JP2012120798A - Wearable input device, human assistance device, and control method for the human assistance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably and smoothly assisting the movement of a wearer.SOLUTION: The wearable input device 100 includes: an external ocular muscle biosignal detector 140 for detecting an external ocular muscle biosignal according to the movement direction of the eyeball of the wearer 12; a head movement detector 150 for detecting the movement direction of the head of the wearer 12; a body trunk position detector 120 for detecting the position of the body trunk of the wearer 12; a vision direction determinator 170 for determining the movement direction of the eyeball based on the detected external ocular muscle signal; a head movement direction determinator 180 for determining the direction of the head based on a difference between a head detecting signal obtained by the head movement detector 150 and a body trunk position detecting signal obtained by the body trunk position detector 120; a movement direction predicting unit 190 for predicting the movement of the wearer 12 in a direction in which the vision direction as a determination result of the vision direction determinator 170, and the head movement direction as a determination result of the head movement direction determinator 180 are coincide with each other; and an input unit 200 for inputting a prediction result into the human assistance device.

Description

  The present invention relates to a wearable input device, a human support device, and a control method for the human support device, and more particularly, to a wearable input device, a human support device, and a control method for the human support device that are suitable for supporting the operation of the wearer.

  For example, if the arm or leg is difficult to move due to a joint disease, or if the joint is difficult to move due to a decrease in muscle strength, a wearable movement assist device that assists the movement of the joint by attaching a movement assist tool to the arm or leg is available. It has been developed (see Patent Document 1).

  The wearable movement assist device is configured to detect a bioelectric potential generated based on the wearer's intention and generate a control signal for controlling a motor disposed in each joint of the wearer's both feet from the biosignal. As a result, the driving force of the motion assisting tool can be transmitted to the arms and legs in the same manner as the muscle strength of the user.

  In addition, the wearable movement assist device receives a bioelectric potential detected from the wearer, and detects the movement of the center of gravity on the back side of the foot using a center of gravity sensor, so that the wearer can perform any action (for example, walking action, chair, etc. It is estimated that the starting operation is started, and the driving force of the motor is controlled based on the estimation result.

JP 2005-95561 A

  In the control method described in Patent Document 1, the motor is controlled so that the center of gravity of the wearer can be stably moved. For example, when the wearer walks while tilting the upper body, Since the position of the center of gravity of the sole of the foot fluctuates greatly, it is difficult to stabilize the walking balance of the wearer by controlling the motor torque for assisting walking.

  In addition, when the wearer walks forward, when the direction of travel changes to the right or left, the motor torque of each joint that generates assist force on both left and right legs after a change in myoelectric potential on both left and right legs is detected Therefore, when turning left or right from straight, the motor torque of the inner foot (left foot or right foot) and the motor torque of the outer foot (right foot or left foot) must be calculated to different values. It is difficult to balance the left and right, and there is a possibility that a control delay occurs when the motors of the left and right joints are individually controlled.

  Therefore, in view of the above circumstances, the present invention provides a wearable input device, a human support device, and a human support device that have solved the above problems by predicting the next movement of the wearer from the movements of the head and eyeball of the wearer. An object is to provide a control method.

In order to solve the above problems, the present invention has the following means.
(1) The present invention is a wearable input device worn by a wearer,
An extraocular muscle biosignal detection means for detecting an extraocular muscle biosignal according to the movement direction of the eyeball of the wearer;
Head movement detecting means for detecting the movement direction of the head of the wearer;
Trunk position detecting means for detecting the trunk position of the wearer;
Eye-gaze direction determining means for determining the movement direction of the eyeball based on the extraocular muscle detection signal obtained by the extraocular muscle biosignal detection means;
Head movement direction determination for determining the movement direction of the head based on the difference between the head detection signal obtained by the head movement detection means and the trunk position detection signal obtained by the trunk position detection means Means,
Motion direction estimation means for estimating that the wearer moves in the direction when the line-of-sight direction according to the determination result of the line-of-sight direction determination means matches the head movement direction according to the determination result of the head movement direction determination means When,
Input means for inputting an estimation result by the motion direction estimation means to a human support device;
It is characterized by having.
(2) The extraocular muscle biosignal detection means of the present invention is provided in a portion of the head located on the side of the eyeball, and detects an electrooculogram when the eyeball is operated. .
(3) The head movement detection means of the present invention comprises an acceleration sensor or a position displacement sensor that outputs a detection signal corresponding to the movement of the wearer's head,
The trunk position detection means is a gyro sensor that is arranged at a position facing a central portion of the wearer's back and outputs a three-dimensional detection signal corresponding to the movement of the wearer's back,
The head movement direction determining means is based on a difference between the movement of the wearer's head detected by the acceleration sensor or the position displacement sensor and the trunk position of the wearer detected by the gyro sensor. The operating position of the head of the wearer is determined.
(4) The trunk position detecting means of the present invention comprises:
The first gyro sensor is disposed at a position facing the center portion of the wearer's back and outputs a three-dimensional detection signal corresponding to the trunk position of the wearer.
The head movement direction determination means includes a second gyro sensor that outputs a three-dimensional detection signal that outputs a detection signal corresponding to the movement of the wearer's head.
The head movement direction discriminating means is based on the difference between the movement of the wearer's head detected by the first gyro sensor and the trunk position of the wearer detected by the second gyro sensor. The operating position of the wearer's head is determined based on the determination.
(5) The line-of-sight direction determining means of the present invention comprises:
An electrooculogram extraction unit that extracts an electrooculogram detection signal when the eyeball is operated in the left-right direction based on the detection signal detected by the extraocular muscle biosignal detection unit;
If the detection signal extracted by the electrooculogram extraction means is detected continuously for a predetermined time or more, whether the movement direction of the eyeball is front based on the detection signal extracted by the electrooculogram extraction means Alternatively, eye movement direction determination means for determining whether the direction is the left-right direction,
It is characterized by having.
(6) The present invention is a control unit that is connected to the wearable input device according to any one of (1) to (5), and that receives an estimation result from the motion direction estimation unit from the input unit;
A frame that is worn on the legs of the wearer so as to support the walking movement of the wearer;
Drive means for driving the frame;
Leg biosignal detection means for detecting the wearer's leg biosignal;
Have
The control means generates a control signal for controlling driving of the drive means based on the estimation result by the motion direction estimation means and the leg biological signal obtained from the leg biological signal detection means. .
(7) When it is estimated that the wearer changes the walking direction by the movement direction estimation unit, the control unit of the present invention is configured so that the knee joint is driven by the driving unit according to the estimated direction. A control parameter corresponding to the direction in which the driving force is changed is calculated, and the driving unit is driven based on the control parameter at a timing when the leg biological signal detection unit detects the leg biological signal. To do.
(8) When it is estimated by the movement direction estimation means that the wearer changes the walking movement direction, the control means of the present invention is configured such that the knee joint and the left leg of the right leg according to the changed direction. It is characterized in that a difference is generated between the knee joint and the driving force.
(9) The present invention relates to a wearable input device worn by a wearer, and a human support device having a driving means for assisting a driving force in a leg portion of the wearer so as to support the walking motion of the wearer. In a method for controlling a human support device comprising:
Estimating that the wearer moves in the direction when the wearer's line-of-sight direction matches the wearer's head movement direction;
Driving the drive means based on the estimation result of the estimation process;
It is characterized by having.

  According to the present invention, when the detection direction based on the determination result of the line-of-sight direction determination unit matches the determination direction based on the determination result of the head movement direction determination unit, it is estimated that the wearer moves in the direction. By inputting the estimation result to the human support device, it is possible to eliminate the control operation delay, control the human support device in a stable state, and smoothly perform the operation support of the wearer. be able to.

It is a systematic diagram of the control system of one Example of the wearable input device by this invention. It is the perspective view which looked at the mounting state when a mounting type input device is connected with a mounting type movement auxiliary device from the front side. It is the perspective view which looked at the mounting state when a mounting type input device is connected with a mounting type movement auxiliary device from the back side. It is a perspective view which shows an example of the head detection unit of a wearable input device. It is a front view which shows the mounting state of a head detection unit. It is a side view which shows the mounting state of a head detection unit. It is a perspective view which shows the eyeball electric potential detection part of a head detection unit. It is a perspective view which shows the contact part of a head detection unit. It is a figure which shows the positional relationship of the external eye muscle which moves an eyeball, and each electrode which detects electrooculogram. It is a figure which shows the operation | movement direction of the eyeball by an external eye muscle. It is a wave form diagram which shows the detection signal of the electrooculogram accompanying the operation | movement of an external eye muscle. It is a top view which shows a mode that a wearer walks forward. It is a top view which shows typically a wearer visually recognizing a left direction while walking ahead. It is a top view which shows typically a mode that it turns to the left direction which the wearer visually recognized. It is a flowchart for demonstrating the control processing which the control part of a mounting | wearing type input device performs. It is a flowchart for demonstrating the control processing which the control apparatus of a mounting | wearing type movement assistance apparatus performs.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[Configuration of control system]
FIG. 1 is a system diagram of a control system of an embodiment of a wearable input device according to the present invention. As shown in FIG. 1, the wearable input device 100 includes a head detection unit 110 that is worn on the head of the wearer 12, a trunk position detection unit 120 that is worn on the back of the wearer 12, And a control unit 130. The trunk position detection means 120 and the control unit 130 are supported by the suspender 14 on the back of the wearer 12 as shown in FIG. 2B.

  The head detection unit 110 includes an extraocular muscle biological signal detection unit 140, a head movement detection unit 150, and a display unit 160. The extraocular muscle biosignal detection means 140 includes an electrode that detects an extraocular muscle biosignal according to the movement direction of the eyeball of the wearer 12 and outputs the extraocular muscle biosignal. The head movement detection means 150 is composed of, for example, a position displacement sensor, an acceleration sensor, a gyro sensor, or the like, detects the movement direction (swing direction) of the head 13 of the wearer 12, and moves the head 13. A detection signal corresponding to is output. The display unit 160 includes a plurality of indicator lamps (LEDs: light emitting diodes) that are turned on or blinking according to the estimation result of the operation direction.

  The trunk position detection means 120 includes, for example, a gyro sensor and the like, detects the trunk position of the wearer 12, and outputs a detection signal corresponding to the center position of the back of the wearer 12.

  In addition, the control unit 130 includes a line-of-sight direction determination unit 170, a head movement direction determination unit 180, a movement direction estimation unit 190, an input unit 200, and a rechargeable battery 210. The line-of-sight direction determination unit 170 includes an electrooculogram extraction unit 220 and an eyeball movement direction detection unit 230.

  The line-of-sight direction determination unit 170 includes an electrooculogram extraction unit 172 and an eyeball movement direction determination unit 174, and is based on the extraocular muscle detection signal obtained by the extraocular muscle biosignal detection unit 140. It is determined whether the eyeball has moved in either the left or right direction. The electrooculogram extraction unit 172 extracts an ocular potential detection signal when operating the eyeball based on the detection signal detected by the extraocular muscle biosignal detection unit 140. In addition, the eye movement direction determination unit 174 outputs the detection signal extracted by the electrooculogram extraction unit 172 when the detection signal extracted by the electrooculogram extraction unit 172 is continuously detected for a predetermined time or more. Based on this, it is determined whether the movement direction of the eyeball is the front or the left-right direction.

  The head movement direction discriminating means 180 is based on the difference between the head detection signal obtained by the head movement detection means 150 and the trunk position detection signal obtained by the trunk position detection means 120. The direction of head 13 (swing direction) is determined. That is, the head movement direction determination means 180 uses the trunk position detection signal (three-dimensional signal) obtained by the trunk position detection means 120 (first gyro sensor) as a reference value for the head movement detection means 150 (position Based on a difference from a head detection signal obtained from a displacement sensor, an acceleration sensor, or a second gyro sensor), the movement direction of the head 13 is determined.

  The movement direction estimation unit 190 moves the wearer 12 in the direction when the eye movement direction based on the determination result of the gaze direction determination unit 170 matches the head movement direction based on the determination result of the head movement direction determination unit 180. It is estimated that it will be performed, and the estimation result is output.

  The input means 200 inputs the estimation result by the motion direction estimation means 190 to the control device 36 of the wearable motion assist device 10. The rechargeable battery 210 supplies power to each device of the control unit 130 and the head detection unit 110, and is charged periodically according to the power consumption.

The wearable movement assist device 10 (hereinafter referred to as “motion assist device”) is an example of a person support device that is mounted on a leg portion below the waist of the wearer 12 and supports walking motion.
[Configuration of Motion Auxiliary Device 10]
FIG. 2A is a perspective view of the wearing state when the wearable input device 100 is connected to the wearable motion assisting device 10 as seen from the front side. FIG. 2B is a perspective view of the wearing state when the wearing type input device 100 is connected to the wearing type movement assisting device 10 as seen from the rear side.

  As shown in FIGS. 2A and 2B, the motion assisting device 10 is self-supporting, such as a person with lower limb movement dysfunction who cannot walk due to a decrease in skeletal muscle strength, or a patient who performs rehabilitation of walking movement. It is a device that assists (assides) the walking motion of a person who has difficulty walking. Further, the motion assisting device 10 operates so as to detect a biological signal (surface myoelectric potential) generated when a muscle force is generated by a signal from the brain and to apply a driving force from the actuator based on the biological signal.

  The wearer 12 wearing the motion assisting device 10 is provided with driving torque according to a biological signal generated when performing the walking motion by his / her own intention as assisting power, and is necessary for normal walking, for example. It becomes possible to walk with half the strength of the muscle strength. Therefore, the wearer 12 can walk while supporting the overall weight by the resultant force of his / her muscular strength and the drive torque from the drive unit (which uses an electric drive motor in this embodiment).

  The motion assisting device 10 predicts the motion direction based on the estimation result input from the wearable input device 100, and assist force (motor torque) applied according to the movement of the center of gravity accompanying the walking motion of the wearer 12. Control is performed to reflect the intention of the wearer 12.

  In addition to the walking motion, the motion assisting device 10 can assist, for example, an operation when the wearer 12 stands up from a state of sitting on a chair, or an operation when sitting on the chair from a standing state. Furthermore, power assist can be performed even when the wearer 12 goes up or down the stairs. In particular, when the muscular strength is weak, it is difficult to move up the stairs or stand up from the chair, but the wearer 12 wearing the movement assisting device 10 is given drive torque according to his / her intention. This makes it possible to operate without worrying about muscular weakness.

  Here, an example of the configuration of the motion assisting device 10 will be described. As shown in FIGS. 2A and 2B, the motion assisting device 10 is provided with a drive unit on the motion assisting wearing frame 18 that is worn by the wearer 12. The drive unit includes a right thigh drive motor 20 located at the right hip joint of the wearer 12, a left thigh drive motor 22 located at the left hip joint of the wearer 12, and a right knee drive located at the right knee joint of the wearer 12. The motor 24 and the left knee drive motor 26 located at the left knee joint of the wearer 12 are included. These drive motors 20, 22, 24 and 26 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from the control device 36. Each of the drive motors 20, 22, 24, and 26 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a small but sufficient driving force. Can do. Further, as a drive motor, it is needless to say that an ultrasonic motor thinned so that the installation space can be reduced may be used.

  Batteries 32 and 34 that function as power sources for driving the drive motors 20, 22, 24, and 26 are attached to the waist fastening member 30 that is mounted around the waist of the wearer 12. The batteries 32 and 34 are rechargeable batteries, and are distributed on the left and right so as not to hinder the walking motion of the wearer 12.

  A control device 36 is attached to the back side of the waist fastening member 30 that is the back side of the wearer 12.

  The motion assisting device 10 includes leg biosignal detection sensors 38a and 38b that detect a bioelectric potential associated with the movement of the right thigh of the wearer 12 and a leg that detects a bioelectric potential associated with the movement of the left thigh of the wearer 12. Body biosignal detection sensors 40a, 40b, leg biosignal detection sensors 42a, 42b for detecting biopotentials associated with the movement of the right knee, and leg biosignal detection sensors 44a for detecting biopotentials associated with the movement of the left knee. , 44b.

  Each of these leg biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, and 44b is a biological signal detecting means for detecting a biological signal such as a myoelectric potential signal or a nerve transmission signal. It has an electrode (not shown) for detection. In this embodiment, each of the leg biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is attached to the skin surface of the wearer 12 with an adhesive seal that covers the periphery of the electrode. Attached to.

  In the human body, acetylcholine, a synaptic transmitter, is released on the surface of muscles that form skeletal muscles according to instructions from the brain. As a result, the ionic permeability of muscle fiber membranes changes and action potentials are generated. The action potential causes contraction of muscle fibers and generates muscle force. Therefore, by detecting the potential of skeletal muscle, it is possible to estimate the muscular strength generated during the walking motion, and it is possible to obtain the auxiliary power necessary for the walking motion from the virtual torque based on the estimated muscular strength. Become.

  Accordingly, in the motion assisting device 10, the four drive motors 20, 22 are based on the biological signals detected by the control device 36 by the leg biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b. , 24, 26 is obtained, and the drive motors 20, 22, 24, 26 are controlled by supplying the calculated drive current. As a result, the motion assisting mounting frame 18 is driven so that the torque of each of the drive motors 20, 22, 24, and 26 is transmitted to assist the walking motion of the wearer 12.

  The control device 36 is connected to the control unit 130 of the wearable input device 100 described above via a signal line 132. Note that the communication between the control device 36 and the control unit 130 may be a wired system using the signal line 132 or a proximity wireless system using radio waves.

  In addition, in order to smoothly move the center of gravity by a walking motion, it is necessary to detect a load applied to the sole of the foot. Therefore, floor reaction force sensors 50a, 50b, 52a, 52b (shown by broken lines in FIGS. 2A and 2B) are provided at positions corresponding to the left and right soles of the wearer 12.

The floor reaction force sensor 50a detects a reaction force with respect to the load on the right foot front side, and the floor reaction force sensor 50b detects a reaction force with respect to the load on the right foot rear side. The floor reaction force sensor 52a detects a reaction force against the load on the left foot front side, and the floor reaction force sensor 52b detects a reaction force against the load on the left foot rear side. Each of the floor reaction force sensors 50a, 50b, 52a, and 52b includes, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, and changes in load due to weight shift and between the legs of the wearer 12 and the ground. The presence or absence of grounding can be detected.
[Configuration of Head Detection Unit 110]
FIG. 3A is a perspective view illustrating an example of the head detection unit 110 of the wearable input device 100. FIG. 3B is a front view showing a mounting state of the head detection unit 110. FIG. 3C is a side view showing a mounting state of the head detection unit 110.

  As shown in FIGS. 3A to 3C, the head detection unit 110 includes, for example, a resin frame 112 and a pair of contact portions 114 </ b> L and 114 </ b> R bent downward from both ends of the frame 112. . The frame 112 is formed in a U shape so as to follow the rear side of the head 13 of the wearer 12. The pair of abutting portions 114L and 114R are integrally connected by a frame 112 and are provided so as to sandwich the head 13 of the wearer 12 from both the left and right sides.

  The contact positions of the contact portions 114L and 114R are set between the ears and eyes of the head 13 of the wearer 12. This position is a position where it is easy to detect a biological signal (ocular potential) of the extraocular muscles that operate the eyeball.

  Head motion detecting means 150 is provided at the center of the rear part of the frame 112. The head movement detection means 150 is connected to the control unit 130 via a signal line 240 made of an optical fiber or a cable.

  FIG. 3D is a perspective view showing the extraocular muscle biosignal detection means 140 of the head detection unit 10. As shown in FIG. 3D, extraocular muscle biosignal detection means 140 is provided on the inner surfaces of the contact portions 114L and 114R. The extraocular muscle biosignal detection means 140 has four electrodes 140-1 to 140-4 for detecting an extraocular muscle biosignal (ocular potential) corresponding to the movement of the eyeball of the wearer 12. Each electrode 140-1 to 140-4 is connected to the control unit 130 via a signal line 142 (shown by a broken line in FIG. 3D) inserted into the frame 112 and the signal line 240.

  FIG. 3E is a perspective view showing the contact portions 114L and 114R of the head detection unit 110. FIG. As shown in FIG. 3E, display portions 160L and 160R and small speakers 250L and 250R are provided on the outer surfaces of the contact portions 114L and 114R. The display units 160L and 160R are composed of a plurality of LEDs (light emitting diodes) 160-1 and 160-2, and the walking direction is the left direction (left turn) based on the electrooculogram detected by the extraocular muscle biosignal detection means 140. Alternatively, when it is estimated that the vehicle is in the right direction (right turn), the left LEDs 160-1 and 160-2 or the right LEDs 160-1 and 160-2 can be lit or blinked to notify. The LEDs 160-1 and 160-2 are connected to the control unit 130 through a signal line 162 inserted inside the frame 112.

  The small speakers 250L and 250R turn in the direction of turning when the walking direction is estimated to be the left direction (left turn) or the right direction (right turn) based on the electrooculogram detected by the extraocular muscle biosignal detection means 140. A confirmation sound (for example, an electronic sound such as a beep) is emitted. The small speakers 250 </ b> L and 250 </ b> R are connected to the control unit 130 through a signal line 232 inserted inside the frame 112.

  Note that either one of the blinking LEDs 160-1 and 160-2 and the confirmation sound of the small speakers 250L and 250R can be selected, or both can be set to operate. Since the display units 160L and 160R can display the direction of the turn to surrounding people, for example, when performing rehabilitation, the caregiver or the trainer can be notified of the turn direction. Further, the confirmation sound of the small speakers 250L and 250R can inform the confirmation sound that the wearable input device 100 has recognized the direction of bending when the wearer 12 is blind or has weak eyesight.

  FIG. 4 is a diagram showing the positional relationship between the extraocular muscle 310 that moves the eyeball 300 and the electrodes 140-1 to 140-4 that detect the electrooculogram. As shown in FIG. 4, in this embodiment, the electrodes 140-1 to 140-4 are arranged in a detection area (a predetermined area indicated by a broken line in FIG. 4) A near the temple of the head 13.

  The eyeball 300 can be operated by the muscle strength of the extraocular muscle 310 to change the direction of the line of sight. The extraocular muscle biological signal (ocular potential) generated from the extraocular muscle 310 when the eyeball 300 is moved is acquired by a potential difference between a pair of electrodes, that is, a signal acquired by two electrodes. Therefore, as shown in FIG. 4, the electrodes 140-1 and 140-2 constitute one biological signal acquisition unit (one channel), and the electrodes 140-3 and 140-4 include one biological signal acquisition unit (1 Channel). In the present embodiment, the extraocular muscle biological signal detection means 140 acquires biological signals of a total of four channels on both the left and right sides, two on each of the left and right sides. The number of electrodes installed in the present invention is not limited to this.

  As shown in FIG. 4 described above, the positions of the electrodes 140-1 to 140-4 are set in the detection area A in the vicinity of the temples, so that the eyeballs do not give a strange feeling to the person facing them. External eye muscle biosignals (ocular potentials) corresponding to 300 operating directions can be acquired.

  Further, any muscle of the extraocular muscle 310 from the detection position and signal phase difference obtained from each of the electrodes 140-1 to 140-4 and the frequency of the acquired signal (for example, in the range of 1 Hz to 15 Hz, 600 Hz to 700 Hz). Therefore, it is possible to obtain an external eye muscle biological signal (ocular potential) without being directly affected by noise or the like.

  It should be noted that the number of acquired external eye muscle biosignal channels in the present embodiment may be plural, and is not particularly limited in the present invention. It may be about 8 channels, and 4 channels are particularly preferable.

Further, from the viewpoint of realizing an arrangement that does not obstruct the field of view of the wearer 12, one electrode preferably has a diameter of about 2 to 10 mm, for example, and the distance between each electrode forming a pair is For example, about 20 mm is preferable. Moreover, although it is preferable that each electrode 140-1 to 140-4 is arrange | positioned substantially linearly with respect to the wearer's 12 face, it is not restrict | limited in particular in this invention.
[Regarding the extraocular muscle 310 that moves the eyeball 300]
Here, the relationship between the type of external eye muscle 310 that moves the eyeball 300 and the movement direction will be described. FIG. 5 is a diagram illustrating the movement direction of the eyeball 300 by the extraocular muscle 310. 5 shows an enlarged view of the eyeball 300 when the left eye of the wearer 12 is viewed from the front, and the arrangement of each external eye muscle of the right eye is bilaterally symmetrical with the arrangement of the external eye muscle 310 of the left eye.

  As shown in FIG. 5, the extraocular muscles 310 that move the eyeball 300 are in each direction according to combinations of six muscle strengths of the superior rectus muscle, the inferior rectus muscle, the medial rectus muscle, the lateral rectus muscle, the upper oblique muscle, and the lower oblique muscle. To change the line-of-sight direction. (1) The upper rectus muscle moves in the upper inner side (UR direction), (2) The lower rectus muscle moves in the lower inner side (DR direction), and (3) the inner rectus muscle moves in the inner side (R direction). (4) Muscle that moves outward (L direction), (5) Muscle that moves downward (DL direction), (6) Muscle that moves downward (UL direction) ) Is the muscle that moves.

  In the case of the right eye, the left and right muscles (1) to (6) of the left eye extraocular muscle 310 are reversed, and the inside is replaced with the outside and the outside is replaced with the inside.

  Further, when each of the six types of muscle strength of the extraocular muscle 310 is generated, each extraocular muscle biosignal (ocular potential) is generated in the muscles (1) to (6).

  FIG. 6 is a waveform diagram showing an ocular potential detection signal accompanying the operation of the extraocular muscles. As shown in FIG. 6, the muscles (1) to (6) constituting the left eye extraocular muscle 310 generate an extraocular muscle biosignal (ocular potential) corresponding to the movement direction of the eyeball 300. .

  When the eyeball 300 moves inward (R direction) at T1 in FIG. 6, the rectus muscle inside generates an extraocular muscle biosignal (ocular potential).

  At T2 in FIG. 6, when the eyeball 300 moves to the inner upper side (UR direction), the inner rectus muscle and the upper rectus muscle generate extraocular muscle biosignals (ocular potential).

  At T3 in FIG. 6, when the eyeball 300 moves to the inner lower side (DR direction), the inner rectus muscle and the lower rectus muscle generate extraocular muscle biosignals (ocular potential).

  When the eyeball 300 moves outward (L direction) at T4 in FIG. 6, the lateral rectus muscle generates an extraocular muscle biosignal (ocular potential).

  At T5 in FIG. 6, when the eyeball 300 moves outward (upward in the UL direction), the external rectus and lower oblique muscles generate extraocular muscle biosignals (ocular potential).

  At T6 in FIG. 6, when the eyeball 300 moves outward (DL direction), the lateral rectus muscle and the superior oblique muscle generate extraocular muscle biosignals (ocular potential).

  As described above, the external eye muscle biosignal (ocular potential) from the muscles (1) to (6) constituting the external eye muscle 310 is detected by the external eye muscle biosignal detection means 140, thereby the wearer 12. The movement direction (gaze direction) of the eyeball 300 can be detected.

  In the present embodiment, the extraocular muscle biosignal detection means 140 of the head detection unit 110 uses the vicinity of the temples on both sides of the head 13 as the detection area A (see FIG. 4). The electrodes 140-1 to 140-4 arranged inside the contact portions 114 </ b> L and 114 </ b> R detect an ocular potential outside the left eye and an extraocular muscle biosignal (ocular potential) outside the right eye. Therefore, when each electrode 140-1 to 140-4 of the left contact portion 114L detects an extraocular muscle biosignal (ocular potential), the eyeball 300 operates to look leftward, and the right contact portion When each of the electrodes 140-1 to 140-4 of 114R detects an extraocular muscle biological signal (ocular potential), it can be detected that the eyeball 300 is operated to look rightward. In addition, when the extraocular muscle biological signals (ocular potentials) detected by the electrodes 140-1 to 140-4 of the pair of contact portions 114L and 114R are equal, it is determined that both the left and right eyeballs 300 are looking in front. It can be detected.

Therefore, since the movement direction (gaze direction) of the eyeball 300 of the wearer 12 can be detected by the electrodes 140-1 to 140-4, the walking movement direction of the wearer 12 is predicted based on these detection signals. It becomes possible.
[Operation of walking support by movement assist device 10]
FIG. 7A is a plan view schematically showing the wearer 12 walking forward. As shown in FIG. 7A, when the wearer 12 walks forward, the wearer 12 performs a walking motion while looking at the front in the traveling direction. Therefore, the face of the head 13 faces the front (traveling direction), and both the left and right eyes also face the front (traveling direction).

  In this case, the gaze direction discriminating means 170 is an extraocular muscle biosignal (ocular potential) obtained from the electrodes 140-1 to 140-4 provided on the pair of contact portions 114L and 114R of the head detecting unit 110. Therefore, it can be determined that both the left and right eyeballs 300 are looking at the front.

  The head movement direction discriminating means 180 also detects the head position detected by the head movement detection means 150 provided at the rear of the head detection unit 110 and the trunk position detected on the back of the wearer 12. Since there is no difference from the trunk position detection signal obtained by the means 120 and they are almost equal, it is determined that the direction (swinging direction) of the head 13 of the wearer 12 is the front.

  FIG. 7B is a plan view schematically showing how the wearer 12 visually recognizes the left direction while walking forward. As shown in FIG. 7B, when the wearer 12 looks to the left while walking, the head 13 is directed to the left and both the left and right eyes are also directed to the left.

  In this case, the gaze direction discriminating means 170 obtains an external eye muscle biosignal (ocular potential) from each of the electrodes 140-1 to 140-4 provided on the left contact portion 114L of the head detecting unit 110. It can be determined that both the left and right eyeballs 300 are looking left.

  The head movement direction discriminating means 180 also detects the head position detected by the head movement detection means 150 provided at the rear of the head detection unit 110 and the trunk position detected on the back of the wearer 12. Since the difference in the horizontal direction from the trunk position detection signal obtained by the means 120 is the angle α1, it is determined that the head 13 of the wearer 12 is facing leftward.

  FIG. 7C is a plan view schematically showing a state of turning to the left as viewed by the wearer 12. As shown in FIG. 7, when the wearer 12 turns to the left, the stride of the left foot on the inside is reduced, the stride of the right foot on the outside is increased, and the kicking force of the left foot on the inside is weak, so that the outer right foot is weak. Increases the kicking power. Since the entire body of the wearer 12 faces leftward, the head obtained by the head motion detecting means 150 provided at the rear of the head detecting unit 110 with both the left and right eyeballs 300 looking leftward. The difference in the horizontal direction between the detection signal and the trunk position detection signal obtained by the trunk position detection means 120 disposed on the back of the wearer 12 is an angle α2 (α1> α2).

And when the wearer's 12 whole body turns to the left direction, it will be in the state (refer FIG. 7A) to which the gaze direction of the head 13 and both eyes faced the front of the body.
[Control processing executed by the control unit of the wearable input device]
FIG. 8 is a flowchart for explaining control processing executed by the control unit 130 of the wearable input device 100. As shown in FIG. 8, in S11, extraocular muscle biosignals (ocular potentials) obtained from the electrodes 140-1 to 140-4 provided on the contact portions 114L and 114R of the head detection unit 110 are obtained. Read (ocular potential extracting means 172).

  Subsequently, the process proceeds to S12, and the extraocular muscle biosignal (ocular potential) detected by each of the electrodes 140-1 to 140-4 exceeds a predetermined value even if a predetermined time elapses (for example, 1 second or more). It is checked whether or not. In S12, when the extraocular muscle biosignal (ocular potential) detected by each of the electrodes 140-1 to 140-4 does not exceed a predetermined value even after a predetermined time has elapsed (for example, 1 second or longer) (NO) In the case of (), since the line of sight has only been moved, the process returns to S11. In S12, the extraocular muscle biosignal (ocular potential) detected by each of the electrodes 140-1 to 140-4 is equal to or greater than a predetermined value even after a predetermined time elapses (for example, 1 second or longer). In the case (in the case of YES), the process proceeds to S13, and the movement direction of the eyeball is determined (eyeball movement direction determination means 174). As described with reference to FIG. 5 and FIG. 6 described above, the eyeball movement direction determination processing method uses the electrodes 140-1 to 140-1 provided in the contact portions 114L and 114R of the head detection unit 110. It is determined based on the extraocular muscle biological signal detected at -4.

  Each electrode 140-1 to 140-4 of the left contact portion 114L detects an extraocular muscle biological signal, and each electrode 140-1 to 140-4 of the right contact portion 114R detects an extraocular muscle biological signal. If not, the eye movement direction is determined to be the left direction. Further, the electrodes 140-1 to 140-4 of the right contact portion 114R detect the extraocular muscle biological signal, and the electrodes 140-1 to 140-4 of the left contact portion 114L detect the extraocular muscle biological signal. Is not detected, it is determined that the eye movement direction is the right direction. Further, when the left and right electrodes 140-1 to 140-4 do not detect any extraocular muscle biological signal, the eyeball movement direction is determined to be the front (front).

  Subsequently, in S14, a three-dimensional signal (detection signal A) detected by the trunk position detection means 120 (first gyro sensor) arranged on the back of the wearer 12 is read. In next S15, the head movement position signal (detection signal B) detected by the head movement detection means 150 (second gyro sensor) provided at the rear of the frame 112 of the head detection unit 110 is read. The head motion detection unit 150 is not limited to a gyro sensor, and may be, for example, a position displacement sensor or an acceleration sensor, as long as the head motion direction can be detected.

  In S16, the head movement direction is determined from the difference between the detection signals A and B (head movement direction determination means 180). In the head movement direction determination processing in S16, for example, when a position displacement sensor is used for the head movement detection means 150, the displacement amount and the displacement direction (detection signal B) of the head 13 are detected by the position displacement sensor. Therefore, the movement direction (displacement direction) of the head 13 can be determined using the three-dimensional signal (detection signal A) obtained from the first gyro sensor of the trunk position detection means 120 as a reference value (trunk position). . Further, in the head movement direction determination process in S16, for example, when an acceleration sensor is used for the head movement detection unit 150, an acceleration signal (detection signal B) corresponding to the movement of the head 13 is obtained by the acceleration sensor. Therefore, since the acceleration and the acceleration direction are detected, the movement direction of the head 13 using the three-dimensional signal (detection signal A) obtained from the first gyro sensor of the trunk position detection means 120 as a reference value (trunk). (Acceleration direction) can be determined.

  Further, in the head movement direction determination process in S16, for example, when the second gyro sensor is used for the head movement detection unit 150, the three-dimensional obtained from the first gyro sensor of the trunk position detection unit 120 is used. Based on the difference from the three-dimensional signal (detection signal B) obtained from the second gyro sensor of the head movement detection means 150 using the signal (detection signal A) as a reference value, the movement direction of the head 13 is determined in the horizontal and vertical directions. It becomes possible to discriminate with. Therefore, the wearer 12 can cope not only with walking movements such as forward, left turn, and right turn, but also with up and down stairs and up and down movements when standing up from a chair.

  Subsequently, the process proceeds to S17, and it is checked whether or not the eye movement direction determined in S13 matches the head movement direction determined in S16. In S17, when the eye movement direction determined in S13 and the head movement direction determined in S16 do not match (in the case of NO), the wearer 12 does not change the walking direction and moves forward. It returns to the process of S11 as what is maintained.

  In S17, if the eye movement direction determined in S13 matches the head movement direction determined in S16, the process proceeds to S18 and the wearer 12 moves in the matching direction (forward, left turn). It is estimated that the person walks on the right side (motion direction estimation means 190).

In next S19, the estimation result in S18 is input to the control device 36 of the motion assisting device 10. Thereby, the control device 36 of the motion assisting device 10 can predict the walking motion direction of the wearer 12.
[Control processing of the wearable motion assist device 10]
Next, control processing in the motion assisting device 10 will be described.

  FIG. 9 is a flowchart for explaining a control process executed by the control device 36 of the wearable motion assisting device 10. As shown in FIG. 9, the control device 36 checks whether or not the motion direction estimation result is input from the control unit 130 of the wearable input device 100 in S21. In S21, when the motion direction estimation result (forward, left turn, or right turn) is input from the control unit 130 (in the case of YES), the process proceeds to S22, and the motion direction estimation result (forward, left turn, right turn). The operation program and the control parameter corresponding to any one) are read from the database, and the control process according to the estimated operation direction is prepared in advance.

  In the next S23, the leg biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b (see FIGS. 2A and 2B) attached to the legs of the wearer 12 are detected. Biological signals such as myoelectric potential signals and nerve transmission signals, and detection signals of the floor reaction force sensors 50a, 50b, 52a, 52b are read.

  Subsequently, in S24, detection of leg biosignals and floor reaction force sensors 50a, 50b, 52a, 52b detected by the leg biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b. The torque of each motor 20, 22, 24, 26 is calculated based on the signal (center of gravity position). In the next S25, if the above-described estimation result of the operation direction is forward, the torque of the right motors 20, 24 and the torque of the left motors 22, 26 are made equal based on the calculation result of S24. Control. When the estimation result of the operation direction is a left turn, control is performed so that the torque of the motors 22 and 26 on the inner side when turning left is reduced based on the calculation result of S24, and the motors 20 and 24 on the outer side are controlled. The torque is controlled so as to increase.

  Further, when the motion direction estimation result is a right turn, control is performed so that the torque of the motors 22 and 26 on the outer side when turning right is increased based on the calculation result of S24, and the motors 20 and 24 on the inner side are controlled. The torque is controlled to be small. As described above, the wearer 12 operates so as to visually observe the walking motion direction (eyeball motion and head motion), whereby the estimation result of the walking motion direction is input to the motion assisting device 10 from the wearable input device 100. Therefore, the walking assistance is assisted stably and smoothly by the motion assisting device 10 both in the case of going straight ahead, and in the case of turning left or right.

  In addition, when the motion direction estimation result (forward, left turn, or right turn) is input from the control unit 130, a warning is given before the motion direction is changed. Therefore, control delay does not occur even in a sudden walking motion, and the walking assist and walking training (including rehabilitation by a trainer) of the wearer 12 can be performed stably and smoothly.

  In S21, when the estimation result of the movement direction (any of forward, left turn, and right turn) is not input from the control unit 130 (in the case of NO), normal control processing is performed. That is, it progresses to S26 and is detected by each leg biosignal detection sensor 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b (refer FIG. 2A, FIG. 2B) with which the said wearer 12 was mounted | worn. Read biosignals such as myoelectric potential signals and nerve transmission signals.

  In next S27, the detection signal of the angle sensor for detecting the rotation angle of each motor and the detection signals of the floor reaction force sensors 50a, 50b, 52a, 52b are read. Subsequently, the process proceeds to S28, in which an action pattern (each action The control program and control parameters corresponding to the phase are read from the database.

  In S29, the torques of the motors 20, 22, 24, and 26 are calculated using the control program and control parameters read in S28 and the leg biological signals. In next S30, the torque of each motor 20, 22, 24, 26 is controlled based on the leg biological signal based on the calculation result of S29. As described above, when the motion direction estimation result (forward, left turn, or right turn) is not input from the control unit 130, the motor 20, based on the leg biological signal when the wearer 12 performs the walking motion. Since the torques 22, 24, and 26 are controlled, it takes time to calculate the motor torque, which may cause a control delay.

  In the above description, the case where the walking motion direction is estimated by the wearable input device 100 has been described. However, in addition to the walking motion, for example, the motion of standing up from a chair is predicted from the vertical motion of the eyeball 300. It is also possible to predict the ascending / descending movement of the stairs.

  In the above-described embodiment, the case where the wearable movement assist device 10 is used as a human support device has been described as an example. For example, the estimation result from the wearable input device 100 is used as the result of a vehicle such as an electric wheelchair or a care electric vehicle. It is good also as a structure input into a control apparatus. In this case, the traveling direction of the vehicle such as the electric wheelchair can be controlled by the wearable input device 100.

  In addition, by inputting the estimation result from the wearable input device 100 to the control device of the care robot or the work robot that performs a predetermined work, it is possible to give a notice of the operation direction of the care robot or the work robot.

DESCRIPTION OF SYMBOLS 10 Wearing type movement assistance apparatus 12 Wearer 13 Head 18 Movement assistance wearing frame 20, 22, 24, 26 Drive motor 30 Waist fastening member 32, 34 Battery 36 Control apparatus 38a, 38b, 40a, 40b, 42a, 42b, 44a 44b Leg biological signal detection sensors 50a, 50b, 52a, 52b Floor reaction force sensor 100 Wearable input device 110 Head detection unit 112 Frame 114L, 114R Abutting part 120 Trunk position detection means 130 Control parts 132, 142, 162, 232, 240 Signal line 140 Extraocular muscle biological signal detection means 140-1 to 140-4 Electrode 150 Head movement detection means 160 Display unit 160-1, 160-2 LED
170 Gaze direction discrimination means 172 Ocular potential extraction means 174 Eye movement direction determination means 180 Head movement direction discrimination means 190 Movement direction estimation means 200 Input means 210 Rechargeable battery 220 Ocular potential extraction means 230 Eye movement direction detection means 250L, 250R Speaker 300 Eyeball 310 Extraocular muscle

Claims (9)

A wearable input device worn by a wearer,
An extraocular muscle biosignal detection means for detecting an extraocular muscle biosignal according to the movement direction of the eyeball of the wearer;
Head movement detecting means for detecting the movement direction of the head of the wearer;
Trunk position detecting means for detecting the trunk position of the wearer;
Eye-gaze direction determining means for determining the movement direction of the eyeball based on the extraocular muscle detection signal obtained by the extraocular muscle biosignal detection means;
Head movement direction determination for determining the movement direction of the head based on the difference between the head detection signal obtained by the head movement detection means and the trunk position detection signal obtained by the trunk position detection means Means,
Motion direction estimation means for estimating that the wearer moves in the direction when the line-of-sight direction according to the determination result of the line-of-sight direction determination means matches the head movement direction according to the determination result of the head movement direction determination means When,
Input means for inputting an estimation result by the motion direction estimation means to a human support device;
A wearable input device characterized by comprising:   The external eye muscle biosignal detection means is provided in a portion of the head located on a side of the eyeball, and detects an electrooculogram when the eyeball is operated. Wearable input device. The head movement detection means comprises an acceleration sensor or a position displacement sensor that outputs a detection signal corresponding to the movement of the wearer's head,
The trunk position detection means is a gyro sensor that is arranged at a position facing a central portion of the wearer's back and outputs a three-dimensional detection signal corresponding to the movement of the wearer's back,
The head movement direction determining means is based on a difference between the movement of the wearer's head detected by the acceleration sensor or the position displacement sensor and the trunk position of the wearer detected by the gyro sensor. The wearable input device according to claim 1, wherein an operation position of the head of the wearer is determined. The trunk position detecting means is
The first gyro sensor is disposed at a position facing the center portion of the wearer's back and outputs a three-dimensional detection signal corresponding to the trunk position of the wearer.
The head movement direction determination means includes a second gyro sensor that outputs a three-dimensional detection signal that outputs a detection signal corresponding to the movement of the wearer's head.
The head movement direction discriminating means is based on the difference between the movement of the wearer's head detected by the first gyro sensor and the trunk position of the wearer detected by the second gyro sensor. The wearable input device according to claim 1, wherein an operation position of the head of the wearer is determined based on the wearer. The line-of-sight direction determining means includes
An electrooculogram extraction unit that extracts an electrooculogram detection signal when the eyeball is operated in the left-right direction based on the detection signal detected by the extraocular muscle biosignal detection unit;
If the detection signal extracted by the electrooculogram extraction means is detected continuously for a predetermined time or more, whether the movement direction of the eyeball is front based on the detection signal extracted by the electrooculogram extraction means Alternatively, eye movement direction determination means for determining whether the direction is the left-right direction,
The wearable input device according to claim 1, further comprising: Control means connected to the wearable input device according to any one of claims 1 to 5, wherein the estimation result from the motion direction estimation means is input from the input means;
A frame that is worn on the legs of the wearer so as to support the walking movement of the wearer;
Drive means for driving the frame;
Leg biosignal detection means for detecting the wearer's leg biosignal;
Have
The control means generates a control signal for controlling driving of the drive means based on the estimation result by the motion direction estimation means and the leg biological signal obtained from the leg biological signal detection means. Person support device.   When it is estimated that the wearer changes the walking direction by the movement direction estimation unit, the control unit changes the driving force of the knee joint by the driving unit according to the estimated direction. 7. The control parameter according to the direction to be calculated is calculated, and the driving unit is driven based on the control parameter at a timing when the leg biological signal detection unit detects the leg biological signal. Human support device.   When it is estimated by the movement direction estimation means that the wearer changes the walking movement direction, the control means determines the right leg knee joint, the left leg knee joint, and the driving force according to the changing direction. The person support device according to claim 6, wherein a difference is caused between the two. A human support device comprising: a wearable input device worn by a wearer; and a human support device having a driving means for assisting a driving force in a leg portion of the wearer so as to support the walking motion of the wearer. In the control method,
Estimating that the wearer moves in the direction when the wearer's line-of-sight direction matches the wearer's head movement direction;
Driving the drive means based on the estimation result of the estimation process;
A method for controlling a human support apparatus, comprising:

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