JP2012200319A - Walking support device, and walking support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain climbing stairs with higher steps in walking assistance.SOLUTION: When a person climbs stairs in a normal case, he/she performs climbing by lifting a thigh, bending a knee, and putting a foot on a stair while hanging down a shin portion under the knee in a vertical direction (knee-bending climbing). Thus, he/she cannot climb the stairs when a height h1 in maximally lifting the leg is not higher than the step H of the stair. When he/she cannot lift the leg higher than the height of the stair even when a hip joint is lifted up to a limit angle θ1, he/she climbs the stairs while straightening the knee to be lifted up higher (h2) (knee-straightening climbing).

Description

  The present invention relates to a walking support device and a walking support program, and, for example, relates to a walking motion of a wearer, and particularly to assisting a walking motion when climbing stairs or hills.

In recent years, wearable robots that assist the wearer's movement have attracted attention.
Some wearable robots support body movements of a wearer by detecting body movement with a sensor or the like, and can assist a wearer's walking motion and the like.
For example, “Wearing-type movement assistance device, method for controlling wearing-type movement assistance device and control program” of Patent Document 1 supports the movement of the wearer by reading the intention of movement of the wearer using an electromyographic sensor. .

However, when walking is supported by a conventional wearable robot, it is designed on the premise that it is possible to lift the foot above the step when climbing the stairs. When assisting walking, the wearer's muscle strength can be assisted (supported), but the body flexibility (particularly, the hip joint limit angle θ1 when the knee is raised to the limit) is supported. I can't.
For this reason, when used by a wearer who has reduced flexibility such as the elderly, especially when the working area of the hip joint has declined, the foot cannot be raised higher than the staircase height, and as a result, it may not be possible to climb the stairs. It will occur.

JP 2005-95561 A

  An object of the present invention is to provide walking assistance so that a step with higher steps can be climbed in walking assistance.

(1) In the invention according to claim 1, the holding means for holding the leg part including at least the thigh and the shin part of the walking support target, the driving means for driving each part held by the holding means, A control means for assisting the movement of the leg by controlling the force exerted by the driving means; and an ascending stair detection means for detecting an ascending staircase, wherein the control means is used when climbing the detected ascending staircase. In addition, the walking assist device is characterized by assisting the movement of the thigh and shin so that the knee is stretched.
(2) In the invention described in claim 2, the step acquisition means for acquiring the step H of the staircase and the step portion of the staircase next to the predetermined reference position in a directly-facing state facing the front with respect to the staircase It is necessary to calculate the required minimum angle of the hip joint at which the height of the foot when the thigh is raised is higher than the acquired step H, with the front distance acquisition means for acquiring the front distance to the front end. A minimum angle calculating means; and a distance calculating means for calculating a toe distance from the reference position to the toes in a state where the thigh is raised to a necessary minimum angle of the hip joint, and the control means includes: 2. The walking support device according to claim 1, wherein, when the calculated toe distance is smaller than the front distance, the movement of the leg is assisted so as to rise obliquely with respect to the stairs. .
(3) In the invention described in claim 3, the minimum required angle calculation means is a minimum required angle of the hip joint in which a foot height is higher than the step H in a state where the knee is extended and the thigh is raised. θ2 is calculated, and the distance calculation means calculates the foot tip distance m2 from the reference position to the foot tip in a state where the thigh is raised to the necessary minimum angle θ2 of the hip joint and the knee is extended. A walking support device according to claim 2 is provided.
(4) In the invention according to claim 4, the maximum height h1 of the foot in a state in which the thigh is raised to the limit angle θ1 of the hip joint in the walking support target, the knee is bent, and the shin is vertical. When the acquired maximum foot height h1 is equal to or less than the step H, the knee bending leg height acquisition means for acquiring the knee is in a state where the knee is stretched when going up the detected upstairs. As described above, the walking assist device according to claim 2 or 3, wherein the movement of the thigh and shin is assisted.
(5) The invention according to claim 5 includes holding means for holding a leg part including at least a thigh and a shin part of a walking support target, and driving means for driving each part held by the holding means. A walking support program used in a computer included in the walking support device, the control function for assisting the movement of the leg by controlling the force exerted by the driving means, the ascending stairs detection function for detecting the ascending stairs, And the control function assists the movement of the thigh and shin so that the knee is stretched when going up the detected upstairs. Provide walking support programs.

  According to the present invention, since the support is provided to climb the stairs with the knees extended, the stairs with higher steps can also be climbed.

It is explanatory drawing about the walk assistance in the case of going up the stairs. It is explanatory drawing about the mounting state of a mounting type robot, and a mounting robot system. It is explanatory drawing which defined the value of the staircase information used in an up staircase assist process. It is explanatory drawing which defined the relationship between the wearer M used and the staircase in the upstairs assist process. It is a flowchart showing the content of the up staircase assist process which a walk assistance apparatus performs. It is a schematic representation of the relationship between the hip joint angle and the foot height. It is a subroutine showing the processing contents of the knee bending up processing. It is a subroutine showing the processing contents of the knee extension process. It is explanatory drawing showing the relationship of the hip joint angle in the case of raising a leg to the same height.

(1) Outline of Embodiment FIG. 1 shows walking support when going up stairs.
When climbing a normal staircase, as shown in FIG. 1 (a), lift the thigh (thigh) and bend the knee, so that the foot is placed on the staircase with the shin part below the knee hanging vertically. Climbing on top (hereinafter referred to as knee bending up).
For this reason, if the height h1 of the foot when the thigh is raised to the maximum does not rise higher than the step H of the stairs, the stairs cannot be climbed. In this case, the leg can be raised higher by raising the height of the thigh, but the hip joint of the wearer M is hurt and cannot be raised beyond the limit of flexibility.
Therefore, in the present embodiment, as shown in FIG. 1 (b), when the hip joint (thigh) is raised to the maximum angle (the limit angle θ1 of the hip joint), the foot cannot be raised higher than the stairs. By stretching the knee, the stairs are raised while raising the leg higher (hereinafter referred to as knee extension).

On the other hand, when going up the stairs, it is normal to go up normally, that is, as shown in FIGS. 1A and 1C, while going up in a direction perpendicular to the width direction of the stairs.
However, when trying to extend the knee according to this embodiment while facing up, the foot may hit a step and the knee cannot be extended, and thus the foot may not be raised above the stairs.
Therefore, when the step width of the stairs (depth of one step of the stairs) is not enough to extend the knee, the stairs are raised obliquely by controlling the direction of the wearer's body. That is, as shown in FIGS. 1B and 1C, the body is offset obliquely with respect to the stairs, and the stairs are raised obliquely while ensuring a sufficient distance from the foot to the step. Control and support as you go.
In this way, by combining knee-up and diagonally-up, even a wearer whose hip joint angle is not sufficient can support walking so that he can go up stairs with large steps.

The height of the step is acquired by communication data or a sensor.
In addition, the wearer's flexibility (the limit angle θ1 at which the hip joint can be raised) is acquired from past archives or input values.

(2) Details of Embodiment FIG. 2A is a diagram showing a wearing state of the walking assist device 1.
The walking assist device 1 is a walking assistance device that is worn on the waist and lower limbs of the wearer M and supports (assists) the walking of the wearer M. In addition, for example, it may be attached to the upper body and the lower body to assist the movement of the whole body.

The walking assist device 1 includes a waist mounting portion 7, a walking assist portion 2, a connecting portion 8, a three-axis sensor 3, a three-axis actuator 6, an imaging camera 5, a light source device 4, an imaging unit that holds the imaging camera 5 and the light source device 4. 9, a wireless communication device 10, a navigation device 12 and the like.
The waist mounting portion 7 is a fixing device that fixes the walking assist device 1 to the waist of the wearer M. The waist mounting part 7 moves integrally with the waist of the wearer M.
The waist mounting portion 7 includes a walking actuator 17 (FIG. 2B), and drives the connecting portion 8 in the front-rear direction and the like according to the walking motion of the wearer M.

The connecting part 8 connects the waist mounting part 7 and the walking assist part 2.
The walking assist unit 2 is attached to the lower limb of the wearer M, and is driven in the front-rear direction and the like by the walking actuator 17 to support the walking motion of the wearer M.
In FIG. 2, the walking actuator 17 is configured to drive the walking assist unit 2 via the connecting unit 8, but this is for simplifying the drawing and description. It has a multi-joint structure corresponding to M hip joints, knee joints, and ankle joints. Each joint has its rotation angle detected by an encoder installed in each joint, and a walking actuator 17 installed in each joint. It is driven by the power of.

The triaxial sensor 3 is installed in the waist mounting portion 7 and detects the posture of the waist mounting portion 7 and the like. The triaxial sensor 3 includes, for example, a triaxial angular velocity detection function and a triaxial angular acceleration detection function using a three-dimensional gyro, and the rotation angle, angular velocity, and angular acceleration around the forward, vertical, and body-side axes. Can be detected.
The angle around the forward axis is the roll angle, the angle around the vertical axis is the yaw angle, and the angle around the body-side axis is the pitch angle.

The triaxial actuator 6 is configured by, for example, a spherical motor, and changes the roll angle, yaw angle, and pitch angle of the imaging unit 9 in which the imaging camera 5 and the light source device 4 are installed.
The light source device 4 and the imaging camera 5 are fixed to the imaging unit 9, and when the triaxial actuator 6 is driven, the irradiation direction of the light source device 4 (the direction of the optical axis of the light source device 4) and the imaging direction of the imaging camera 5. (The direction of the optical axis of the imaging camera 5) changes the roll angle, yaw angle, and pitch angle with respect to the waist mounting portion 7 while maintaining the relative angle.

  In order to capture an appropriate image with the imaging unit 9, the imaging unit 9 needs to be directed to the walking reference plane (walking plane) at a predetermined angle, but when the wearer M wears the walking assist device 1, Since the imaging unit 9 is inclined depending on the mounting state, the triaxial actuator 6 corrects this.

  The light source device 4 irradiates light such as laser, infrared light, and visible light in a predetermined shape pattern, for example. In the present embodiment, the light source device 4 emits light in a shape pattern that is circular with respect to a plane perpendicular to the irradiation direction, but various shapes such as a rectangular shape, a cross, and a dot are possible.

The imaging camera 5 is configured by an infrared light camera, a visible light camera, or the like that includes an optical system for forming an image of a subject and a CCD (Charge-Coupled Device) that converts the imaged subject to an electrical signal. The light source device 4 captures (shoots) a projection image irradiated on the walking reference plane.
The projection image by the light emitted by the light source device 4 in a predetermined shape pattern has a shape deformed (distorted) from a circle due to an angle formed by the irradiation direction and the walking surface, or an obstacle (such as a step) existing on the walking surface. However, by analyzing this shape, it is possible to detect the forward state (for example, the presence of a downhill, the presence of flat ground, etc.)

The wireless communication device 10 detects various types of information regarding stairs, various types of information such as tread information regarding escalators, and various other types regarding walking environments.
The wireless communication device 10 acquires information on the walking environment from light emitted from the lighting 100 arranged around various facilities such as stairs and escalators, and information transmitted from an information transmission device (not shown).
When the walking environment information includes information indicating the start and end points of stairs and downhills, and the start and end points of flat ground, the walking assist device 1 can thereby start and end points of stairs and downhills, The end point can be recognized.

In the present embodiment, various information regarding the stairs (stair information) is used as the walking environment information. The various information is acquired by the wireless communication device 10 when it can be acquired.
If the wireless communication device 10 cannot acquire the image, the image is acquired by analyzing and recognizing the staircase imaged by the imaging camera 5 and the image of the light emitted by the optical device 4.
As the staircase information used in this embodiment, for example, the width of the entire staircase (lateral length) L0, the step width P0, the height of the step H, the information on the position of the wearer M (the width L1 on the left side of the staircase, There are a right width L2, a distance P1) from the shaft foot to the next step, and the like.
Note that the information regarding the position of the wearer M is different depending on the position of the wearer M, and therefore is determined based on the captured image of the imaging camera 5 instead of the wireless communication device 10. However, when the wearer M is recognized from the left and right sides of the stairs and the distances L1 and L2 from both sides of the stairs to the wearer M are provided wirelessly, the information is used.

The navigation device 12 receives a GPS signal from a GPS (Global Positioning System) satellite, communicates with a predetermined server to identify the current position of the wearer M, and provides a route from the current position to the destination. It has navigation functions such as searching.
The searched route includes information on the state of the walking surface such as a downhill section and a flat section.

FIG. 2B is a diagram for explaining the mounting robot system 15 installed in the walking assist device 1.
The wearing robot system 15 is an electronic control system that controls the walking assist device 1 so as to exhibit a walking support function.

  An ECU (Electronic Control Unit) 16 is an electronic control unit including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a storage device, various interfaces, and the like (not shown), and a walking assist device. Each part of 1 is electronically controlled.

The CPU executes various computer programs stored in the storage medium, drives the walking actuator 17, and performs various walking assistances including climbing stairs assistance when going up the stairs.
The CPU is connected to the light source device 4, the imaging camera 5, the three-axis actuator 6, the three-axis sensor 3, the wireless communication device 10, and the navigation device 12 through an interface, and turns on / off irradiation from the light source device 4. , Acquiring imaging data from the imaging camera 5, driving the triaxial actuator 6, obtaining a detection value from the triaxial sensor 3, obtaining walking environment information including staircase information from the wireless communication device 10, The current position of the wearer M is acquired from the navigation device 12.

The ROM is a read-only memory and stores basic programs and parameters used by the CPU.
The RAM is a readable / writable memory, and provides a working memory when the CPU performs arithmetic processing and the like.

The storage device includes a large-capacity storage medium composed of, for example, a hard disk or an EEPROM (Electrically Erasable Programmable ROM), and various programs such as a program for assisting walking, and walking information of the walking assist device 1 An archive or the like for detecting and storing the data by sampling is stored.
The storage device also stores various information about the wearer M, for example, the limit angle θ1 at which the hip joint rises, the length n0 from the ground to the hip joint, the length n1 of the thigh (from the hip joint to the knee), and the shin part (from the knee to the foot). The length n2 (to the back), the length s from the shin part to the toes, etc. are stored. The information about the wearer M is acquired and stored by an input from an input device (not shown) or communication from the outside. The information n0, n1, and n2 are obtained when the walking assist unit 2 is worn. Further, it may be acquired from each position of an encoder installed at a hip joint, a knee joint, or an ankle joint and stored.

The walking actuator 17 drives the walking assist unit 2 based on a command from the ECU 16.
The ECU 16 controls the walking actuator 17 provided in each of the hip joint, the knee joint, and the ankle joint to cause the walking assist device 1 to perform a walking support operation as a unit.
The battery 18 is a power storage device configured with, for example, a lithium ion battery. The walking actuator 17 can be driven by the electric power supplied from the battery 18 or the ECU 16 can be operated.

Next, the ascending stairs assist process by the walking assist device 1 configured as described above will be described.
3 and 4 define the values of the staircase information used by the acquisition and calculation and the information of the wearer M in the upstairs assist process.
As shown in FIG. 3A, the staircase information has a left-right width (stair width) L0, a stair step (height) H, and a stair step Q1 depth P0.
Moreover, as shown in FIG.3 (b), let the distance (front distance) from the axial leg of the wearer M to the step wall Q2 be P1. However, if the surface of each stair step Q1 is in front of the step wall Q2, the distance from the wearer's M foot to the front end surface of the next stair step (the next stair step) Q1 Let P1.

Further, as shown in FIG. 4A, the length from the ground (sole) to the hip joint of the wearer M is n0, the length from the hip joint to the knee is n1, and the length from the knee to the sole is n2. And
Furthermore, as shown in FIGS. 4B and 4C, the limit angle that the wearer M can rise to the hip joint (the angle with respect to the shaft foot when the knee is raised to the maximum) is θ1.
Then, as shown in FIG. 4B, the height of the foot in a state where the hip joint is raised to the limit angle θ1 and the knee is bent so that the shin portion is in the vertical direction (the state where the knee is bent up), that is, The height from the ground to the sole is h1.
Further, as shown in FIG. 4C, the height of the foot in a state where the hip joint is raised to the limit angle θ1 and the knee is extended (the state where the knee is extended) is h2.

FIG. 5 is a flowchart showing the contents of the up staircase assist process performed by the walking assist device 1.
The following processing is performed by the CPU of the ECU 16 according to the ascending stairs assist program among the walking support programs stored in the ROM.

The ECU 16 constantly monitors whether or not it has arrived before the ascending stairs from the information received by the wireless communication device 10 and / or the image captured by the imaging camera 5 (step 11).
When the vehicle arrives before the ascending stairs (step 11; Y), the ECU 16 detects the step H of the stairs (step 12).
Further, the ECU 16 detects the depth P0 of the stair step (step 13).
Next, regarding the width of the stair step, the ECU 16 detects the width L0 by detecting the left width L1 and the right width L2 from the standing position of the wearer M (step 14).

Then, the ECU 16 acquires a distance (distance to the next step) P1 from the axis foot of the standing position of the wearer M to the step from the image captured by the imaging camera 5 (step 15).
In this embodiment, P1 is acquired from the captured image, but a distance sensor is disposed in the connecting portion 8 that connects both walking assist portions attached to the knee joint and the ankle joint, and the distance P1 is determined from the detection value of the distance sensor. You may make it detect.
In the description of the present embodiment, for the distance P1 to the step, the axis of the pivot foot is described as the predetermined reference position, but the toe position (before raising) of the raising foot may be set as the predetermined reference position. .

Further, the ECU 16 acquires a limit angle θ1 at which the hip joint is raised from an archive or the like (step 16).
Then, the ECU 16 obtains the maximum height h1 for raising the foot with the knee bent from the obtained limit angle θ1 for raising the hip joint (step 17).

FIG. 6 schematically shows the relationship between the hip joint angle and the foot height.
As shown in FIG. 6A, the maximum height h1 of the foot with the knee bent at the limit angle θ1 is calculated as follows.
h1 = h0-n2 = n0-n1cos θ1-n2
Here, h0 is the knee height at the limit angle θ1.

The ECU 16 determines whether or not the maximum height h1 for raising the foot with the knee bent is smaller than the step H (step 18). This determination is a determination as to whether or not the stairs can be climbed up.
If the maximum height h1 is greater than or equal to the level difference H (step 18; N), the ECU 16 executes a knee bending up process that is a subroutine (step 19).

On the other hand, when the maximum height h1 is lower than the level difference H (step 18; Y), the stairs cannot be climbed up by bending the knee, so the ECU 16 increases the maximum height when the knee is stretched at the limit angle θ1 where the hip joint is raised. h2 is calculated (step 20).
The maximum height h2 is calculated by h2 = n0 (1-cos θ1) as shown in FIG.

Next, the ECU 16 determines whether or not the calculated maximum height h2 is smaller than the step H (step 21). This determination is a determination as to whether or not the stairs can be climbed up with the knees extended.
If the maximum height h2 is greater than or equal to the step H (step 21; N), the ECU 16 executes a knee extension process that is a subroutine (step 22).
On the other hand, when the maximum height h2 is lower than the step H (step 21; Y), the ECU 16 determines that the stairs cannot be climbed (step 23) and returns to the main routine.
In this case, the ECU 16 cannot go up the stairs, so the wearer M is notified by voice, warning sound, warning display, or the like that the height cannot be reached from a speaker (not shown).

FIG. 7 is a subroutine showing the processing contents of the knee bending up processing (step 19).
In this knee bending up process, the ECU 16 calculates a distance m1 from the axial leg to the knee (step 31).
This distance m1 is m1 = n1sin θ1, as shown in FIG.

Next, the ECU 16 determines whether or not the distance m1 to the knee is smaller than the distance P1 to the step of the stairs acquired in step 15 (step 32).
When the distance m1 to the knee is smaller than the distance P1 to the step (step 32; Y), the ECU 16 does not make a step on the normal facing because the step does not hit the step with the knee raised normally. An upstream process is performed (step 33), and the process returns to the main routine.
Note that, in the stair climbing process (step 33) based on this facing, not only assisting (supporting) the force with which the wearer M raises the foot, but also the height h1 of the foot when the knee is bent is the height of the staircase. Control is performed so that the hip joint angle is adjusted to a position higher than H.

On the other hand, when the distance m1 to the knee is equal to or greater than the distance P1 to the step (step 32; N), the leg hits the step when facing up, so the ECU 16 performs an oblique ascending process to ascend the stairs in an oblique direction ( Step 34 to Step 39).
The ECU 16 compares the size of the step right width L2 and the step left width L1 from the standing position of the wearer M acquired in step 14 (step 34).
When the step left width L1 is larger than the step right width L2 (step 34; Y), the ECU 16 turns the wearer M to the left by α degrees (step 35).
On the other hand, when the step right width L2 is greater than or equal to the step left width L1 (step 34; N), the ECU 16 turns the wearer M to the right by α degrees.

Note that this α-degree left-right turn is realized, for example, by the ECU 16 controlling the walking actuator 17 so that the wearer M steps on the spot to turn α-degree.
In addition, the ECU 16 guides the wearer M by a voice such as “Please turn slightly to the right” from a speaker (not shown), and prompts the wearer M to turn using a display and warning sound indicating the turning and the direction. May be.

After turning by α degrees, the ECU 16 newly calculates a distance P1 from the pivot foot to the step from the captured image of the imaging camera 5 (step 37).
Then, it is determined whether or not the distance m1 to the knee calculated in step 31 is smaller than the distance P1 to the newly calculated step (step 38).
When the distance m1 to the knee is equal to or greater than the new distance P1 (step 38; N), the turning angle is not yet sufficient, so the ECU 16 returns to step 34 to turn further in the left-right direction (the same direction as the previous time) ( Steps 35 and 36) and calculation (step 37) and comparison (step 38) of a new distance P1 after the turn are performed.

  When the distance m1 to the knee becomes smaller than the new distance P1 by turning (step 38; N), the ECU 16 makes the normal staircase with the knee bent in a state where the wearer M is inclined by the turning angle. The upstream process is executed (step 39), and the process returns to the main routine.

Next, the knee extension process (step 22), which is a subroutine, will be described with reference to FIG.
The ECU 16 calculates the necessary minimum angle θ2 of the hip joint for raising the foot higher than the step difference H detected in step 12 with the knee extended (step 51).
The required minimum angle θ2 of the hip joint is calculated from the following equation as shown in FIG.
h2 = n0 (1-cos θ2)> H

Next, the ECU 16 calculates a distance (foot tip distance) m2 from the shaft foot to the foot tip (step 52).
This distance m2 is m2 = n0sin θ2 + s as shown in FIG.
Note that s is the length from the shin to the toe, and is omitted in FIG.

The ECU 16 determines whether or not the distance m2 to the foot is smaller than the distance P1 to the step of the stairs acquired in step 15 (step 53).
When the distance m2 to the foot is smaller than the distance P1 to the step (step 53; Y), even if the wearer M extends the knee in the staircase direction, the step 16 does not hit the step. While extending the knee, the normal stair climbing process is performed (step 54), and the process returns to the main routine.

On the other hand, when the distance m2 to the foot is equal to or greater than the distance P1 to the step (step 53; N), the leg hits the step when the uphill is performed with the knee extended, and the ECU 16 goes up the stairs diagonally. Diagonal ascent processing is performed (step 55 to step 60).
The ECU 16 compares the size of the step right width L2 and the step left width L1 from the standing position of the wearer M acquired in step 14 (step 55).
When the step left width L1 is larger than the step right width L2 (step 55; Y), the ECU 16 turns the wearer M to the left by α degrees (step 56).
On the other hand, when the step right width L2 is equal to or larger than the step left width L1 (step 55; N), the ECU 16 turns the wearer M to the right by α degrees (step 57).

After turning by α degrees, the ECU 16 newly calculates a distance P1 from the pivot foot to the step from the captured image of the imaging camera 5 (step 58).
Then, it is determined whether or not the distance m2 to the foot calculated in step 52 is smaller than the distance P1 to the newly calculated step (step 59).
If the distance m2 to the foot is equal to or greater than the new distance P1 (step 59; N), the turning angle is not yet sufficient, so the ECU 16 returns to step 55 to turn further in the left-right direction (the same direction as the previous time) ( Steps 56 and 57) and calculation (step 58) and comparison (step 59) of a new distance P1 after the turn are performed.

  When the new distance P1 becomes larger than the distance m2 to the foot by turning (step 59; Y), the ECU 16 makes the normal staircase with the knee bent in a state where the wearer M is inclined by the turning angle. The upstream process is executed (step 60), and the process returns to the main routine.

  In the ascending staircase assist processing described above, the knee is bent, stretched, and in any of the opposite direction and the diagonal direction with respect to the staircase (other than step 23), Not only assists the wearer M in raising the foot, but also adjusts the hip joint angle to a position where the foot height h is higher than the stairs height H (controls the hip joint walking actuator 17). To assist you to ascend the stairs without fail.

Although the optimal embodiment has been described above, the present invention is not limited to this, and various modifications are possible.
For example, when the knee extension process is performed (steps 54 and 60), since the posture is different from the normal climbing step of the knee, the ECU 16 notifies the wearer M to that effect. Also good. In this case, the notification may be made every time for each step, or may be notified once every time the stairs start climbing or every several floors.

Further, when going up obliquely (steps 34 to 39, steps 55 to 60), in this embodiment, the body is turned so that the left and right widths from the standing position of the wearer M to the end of the staircase are directed to the larger side. However, in this case, since the left and right directions are changed every time one step is raised near the center of the stairs, the stairs may be raised by any one of the following methods.
As a first method, the entire width of the staircase is used to go up in a zigzag manner. In this case, for example, the stairs are climbed diagonally from the left end to the right, and when the end of the traveling direction is reached, the vehicle turns in the opposite direction. The ECU 16 determines whether or not the vehicle has reached the end in the traveling direction when the distance L4 from the current standing position to the end of the stairs is smaller than the distance L3 that moves left and right by going up one step of the stairs. Judge that he has reached the end of the.

  In addition, when starting to climb up the stairs, which of the left and right directions starts to climb may start in the direction in which the left and right step widths L1 and L2 are large, or vice versa. However, when starting to climb in the direction of a smaller step width, the distance L4 to the end is larger than the moving distance L3 of one step.

  The second method is a method of going up the stairs by changing the direction alternately left and right from the current state. In this case, since the entire width L0 of the staircase is not used, the staircase can be climbed within a narrow range.

In the described embodiment, the width of the body is not taken into consideration when going up obliquely with respect to the stairs (steps 39 and 60). Therefore, a value based on the center of the body (for example, a distance P1 from the foot to the step) is detected (acquired) and corrected to a value that takes into account the distance error due to the actual body width. .
On the other hand, you may make it measure the distance from the leg on the raising side among right and left legs.

As for which side of the leg to raise, the body of the wearer M facing diagonally, the outer leg (right leg when tilting right toward the stairs, left leg when tilting left) is stepped. Since the distance P1 becomes longer, the outer leg may always be raised.
In this case, if the stairs are continuously climbed while facing the same direction, the same foot is continuously raised. Therefore, the left and right feet may be alternately raised by changing the direction for each step.
Conversely, if you continue to climb the stairs while facing the same direction (including the case of the above modification), determine whether the next foot to be raised is the outer foot or the inner (stair side) foot. The distance P1 to the step may be measured for the raising foot.

In the described embodiment, when the maximum height h1 is equal to or higher than the step H (step 18; N), the case where the knee bending up process is always executed (step 19) has been described.
However, as shown in FIG. 9, when the legs are raised to the same height H1, the hip joint β2 when the knee is extended can be made smaller than the hip joint angle β1 when the knee is bent.
For this reason, depending on the preference of the user, the stair climbing process by knee extension may always be performed.
Further, a threshold value β3 (<θ1) for the hip joint angle is provided, and when the height of the foot bent at the angle β or less is equal to or higher than the height H of the stairs, the knee is bent up. You may make it go up stairs by knee extension. In addition to the case where the wearer M sets the threshold value β3, the threshold value β3 may be set to a predetermined ratio with respect to the hip joint limit angle θ1. Further, a predetermined ratio may be set by the wearer M.
It should be noted that when the stair climbing process is always performed by knee extension or when the determination is made based on the threshold value β, the wearer M may be able to select any mode because of preference.

  In the embodiment, the maximum height h1 due to knee bending and the maximum height h2 due to knee extension at the limit angle θ1 of the hip joint are calculated every time, but the limit angle θ1, the length n0 to the hip joint, Since the length n1 to the knee and the length n2 from the knee to the knee are known, when these values are acquired, they are calculated in advance and stored in the storage means, and read out from the storage means when used. You may do it.

DESCRIPTION OF SYMBOLS 1 Wearable robot 2 Walking assistance part 3 3-axis sensor 4 Light source device 5 Imaging camera 6 3-axis actuator 7 Waist mounting part 8 Connection part 9 Imaging unit 10 Wireless communication apparatus 12 Navigation apparatus 15 Wearing robot system 16 ECU
17 Walking actuator 18 Battery 100 Illumination

Claims (5)

Holding means for holding a leg part including at least a thigh and a shin part of a walking support target;
Driving means for driving each part held by the holding means;
Control means for assisting movement of the leg by controlling the force exerted by the driving means;
Ascending staircase detection means for detecting ascending stairs,
Comprising
The walking support device, wherein the control means assists the movement of the thigh and shin so that the knee is stretched when going up the detected upstairs.
A step acquisition means for acquiring the step H of the stairs;
A front distance acquisition means for acquiring a front distance from a predetermined reference position to the front side end of the step part of the stair that goes up next from a predetermined reference position in a front facing state with respect to the stairs,
A required minimum angle calculating means for calculating a required minimum angle of the hip joint in which the height of the foot in a state where the thigh is raised is higher than the acquired step H;
Distance calculating means for calculating a toe distance from the reference position to a toe in a state where the thigh is raised to a necessary minimum angle of the hip joint;
With
The control means assists the movement of the leg portion so as to rise obliquely with respect to the stairs when the calculated foot distance is smaller than the front distance.
The walking support apparatus according to claim 1.
The necessary minimum angle calculating means calculates a necessary minimum angle θ2 of the hip joint in which the height of the foot when the knee is extended and the thigh is raised is higher than the step H,
The distance calculation means calculates the foot tip distance m2 from the reference position to the foot tip in the state where the thigh is raised to the necessary minimum angle θ2 of the hip joint and the knee is extended,
The walking support apparatus according to claim 2, wherein
Knee bending foot height acquisition means for acquiring the maximum height h1 of the foot in a state where the thigh is raised to the limit angle θ1 of the hip joint in the walking support target, the knee is bent, and the shin portion is vertical. ,
The control means moves the thigh and shin so that when the acquired maximum height h1 of the foot is equal to or lower than the step H, the knee is stretched when going up the detected upstairs. Assist,
The walking support device according to claim 2 or claim 3, wherein
Walking support used in a computer of a walking support device having a holding means for holding a leg portion including at least a thigh and a shin part of a walking support target and a driving means for driving each part held by the holding means A program,
A control function for assisting the movement of the leg by controlling the force exerted by the driving means;
An ascending staircase detection function for detecting upstairs, and realizing the computer,
The control function assists the movement of the thigh and shin so that the knee is stretched when going up the detected upstairs.
A walking support program characterized by this.

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