therefore, in the wearable movement assist device 10, the four drive motors 12, 13, and 14 are based on the surface myoelectric potentials detected by these myoelectric potential sensors 20a, 20b, 21a, 21b, 22a, 22b, 23a, and 23b. , 15 is obtained, and the drive motors 12, 13, 14, 15 are driven by this drive current, so that an assist force is applied to assist the wearer 1 in the walking motion. .

  In addition, in order to smoothly move the center of gravity by walking, it is necessary to detect the load applied to the back of the leg. Therefore, reaction force sensors 24a, 24b, 25a, and 25b are provided on the backs of the left and right legs of the wearer 1.

  The reaction force sensor 24a detects a reaction force with respect to the load on the front side of the right leg, and the reaction force sensor 24b detects a reaction force with respect to the load on the rear side of the right leg. The reaction force sensor 25a detects a reaction force against the load on the left leg front side, and the reaction force sensor 25b detects a reaction force against the load on the left leg rear side. Each of the reaction force sensors 24a, 24b, 25a, and 25b includes, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, and changes in the load due to weight shift and the grounding of the wearer's 1 leg and the ground. The presence or absence of each can be detected.

  Moreover, the angle sensor and the torque sensor are built in the actuator. This torque sensor detects, for example, a current value supplied to the drive motors 12, 13, 14, 15 and multiplies the current value by a torque constant inherent to the actuator to detect the drive torque. Can be applied. Moreover, a rotary encoder etc. are applicable to an angle sensor, for example.

<Mountable motion assist device: Upper body (hardware configuration)>
Next, the wearable movement assist device for the upper body (upper body side) will be described with reference to the drawings. FIG. 2 is a diagram illustrating a state in which an example of a wearing type movement assisting device for the upper body in the present embodiment is worn. The wearing-type movement assisting device 10b shown in FIG. 2 is for explaining the upper right half of the wearing-type movement assisting device 1 corresponding to the right arm of the wearer 1.

  The wearable movement assist device 10 b includes a trunk member 31, an upper arm member 32, and a forearm member 33. The trunk member 31 is attached to the trunk of the wearer 1. The upper arm member 32 extends along the upper arm portion of the wearer 1 and is worn on the upper arm portion of the wearer 1. The forearm member 33 extends along the forearm portion of the wearer 1 and is attached to the forearm portion of the wearer 1.

  Here, the trunk member 31 is an example of a first member, and the upper arm member 32 is an example of a second member. The upper arm member 32 is also an example of a first member, and the forearm member 33 is an example of a second member.

  As shown in FIG. 2, the wearable movement assist device 10 b includes a shoulder joint mechanism 34 between the trunk member 31 and the upper arm member 32, and the trunk member 31 and the upper arm member 32 are connected to the shoulder joint. They are connected to each other via a mechanism 34 so as to be rotatable. The wearable motion assisting device 10 b includes an elbow joint mechanism 35 between the upper arm member 32 and the forearm member 33, and the upper arm member 32 and the forearm member 33 are rotatable with respect to each other via the elbow joint mechanism 35. It is connected. The wearable motion assist device 10b has the same configuration in the upper left half as in the upper right half.

  As shown in FIG. 2, the wearable movement assist device 10 b includes a bending-side biopotential sensor 36 and an extension-side biopotential sensor 37. The first frame 32 is disposed along the humerus serving as the first skeleton, and is fixed to the upper arm with bands or the like provided at two locations on the side close to and far from the elbow joint. The second frame 33 is disposed along the ulna or rib serving as the second skeleton, and is fixed to the forearm with bands or the like provided at two locations near the elbow joint and far from the elbow joint.

  The drive unit 38 that connects the first frame 32 and the second frame 33 includes an angle sensor, a drive unit, and a torque sensor. As this torque sensor, for example, a sensor that detects a drive torque by detecting a current value supplied to an actuator and multiplying this current value by a torque constant inherent to the actuator can be applied.

  As shown in FIG. 2, the bending-side bioelectric potential sensor 36 is affixed to the body surface corresponding to the biceps brachii and humerus muscles that mainly work as voluntary muscles during the bending operation of the elbow joint. Further, as shown in FIG. 2, the extension-side bioelectric potential sensor 37 is attached to the body surface corresponding to the triceps surae that mainly work as a voluntary muscle during the extension operation of the elbow joint.

  Note that the bending-side biopotential sensor 36 and the extension-side biopotential sensor 37 described above are affixed at positions away from a band or the like. Since these need only be attached at a position where the bioelectric potential signal is most easily detected, they may be disposed on the inner peripheral surface of the band near the elbow joint, for example.

  The shoulder joint mechanism 34 includes a drive unit 38 and first and second connecting members 39 and 40. As shown in FIG. 2, one end of the first connecting member 39 is attached to the trunk member 31. One end of the second connecting member 40 is attached to the upper arm member 32.

  In the case where the physical quantity around the elbow joint and the bioelectric potential signals of the biceps, humerals, and triceps, which are voluntary muscles, are measured using the wearable movement assist device 10b described above, and corresponding motion assistance is performed, for example, As shown in FIG. 2, it is preferable to bend and extend the elbow in a posture where the upper body is raised.

  As shown in FIGS. 1 and 2 described above, the wearable motion assisting devices 10a and 10b each having a frame that is worn along a joint that is a movable part of a living body and a skeleton extending therefrom are described above. 1 and 2, for example, one wearable movement assist device 10 may assist the entire body (upper body and lower body). In addition, the wearable motion assist device 10 in the present embodiment may be made in accordance with other joints, and can be applied to, for example, an ankle, a shoulder, fingers, a neck, a crotch, and the like. When applied to fingers, for example, a hydraulic actuator, an ultrasonic motor, a plunger actuator combining a wire and a solenoid, or the like can be used to reduce the size of the drive unit.

  In addition, as another structural unit of the wearing type movement assistance apparatus in this invention, it can be used for a knee joint, a waist joint, an elbow joint, a wrist joint, etc. That is, the wearable movement assist device according to the present invention can be applied to a single joint or to the whole body.

<Storage device for motion assist device>
Here, the wearable motion assist device 10 is stored in, for example, a dedicated storage device (dock). An example of the operation assisting device storage device (dock) will be described with reference to the drawings.

  FIG. 3 is a diagram illustrating an example of a schematic configuration of the motion assisting device storage device according to the present embodiment. The motion assisting device storage device 50 shown in FIG. 3 includes a seating part 61, an armrest part 62, a control part 63, a display part 64, an instruction part 65, and a moving part 66.

  The motion assisting device storage device 60 shown in FIG. 3 is configured to store the wearable motion assisting device 10a for the lower body shown in FIG. A general connector can be applied to the connection means between the wearable motion assisting device 10 and the motion assisting device storage device 50. When the wearable motion assist device 10 is stored in the motion assist device storage device 50, for example, male and female connectors can be attached to and detached from portions where the wearable motion assist device 10a and the motion assist device storage device 50 contact each other. Is provided.

  Therefore, when the wearable motion assisting device 10 (in the example of FIG. 3, the wearable motion assisting device 10a) is stored in a state of being seated on the motion assisting device storage device 50, these connectors are engaged with each other. In addition, the wearable motion assisting device 10 and the motion assisting device storage device 50 are electrically connected. The connectors are provided, for example, on the back surface of the wearable motion assisting device 10 and the backrest of the seat portion 61 of the motion assisting device storage device 50.

  Moreover, as a connection means, what can perform an electrical connection without contact via electromagnetic induction, a radio wave, etc. is applicable, for example. Via this connection means, it is possible to charge the power source rechargeable battery of the wearable motion assisting device 10 and to communicate between the wearable motion assisting device 10 and the motion assisting device storage device 50.

  Further, the operation assisting device storage device 50 can be connected to an external information management device or the like via a communication network by connection means or the like, and can be connected to the control program and phase data of the wearable operation assisting device 10. It is possible to easily update and change the control program, phase data, etc.

  The movement assisting device storage device 50 has check means for checking the update state of the wearable movement assisting device 10, and when checking the wearable movement assisting device 10, the wearable movement assisting device is connected via the connecting means. A test signal set in advance is input to the device 10, and a response signal from the wearable movement assist device 10 is received to check the state of the wearable motion assist device 10. For example, the motion assisting device storage device 50 inspects the configuration of each part (where and what parts are connected, etc.), the state of each actuator (rotational performance, torque performance), and the like. It is also possible to extract the driving history of each actuator temporarily stored in the operation assisting device storage device 50 and transmit it to an information management device or the like via a communication network.

  As described above, the maintenance function of the wearable motion assisting device 10 in the motion assisting device storage device 50 needs to be repaired based on the inspection result of the check means described above or by a command from the information management device side. A part or unit can be identified.

  Further, spare parts (parts) are stored in the motion assisting device storage device 50, and arm means capable of exchanging parts that need repairing may be provided. That is, the operation assisting device storage device 50 can be maintained by repairing or exchanging the parts.

  The moving unit 66 has a mechanism for moving the motion assisting device storage device 50, and has, for example, wheels as shown in FIG. Can move.

  The moving unit 66 is configured such that wheels are connected to a motor that is a driving source via a gear. In this case, the motion assisting device storage device 50 can move the wheel by rotating the wheel by driving the motor of the drive unit 66 by operating the steering means 63, for example. Further, the operation assisting device storage device 50 can adjust the speed and the moving direction by operating the steering means 63.

  Further, the armrest portion 62 is a portion on which both elbows are hung when the wearer 1 wearing the wearable motion assisting device 10 is seated on the seating portion 61. Further, FIG. 3 includes a moving unit 66 for moving the operation assisting device storage device 50.

  As shown in FIG. 3, the steering means 63 has a lever-like configuration, and a rod-like operation lever is pivotally supported on a bearing portion provided on the distal end side of the armrest portion 62. The moving unit 66 is controlled according to the tilt angle and tilt direction of the operation lever.

  Further, for example, when the wearer 1 (user of the motion assisting device storage device 50) cannot operate the lever, the biosignal acquired via the wearable motion assisting device 10 is stored in the motion assisting device. The apparatus 50 can also read and operate. Further, the steering means 63 can also remotely operate the motion assisting device storage device 50 using a remote controller or the like.

  The display unit 64 is connected to the information management apparatus via the communication line and the operation assisting device storage apparatus 50 is connected to the information management apparatus. Please update the program "message. Further, it is possible to display the content instructed by the instruction means 65 from the operation assisting device storage device 50, or to display the progress or the result of executing the instruction content. The contents executed by the maintenance means described above can be displayed. The display means 64 may be provided with a voice output unit that outputs a voice corresponding to the displayed message content together with the display.

  In addition, the instruction unit 65 can input instruction information such as start and end of charging, start and end of movement, and communication with the information management apparatus. Further, for example, a box-shaped container that can be stored in a state where the wearable motion assist device 10 is laid down may be applied to the motion assist device storage device 50.

<Embodiment of Management System>
Next, an embodiment of a management system that manages information such as the usage status of the motion assist device and the motion assist device storage device according to the present invention will be described. FIG. 4 is a diagram for explaining the management system of the wearable movement assist device.

  As shown in FIG. 4, the management system 70 includes an information management device 71, a storage database 72, a communication network 73, a wireless terminal 74 connected to the communication network 73, and each of the wearable motion assisting devices 10 ( 10a, 10b) and an auxiliary device storage device 50.

  The information management device 71 can be connected to the communication network 73 and can transmit and receive data to and from the wireless terminal 74 on the user side.

  The wearable motion assisting device 10 shown in FIG. 4 has communication means in each drive unit as described above. That is, the wearable motion assist device 10 is provided with communication means in each of the drive units such as the shoulder joint mechanism, the elbow joint mechanism, the crotch joint mechanism, and the knee joint mechanism. Using the plurality of communication means, information on the operation state of each drive unit is sent to the communication network 73 through the wireless terminal 74 periodically or irregularly by a specific instruction operation or the like.

  Similarly, information on the drive unit is sent on the communication network 73 for another wearable movement assisting device 10 or another motion assisting device storage device 50 used by another wearer. The information management device 71 deployed on the administrator side can receive information for each user sent on the communication network 73 and manage it collectively.

  Further, as shown in FIG. 4, communication can be performed between the wearable motion assisting device 10 and the motion assisting device storage device 50, between the wearable motion assisting device 10 or between the motion assisting device storage devices, In this way, by continuing communication, for example, the update program and update data acquired by operating one is reflected in the other wearable movement assist device, sharing various information, and the same operation as yourself to other wearers And sharing information (sense) between the wearable motion assisting devices. Note that these communications may be performed via the communication network 73 or directly between the devices.

<Control system of the wearable motion assist device 10>
Next, an example of a control system of the wearable motion assist device 10 in the present embodiment will be described with reference to the drawings. FIG. 5 is a block diagram showing a control system applied to one example of the wearable movement assist device in the present embodiment.

  As shown in FIG. 5, the control system of the wearable motion assisting apparatus 10 is roughly composed of a drive source (motor, etc.) 80 and information detection means 81 (physical phenomenon detection means 82-1, biological signal detection). Means 82-2, drive torque detection means 82-3), reference parameter database construction means 83, optional mixed autonomous control system 84, power amplification means (motor drive amplifier etc.) 85, update control means 86, , Communication means 87, input means 88, and output means 89.

  The voluntary mixed autonomous control system 84 includes data storage means 90 and control means 91. The data storage means 90 includes a command signal database 92, a reference parameter database 93, a history database 94, and the like. Stored. The control unit 91 is configured to include a difference deriving unit 95, a gain changing unit 96, an autonomous control unit 97, a phase determining unit 98, a reference parameter selecting unit 99, and an inter-phase adjusting unit 100. ing.

  Here, the drive source 80 shown in FIG. 5 corresponds to each of the drive motors 12, 13, 14, 15 and the drive unit 38 in the wearable motion assisting devices 10a and 10b shown in FIG. 1 or FIG. . Specifically, the drive source 80 is composed of, for example, a drive motor, and transmits the torque force of the drive motor to the wearer 1 as power application to the wearer 1.

  Further, the physical phenomenon detection means 82-1 (first detection means) detects joint angles (θknee, θhip) corresponding to the movement of the wearer 1 as a physical phenomenon. Further, the biological signal detection unit 82-2 (second detection unit) detects a myoelectric potential (EMGknee, EMGhip) corresponding to the muscular force generated by the wearer 1 as a biological signal. The drive torque detection means 82-3 (third detection means) detects the drive torque transmitted to the wearer 1 by the drive source 80 and operated by the wearable movement assisting device 10.

  The physical phenomenon detection means 82-1 outputs various information such as the joint angle acquired by the detected movement of the wearer 1 to the reference parameter database construction means 83, and the biological signal detection means 82-2 Various information such as the detected myoelectric potential signal is output to the reference parameter database construction unit 83, and the drive torque detection unit 82-3 outputs the detected drive torque to the reference parameter database construction unit 83.

  Further, the reference parameter database construction unit 83 associates the joint angle obtained by the physical phenomenon detection unit 82-1 and the biological signal obtained by the biological signal detection unit 82-2 with the data storage unit 90 as a reference parameter corresponding to the phase. And the reference parameter database 93 is constructed.

  The reference parameter database construction unit 93 operates the wearable motion assisting device 10 to collect reference parameters for moving joints for each purpose (for example, a rehabilitation program), and performs each operation for each phase. The reference parameter database 93 is constructed by collecting parameters by classifying them into

  The data storage means 90 included in the voluntary mixed autonomous control system 84 includes a command signal database 92 in which command signals for operation control for the wearable motion assisting device 10 are accumulated, a reference parameter database 93, a history database 94, and the like. In addition, various data necessary for execution of the present embodiment, various data such as execution result data, an execution program, and the like are stored. It should be noted that various data such as phases stored in the data storage unit 90 can be updated, changed, deleted, etc. as needed by the update control unit 86 or the like.

  Here, the history database 94 stores information such as a joint angle and a myoelectric potential signal obtained by the operation of the wearer 1 based on physical phenomenon detection means 82-1, biological signal detection means 82-2, and drive torque detection means 82-3. And acquire the data in time series. Further, the history database 94 outputs information on the selection result obtained from the phase determination means 98 to the history database 94. Details of the command signal database 92, the reference parameter database 93, and the history database 94 stored in the data storage means 90 will be described later.

  In the control means 91 included in the voluntary mixed autonomous control system 84, the difference deriving means 95 includes a biological signal of a reference parameter corresponding to the joint angle detected by the physical phenomenon detecting means 82-1, and a biological signal detecting means 82-. 2 is derived, and it is determined whether or not the difference exceeds a preset allowable value.

  The difference deriving unit 95 derives a difference between the biological signal of the reference parameter corresponding to the joint angle detected by the physical phenomenon detecting unit 82-1 and the biological signal detected by the biological signal detecting unit 82-2. It is determined whether or not a preset allowable value is exceeded.

  The gain changing means 96, when the difference deriving means 95 determines that the difference exceeds a preset allowable value, the gain changing means 96 sets a gain P according to the difference to a command signal (control signal) to be generated by the autonomous control means 97. The correction signal is output to the autonomous control means 97 so as to change.

  The phase determination unit 98 determines the phase of the operation pattern of the wearer 1. Here, the phase is a minimum unit for dividing a series of movement (task) patterns performed by the wearer, and the power required for assisting the wearer's movement is determined for each phase. become.

  Specifically, the phase determination unit 98 compares each joint angle detected by the physical phenomenon detection unit 82-1 with the joint angle of the reference parameter stored in the reference parameter database 93, so that each wearer 1 A suitable motion pattern phase is determined by, for example, the degree of coincidence associated with a change in the joint angle instantaneously or with time. Further, the phase determination unit 98 outputs a data group belonging to the phase selected based on the determination result to the reference parameter selection unit 99 and the history database 94.

  In the wearable movement assisting device 10 shown in FIG. 5, each phase of the wearer's movement pattern is specified by the phase determination means 98 or the like, and a command signal (control) for generating power corresponding to this phase in the drive source 80. Signal) is generated.

  The autonomous control means 97 is composed of a program that causes a computer to execute autonomous control. For example, the autonomous control means 97 compares the joint angle detected by the angle sensor with the joint angle of the reference parameter stored in the memory, so It is configured so that the phase of the motion pattern can be estimated.

  Specifically, the autonomous control unit 97 compares the joint angle detected by the physical phenomenon detection unit 82-1 with the reference parameter updated by the update control unit 86 and stored in a memory or the like. The phase of the operation of the wearer 1 is estimated, and the drive source 80 is driven based on a command signal corresponding to the estimated phase.

  Further, in the wearable motion assisting device 10, for example, if joint angles corresponding to each phase of a series of motion patterns from standing to standing are stored in the memory as reference parameters in advance, driving by the autonomous control means 97 is performed. The control of the power source 80 allows the wearer to stand up comfortably by the power source 80 assisting power with respect to the muscular strength that rotates the waist and knees of the seated wearer.

  When selecting an optimal operation pattern, for example, a number of phases set in advance based on instruction information such as too early (too late) or earlier (more late) sent from the wearer. The reference parameter corresponding to the instruction information is selected from

  The reference parameter selection unit 99 selects an optimal reference parameter from the data group belonging to the phase obtained by the phase determination unit 98 based on a preset condition. Specifically, the reference parameter selection means 99 determines the specific reference based on the content of the reference parameter that has been used by the wearer until now, the degree of coincidence associated with the instantaneous or statistical motion of the joint angle, and the like. Select parameters.

  The reference parameter selection means 99 also selects a reference parameter that is control data for one or more phases from the reference parameter database 93 and generates a command signal corresponding to the control data for that phase. Further, the reference parameter selection unit 99 outputs the generated command signal to the autonomous control unit 97 or the inter-phase adjustment unit 100. As to which of the autonomous control means 97 or the inter-phase adjustment means 100 is output, for example, depending on the content of the command signal, in the case of a phase in which continuity is regarded as important, it is output to the inter-phase adjustment means 100, otherwise may be configured to output to the autonomous control unit 97 in order to reduce the control processing time may be set to output in advance either.

  In the above-described processing, when selecting a more optimal operation pattern, for example, based on instruction information such as too early (too late) or earlier (more late) sent from the wearer 1, A reference parameter corresponding to the instruction information can be selected from a number of preset phases.

  The reference parameter selection unit 99 can select a reference parameter from information input by the wearer 1 or the administrator using the input unit 88 and the output unit 89 described later.

  The inter-phase adjustment unit 100 adjusts the connection portions of the command signals corresponding to the phases including the reference parameters obtained from the reference parameter selection unit 99 so that the signals between the phases can be smoothly connected. Do.

  That is, when the phases are connected, the phase adjusting means 100 may not smoothly move the connected portion by simply arranging the phases. By performing fine adjustment, it is possible to generate control data for performing smoother and continuous operation instructions. The inter-phase adjustment unit 100 outputs the adjusted control data to the autonomous control unit 97.

  Note that the inter-phase adjustment unit 100 determines whether or not the difference between the values of the connected portions is larger than a predetermined value in the phases before and after the connection, and if the difference is larger than the predetermined value, the inter-phase adjustment is performed. You may make it perform. In this case, the predetermined value described above may be varied depending on the contents of the phases to be connected.

  Further, the inter-phase adjusting means 100 is provided with the positional relationship between the devices and the relationship between the phases when a plurality of operation assisting devices at each part as shown in FIG. Adjustment between phases can be performed based on the nature, and the assisting operation for the wearer 1 can be linked. Thereby, the joint between phases can be made smooth and operation assistance without a sense of incongruity can be provided to the wearer.

  When the autonomous control means 97 acquires control data between phases for performing a predetermined operation by the reference parameter selection means 99 or the inter-phase adjustment means 100, a command signal (control signal) corresponding to the control data of each phase. Is generated. In addition, the autonomous control unit 97 supplies a command signal for causing the drive source to generate power for executing a predetermined operation to the power amplification unit 85. The autonomous control means 97 corrects the gain P with the correction signal obtained from the gain changing means 96 for the control data of the phase specified by the phase determination means 98, and gives a command signal corresponding to the corrected gain P. This is supplied to the power amplifying means 85.

  In the autonomous control unit 97, when the difference deriving unit 95 determines that the difference does not exceed the preset allowable value, the correction signal is not supplied from the gain changing unit 96, so the reference parameter selecting unit 99 or the phase In some cases, the control data obtained from the interval adjustment unit 100 is supplied to the power amplification unit 85 without correction.

  In addition, the autonomous control means 97 can realize a smooth and interlocking operation between phases based on the control data from the inter-phase adjustment means 100, so that the load is not imposed on the wearer and the burden is reduced. Can do.

  Further, the autonomous control means 97 responds to the difference value between the biological signal corresponding to the joint angle detected by the physical phenomenon detection means 82-1 and the biological signal detected by the biological signal detection means 82-2. The command signal supplied to the power amplification means 85 is arbitrarily corrected. For this reason, the control which combined autonomous control and voluntary control can be performed.

  Based on the signal obtained from the autonomous control means 97, the power amplifying means 85 increases or decreases the electric power for the drive source 80 by a motor drive amplifier or the like. Thereby, even when the wearer 1 stops the operation during the operation and performs another operation, the drive source 80 can be controlled so that the intention of the wearer 1 is reflected.

  The update control means 86 uses a communication means 87 capable of transmitting and receiving data by wire or wireless on a regular basis or at a timing such as an instruction from the input means 88 by the wearer 1 or the administrator of the wearable movement assist device 10. Thus, various latest or updated phase data and / or command signals are acquired from the external information management apparatus 71 connected in a state where data can be transmitted and received via the communication network 73 such as the Internet. Further, the update control means 86 performs addition and update of various data such as the command signal database 92, the reference parameter database 93, and the history database 94 using the acquired phase data and / or command signal. Note that the phase is set to the wearable motion assisting device 10 via the communication network 73 when the information management device 71 periodically or when the update information reaches a predetermined amount of data, or when there is a phase for urgent correction, etc. May be sent.

  In this case, the update control unit 86 can acquire the phase data transmitted from the information management device 71 from the communication unit 87 and reflect the contents of the phase data in the data storage unit 90. Furthermore, the update control means 86 can output various data stored in the history database 94 to the information management apparatus 71 via the communication means 87. Further, the update control means 86 is connected between the wearable motion assisting devices 10 when the other wearable motion assisting devices 10-1 connected on the communication network 73 are connected using the communication means 87 (see FIG. 5 between the wearable motion assist device 10 and the wearable motion assist device 10-1), various data such as phase data, history data, and command signals can be transmitted and received. Thereby, it can update to the newest phase between mounting | wearing type movement auxiliary | assistance apparatuses, and a phase exchange and log | history management can be performed.

  Therefore, according to the present embodiment, data can be exchanged in units of phases between the wearable motion assisting devices using the communication means 87, and data can be shared. Furthermore, according to the present embodiment, the wearable motion assisting devices can perform the same operation using the same phase.

  Further, the input unit 88 accepts input of each process such as an update data download instruction from a user or the like, or a transmission instruction for the history database 94. Note that the input unit 88 includes, for example, a keyboard, a pointing device such as a mouse, a voice input device such as a microphone, and the like.

  The output unit 89 displays each instruction content input by the input unit 88, update data generated based on each instruction content, operation contents of the operation assisting device, various messages during downloading, etc. , Output audio. Note that the output unit 89 includes a display, a speaker, and the like.

  Therefore, according to the present embodiment, since the operation pattern differs for each wearer, the degree of load, speed, etc. vary according to instructions from the wearer, administrator, etc., for the phase determined by a certain predetermined operation. By doing so, it is possible to quickly respond to the optimum phase.

  That is, according to the present embodiment, data can be exchanged in units of phases between the wearable motion assisting devices, and data can be shared. Furthermore, according to the present embodiment, the wearable motion assisting devices can perform the same operation using the same phase.

<About the database>
Next, a specific control method for each operation (phase) for assisting the above-described operation of the wearer will be described. FIG. 6 is a diagram illustrating an example of each data stored in the data storage unit. 6A shows an example of the reference parameter database 93, FIG. 6B shows an example of the command signal database 92, and FIG. 6C shows an example of the history database 94. .

  Here, as tasks for classifying the movement of the wearer 1, for example, a task A having the rising movement data for shifting from the sitting position to the standing position, and a task B having the walking movement data for the standing wearer 1 to walk. The task C having the sitting motion data for shifting from the standing state to the sitting state, and the task D having the stair climbing operation data for going up the stairs from the standing state are stored in the reference parameter database 93 or the like.

  Each task is further set with a plurality of phase data that defines the minimum unit of motion. For example, the task B of the walking motion includes, as an example, the phase B1 having motion data in a state where both left and right legs are aligned. Phase B2 having motion data when the right leg is moved forward, Phase B3 having motion data in a state where the left leg is moved forward and aligned with the right leg, and the left leg is moved before the right leg The phase B4 having the operation data in the state is stored.

In the reference parameter database 93 shown in FIG. 6A, each phase (for example, phases A11, A12, A13,...) Obtained by dividing each of the tasks A, B,. One or a plurality of joint angle reference parameters (for example, θ _A11 (t), θ _A12 (t), θ _A13 (t),...) And myoelectric potential reference parameters (for example, E _A11 (t), E _A12 (T), E _A13 (t),...) Are stored in association with each other.

The command signal database 92 shown in FIG. 6B corresponds to each reference parameter (combination of joint angle reference parameter and myoelectric potential reference parameter) set for each phase stored in the reference parameter database. The command function, gain, command signal, etc. set in the above are stored. A data area of a phase obtained by dividing each task is set in each area of tasks A, B,... Set for each operation, and each phase (for example, phases A11, A12, A13,...) Is set. Preset command functions (eg, f _A11 (t), f _A12 (t), f _A13 (t),...), Gains (eg, P _A11 , P _A12 , P _A13 ,...), Command signals (for example, P _A11 × f _A11 (t), P _A12 × f _A12 (t), P _A13 × f _A13 (t),...) And the like are stored.

  Further, in the history database 94 shown in FIG. 6C, each usage situation such as identification information (user ID) of the wearer who uses the wearing motion assisting device, use date and time, task name, phase configuration of the task, etc. Etc. are stored. The history database 94 is stored for each user ID as shown in FIG. 6C, but is not limited to this in the present invention. For example, for each use date / time, for each task, for each phase configuration, for each user, Each data may be stored for each result classified for each symptom or recovery state set in advance.

  That is, in this embodiment, for example, a wearable motion assist device is operated to move a joint, each motion is classified by phase, and each parameter is collected, for example, a motion assist dedicated program such as a rehabilitation program is created. To do. At this time, an optimum phase (parameter) is selected in accordance with each individual wearer and the state at that time (for example, muscle recovery state). Therefore, the data storage means 90 stores information such as personal information (name, age, sex, height, weight, wearing position of the motion assisting device, wearing period) for each wearer, and selection contents of the current phase. It may be managed for each wearer.

  For example, a series of operations in the phase (Phase) in the rising operation is “Phase A1 → Phase A2 → Phase A3”, Phase A1 has different operation patterns from A11 to A18, Phase A2 has A21 to A28, and Phase A3 has A31 to A31. Assume that there are different operation patterns of A38. At this time, for example, in the case of the wearer 1a, “A12 → A24 → A33”, and in the case of the wearer 1b, it can be provided as “A11 → A25 → A33”. Further, each piece of wearer information can be stored in the history database 94 and managed.

  Here, for example, when the wearer 1a wants to move Phase A2 a little earlier, a change for each phase such as A24 is changed to A23 can be realized.

  In addition, since the reference parameter database 93 in the present embodiment can store a large number of parameters / patterns and a command signal corresponding to each parameter for a certain phase, an optimum parameter / pattern can be selected from them. And command signals can be selected.

  Further, since the wearer's information and the phase combination pattern (a series of operations) for each task are stored in the history database 94, the operation performed by the wearer in the past is performed again or repeatedly. In this case, or when the operation performed by another wearer is performed in the same manner, a combination pattern of a desired phase can be read from the history database, and a corresponding command signal can be generated.

<Specific Example of Display Contents by Output Unit 89: Regarding Connection of Operation Instruction Signals Between Phases>
Next, a specific example of display contents by the output means 89 will be described. In the specific example shown below, for example, connection of operation instruction signals between phases will be described with reference to the drawings. FIG. 7 is a diagram illustrating an example for explaining connection of operation instruction signals between phases. Note that FIG. 7A shows a case where power is applied by a combination of autonomous control and voluntary control for the operation of the wearer standing up from the state of sitting on the chair, and FIG. This shows a case where power is applied by a combination of autonomous control and voluntary control when the user sits after standing up from the seated position to halfway. 7A and 7B exist in phases 1 to 4 (Phases 1 to 4). 7 is displayed by the output unit 89, for example, but the screen displayed on the output unit 89 in the present invention is not limited to this.

  Here, FIGS. 7A to 7A show the phase numbers, and FIGS. 7A to 7B show the rotation angle θ of the knee (knee). 7 (A)-(c) show the torque of the knee actuator according to the command signal by autonomous control, and FIGS. 7 (A)-(d) show the torque of the knee actuator according to the command signal by optional control. FIGS. 7A to 7E show the torque of the knee actuator according to the total command signal obtained by synthesizing the command signal by autonomous control and the command signal by optional control.

  7 (B)-(a) show phase numbers, and FIGS. 7 (B)-(b) show knee rotation angles θ. Here, as is apparent from the graphs of FIGS. 7A to 7E, the torque of the actual knee actuator increased rapidly at the rise of phase 2 and rapidly decreased at the fall of phase 3. The torque increased sharply at the tip of Phase 2 corresponding to the rising from the chair, so the knee actuator started to rotate without delay to the intention of the wearer, and the wearer had sufficient power assist feeling and the rising motion Can do.

  Also, at the fall of Phase 3, the torque by autonomous control quickly becomes 0, thereby preventing the situation where the wearer is inadvertently forced to push out the wearer and preventing the wearer from feeling uncomfortable. Can be suppressed. As a result, in all the processes of Phases 1 to 4, the wearer had a sufficient power assist feeling and was able to operate smoothly without a sense of incongruity.

  The torque by the hybrid control shown in FIGS. 7A to 7E is based on the torque by the autonomous control shown in FIGS. 7A to 7C and the voluntary control shown in FIGS. 7A to 7D. It is obtained by synthesizing torque. The (optional) command signal for generating torque by the optional control shown in FIGS. 7A to 7D is generated based on the biological signal detected by the biological signal detection 82. At this time, in phase 2, since the torque by the autonomous control is generated prior to the torque by the voluntary control, the moment of rising can be smoothly supported.

  Also, (autonomous) command signals for generating torque by autonomous control shown in FIGS. 7A to 7C are physical phenomenon detection means 82-1, biological signal detection means 82-2, and drive torque. It is generated according to the phase determined from the detection result of the detection means 82-3 based on the reference parameter database 93 (see FIG. 6). As described above, the combination of the voluntary control and the autonomous control provides both a quick start and a torque that matches the movement of the wearer, and a preset assist can be performed in accordance with the wearer's intention.

  On the other hand, when sitting immediately after getting up, the torque suddenly increased at the tip of phase 2 corresponding to the rising from the chair, as is apparent from the graphs of FIGS. 7 (B)-(e). The knee actuator starts to rotate without delay from the intention of the wearer, and the wearer has a sufficient power assist feeling and can start up. In the middle of Phase 3, since the biological signal weakens, the torque due to voluntary control gradually decreases, but since the torque due to autonomous control is added, the burden on the wearer is reduced so as to sit down slowly. can do. As a result, even if the operation (task) was suddenly changed, the wearer was able to perform the operation with a sufficient power assist feeling.

As described above, in the output unit 89, for example, as shown in FIGS. 7A to 7B, there are a plurality of knee rotation angles θ as reference parameters for one phase (Phase 3). (For example, θ _A31 (t), θ _A32 (t), θ _A33 (t)), the respective reference parameters are displayed, and the wearer 1 or the administrator can arbitrarily select from the displayed trajectory. it can. Further, the reference parameter is defined by the wearer 1 or the administrator or the like directly inputting a locus such as a curve corresponding to the operation with respect to the phase interval corresponding to the time as shown in FIG. be able to.

<Information Management Device 71: Functional Configuration Example>
Next, a functional configuration example of the information management apparatus 71 in the present embodiment will be described with reference to the drawings. FIG. 8 is a diagram illustrating an example of a functional configuration of the information management apparatus according to the present embodiment. 8 includes an input unit 111, an output unit 112, an authentication unit 113, an analysis unit 114, an update data generation unit 115, an update data transmission unit 116, a control unit 117, and transmission / reception. Means 118.

  The input means 111 includes an authentication instruction for registering the transmitted update data, an update data download instruction for the user or the like, an analysis instruction for the contents of the history database 94, an update data generation instruction, an update data transmission instruction, Accepts input of each process such as a transmission instruction. The input unit 111 includes, for example, a keyboard, a pointing device such as a mouse, a voice input device such as a microphone, and the like.

  The output means 112 includes each instruction content input by the input means 111, update data generated based on each instruction content, and history contents stored in the history database 94 sent from each wearable motion assist device 10. The update data generation content, the content of the generated update data, etc. are displayed or voice is output. Note that the output unit 89 includes a display, a speaker, and the like.

  The authentication unit 113 registers, for example, only programs created by experts in a certain field as update data based on personal information set in advance. That is, the authentication unit 113 gives authority information based on a user ID or the like, and can register, for example, phase information corresponding to a rehabilitation curriculum created by a specific doctor, a physical therapist, or the like. These update data are registered in the accumulation database 72.

  The analysis unit 114 performs analysis processing to improve the operation content based on the operation assistance history information obtained by the wearable operation assistance device 10 or the operation assistance device storage device 50 via the communication network 73 or the like. Specifically, the presence / absence of update for each phase is determined from the usage frequency of the task or phase in the wearer 1, the time zone of the frequency, the usage content, and the like.

  The update data generation unit 115 generates data for update for the phase in the analysis unit 114 that needs to be updated. Further, the update data generation unit 115 outputs the updated data to the accumulation database 72.

  Further, the update data sending means 116 generates update request information indicating that the user who uses the update data wants to update, and the wearable type capable of communicating with the wireless terminal 74 via the communication network 73 by the transmission / reception means 118. The data is transmitted to the motion assisting device 10 or the motion assisting device storage device 50.

  Further, when the update data sending means 116 receives instruction information indicating that the update is desired from the wearable motion assisting device 10 or the motion assisting device storage device 50, the wearable motion assisting device 10 or the motion assisting device storage device 50. Update data corresponding to each of these is transmitted.

  The control unit 117 controls the entire components of the information management device 71. Further, the transmission / reception means 118 performs communication with the wearable motion assisting device 10 or the motion assisting device storage device 50 and with the storage database 72 via the communication network 73.

  By providing the information management device 71 described above, maintenance (maintenance management) can be centrally managed by the information management device in order to keep the system always in a good state. For maintenance, it is possible to grasp a program to be controlled by the control unit of each motion assisting device, and easily change and update it as necessary.

  Further, for example, when the motion assisting device according to the present invention is used for the purpose of rehabilitation or the like, the administrator can determine the generation state of the biological signal, the history of the signal, the joint angle based on the motion history information transmitted to the administrator side. Change history (change history of joint range of motion, etc.) and actuator drive history, determine the wearer's physical condition (rehabilitation progress), and create new motion patterns accordingly The movement of the wearer can be assisted so that a new movement can be transmitted to the wearer.

  For example, when a new rehabilitation technique is discovered by an expert, etc., if a control program for assisting operation that corresponds to the technique is developed, the control program is managed and reflected in other necessary assisting devices. Can be made.

  As described above, according to the present invention, there is provided a storage device for a motion assist device for managing the usage status of the motion assist device and easily maintaining the optimum state, and an information management device for managing the motion assist device. can do.

  Further, according to the present invention, the movement (task) of a person who wears it based on the bioelectric potential signal is decomposed into phases, a database is constructed, and each phase is matched with the state of the user (wearer) from the database. It is possible to select a suitable task and build a new task to assist the wearer's operation.

  In addition, according to the present invention, the new phase data is communicated (downloaded) by communicating with the information management device and other wearable movement assist devices, so that the wearable motion assist device always has the latest (optimum) phase. It can be kept in a state, and optimal operation assistance can be provided.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to such specific embodiments, and various modifications can be made within the scope of the gist of the present invention described in the claims. Can be changed.

DESCRIPTION OF SYMBOLS 1 Wearer 10 Wearing type movement assistance apparatus 11 Movement assistance wearing tool 12 Right thigh drive motor 13 Left thigh drive motor 14 Right knee drive motor 15 Left knee drive motor 16 Waist belt 17,18 Battery 19 Control back 20,21,22 DESCRIPTION OF SYMBOLS 23 Myoelectric potential sensor 24,25 Reaction force sensor 31 Trunk member 32 Upper arm member 33 Forearm member 34 Shoulder joint mechanism 35 Elbow joint mechanism 36 Bending side bioelectric potential sensor 37 Extension side bioelectric potential sensor 38 Drive unit 39 1st connection member 40 Second connecting member 41 Gear head unit 50 Storage device for motion assist device 61 Seating unit 62 Armrest unit 63 Control unit 64 Display unit 65 Instruction unit 66 Moving unit 70 Management system 71 Information management device 72 Storage database 73 Communication network 74 Wireless terminal 80 Drive source 81 Information detection means 82-1 Physical phenomenon detection Stage 82-2 biological signal detecting unit 82-3 driving torque detecting means 83 reference parameter database constructing unit 84 optionally mixed-autonomously control system 85 power amplifying means (a motor driving amplifier, etc.)
86 update control means 87 communication means 88 input means 89 output means 90 data storage means 91 control means 92 command signal database 93 reference parameter database 94 history database 95 difference derivation means 96 gain change means 97 autonomous control means 98 phase determination means 99 reference Parameter selection means 100 Inter-phase adjustment means 111 Input means 112 Output means 113 Authentication means 114 Analysis means 115 Update data generation means 116 Update data transmission means 117 Control means 118 Transmission / reception means

Claims (5)

In a wearable motion assisting device that assists or substitutes for the motion of the wearer with a motion assisting wearing tool having a drive source that applies power to the wearer,
First detecting means for detecting an angle of the joint of the wearer according to the operation of the wearer;
Second detection means for detecting a biological signal associated with the muscle activity of the wearer;
Third detecting means for detecting a driving torque of the driving source;
Corresponding to each of the reference parameters, a reference parameter database consisting of a data group in which the wearer's joint angles and biological signals are set in association with each other in a series of phases constituting the wearer's motion pattern A command signal database consisting of a data group in which command signals for generating power to the drive source are set, and storage means for storing operation history information consisting of detection signals of the first to third detection means;
Communication means for transmitting the operation history information to an administrator side and receiving the reference parameter and / or command signal from the administrator side;
Update control means for storing the update information in the storage means in correspondence with the corresponding phase of the update information;
By comparing the joint angle signal detected by the first detection means and the reference parameter updated by the update control means, the phase of the wearer's movement is estimated, and the estimated phase corresponds to the estimated phase. An operation assisting device comprising control means for driving the drive source based on a command signal.   The system further comprises phase determination means for selecting the phase of the wearer's movement by comparing the joint angle detected by the first detection means with the joint angle of the reference parameter, and selected by the phase determination means. The operation assisting apparatus according to claim 1, wherein a type of data is stored in the storage unit as the operation history information.   The motion assisting device according to claim 2, further comprising an autonomous control unit that generates a command signal for causing the drive source to generate power according to the phase determined by the phase determination unit. In the information management apparatus which acquires operation history information from the operation auxiliary device according to any one of claims 1 to 3, and manages the operation state of the operation auxiliary device.
Analyzing means for analyzing the motion history information transmitted from the motion assisting device, update data generating means for updating a corresponding reference parameter based on a result analyzed by the analyzing means, and the update data generating means An update data sending means for sending an update data request instruction to the motion assisting device and sending the update data to the requested motion assisting device. An information management device comprising: An authentication means for authenticating the creator of the received phase data for update;
The information management apparatus according to claim 4, further comprising a control unit that controls to store only update data transmitted from an operation assisting device authorized to generate update data authenticated by the authentication unit.

Images