JP2013173190A - Mounting type action assisting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a burden on the waist of a wearer.SOLUTION: A mounting type action assisting device 10 includes a drive mechanism 15 which drives a waist frame 30 mounted to the waist of a wearer 12, or the thigh of the wearer 12. The waist frame 30 includes a waist support 50 which abuts on the waist of the wearer 12 when the frame is mounted to the waist of the wearer 12. A stomach support 60 is abutted on ribs and ilia of the wearer 12. The waist support 50 and the stomach support 60 are connected by a connection member 70 arranged at both right and left sides. The drive mechanism 15 simultaneously drives the drive torque of drive motors 20, 22 so that the waist support 50 and the stomach support 60 are driven backward when a heavy object is lifted. When the wearer 12 walks, the drive torque is transmitted to second connection parts 17A, 17B so as to drive the thigh of the wearer 12.

Description

  The present invention relates to a wearable motion assist device, and more particularly to a wearable motion assist device that supports a wearer's work and motion.

  For example, in a factory, a construction site, or the like, a heavy object is transported using a transporting machine such as a forklift or a crane. However, when the transporting machine cannot move in a narrow place, an operator may lift and carry a heavy object such as metal or stone.

  As such a wearable motion assisting device that assists a worker in carrying work, there is a device configured to assist a walking motion (see, for example, Patent Document 1).

JP 2005-95561 A

  Conventional wearable movement assist devices generate motor torque so as to assist the wearer's foot movement, and thus can support the wearer's walking support and climbing up and down stairs. When trying to lift a heavy object placed on the floor, there is a problem that it is difficult to support the muscular strength to support the waist and the burden on the waist cannot be reduced.

  Therefore, in view of the above circumstances, an object of the present invention is to provide a wearable movement assist device that solves the above-described problems.

In order to solve the above problems, the present invention has the following means.
(1) The present invention provides a waist frame to be worn on the wearer's waist;
A back rest provided on the back of the waist frame and abutting the back of the wearer;
An abdomen that contacts the ribs and iliac of the wearer;
A coupling member that couples the back pad and the belly pad;
A thigh fixing portion fixed to the thigh of the wearer;
A drive mechanism that is disposed between the waist frame and the thigh fixing part and drives the thigh fixing part or the waist frame;
A biological signal detection sensor for detecting a biological signal corresponding to the movement of the wearer;
A control unit for controlling the drive mechanism based on a biological signal output from the biological signal detection sensor;
It is provided with.
(2) The backrest portion of the present invention is formed to hold the spine of the wearer.
(3) The abdomen of the present invention is characterized in that it is formed to hold the wearer's ribs and iliac bones.
(4) The coupling part according to the present invention is characterized in that the back part and the abdomen part are constrained in a direction approaching each other so as to sandwich the wearer's abdomen and back.
(5) The drive mechanism of the present invention includes:
A first connecting portion connected to the left and right sides of the waist frame;
A second connecting portion connected to the thigh fixing portion;
It has a drive part which generates a drive torque so that the 1st connecting part and the 2nd connecting part may be rotated relatively.
(6) In the drive unit according to the present invention, a drive torque for driving the waist frame is controlled by the control unit based on a signal level of the biological signal by the latissimus dorsi muscle or the gluteal muscle detected by the biological signal detection sensor. It is characterized by that.
(7) The control unit according to the present invention provides posture determination means for determining the posture of the wearer from the output level of the biosignal of the wearer's latissimus or gluteal muscle and the angle between the wearer's upper body and thigh. It is characterized by having.
(8) The control unit of the present invention selects an arbitrary biological signal detection sensor corresponding to an angle between the wearer's upper body and thigh from the plurality of biological signal detection sensors, and detects the selected biological signal. The driving torque of the driving unit is controlled based on a biological signal from the sensor.
(9) The waist frame of the present invention is characterized in that support members for supporting a wearer's elbow or a heavy object to be carried are provided on both the left and right sides.

  According to the present invention, the back support part and the abdomen support part provided on the waist frame are coupled, and a force for rotating the waist frame is applied to the thigh fixing part fixed to the thigh of the wearer by the drive mechanism. Therefore, when the wearer lifts a heavy object placed on the floor surface, the backrest and the abdomen are in a state where the backbone, ribs and iliac of the wearer are held by the backrest and the abdomen. It is supported by the drive torque of the drive unit, and the burden on the waist and spine of the wearer can be reduced. As a result, even when the wearer lifts a heavy object, the driving torque from the drive unit assists the wearer's waist and spine without excessive force, and the burden on the wearer's waist can be alleviated.

It is the perspective view which looked at one Example of the mounting | wearing type movement assistance apparatus by this invention from the diagonal front side. It is the perspective view which looked at one Example of the mounting | wearing type movement assistance apparatus by this invention from the diagonally rear side. It is a disassembled perspective view which shows the structure of a mounting | wearing type movement assistance apparatus. It is a figure which shows the case where a wearer supports the operation | work which lifts a heavy load using a mounting | wearing type movement assistance apparatus. It is a figure which shows the case where a wearer assists the operation | work which goes up a staircase in the state holding a heavy article using a mounting | wearing type movement assistance apparatus. It is a block diagram which shows the control system of a mounting | wearing type movement assistance apparatus. It is a block diagram which shows the connection of each control apparatus. It is a flowchart for demonstrating the control processing which a control apparatus performs based on the bioelectric potential signal and hip joint angle of a latissimus dorsi muscle. It is a flowchart for demonstrating the control processing which a control apparatus performs using the bioelectric potential signal of a right and left thigh. It is a flowchart for demonstrating the control processing of S15. It is a figure which shows the switching of the gain according to the hip joint angle in the case of using the bioelectric potential of the gluteal muscle. It is a figure which shows the switching of the gain according to the hip joint angle in the case of using the bioelectric potential of the latissimus dorsi. It is a disassembled perspective view which shows the structure of the modification 1 of a mounting | wearing type movement assistance apparatus. It is a disassembled perspective view which shows the structure of the modification 2 of a mounting | wearing type movement assistance apparatus. It is a figure which shows the case where a wearer supports the operation | work which lifts a heavy load using the modification 3 of a mounting | wearing type movement assistance apparatus. It is a figure which shows the case where a wearer assists the operation | work which goes up a staircase in the state holding a heavy article using the modification 3 of a mounting | wearing type movement assistance apparatus.

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

[Configuration of wearable motion assist device]
FIG. 1 is a perspective view of an embodiment of the wearing type movement assist device according to the present invention as seen from an oblique front side. FIG. 2 is a perspective view of one embodiment of the wearable movement assist device according to the present invention as seen from an oblique rear side. As shown in FIGS. 1 and 2, the wearable movement assist device 10 (hereinafter referred to as “motion assist device”) is a device that assists (assists) the work and operation of the wearer 12, and receives signals from the brain. The biological signal (surface myoelectric potential) and / or the operating angle of the wearer's hip joint generated when generating the muscular force is detected, and the driving force from the driving unit is applied based on this detection signal.

  When the wearer 12 wearing the movement assisting device 10 lifts and loads a heavy object on his / her own intention, the wearer's 12 or his / her biological signal of the latissimus dorsi muscle or gluteal muscle (gastrocnemius) generated at that time and / or the wearing A driving torque corresponding to the movement angle of the hip joint of the person 12 is applied from the movement assisting device 10 as an assisting force. Therefore, the wearer 12 can lift and carry a heavy object by the resultant force of his / her muscle strength and the drive torque from the drive unit (which uses an electric drive motor in this embodiment).

  Further, the motion assisting device 10 can assist a lifting operation in which the wearer 12 goes up and down the stairs while holding a load, for example, in addition to a transporting operation of lifting a heavy object and walking.

  Here, an example of the configuration of the motion assisting device 10 will be described. The motion assisting device 10 has a drive mechanism 15 that drives a waist frame 30 attached to the waist of the wearer 12 or a thigh of the wearer 12. The waist frame 30 is provided with a backrest portion 50 that comes into contact with the back of the wearer 12 when worn on the waist of the wearer 12. Further, on the front side of the wearer 12, an abdomen pad portion 60 that is in contact with the ribs and iliac bones is attached. The back pad part 50 and the abdomen pad part 60 are coupled by coupling members 70 disposed on both the left and right sides, and hold the ribs and spine of the wearer 12 from the front-rear direction.

  The drive mechanism 15 includes a pair of first connection portions 16A and 16B connected to both sides of the waist frame 30, a pair of second connection portions 17A and 17B arranged on the outer side of the thigh, Drive motors (drive parts) 20 and 22 are provided between the connection parts 16A and 16B and the second connection parts 17A and 17B.

  When the heavy load is lifted, the drive mechanism 15 simultaneously transmits the drive torque of the drive motors 20 and 22 to the pair of first connecting portions 16A and 16B so as to drive the waist frame 30 to the rear side. In this case, the first connecting portions 16A and 16B are the driven side, and the second connecting portions 17A and 17B are the fixed side.

  Further, the drive mechanism 15 applies the drive torque of the drive motors 20 and 22 to the pair of second connecting portions 17A so as to alternately drive the left and right thighs of the wearer 12 in the front-rear direction during walking and climbing up and down stairs. , 17B. In this case, the first connecting portions 16A and 16B are the fixed side, and the second connecting portions 17A and 17B are the driven side.

  The drive motors 20 and 22 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device housed in the control unit 36. Each of the drive motors 20 and 22 has a reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined reduction ratio, and can provide a sufficient drive force although it is small. Of course, the drive motors 20 and 22 may be ultrasonic motors that are thinned so that the installation space can be reduced.

  Batteries 32 and 34 that function as power sources for driving the drive motors 20 and 22 are attached to the waist frame 30 that is worn 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 unit 36 is attached to the rear center of the waist frame 30 on the back side of the wearer 12.

Then, the operation assisting device 10, a plurality of biological signal detecting sensor _38a for detecting biological potential of rectus femoris, gluteus maximus with the right thigh movements of the wearer _{12, 38b (38a 1 ~38a n} , 38b 1 ~38b and _n), rectus femoris with the left thigh of the motion of the wearer 12, a plurality of biological signal detecting sensor _40a for detecting the biological potential of the gluteus maximus, _40b (40a 1 ~40a _n, and 40b 1 ~40b _n), A plurality of biological signal detection sensors 42 a and 42 b (42 a _{1 to} 42 a _n and 42 b _{1 to} 42 b _n ) for detecting the bioelectric potential of the latissimus back muscle of the wearer 12. Each biological signal detection sensor 38a, 38b, 40a, 40b, 42a, 42b is provided at a plurality of locations (1 to n) with respect to each detection target muscle (stratus thigh muscle, gluteal muscle, latissimus dorsi muscle). As described later, the detection sensor having the highest detection level can be selected according to the operation of the wearer 12.

  Each biological signal detection sensor 38a, 38b, 40a, 40b, 42a, 42b is a biological signal detection unit that detects a biological potential signal (biological signal) such as a myoelectric potential signal or a nerve transmission signal from the skin, and detects a weak potential. An electrode (not shown). In this embodiment, each of the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, and 42b is attached so as to be adhered to the skin surface of the wearer 12 with an adhesive seal that covers the periphery of the electrode.

  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 the skeletal muscle, it is possible to estimate the muscular strength generated during the walking motion, and the assist force (drive torque) necessary for the walking motion is calculated from the virtual torque based on the estimated muscular strength. It becomes possible to ask.

  Therefore, in the motion assisting device 10, the drive supplied to the two drive motors 20 and 22 corresponding to the hip joints based on the biological signals detected by these biological signal detection sensors 38a, 38b, 40a, 40b, 42a and 42b. By obtaining the current and driving the drive motors 20 and 22 with this drive current, the necessary assist force (drive torque) is applied to assist the wearer 12 in working and walking, and climbing the stairs. ing.

  FIG. 3 is an exploded perspective view showing the configuration of the wearable movement assist device. As shown in FIG. 3, the backrest portion 50 of the waist frame 30 attached to the waist of the wearer 12 includes a waist support portion 110 formed of a metal material such as rigid duralumin or aluminum alloy, and a waist support portion 110. A fitting portion 112 formed inside the support portion 110 is attached. The fitting portion 112 is made of sponge or a low-resilience resin material, and contacts the waist and back of the wearer 12 to protect the waist and spine of the wearer 12.

  Further, since the waist support portion 110 of the waist frame 30 is formed to support the waist and back of the wearer 12 from the back side and the left and right sides, the drive torque of the drive motors 20 and 22 is applied to the waist of the wearer 12. And can be transmitted throughout the back.

  The belly pad portion 60 is made of, for example, a rigid metal material or hard resin material, and is formed in a curved shape that is curved so as to correspond to the rib and iliac shapes of the wearer 12. Further, the belly pad 60 is separated from the waist frame 30, and a locking fitting 62 for locking the coupling member 70 is fastened near both outer ends. The coupling member 70 is made of a metal buckle or the like, and is urged so as to be movable in the front-rear direction with respect to the backrest portion 50. The coupling member 70 may have a configuration in which, for example, a belt is wound and coupled.

  Accordingly, by locking the coupling member 70 of the back pad 50 to the locking bracket 62 of the back pad 60 in a state where the stomach pad 60 is in contact with the abdomen (rib and iliac bone) of the wearer 12, The abdomen 60 and the back 50 are fixed to each other and sandwich the abdomen and back of the wearer 12. Thereby, the wearer 12 is held in a state in which the ribs, the iliac bones, and the spine are restrained from the front-rear direction by the abdomen 60 and the back pad 50, and is supported in a stable state.

  The first connecting portions 16A and 16B have a waist connecting mechanism 200 that deforms so as to absorb the relative displacement in the front-rear direction between the waist frame 30 and the joints 24A and 24B. The waist connection mechanism 200 is fixed at an upper end fixing portion 102 provided at the waist frame 30 at an upper end and fixed at a lower end fixing portion 106 provided at the joints 24A and 24B.

  In addition, a belt-like thigh fixing portion 78 that is fastened to the thigh of the wearer 12 is attached to an intermediate position in the longitudinal direction of the second coupling portions 17A and 17B. A fitting portion 79 that is in close contact with the thigh of the wearer 12 is attached to the inner surface side of the thigh fixing portion 78.

  The joints 24A and 24B constitute a motor unit in which the drive motors 20 and 22 are built, and the joints 24A and 24B and the drive motors 20 and 22 are integrated in appearance. The joints 24A and 24B support the first connecting portions 16A and 16B and the second connecting portions 17A and 17B so as to be rotatable.

  Furthermore, the drive motors 20 and 22 have an angle sensor (see FIG. 6) that detects a joint rotation angle. The angle sensor includes a rotary encoder that counts the number of pulses proportional to the joint angles of the joints 24A and 24B, and outputs an electrical signal corresponding to the number of pulses corresponding to the joint rotation angle as a sensor output. In other words, the angle sensors of the joints 24A and 24B detect the rotation angle between the first connection parts 16A and 16B and the second connection parts 17A and 17B corresponding to the joint angle of the hip joint of the wearer 12.

  The drive motors 20 and 22 generate drive torque between a rotor and a stator that are combined so as to be rotatable relative to each other, and become a fixed side when a load applied to either the rotor or the stator exceeds the drive torque. The other of the rotor and the stator having a small diameter is the driven side.

  The waist frame 30 includes a waist support portion 110 made of a metal material having a fitting portion 112 that comes into contact with the back waist (spine) of the wearer 12 at the center of the inner peripheral surface, belts 120 and 121 connected via hinges, It has a buckle 122 attached to the end of one belt 120 and a locking metal fitting 124 attached to the end of the other belt 121.

  When the waist frame 30 is attached to the waist of the wearer 12, the fitting for locking is attached to the insertion opening of the buckle 122 in a state where the back side of the waist is in contact with the fitting portion 112 provided inside the waist support portion 110. 124 is inserted and locked. Then, the lengths of the belts 120 and 121 are adjusted to the length corresponding to the size of the waist of the wearer 12. Thereby, the waist frame 30 will be in the holding | maintenance state closely_contact | adhered to the outer periphery of the wearer's 12 waist circumference. The buckle 122 has a configuration similar to that of a seat belt of an automobile, and is configured such that the locking of the locking metal fitting 124 can be released by operating the locking release portion.

  Accordingly, the motion assisting device 10 attaches the locking bracket 124 to the insertion opening of the buckle 122 after the waist frame 30 is attached to the waist of the wearer 12 and the thigh fixing portion 78 is fastened to the thigh of the wearer 12. The attachment is completed by locking the connecting member 70 of the back pad 50 to the locking bracket 62 of the belly pad 60. Therefore, the wearer 12 can be attached and detached by himself / herself, and can easily carry the carrying work or the like by attaching the motion assisting device 10 easily without other assistants. The thigh fixing portion 78 may be configured to be fastened from the front and rear direction of the thigh, or may be configured to have a semicircular shape in which the rear side is removed and the front half is held, and the rear side is held by a belt.

As shown in FIG. 4A, for example, when the wearer 12 increases the muscular strength of both legs and fixes below the waist, the right hip joint angle θ ₁ and the left hip joint angle θ ₂ are substantially equal (θ ₁ ≈ θ ₂ ). The drive motors 20 and 22 use the second connecting portions 17A and 17B as the fixed side, the first connecting portions 16A and 16B as the movable side, and drive torque to the backrest portion 50 and the coupling member 70 of the waist frame 30. To the belly pad 60. As a result, the wearer 12 holds the waist, back, and stomach with the drive torque of the drive motors 20 and 22, and the burden on the waist when performing the work of lifting the heavy object W placed on the floor is reduced. .

As shown in FIG. 4B, when the wearer 12 increases the strength of the abdominal and back muscles and fixes the upper part from the waist and climbs the stairs, the right hip joint angle θ ₁ and the left hip joint angle θ ₂ are different (θ ₁ ≠ θ ₂ ). The first connecting portions 16A and 16B connected to the waist frame 30 are on the fixed side, and the driving torque of the drive motors 20 and 22 is transmitted to the thigh of the wearer 12 via the second connecting portions 17A and 17B. Being supported to walk up and down stairs. As a result, the wearer 12 is assisted by the motor torque in carrying work with the heavy load W, and the thigh muscle fatigue is reduced.
[Configuration of control system]
FIG. 5 is a block diagram showing the configuration of the control system of the motion assist device. As shown in FIG. 5, the control system of the motion assisting device 10 includes a drive unit 140 that applies assist force to the wearer 12 and a physical phenomenon detection that detects the hip joint angle (physical phenomenon) of the wearer 12. And a biological signal detection unit 144 that detects (biological signal) including the potential of the latissimus dorsi and thigh muscles generated by the muscle activity of the wearer 12. The drive unit 140 includes drive motors 20 and 22. The physical phenomenon detection unit 142 includes angle sensors 70 and 72 (see FIG. 6) that detect the joint rotation angle. The biological signal detection unit 144 includes biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b.

  The data storage unit 146 stores a reference parameter database 148 and a command signal database 150.

  The optional control unit 154 supplies a command signal corresponding to the detection signal of the biological signal detection unit to the power amplification unit 158. The optional control unit 154 applies a predetermined command function f (t) or a gain G to the biological signal detection unit 144 to generate a command signal. The gain G may be a preset value or function, and can be adjusted via the gain changing unit 156.

  When the skin of the wearer 12 is expected to get wet with sweat, when data input from the biological signal detection unit 144 cannot be obtained, each data ( It is also possible to select a method for controlling the drive torque of each of the drive motors 20 and 22 based on the joint angle data detected by the angle sensors 70 and 72 (see FIG. 6).

The hip joint angles θ ₁ and θ ₂ detected by the physical phenomenon detection unit 142 are input to the reference parameter database 148. The phase specifying unit 152 specifies the phase of the operation of the wearer 12 by comparing the joint angle detected by the physical phenomenon detection unit 142 with the joint angle of the reference parameter stored in the reference parameter database 148.

When the autonomous control unit 160 obtains the control data of the phase specified by the phase specifying unit 152, the autonomous control unit 160 generates a command signal corresponding to the control data of this phase and causes the drive unit 140 to generate this power. The command signal is supplied to the power amplifier 158.
[Connection system for each control device]
FIG. 6 is a block diagram showing the connection of each control device. As shown in FIG. 6, the batteries 32 and 34 supply power to the power supply circuit 86. The power supply circuit 86 converts the power into a predetermined voltage and supplies a constant voltage to the input / output interface 88. Further, the charging capacity of the batteries 32 and 34 is monitored by the battery charging warning unit 90. When the battery charging warning unit 90 decreases to a preset remaining amount, a warning is issued to the wearer 12 for battery replacement or Notify charging.

  The first and second motor drivers 92 and 93 that drive the drive motors 20 and 22 amplify the drive voltage according to the control signal from the control device 100 via the input / output interface 88 to thereby drive the drive motors 20 and 22. Output to.

The detection signals of the bioelectric potential signals output from the respective biosignal detection sensors 38a, 38b, 40a, 40b, 42a, and 42b are amplified by the first to sixth differential amplifiers 101 to 106 of the power amplifying unit 158, and A / The signal is converted into a digital signal by a D converter (not shown) and input to the control device 100 via the input / output interface 88. The bioelectric potential signal detected on the skin surface of the wearer 12 is weak. Therefore, for example, a first to sixth differential amplifier 101 to 106, to amplify the detection signal of 30μV about computer can determine 3V, it is necessary to 10 ⁵ times become 100dB amplification factor of.

  Further, the angle detection signals output from the angle sensors 70 and 72 are input to the first and second angle detection units 111 and 112, respectively. The first and second angle detectors 111 and 112 convert the number of pulses detected by the rotary encoder into an angle data value corresponding to the angle, and the detected rotation angle data is sent via the input / output interface 88. Input to the control device 100.

  The memory 130 of the data storage unit 146 is a storage unit for storing each data, and is a database in which control data for each phase set for each operation pattern (task) such as a standing motion, a walking motion, and a seating motion is stored in advance. A storage area 130A, a control program storage area 130B in which a control program for controlling each motor is stored, and the like are provided. A reference parameter database 148 and a command signal database 150 shown in FIG. 5 are stored in the database storage area 130A.

  The control data output from the control device 100 is output to the data output unit 132 or the communication unit 134 via the input / output interface 88, and displayed on a monitor (not shown) or a data monitoring computer, for example. It can also be transferred to data communication (not shown).

In addition, the control device 100 includes the above-described autonomous control unit 160, a phase specifying unit 152, an optional control unit 154, and a gain changing unit 156.
[Control processing executed by control device 100]
Here, a procedure of control processing executed by the control device (control unit) 100 will be described with reference to a flowchart of FIG. 7A. As shown in FIG. 7A, the control device 100 detects the hip joint angle detected by the physical phenomenon detector 142 (angle sensors 70, 72) accompanying the movement of the wearer 12 in step S11 (hereinafter, “step” is omitted). θ ₁ and θ ₂ are acquired. Next, it progresses to S12 and acquires the myoelectric potential signal EMG detected by the biological signal detection part 144 (Biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b).

In S13, it is checked whether or not the biological signals of the left and right thighs detected by the biological signal detection sensors 38a, 38b, 40a, and 40b are equal on the left and right. In S13, if the left and right thigh biological signals are equal on the left and right (in the case of YES), the wearer 12 applies the muscular strength of both feet evenly, and is not in walking but in a stopped state. Can be determined. Therefore, if the left and right thigh biological signals are equal in the left and right in S13, the process proceeds to S14, and the left and right hip joint angles θ ₁ and θ _{2 of the} wearer 12 detected by the angle sensors 70 and 72 are both defined. It is checked whether the angle α (for example, α = 170 degrees) or less. The prescribed angle α is an angle between the thigh and the upper body around the hip joint of the wearer 12, and means a posture in which the upper body is lowered forward when viewed from the side.

In S14, when the left and right hip joint angles θ ₁ and θ _{2 of the} wearer 12 are both equal to or smaller than the specified angle α (in the case of YES), it is determined that the wearer 12 is in a leaning posture with the lower body lowered, and S15 Proceed to In S15, posture control is performed with the lower body lowered.

In the next S16, it is checked whether or not the left and right hip joint angles θ ₁ and θ _{2 of the} wearer 12 are both equal to or larger than the specified angle α. If the hip joint angles θ ₁ and θ ₂ are both equal to or smaller than the specified angle α in S16 (NO), the process of S15 is continued. In S16, when both hip joint angles θ ₁ and θ ₂ are equal to or larger than the prescribed angle α (in the case of YES), it is determined that the wearer 12 is walking.

In S13, if the left and right thigh biological signals are not equal left and right, it is determined that the user is walking and the process proceeds to S17. In next S17, it is checked whether or not the biological detection signals from the biological signal detection sensors 38a, 38b, 40a, and 40b provided on the thighs of the left and right feet can be detected. In S17, when the living body detection signal is not detected (in the case of NO), the process proceeds to S18, and the hip joint angles θ ₁ and θ ₂ acquired in S11 are compared with the reference parameter database 148 to perform each operation of the wearer 12. The task phase (operation stage) corresponding to the type is specified.

  In the next S19, the command function f (t) and the gain G corresponding to the phase (operation stage) specified in S18 are selected.

  In S20, the command signal (control signal) generated by the selected gain G is supplied to the power amplifier 158 and the motor drivers 92 and 93. As a result, the drive unit 140 (drive motors 20 and 22) generates drive torque.

As a result, the drive unit 140 (drive motors 20 and 22) generates a drive torque corresponding to the phase selected based on the joint angles θ ₁ and θ ₂ detected from the wearer 12, and this drive torque is generated by the wearer. It is transmitted as an assist force to 12 thighs.

As described above, since the assist is performed based on the joint angles θ ₁ and θ ₂ of the wearer 12, the wearer 12 is driven from the drive unit 140 (drive motors 20 and 22) even if a living body detection signal is not obtained. The assist force by torque is given and the labor is reduced.

  For example, when the wearer 12 goes up the stairs, the driving force corresponding to the command function f (t) is generated to assist. In such a case, the leg on the upper step will land with the angle of the hip joint and the knee joint bent more than when walking on a flat ground. Therefore, for example, when the refraction angle of the hip joint and / or the knee joint is 80 ° to 100 °, it is determined that the phase is a step up the stairs, and the drive torque is generated in accordance with the extension of the angle of the knee joint and the hip joint.

  Also, when it is determined that the phase is a step down the stairs, a phase up, or a sitting phase, the driving force is generated according to a predetermined command function f (t) to assist.

  In addition, when the wearer 12 is walking on a flat ground, the burden is relatively small. Therefore, even if there is no assistance from the drive unit 140 (drive motors 20 and 22), the work efficiency does not decrease. Therefore, when it is determined that it is a general walking phase, the drive unit 140 (drive motors 20 and 22) is driven so as to compensate for the viscosity of the drive motor itself so as not to hinder the operation of the wearer 12. .

  In S21, it is confirmed whether control processing for the final phase of the task is performed. If the control process for the final phase of the task remains in S21, the process returns to S11 and the control process (S11 to S21) for the next phase is performed. In S21, when the control process for the final phase of the task is performed, the current control process is terminated.

[Control processing executed by control device 100 using biological signal]
FIG. 7B is a flowchart for explaining a control process executed by the control device 100 using a detection signal of the biological signal sensor. As shown in FIG. 7B, in S17, for example, when the wearer 12 wears the biological signal sensor properly, the bioelectric potential signal from the biological signal detection unit 144 can be obtained. In this case (in the case of YES), the process proceeds to S22, and a command signal corresponding to the biopotential signal is generated based on the command function f (t) and the gain G.

  In the next S23, the command signal is sent to the power amplifier 158 (motor drivers 92 to 95). Thereby, the wearer 12 is given an assist force according to the living body detection signal from the drive unit 140 (drive motors 20 and 22), and the labor is reduced.

  In S24, it is confirmed whether or not there is an input from the gain changing unit 156. In S24, when there is an input from the gain changing unit 156, the process returns to S22, and the control process (S22 to S24) is performed with the changed gain G. In S24, when there is no input from the gain changing unit 156, the current control process is terminated.

In this way, when the bioelectric potential signal can be detected by the biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, the drive unit 140 (drive motor) according to the intention of the wearer 12 based on the biopotential signal. By applying the drive torque from 20, 22), the labor of the wearer 12 can be reduced and the work efficiency can be increased.
[Control processing of S15]
FIG. 7C is a flowchart for explaining the control process of S15. As shown in FIG. 7C, in S31, all the bioelectric potential signals detected by the plurality of biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b are read. A plurality of biological signal detection sensors are provided at n locations. Since the signal level detected by the movement of the muscle differs depending on each detection position, a biological signal detection sensor that detects an arbitrary potential signal having the highest output level is selected from each muscle that operates according to each work or operation. Make it possible. In the database storage area 130A of the memory 130, relational data between the hip joint angle of the wearer 12 and the output level of each biological signal detection sensor, and parameters for controlling the driving torque are registered in advance. An arbitrary biological signal detection sensor and parameter having the largest output level can be extracted from the hip joint angle.

In S32, the hip joint angles θ ₁ and θ ₂ of the wearer 12 detected by the angle sensors 70 and 72 incorporated in the drive motors 20 and 22 are read. In the next S33, it is checked whether or not the average value θ of the hip joint angles θ ₁ and θ ₂ is 0 ° <θ <70 °.

In S33, when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range (0 ° <θ <70 °) (in the case of YES), the process proceeds to S34 and the angle range (0 ° <θ <70 °). At this time, the biosignal detection sensor that maximizes the output level is selected, and the bioelectric potential signal and parameters detected by the selected biosignal detection sensor are set. For example, when the average value θ of the hip joint angles θ ₁ and θ ₂ is in an angle range (0 ° <θ <70 °), the myoelectric potential of the latissimus dorsi muscle is the most among the biological signal detection sensors 42a _{1 to} 42an and 42b _{1 to} 42bn. Arbitrary biological signal detection sensors 42a and 42b to be detected are selected.

In the next S35, an optional control process based on the biopotential signal and parameters set in S34 is performed. Since the voluntary control process based on the biopotential signal and the parameter is already well known (see Patent Document 1), the details are omitted. This completes the voluntary control when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range (0 ° <θ <70 °).

In S33, if the average value of the hip joint angles θ ₁ and θ ₂ is not in the angle range (0 ° <θ <70 °) (NO), the process proceeds to S36 and the average value of the hip joint angles θ ₁ and θ ₂ is obtained. It is checked whether θ is in the angle range (70 ° <θ <140 °).

In S36, when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range (70 ° <θ <140 °) (in the case of YES), the process proceeds to S37, and the average value θ of the hip joint angles θ ₁ and θ ₂ is the angular range (70 ° <θ <140 ° ) biosignal detecting sensors _42a 1 _~42an, any biosignal detecting sensors 42a to most detects the myoelectric potential of the latissimus dorsi of 42b 1 ~42bn, and 42b selected when the Then, the bioelectric potential signal detected by the selected biosignal detection sensor and parameters are set. For example, when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range (70 ° <θ <140 °), the biosignal detection that detects the myoelectric potential of the latissimus dorsi muscle most among all the biosignal detection sensors. Sensors 42a and 42b and biological signal detection sensors 40b and 38b that most detect the myoelectric potential of the gluteus medius are selected.

In the next S38, a voluntary control process based on the biopotential signal and parameters set in S37 is performed. Since the voluntary control process based on the biopotential signal and the parameter is already well known (see Patent Document 1), the details are omitted. Thus, the voluntary control when the average value θ of the hip joint angles θ ₁ and θ ₂ is 70 ° <θ <140 ° is completed.

If the average value of the hip joint angles θ ₁ and θ ₂ is not in the angle range (70 ° <θ <140 °) (NO) in S36, the process proceeds to S39, where the average value θ of the hip joint angles θ ₁ and θ ₂ is It is checked whether or not the angle range is (140 ° <θ <170 °).

In S39, when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range 140 ° <θ <170 ° (in the case of YES), the process proceeds to S40, and the average value θ of the hip joint angles θ ₁ and θ ₂ is the angle. When the range (140 ° <θ <170 °) is selected, the biological signal detection sensors 40b and 38b that most detect the myogenic potential of the gluteal muscle are selected from all the biological signal detection sensors, and the selected biological signal detection sensor selects the biological signal detection sensors 40b and 38b. The detected biopotential signal and parameters are set.

In the next S41, an optional control process based on the biopotential signal and parameters set in S40 is performed. Since the voluntary control process based on the biopotential signal and the parameter is already well known (see Patent Document 1), the details are omitted. This completes the voluntary control when the average value θ of the hip joint angles θ ₁ and θ ₂ is in the angle range (140 ° <θ <170 °).

In S39, when the average value θ of the hip joint angles θ ₁ and θ ₂ is not in the angle range (140 ° <θ <170 °) (NO), the process returns to S32 and is detected by the angle sensors 70 and 72. The hip joint angles θ ₁ and θ ₂ of the wearer 12 are read again, and the processes of S33 to S40 are performed.

FIG. 8A is a diagram showing gain switching according to the hip joint angle in the case where the bioelectric potential of the greater gluteus muscle is used. As shown in FIG. 8A, when performing voluntary control using the bioelectric potential of the gluteus medius, the detection level is small when the average value θ of the crotch indirect angles θ ₁ and θ ₂ is in the angle range of 0 ° to 140 °. The gain setting value by the gain changing unit 156 is set to G1 higher than the normal gain G2. As a result, it is possible to eliminate the decrease in the detection level of the bioelectric potential in the angle range where the average value θ of the crotch indirect angles θ ₁ and θ ₂ is 0 ° to 140 °, and to ensure the stability of the voluntary control.

In addition, in the angle range where the average value θ of the crotch indirect angles θ ₁ and θ ₂ is 140 ° or more, the bioelectric potential of the greater gluteus muscle increases, so that the gain setting value by the gain changing unit 156 is switched to the normal gain G2 (G1 > G2).

FIG. 8B is a diagram illustrating the switching of gain according to the hip joint angle when the bioelectric potential of the latissimus dorsi muscle is used. As shown in FIG. 8B, when voluntary control is performed using the bioelectric potential of the latissimus dorsi muscle, the detection level is high in the angle range where the average value θ of the crotch indirect angles θ ₁ and θ ₂ is 0 to 140 °. The gain set value by the changing unit 156 is set to the normal gain G2. Thereby, the bioelectric potential detection level can be maintained in an angle range where the average value θ of the crotch indirect angles θ ₁ and θ ₂ is 0 to 140 °.

Further, in the angle range where the average value θ of the crotch indirect angles θ ₁ and θ ₂ is 140 ° or more, the bioelectric potential of the latissimus dorsi is maintained, so that the gain setting value by the gain changing unit 156 is set to a gain G3 that is smaller than the normal gain G2. (G2> G3). Thereby, the influence by the bioelectric potential characteristic of the latissimus dorsi muscle in the angle range where the crotch indirect angles θ ₁ and θ ₂ are 140 ° or more can be relaxed, and the stability of voluntary control can be secured.
[Modification 1]
FIG. 9 is an exploded perspective view showing the configuration of Modification 1 of the wearable movement assist device. As shown in FIG. 9, the backrest portion 50A of the first modification is provided so as to be separable from the waist frame 30A. Mounting holes 54 are provided at two locations on the upper back surface of the waist frame 30A. In addition, two rods 52 that fit into the attachment holes 54 of the waist frame 30 protrude downward from the backrest portion 50A.

  When using the back pad 50A, the rod 52 is inserted into the attachment hole 54 of the waist frame 30A from above. Thereby, back support part 50A is fixed to waist frame 30A.

  Further, the belly pad portion 60A has two rods 64 that protrude downward from the lower surface. And the long hole 66 is provided in the upper surface of the front side both ends of the waist frame 30A. The long hole 66 is formed to extend in the front-rear direction. Accordingly, by inserting the two rods 64 into the respective long holes 66 of the waist frame 30A, the abdomen pad portion 60A is connected to the waist frame 30A and the position in the front-rear direction can be adjusted.

In the first modification, the back pad portion 50A and the belly pad portion 60A can be manufactured separately from the waist frame 30A, and the back pad portion 50A and the bell pad portion 60A are simply attached to the waist frame 30A during use. Therefore, at the time of transporting the wearable motion assisting device, the back pad portion 50A and the stomach pad portion 60A can be divided and packed easily.
[Modification 2]
FIG. 10 is an exploded perspective view showing the configuration of Modification 2 of the wearable movement assist device. As shown in FIG. 10, in the second modification, the belly pad portion 60B is divided into left and right parts, and includes a left belly pad portion 60B1 and a right belly pad portion 60B2. The left abdomen pad part 60B1 and the right abdomen pad part 60B2 are sized and shaped so that the upper end faces the ribs and the lower end faces the iliac, and is formed so as to suppress the range from the ribs to the iliac of the wearer 12. ing. Further, an intermediate portion between the left abdomen pad part 60B1 and the right abdomen pad part 60B2 is open and can be adjusted according to the chest circumference of the wearer 12.

  In addition, two fastening belts 300 are fixed to the left abdomen pad part 60B1, and a locking part 310 for locking the fastening belt 300 is fixed to the right belly pad part 60B2. The fastening belt 300 is provided so as to be slidable with respect to the locking portion 310, and can adjust an interval in the left-right direction between the left belly pad portion 60B1 and the right belly pad portion 60B2.

  Further, the left abdomen pad part 60B1 and the right abdomen pad part 60B2 have a hook 330 that is coupled to a coupling part 320 provided inside the waist frame 30 on the outside. Since the hook 330 has a structure that is rotatably coupled to the coupling portion 320, the attachment positions of the left abdomen pad portion 60B1 and the right abdomen pad portion 60B2 can be adjusted according to the body shape of the wearer 12.

  Furthermore, restraining belts 340 and 350 for restraining the left abdomen pad part 60B1 and the right abdomen pad part 60B2 from the outside are attached to the front end part of the back pad part 50. The restraining belts 340 and 350 can fix the left abdomen pad part 60B1 and the right abdomen pad part 60B2 to the back pad part 50.

Further, the thigh fixing portion 78A attached to the second connecting portions 17A and 17B has a front half and an open rear side. Therefore, when mounting on both feet of the wearer 12, the thigh fixing portion 78A is fixed with the waist frame 30 fixed to the waist of the wearer 12 and then with the thigh in contact with the fitting portion 79 of the thigh fixing portion 78A. The belt 360 can be easily fastened by tightening the belt 360 on the back side of the thigh from the rear side. Since the wearing operation of the thigh fixing portion 78A according to the second modification can be easily performed by the wearer 12 itself, the wearing operation is simplified.
[Modification 3]
FIG. 11A is a diagram illustrating a case where the wearer supports the work of lifting a heavy object using the modified example 3 of the wearable movement assist device. As shown in FIG. 11A, a pair of support members 400 formed in an L shape are provided on both the left and right sides of the waist frame 30. The support member 400 is attached to an upper portion of the upper end fixing portion 102 provided on the waist frame 30 and is supported so as to be rotatable in the front-rear direction with respect to the side surface of the waist frame 30.

  Each support member 400 includes a first support portion 410 that is rotatably supported on the side surface of the waist frame 30, and extends in a direction of approximately 90 ° with respect to the end portion of the first support portion 410. The second support part 420 is formed. When not in use, each support member 400 is rotated 90 ° rearward so that the second support portion 420 is in a position extending vertically on the back side of the wearer 12, and the operation of the wearer 12. It has been evacuated so as not to interfere.

  FIG. 11B is a diagram showing a case where the wearer supports the work of going up the stairs while holding a heavy load using the third modified example of the wearable movement assist device. As shown in FIG. 11B, when the wearer 12 performs a transport operation with the heavy object W held by both arms, the support members 400 on both the left and right sides are rotated 90 ° forward. As a result, each support member 400 has the second support portion 420 rotated in a horizontal state, and the elbow of the wearer 12 is brought into contact with the upper surface of the second support portion 420 to be on the arm of the wearer 12. Such a load can be supported.

  For example, when the wearer 12 goes up the stairs while lifting the heavy object W with both hands, the wearer 12 puts the elbows of both arms on the upper surface of the second support part 420 of each support member 400 to move the arm. The burden is reduced and you can concentrate on the stairs. In addition, when the wearer 12's arm is tired due to work for a long time, the height of lifting the heavy object W gradually decreases, but the left and right elbows are placed on the respective support members 400 to alleviate the fatigue of the arm. Thus, the work of transporting the heavy object W can be continued.

  Further, since the pair of support members 400 incorporates a stopper mechanism that is locked at a position where the second support portion 420 protrudes forward, the heavy object W is directly mounted on the upper surface of the second support portion 420. Even if placed, the wearable motion assisting device 10 can support the load. In this case, since the wearer 12 only needs to hold the heavy load W so that the heavy load W is supported by the support members 400, it is difficult for the wearer 12 to hold the heavy load W because his arm is tired. Even in this case, the heavy object W can be transported.

  The support member 400 is configured to be rotatably supported on the side surface of the waist frame 30. However, the present invention is not limited to this. For example, the support member 400 may be directly fixed to the waist frame 30 or may be configured integrally with the waist frame 30. good.

  In the above embodiment, the case where the wearable movement assisting device 10 is attached and the work of carrying heavy objects is described as an example. However, the present invention is not limited to this and can be used in a work environment without heavy objects. .

  The wearable movement assist device 10 can also be used for rehabilitation of a physically handicapped person. For example, it is possible to perform rehabilitation by reducing the burden on the waist of a wearer with weak back or abdominal muscles, or to perform training that can withstand a posture in which a disabled person tilts the upper body forward.

DESCRIPTION OF SYMBOLS 10 Wearing type movement assistance apparatus 12 Wearer 15 Drive mechanism 16A, 16B 1st connection part 17A, 17B 2nd connection part 20, 22 Drive motor 24A, 24B Joint 30, 30A, 30B Waist frame 32, 34 Battery 36 Control unit _{38a 1 ~38a n, 38b 1 ~38b} n, 40a 1 ~40a n, 40b 1 ~40b n, 42a 1 ~42a n, 42b 1 ~42b n biosignal detecting sensors 50,50A back pad 52, 64 rod 54 mounting holes 60, 60A, 60B abdominal abutment portion 60B1 left abdominal abutment portion 60B2 right abdominal abutment portion 62 locking bracket 66 long hole 70 coupling member 70, 72 angle sensor 78, 78A thigh fixing portion 86 power supply circuit 88 input / output interface 92 , 93 Motor driver 100 Control device (control unit)
101-106 Differential amplifiers 111, 112 Angle detection unit 110 Waist support unit 112 Fitting unit 120, 121 Belt 122 Buckle 124 Locking metal fitting 130 Memory 130A Database storage area 130B Control program storage area 132 Data output part 134 Communication unit 140 Drive Unit 142 Physical phenomenon detection unit 144 Biological signal detection unit 146 Data storage unit 148 Reference parameter database 150 Command signal database 154 Optional control unit 158 Power amplification unit 156 Gain change unit 158 Power amplification unit 160 Autonomous control unit 200 Lumbar coupling mechanism 300 Fastening belt 310 Locking part 320 Coupling part 330 Hook 340, 350 Restraint belt 400 Support member

Claims (9)

A waist frame to be worn on the wearer's waist;
A back rest provided on the back of the waist frame and abutting the back of the wearer;
An abdomen contact portion that abuts the wearer's belly;
A coupling member that couples the back pad and the belly pad;
A thigh fixing portion fixed to the thigh of the wearer;
A drive mechanism that is disposed between the waist frame and the thigh fixing part and drives the thigh fixing part or the waist frame;
A biological signal detection sensor for detecting a biological signal corresponding to the movement of the wearer;
A control unit for controlling the drive mechanism based on a biological signal output from the biological signal detection sensor;
A wearable movement assist device characterized by comprising:   The wearable movement assist device according to claim 1, wherein the backrest portion is formed to hold the spine of the wearer.   The wearable motion assisting device according to claim 1, wherein the abdomen is formed to hold the wearer's ribs and iliac bones.   The said coupling | bond part clamps the said wearer's abdomen and the back by restraining the said back pad part and the said stomach pad part in the direction which mutually approaches, The Claim 1 thru | or 3 characterized by the above-mentioned. The wearable motion assist device as described. The drive mechanism is
A first connecting portion connected to the left and right sides of the waist frame;
A second connecting portion connected to the thigh fixing portion;
The mounting-type motion assisting device according to claim 1, further comprising: a driving unit that generates a driving torque so as to relatively rotate the first coupling unit and the second coupling unit.   The driving unit is configured to control a driving torque for driving the waist frame by the control unit based on a signal level of the biological signal by the latissimus dorsi or the gluteal muscle detected by the biological signal detection sensor. The wearable movement assist device according to claim 5.   The control unit includes posture determination means for determining a posture of the wearer from an output level of a biosignal of the wearer's latissimus dorsi or gluteal muscle and an angle between an upper body and a thigh of the wearer. The wearing type movement auxiliary device according to claim 1 or 6.   The control unit selects an arbitrary biological signal detection sensor according to the angle between the wearer's upper body and thigh from the plurality of biological signal detection sensors, and converts the selected biological signal detection sensor into a biological signal from the selected biological signal detection sensor. 8. The mounting-type motion assisting device according to claim 1, wherein a driving torque of the driving unit is controlled based on the driving torque.   The wearable movement assist device according to any one of claims 1, 5, and 6, wherein the waist frame is provided with support members for supporting a wearer's elbow or a heavy object to be transported on both left and right sides.

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