JP2014023795A - Information generation device and information generation method, program for information generation and information recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information generation device or the like capable of effectively estimating the effect of assistance of a walking assist robot in a wide range.SOLUTION: Data for estimation showing a relation between assist force to be outputted by a driving unit 10 when exercise is assisted and own power generated when a patient himself/herself uses muscle during exercise accompanied with the assistance is generated in advance and acquired, a current value of a driving current for driving the driving unit 10 is detected during actual recovery training or the like is detected, and information showing the own power outputted by the patient during exercise assistance is generated on the basis of the detected current value and the acquired data for estimation.

Description

  The present invention belongs to the technical field of an information generation apparatus, an information generation method, an information generation program, and an information recording medium. More specifically, an information generating device and an information generating method for generating information indicating the state of a person to be supported who exercises with passive assistance for the knee joint bending motion, etc. It belongs to the technical field of a program and an information recording medium on which the program is recorded.

  Conventionally, in recovery training for a gait patient (so-called rehabilitation) performed by a patient with knee disease, the patient has performed necessary recovery training by himself / herself. On the other hand, in recent years, other dynamic recovery training using a driving source such as a motor (such as recovery training using external force) has started. For such passive recovery training, a so-called wearable walking assist robot that is worn on the patient's body and assists the movement of the knee joint during walking is used. The walking assist robot includes, for example, a rechargeable battery, a CPU, various sensors, an actuator, and the like, and is attached to the upper thigh and the lower thigh including a patient's knee using a harness or the like. It works to assist the movement (in other words, force it to move). That is, the walking assist robot operates to move the knee joint so that the movement as the knee joint in an appropriate walking pattern is realized. Thus, the patient can perform necessary recovery training and the like by walking independently so as to follow the movement by the walking assist robot.

  On the other hand, when assisting patient recovery training using the walking assist robot as described above, for example, the patient during recovery training, etc. as a material for examining progress management of the recovery training and advice to be given to the patient It is necessary to grasp the walking ability (in other words, the effect of recovery training). Also, as a similar material, it is necessary to grasp the assist state of the walking assist robot during recovery training or the like. The “assist state” at this time is, for example, the degree to which the patient is assisted by the walking assist robot during recovery training or the like, in other words, the output that the walking assist robot exhibits as the assist during the recovery training or the like ( Power). In order to grasp these walking ability and assist state, conventionally, the myoelectric potential of the muscle has been measured as an index (parameter) indicating the state of the patient's muscle used during walking.

  Here, in the conventional measurement of myoelectric potential, first, a muscle involved in walking (that is, a muscle for which myoelectric potential is to be detected) is specified on the patient side, a measurement position of myoelectric potential in that muscle is determined, and the measurement is performed. Measurement is performed by attaching a myoelectric potential sensor to the position. However, in this case, in fixing the myoelectric potential sensor to the patient, the patient needs to expose the skin. This may feel resistance if the patient is a woman. In general, there are individual differences in myoelectric potential, and even in the same patient, the detected value varies depending on the date of measurement. Therefore, it is difficult to obtain an “absolute value” as myoelectric potential. Myoelectric potential had to be detected as a relative value between the two.

  On the other hand, in the case of measuring the myoelectric potential as the relative value described above, the predetermined reference is, for example, when the patient consciously moves the muscle so that the muscle strength of the muscle to be measured is maximized. Of myoelectric potential. Since the myoelectric potential is measured as a relative value to this, it is necessary to perform so-called calibration using the reference in advance. However, even in this case, the person who is the target of recovery training is not a healthy person, but is often a patient with a disease such as knee joint disease, hip joint disease, insufficiency paralysis, hemiplegia, etc. In some cases, “moving muscles to maximize muscle strength” itself was difficult.

  On the other hand, in the measurement of myoelectric potential, generally, the muscle to be measured is specified according to the type of exercise, etc., the measurement position in the specified muscle is further specified, and the measurement itself is almost at the same time as the actual exercise. It was necessary to check the effect at each timing based on the relative value obtained at that timing in a series of movements as exercise.

  However, in any of the above-described cases, it is difficult to specify a muscle for measuring myoelectric potential due to large individual differences, and a sensor for detecting myoelectric potential for reasons such as rash. Since the place where it is applied to the skin cannot always be constant, it has been difficult to detect changes in myoelectric potential over time under a certain condition and to compare them.

  In addition to these, the walking motion that is the target of the recovery training described above is usually composed of a “stance phase” and a “swing phase”. It is the operation of the period. In this swing phase, when viewed from the human body, for example, even in the case of the knee joint, for example, the muscles involved in the bending motion or the stretching motion are different from each other. Specifically, hamstrings, biceps femoris, etc. are involved in flexion movements, while stretching exercises involve multiple muscles, such as rectus femoris and medial vastus muscles, and multiple measurements. Necessary and sufficient myoelectric potential cannot be measured unless points are provided at once.

  As described above, in the conventional method of measuring the myoelectric potential directly from the muscle, the myoelectric potential measurement itself is very difficult due to the patient's condition and the like, and the patient's independent walking ability and walking assist. In many cases, it cannot be distinguished from the effect of assist by the robot, and effective operation and effective training as recovery training cannot be performed.

  Thus, conventionally, attempts have been made to estimate the effect of assistance by the walking assist robot by adding elements other than myoelectric potential. As a prior art about such a trial, there exists what is disclosed by the following patent document 1, for example.

Japanese Patent Laid-Open No. 2006-075456

  However, since the technique disclosed in Patent Document 1 is an estimation process using a contact force between a person and a floor (so-called floor reaction force), the swing period as described above, that is, a person's leg and floor There is a problem that it is impossible to estimate the effect of assistance in a period when the contact is not made, and the estimation possible range is limited.

  Therefore, the present invention has been made in view of the above-mentioned problems, and the problem is that the patient himself / herself does not wear various detection devices directly on the person's skin and uses the muscles. An information generation device and an information generation method capable of effectively estimating the assist state and assist effect of the walking assist robot in a wide range by making it possible to estimate the force without distinction between the swing phase / stance phase, The object is to provide a program for the information generation apparatus and an information recording medium in which the program is recorded.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that the auxiliary means force output by the auxiliary means such as a drive unit that is electrically driven and assists the movement of the person being assisted is provided. A relational information storage means such as a storage unit for storing relational information indicating a relation between the assistance person's own power generated by the use of the muscle during the exercise accompanied by the assistance, and the auxiliary means. Detection means such as a CPU that detects at least one of the current and voltage of the drive current that drives the auxiliary means during the auxiliary, the at least one detected, and the stored relation information And generating means such as a CPU that generates assistance force information indicating the assistance force at the time of assistance.

  In order to solve the above-mentioned problems, the invention according to claim 8 is characterized in that the auxiliary means force output by the auxiliary means such as a drive unit that is electrically driven and assists the movement of the person being assisted is provided. In an information generating apparatus comprising a relational information storage means such as a storage unit for storing relational information indicating a relation between the assistance person's own power generated by using the muscle during the exercise with the assistance. In the information generation method to be executed, a detection step of detecting at least one of a current and a voltage of a drive current that drives the auxiliary unit at the time of the auxiliary by the auxiliary unit, and at least one of the detected And a generating step of generating, based on the stored relationship information, assistance person power information indicating the assistance person power at the time of the assistance.

  In order to solve the above problems, the invention according to claim 9 is characterized in that the auxiliary means force output by the auxiliary means such as a drive unit that is electrically driven and assists the movement of the person being assisted is provided. A computer included in an information generating device comprising relational information storage means for storing relational information indicating a relation between the assistance person's own power generated by the use of muscles during the exercise accompanied by the assistance; , Detecting means for detecting at least one of a current and a voltage of a driving current for driving the auxiliary means at the time of the assistance by the auxiliary means, and at least one of the detected values, which are stored. Based on the relationship information, it is made to function as a generating means for generating auxiliary person power information indicating the auxiliary person power at the time of the assistance.

  In order to solve the above-described problem, an information generation program according to claim 9 is recorded so as to be readable by the computer according to claim 9.

  According to the invention described in any one of claims 1 or 8 to 10, the relationship information indicating the relationship between the assisting means force and the person being assisted, and the current and voltage of the driving current of the assisting means By using the assistance force information generated based on at least one of the above, for example, without attaching the detection devices directly to the skin of the assistance person, the assistance person force at the time of exercise assistance can be obtained. Can be estimated.

  In order to solve the above-mentioned problem, the invention according to claim 2 is the information generating device according to claim 1, wherein the relational information includes the drive current that changes in response to a change in the auxiliary means force. It is configured so as to be relationship information indicating a relationship between at least one of current and voltage and myoelectric potential that changes in response to a change in the assistance force.

  According to the invention described in claim 2, in addition to the operation of the invention described in claim 1, since the relationship information is relationship information indicating the relationship between the drive current and the myoelectric potential, the relationship information is related to the myoelectric potential. Since the assistant power information is generated, it is possible to generate the assistant power information indicating the assistance power more accurately.

  In order to solve the above-mentioned problem, the invention according to claim 3 is the information generation device according to claim 2, wherein the exercise is exercise including extension or flexion of the knee joint of the assistant. The relationship information is configured to be relationship information indicating a relationship between at least one of the current and voltage of the driving current and the myoelectric potential for each angle set in advance for the extension or the bending.

  According to the operation of the invention described in claim 3, in addition to the operation of the invention described in claim 2, the movement of the assistant is an exercise including extension or flexion of the knee joint, and the related information is the drive Since the relationship between at least one of the current and voltage and the myoelectric potential is shown for each angle of knee joint extension or flexion, it is possible to generate assistance force information more accurately showing assistance force. it can.

  In order to solve the above-mentioned problem, the invention according to claim 4 is the information generating apparatus according to any one of claims 1 to 3, wherein the relational information storage means is provided with the auxiliary means. And storing the relationship information indicating the relationship between the assistance means force and the assistance person power for the assistance person who receives the assistance by the assistance means, and the generation means is for the assistance person Based on the read relation information and at least one of the current and the voltage detected for the attached auxiliary means, based on the relation information storage means It is comprised so that the said assistance person power information about an assistance person may be produced | generated.

  According to the operation of the invention described in claim 4, in addition to the operation of the invention described in any one of claims 1 to 3, the auxiliary person wearing the auxiliary means and receiving the assistance is provided. Relationship information is stored, and based on the relationship information and at least one of the current and voltage of the drive current detected for the attached auxiliary means, the power of the person to be supported for the person to be supported Since the information is generated, it is possible to generate assistance force information specialized for the assistance person.

  In order to solve the above-mentioned problem, the invention according to claim 5 is the information generating apparatus according to any one of claims 1 to 3, wherein the relation information storage means includes a plurality of the subordinates. For each person, the relationship information indicating the relationship between the assistance means power and the assistance person power for each person being assisted is stored so as to be mutually identifiable, and the generation means wears the assistance means Then, the relation information about the person being assisted by the assistance means is read from the relation information storage means, and the read relation information and the attached assistance means are detected. Based on at least one of the current and the voltage, the assistance force information on the assistance person receiving the assistance is generated.

  According to the invention described in claim 5, in addition to the operation of the invention described in any one of claims 1 to 3, related information about a plurality of assistants is stored in an identifiable manner. Assistance is received based on the relationship information about the person being assisted by the assistance means and at least one of the current and voltage of the drive current detected for the attached assistance means. Since assistance person power information about the assistance person is generated, the assistance person power information specialized for the assistance person who is receiving assistance is generated while sharing the information generation device for a plurality of assistance persons. can do.

  In order to solve the above-mentioned problem, the invention described in claim 6 is indicated by the generated assistee force information in the information generating device according to any one of claims 1 to 5. Notification means such as a display unit for notifying the assistance force is further provided.

  According to the operation of the invention described in claim 6, in addition to the operation of the invention described in any one of claims 1 to 5, the assistance force shown by the generated assistance force information. Therefore, for example, a third party attending the assistance recipient who is receiving assistance can recognize the assistance force.

  In order to solve the above-mentioned problem, according to a seventh aspect of the present invention, in the information generating device according to the sixth aspect, the generating means is configured to support the assistance during the exercise with the assistance by the auxiliary means. Human power information is generated, and the notification means notifies the auxiliary power indicated by the generated auxiliary power information every time the auxiliary power information is generated.

  According to the invention described in claim 7, in addition to the operation of the invention described in claim 6, assistance force information is generated during the exercise assisted by the assisting means, and the assistance force information Since the assistance force is notified every time it is generated, a third party can recognize the assistance force in real time during the exercise with the assistance of the assistance means.

  According to the present invention, the auxiliary person force information generated based on the relation information indicating the relation between the auxiliary means force and the auxiliary person force and at least one of the current and voltage of the driving current of the auxiliary means. By using this, for example, it is possible to estimate the assisting person's force at the time of assisting exercise in a wide range without directly attaching various detection devices to the subject's bare skin.

  Therefore, it is possible to effectively estimate the assist state by the assisting means and the assisting effect in a wide range.

It is a state figure at the time of mounting a walk assist robot concerning an embodiment on a patient. It is a state figure at the time of mounting | wearing the patient's both legs with the drive unit which concerns on embodiment. It is a wave form diagram (I) explaining the principle of this invention. It is a wave form diagram (II) explaining the principle of this invention. It is a schematic diagram which shows an example of the bending angle of the knee joint part and hip joint part in the walking assistance apparatus which concerns on embodiment. It is a figure (I) explaining the principle of this invention. It is a figure (II) explaining the principle of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram etc. which show the structure of the walk assist robot which concerns on embodiment, (a) is the said block diagram, (b) is sectional drawing which shows the structure of the insole sensor which concerns on embodiment. It is a flowchart which shows the walk assist operation | movement etc. which concern on embodiment.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to FIGS. 1 to 9. In the embodiment described below, for example, when the present invention is applied to a walking assist robot that assists the movement of a knee joint in walking as a recovery training for a patient with knee disease (an example of an assistant) It is an embodiment. 1 is a state diagram when the walking assist robot according to the embodiment is mounted on a patient, and FIG. 2 is a state diagram when the drive unit according to the embodiment is mounted on both legs of the patient. 3 and 4 and FIGS. 6 and 7 are diagrams for explaining the principle of the present invention. Further, FIG. 5 is a schematic diagram showing an example of bending angles of the knee joint part and the hip joint part in the walking assist robot according to the embodiment, and FIG. 8 is a block diagram showing the configuration of the walking assist robot according to the embodiment. FIG. 9 is a flowchart showing the walking assist operation according to the embodiment.

(I) Principle of the Present Invention First, the principle of the present invention will be described with reference to FIGS. 1 to 7 using the walking assist robot according to the embodiment.

  First, an outline of a walking assist robot as an example of an information generation apparatus according to an embodiment to which the present invention is applied will be described with reference to FIGS. 1 and 2.

  As shown in FIGS. 1 and 2, the walking assist robot S according to the embodiment is attached to a patient's lower limbs (both legs) by a detachable tape-like fixture or a fixture 6 such as a band, respectively. A pair of drive units 10 as an example of “auxiliary means” is provided. In the following description, the drive unit 10 for the left leg is referred to as the drive unit 11, and the drive unit 10 for the right leg is described as the drive unit 12. In addition, when a description common to the drive unit 11 and the drive unit 12 is performed, the drive unit 10 is generally described.

  As shown in FIG. 1, one drive unit 10 (ie, for either the right leg or the left leg) is attached to a joint portion of a patient's knee 5 and is a link that flexes and extends the knee joint. The mechanism part 3 and the link mechanism part 8 which is attached to the joint part of the patient's crotch part 9 to bend and extend the hip joint are attached.

  First, as shown in FIG. 1, the link mechanism unit 3 includes, for example, a first link 3a attached to the side surface of the upper leg rest 4 wound around the patient's thigh and a lower leg wound around the patient's lower leg. A second link 3b attached to the side surface of the abutment 7, and a third link 3c that obtains power from the drive unit 10 and swings the second link 3b in the front-rear direction of walking with respect to the first link 3a. Composed. The first link 3a is attached so as to extend from the patient's waist side to the knee 5 side, and the second link 3b is attached so as to extend from the patient's knee 5 side to the distal end (floor surface or ground) side of the leg. ing. And the 1st link 3a and the 2nd link 3b are connected so that rotation in the patient's knee part 5 vicinity is possible.

  The connecting portion incorporates a knee joint angle sensor that outputs knee joint angle data indicating an angle formed by the first link 3a and the second link 3b. This knee joint angle sensor is realized by, for example, a so-called potentiometer. Moreover, the edge part of the 3rd link 3c is connected with the center vicinity of the 2nd link 3b. Each of the upper leg rest 4 and the lower leg rest 7 includes a pair of leg rest members (not shown), and the leg rest members are arranged so as to cover the circumference of the patient's thigh and lower leg. The fixing device 6 is detachably attached. The upper leg rest 4 and the lower leg rest 7 are formed by molding, for example, polypropylene resin, and a stretchable sponge member (not shown) or the like is attached to a portion in contact with the user's thigh. .

  On the other hand, as shown in FIG. 1, the link mechanism portion 8 includes a first link 8 a attached to the side surface of the upper leg rest 4 and a second link 8 b attached to the side portion of the belt 23 wound around the patient's waist. And comprising. The first link 8a is attached to extend from the patient's buttocks side to the knee 5 side, and the second link 8b is attached to extend from the patient's waist side to the buttocks side. And the 1st link 8a and the 2nd link 8b are connected so that rotation in the patient's crotch part 9 vicinity is possible. The connecting portion also incorporates a hip joint angle sensor that outputs hip joint angle data indicating an angle formed by the first link 8a and the second link 8b. This hip joint angle sensor is also realized by a so-called potentiometer, for example.

  On the other hand, the walking assist robot S includes an insole sensor 17 in the insole laid in the left and right shoes worn by the patient. The insole sensor 17 sends an insole sensor signal, which is an analog signal indicating that each leg is separated from the floor surface or the ground (hereinafter simply referred to as a floor surface) and grounded to the CPU to be described later. Output.

  Further, as shown in FIG. 2, a communication unit 20 for data communication between the drive unit 11 and the drive unit 12 is detachably attached to the drive unit 11 and the drive unit 12 which are respectively attached to both legs. The communication unit 20 includes a cable 21 and a relay box 22 containing a communication board, a control board, a battery, and the like disposed in the middle of the cable 21, and is attached to the patient's waist by the belt 23. It is done. In addition, the communication unit 20 includes a communication head 25 including communication terminals that can communicate data without contact at both ends of the cable 21. On the other hand, the housing 10a of the drive unit 10 is provided with a hole 10b into which the communication head 25 can be inserted, and the communication head 25 can be attached to and detached from the hole 10b. The control board in the relay box 22 is equipped with a CPU or the like for controlling the operation as the walking assist robot S according to the embodiment. Furthermore, the drive unit 10 includes a communication head (not shown) capable of receiving power or communicating predetermined data inside the housing 10a. And the communication head 25 is inserted in the hole 10b which the housing | casing 10a of the drive unit 10 has, and is electrically connected to the communication head which is not shown in figure without contact, and data communication is possible.

  When performing recovery training for a patient with a knee disease, for example, using the walking assist robot S illustrated in FIGS. 1 and 2, the assist during the recovery training is performed as described above. It is necessary to grasp the state and the effect of assistance (hereinafter simply referred to as an assist state or the like). This is a clue when an assistant (for example, a physical therapist) of the recovery training determines the content of the assistance for the patient during the recovery training or the like. In addition, the level (intensity) of recovery training or the like to be carried out at the next or predetermined period after surgery is analyzed by statistically recording / accumulating the grasped assist status over a certain period and analyzing the contents. ) And a clue when planning the implementation period. In view of these points, the inventor of the present invention, as a method for objectively grasping the assist state or the like from the outside without attaching a sensor for detecting myoelectric potential to the patient, myoelectric potential and the driving force of the driving unit 10 are described. The experiment was conducted focusing on the relationship. More specifically, the inventor of the present invention pays attention to the relationship between the myoelectric potential and the current value of the driving current of a DC motor, which will be described later, constituting the driving unit 10 as the driving force of the driving unit 10. An experiment was conducted to confirm these relationships. Waveform diagrams showing the results are illustrated in FIGS.

  Here, in FIG. 3 and FIG. 4, a case where a normal walk is performed without assistance by the walking assist robot S according to the embodiment is referred to as “walking without assistance”, while receiving assistance from the walking assist robot S according to the embodiment. The case of walking is shown as “assisted walking”. A case where the user walks without bending by the walking assist robot S according to the embodiment and while bending the knee joint to the same extent as when receiving the assistance is referred to as “non-assisted walking (intensification)”. In each of the above three cases, in FIGS. 3 and 4, the change of the insole sensor signal from the insole sensor 17 provided in the shoe worn on the right leg of the patient (see FIG. 3 and FIG. ), A change in the knee joint angle of the right leg (see FIG. 3 and FIG. 4 sign “(2)”), and a change in the hip joint angle of the right leg (see FIG. 3 and FIG. 4 sign “(3)”). And the change in the myoelectric potential of the inner vastus muscle of the right leg (see FIG. 3 and FIG. 4 code “(4)”) and the change in the myoelectric potential of the biceps femoris muscle of the right leg (see FIG. 3 and FIG. 5) ”), the change in the current value of the DC motor in the right leg drive unit 12 (see“ (6) ”in FIG. 3 and FIG. 4), and the change in the drive signal for the DC motor described later. (Refer to the reference numerals “(7)” in FIG. 3 and FIG. 4).

  3 and 4, the period during which the value of the insole sensor signal is constant (the period indicated by the symbol “A” in FIGS. 3 and 4 and repeated at a substantially constant period) is the patient Shows a period in which the soles of the legs (the right leg in the case of FIG. 3) are away from the floor when taking a step. This period is a period in which the sole of the foot is separated from the floor in order to step on the leg one step forward, and a person generally performs an operation of stepping the leg forward by bending the knee joint and the hip joint during this period. The period during which the leg is separated from the floor during human walking is the swing leg period for the leg. In other words, the swing phase is a period when the patient's weight is not applied to one leg during walking (in other words, before the leg is moved away from the floor (floating) in order to enter the stance phase). Period of movement). The “biceps femoris” whose waveform of the myoelectric potential is shown in FIG. 3 and FIG. 4 is one of the muscles considered to be used for the knee joint bending motion during the swing phase. Hereinafter, the period during which the knee is bent is referred to as a “bending period”, and in FIG. 4, the bending period is indicated as “bending”. Similarly, the “inner vastus muscle” in which the waveform of the myoelectric potential is shown in FIG. 3 and FIG. 4 is one of muscles that are considered to be used for the knee joint extension operation in the swing phase. The period during which the knee extension operation is performed is hereinafter referred to as “extension period”, and in FIG. 4, the extension period is indicated as “extension”. The walking assist robot S according to the embodiment assists the knee joint bending operation and the extension operation in the swing leg period repeated for each step with the driving force of the driving unit 10 (DC motor). Therefore, FIGS. 3 and 4 show that the DC motor is driven by the drive signal only during the swing phase. In the following description, the free leg period of the patient according to the embodiment is referred to as “free leg period A”.

  On the other hand, in FIG. 3 and FIG. 4, a period between two adjacent swing leg periods A (a period indicated by a symbol “B” in FIG. 3 and FIG. 4 and repeated in substantially the same cycle as the swing leg period) Indicates a period in which the soles of the legs are in contact with the floor when the patient takes a step. This period is a period in which the feet are put on the floor and are stepped on in order to step on the other leg one step forward. This period in which the leg is in contact with the floor is the stance phase for the leg. In other words, the stance phase indicates a period during which the patient's weight is applied to either the left or right leg during walking. In the following description, the stance phase of the patient according to the embodiment is referred to as “stance phase B”. Further, FIG. 4 shows a continuous set of the stance period A and the free leg period B included in each of the non-assisted walking period, the assisted walking period, and the non-assisted walking period (intensification) in FIG. It is shown enlarged in the time axis direction.

Note the knee joint angle, as is illustrated as the knee joint angle theta _k 5 is measured thigh of the patient 60 to walk the floor 65 above (corresponding to the first link 3a) to the reference, A clockwise direction is positive with respect to the walking direction of the patient. Also the hip joint angle, as is illustrated as the hip joint angle theta _H 5, are measured with respect to the torso of the patient 60 (corresponding to the second link 8b), thigh of the patient than the reference 60 is walking The case where it is ahead of the direction is positive, and the case where it is behind the walking direction is negative. The 3 and 4, the absolute value of the absolute value and the hip joint angle theta _H of the knee joint angle theta _k are both greater downward in the drawings.

In the experimental results illustrated in FIG. 3 and FIG. 4 described above, first, in the walking period without assistance, as shown in FIG. 4, the knee joint angle θ _k has a peak value at the timing of transition from the bending motion to the stretching motion. The value was about 55 °. The myoelectric potential of the medial vastus during this period is substantially constant without distinction between the bending operation and the extension operation, as particularly illustrated in FIG. On the other hand, the myoelectric potential of the biceps femoris muscle is almost zero during the bending operation, but slightly increases during the extension operation, and tends to be higher after the extension operation, as illustrated in FIG.

Next, when comparing the assisted walking period illustrated in FIGS. 3 and 4 and the non-assisted walking (power increasing) period, as illustrated in FIG. 4 in particular, the knee is at the timing of transition from the bending operation to the extending operation. The joint angle θ _k was a peak value, and the value was about 100 ° for both periods. The myoelectric potential of the medial vastus muscle in each period becomes a large value in the extension operation as exemplified by reference numerals X1 and X2 in FIG. ) Tends to be slightly larger than the period with assistance (see X1 in FIG. 4). On the other hand, the myoelectric potential of the biceps femoris muscle is detected during the bending operation in each period as shown in FIG. 4 in particular (refer to the reference signs X3 and X4 in FIG. 4). The period (see X4 in FIG. 4) tends to be a smaller value than the non-assisted walking (intensification) period (see X4 in FIG. 4). Therefore, due to the change in myoelectric potential of the biceps femoris over these two periods, the assist effect by the walking assist robot S according to the embodiment during the knee joint bending motion, that is, the same peak value in the knee joint angle θ _k is assisted. It can be confirmed that the myoelectric potential of the biceps femoris is smaller during the walking period (the biceps femoris need not be used more). As illustrated in FIG. 4, the current value of the DC motor and its drive signal were detected during both the bending operation and the extension operation during the walk with assist.

When an experiment with the same results as those illustrated in FIGS. 3 and 4 was performed for a plurality of knee joint angles θ _k , the inventor of the present invention found that the knee joint angle θ _k In the case of walking with assistance, the myoelectric potential is smaller than in the case of walking without assistance (intensification), that is, there is an effect of assisting by the walking assist robot S with respect to the bending motion by the biceps femoris. Obtained knowledge. Similarly, the inventor of the present invention refers to the patient's own power (the force that the patient uses using his / her muscles in walking with assistance) by an experiment different from the experiment whose results are illustrated in FIGS. Similarly. when performing an operation to increase the knee joint angle theta _k in), myoelectric potential of the biceps femoris increases but decreases the current value of the DC motor, i.e., the myoelectric potential of the biceps femoris and DC motor It was also found that there is a correlation between the current values.

Next, these new findings will be specifically described with reference to FIG. In FIG. 6, for each of the four knee joint angles θ _{1 to} θ ₄ , the myoelectric potential of the biceps femoris (ie, the force emanating from the biceps femoris) and the current value of the DC motor (ie, walking) It shows the relationship with the force generated by the assist robot S). At this time, the knee joint angle θ ₁ <the knee joint angle θ ₂ <the knee joint angle θ ₃ <the knee joint angle θ ₄ . In FIG. 6, in the case of walking without assistance, the myoelectric potential of the biceps femoris becomes smaller as the knee joint angle θ _k is smaller as shown by the one-dot chain line, while the knee joint angle θ _k is larger. The myoelectric potential of the biceps femoris increases. Further, as illustrated by a broken line in FIG. 6, when the knee joint angle θ _k is the same, the current value of the DC motor decreases as the myoelectric potential of the biceps femoris increases, while the myoelectric potential of the biceps femoris decreases. As the current value of the DC motor increases. Therefore, as illustrated in FIG. 6, for example, when the knee joint angle θ _k is θ ₃ , the current value of the DC motor is I ₀ if the myoelectric potential of the biceps femoris is M ₀ , and conversely, If the current value of the DC motor is I ₀ , the myoelectric potential of the biceps femoris is M ₀ .

  Here, the self-power in recovery training accompanied by assistance by the walking assist robot S and the assist force by the walking assist robot S (that is, the force generated by the DC motor in the drive unit 10; the same applies hereinafter). The added composite force is considered with reference to FIG. In FIG. 7, “α” is a coefficient for converting the myoelectric potential of the biceps femoris into a unit of force (self force), and “β” converts the current value of the DC motor into a unit of force (assist force). It is a coefficient to do.

The results of the experiments by the inventors as described above, once the single one myoelectric potential of the biceps femoris, for each predetermined angle of the knee joint angle theta _k, the current value of the DC motor may be able to uniquely determined was found. This means that, as illustrated in FIG. 7 (a), once the single one value of unassisted using biceps femoris, for each predetermined angle of the knee joint angle theta _k, assist force also can be determined uniquely means. Thus, as the synthetic force illustrated in FIG. 7 (b), for each predetermined angle of the knee joint angle theta _k, it will be able to determine the sum of the self and the assist force. In should be noted FIG. 7 (b), the indicates its own at a fill black, shows an assist force for each predetermined angle of the knee joint angle theta _k (see FIG. 7 (a)) at hatching. For example, in the case illustrated in FIG. 7B, the assist force increases as the knee joint angle θ _k is increased, and thus the ratio of the self-power in the combined force related to the overall assist by the walking assist robot S is relatively reduced. become. Therefore, if the combined force for each predetermined angle of the knee joint angle θ _k is F (θ), the self-power is FM (θ), and the assist force is FI (θ), FIG.
F (θ) = FM (θ) + FI (θ)
= FM (θ) + (current value of DC motor when θ _k = θ × β)
And therefore
FM (θ) = F (θ) − (DC motor current value when θ _k = θ × β) (1)
It becomes. As described above, according to the new knowledge by the present inventor described above, the resultant force F (θ) is measured in advance, and the current value of the DC motor and the value of the knee joint angle θ _k at that time are determined. By detecting at the time of recovery training or the like, the myoelectric potential at that time can be “estimated” without actually measuring it. Therefore, by estimating the force (self-power FM (θ)) given by the patient by the above equation (1), the assist force by the walking assist robot S and the assist effect can be estimated.

Based on the above principle, in the walking assist robot S according to the embodiment, the myoelectric potential and the current value of the DC motor for the patient are calculated using, for example, a sensor for detecting myoelectric potential before starting recovery training or the like. , detected at each predetermined angle in the knee joint angle theta _k or hip joint angle theta _H. The sensor or the like is attached to the patient only when the myoelectric potential is detected. When the actual recovery training or the like is performed, the sensor or the like is not attached to the patient. Based on the detected myoelectric potential, current value, and the like, for example, data corresponding to FIG. 7A is generated and stored in a nonvolatile manner. Thereby, in the walking assist robot S according to the embodiment, in the actual recovery training after the operation, by using this data, the effect of the recovery training can be estimated without detecting the myoelectric potential. And In the following description, the data corresponding to FIG. 7A is hereinafter referred to as “estimation data”. When actually used for driving a DC motor or the like, a predetermined conversion process is required. However, instead of the estimation data, the data corresponds to the data shown in FIG. 6 or the data shown in FIG. 7B. Data may be stored in a nonvolatile manner.

(II) Specific configuration and the like of the walking assist robot according to the embodiment Next, the specific configuration and operation of the walking assist robot S according to the embodiment that assists recovery training and the like based on the principle of the present invention described above. This will be described with reference to FIGS. FIG. 8 is a block diagram showing the configuration of the walking assist robot S according to the embodiment, and FIG. 9 is a flowchart showing the walking assist operation and the like according to the embodiment.

  As shown in FIG. 8A, the walking assist robot S according to the embodiment includes a right leg drive system R, a left leg drive system L, and a “detection” according to the present invention provided on the control board in the relay box 22. A CPU (Central Processing Unit) 42 as an example of “means” and an example of “generating means”, and an operation button or the like that is provided at a position where a patient or a physical therapist can operate and performs a command operation on the CPU 42. An operation unit 41, and a display unit 40 as an example of the “notification means” according to the present invention, which includes a liquid crystal display or the like connected to the CPU 42 and provided at a position where a patient or a physical therapist can visually recognize Yes. The CPU 42 is an operating system, a control program for controlling the walking assist robot S, software such as a control pattern generation program for generating a control pattern to be described later, detected data and the estimation data, or generated control. It has a storage unit (not shown) as an example of the “relation information storage unit” according to the present invention that stores data such as patterns. The storage unit is configured by a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk, a silicon disk, or the like.

  In addition, each leg drive system (right foot drive system R and left foot drive system L) includes the drive unit 10, the fixture 6, the upper leg rest 4, the lower leg rest 7, and the knee joint angle sensor 16, respectively. , The link mechanism section 8 including the hip joint angle sensor 15, and the insole sensor 17. The drive unit 10 includes the DC motor 50, a gear unit 52 connected to each link, and a clutch unit 51 that transmits a driving force from the DC motor 50 to each link via the gear unit 52. Each included.

  In the above configuration, the control of the rotation direction and rotation speed of the DC motor 50 and the control of the release / connection in the clutch unit 51 are performed by the drive signals output from the CPU 42, respectively. Each DC motor 50 outputs current value data indicating the current value to the CPU 42. With this current value data, the CPU 42 can detect the current value of each DC motor 50. Further, as illustrated by a cross-sectional view in FIG. 8B, the insole sensor 17 is provided between the sole of the right foot (and the left foot) 63 wearing the socks 64 and the insole 61 of the wearing shoes. The insole sensors 62 are provided in the insole 62 to be sandwiched and used to output to the CPU 42 the insole sensor signals indicating that the legs are separated from the floor and that they are grounded. On the other hand, the knee joint angle sensor 16 generates the knee joint angle data and outputs it to the CPU 42, and the hip joint angle sensor 15 generates the hip joint angle data and outputs it to the CPU 42.

  Next, a control pattern in the walking assist robot S having the configuration described with reference to FIG. 8 will be described.

First, before actual recovery training or the like is performed, the walking assist robot S is attached to the patient, and a control pattern is generated. This control pattern is a control pattern for controlling the rotation speed and rotation direction of each DC motor 50 along the time axis in recovery training or the like. If the walking assist robot S according to the embodiment, this control pattern, threshold along the time axis for each leg of the left and right about the knee joint angle theta _k and hip joint angle theta _H is contained is one or more settings Yes. Data indicating such a control pattern according to the embodiment is generated before actual recovery training or the like and then stored in the storage unit. In actual recovery training or the like, the stored control pattern is read from the storage unit, and the relationship between each threshold value included therein and the actual knee joint angle θ _k and hip joint angle θ _H is as follows: The CPU 42 controls the rotation speed and rotation direction of each DC motor 50. Here, the DC motor 50 according to the embodiment is a DC motor driven by, for example, a so-called PWM (Pulse Width Modulation) method. Then, by controlling the duty ratio and the like related to the PWM method by the CPU 42 based on the control pattern, the rotation speed and rotation direction of the DC motor 50 are controlled.

  Next, with respect to the walking assist operation by the walking assist robot S according to the embodiment having the above-described configuration, mainly including FIG. 9, including the generation processing of the control pattern and the estimation data before actual recovery training or the like. I will explain.

  As the walking assist operation or the like according to the embodiment, first, the estimation pattern data is generated / acquired by generating the control pattern and attaching a myoelectric potential detection sensor to the patient to perform the walking operation or the like. And these are memorize | stored in the said memory | storage part for every patient (step S1). In addition, the process of step S1 and the process after step S2 to be described later may be performed continuously in one day, or step S2 on another day after the process of step S1 is executed. It is also possible to configure so that the subsequent processing is executed.

  If the above estimation data and the like can be acquired, the walking assist robot S according to the embodiment is next attached to the patient (step S2), and actual recovery training and the like are started (step S3). At this time, the sensor for detecting myoelectric potential is not attached to the patient.

  Then, during execution of actual recovery training or the like, the CPU 42 acquires the current value data output from each DC motor 50 (step S4), and sequentially acquires it for each DC motor 50 (in other words, for each leg). ) Record in the storage unit (step S5). Further, during the recovery training, the CPU 42 uses the estimation data stored in the storage unit based on the acquired current value data and the knee joint angle data at that time, for example, according to the above equation (1). Self-power (FM (θ)) is calculated and displayed on the display unit 40, for example (step S6).

  Next, for example, when the operation unit 41 performs an operation to end the recovery training or the like, the CPU 42 confirms whether the ongoing recovery training or the like is to be ended (step S7), and continues the recovery training or the like. When performing (step S7; NO), CPU42 returns to said step S4 and continues processing, such as acquisition and recording of electric current value data. On the other hand, when the recovery training or the like is terminated in the determination of step S6 (step S7; YES), the CPU 42 and the like perform a predetermined method for analyzing and evaluating the self-power FM (θ) calculated during the recovery training or the like. (Step S8), and the walking assist operation and the like according to the embodiment are finished.

  Through the series of processes described above, the objective force, such as the calculation of the self-power FM (θ) via the current value data from the DC motor 50 and the corresponding assist force, the assist state based on these, and the effects of recovery training, etc. Analysis / evaluation is possible. This also makes it possible to easily and effectively plan the level and duration of postoperative recovery training and the like.

  As described above, according to the walking assist operation or the like in the walking assist robot S according to the embodiment, for example, the estimation data illustrated in FIG. 7A, the knee joint angle data, the current value of the DC motor 50, By using the data of self-power FM (θ) during the implementation of recovery training calculated based on the above, for example, without directly attaching a sensor for detecting myoelectric potential to the patient's bare skin, It is possible to estimate and recognize a time-series change of the self-power FM (θ).

  Further, since the estimation data is generated based on the data indicating the relationship between the current value of the DC motor 50 and the myoelectric potential, the data indicating the self-power FM (θ) is generated based on the relationship with the myoelectric potential. It is possible to more accurately recognize a time-series change in the patient's own power FM (θ).

  Further, the patient's motion is a walking motion including the knee joint bending motion, and the estimation data indicates the relationship between the current value of the DC motor 50 and the myoelectric potential as shown in FIGS. 6 and 7. Therefore, it is possible to more accurately recognize time-series changes in the self-power FM (θ).

  Furthermore, if the estimation data is stored for each patient, it is possible to recognize a time-series change of the own power FM (θ) and the like for the patient.

  Further, if the estimation data for a plurality of patients is stored so as to be identifiable for each patient, the walking assist robot S is shared by the plurality of patients and specialized for the patient receiving assistance. A time-series change in FM (θ) can be recognized.

  Further, since the calculated self-power FM (θ) is notified to the patient or its assistant, etc., for example, the assistant attending to the patient receiving assistance objectively recognizes the patient's own power FM (θ). it can.

  Furthermore, since the self-power FM (θ) is notified each time during the recovery training or the like, the assistant or the like in real time while receiving the assistance from the walking assist robot S, the self-power FM (θ) of the patient. Can be recognized.

  In the above-described embodiment, the estimation data is generated based on the relationship with the current value of the DC motor 50. In addition to this, for example, the estimation according to the embodiment is performed based on the relationship with the voltage value of the DC motor 50. It can also be configured to generate business data.

  Furthermore, in the above-described embodiment, the estimation data is generated mainly based on the relationship with the current value of the DC motor 50 for the bending motion of the knee 5 (the knee joint). It is considered that the extension data may be configured to generate estimation data based on the relationship with the current value or voltage value of the DC motor 50.

  Furthermore, in the above-described embodiment, the case where the present invention is applied to the walking assist robot S that assists walking as recovery training or the like of a patient having a knee disease has been described. The present invention can also be applied to assisting movement such as running as part of this.

  In addition, a program corresponding to the flowchart shown in FIG. 9 is recorded on a recording medium such as a flexible disk, a compact disk, or a hard disk, or is acquired and stored via a network such as the Internet. The microcomputer can be operated as the CPU 42 according to the embodiment by being read and executed by a computer.

  As described above, the present invention can be used in the field of walking assist robots, and is particularly prominent when applied to the field of walking assist robots that assist recovery training such as walking or running of patients. An effect is obtained.

3, 8 Link mechanism part 3a, 8a First link 3b, 8b Second link 3c Third link 4 Upper leg rest 5 Knee part 6 Fixing tool 7 Lower leg rest 9 Crotch part 10, 11, 12 Drive unit 10a Case 10b Hole part 15 Hip joint angle sensor 16 Knee joint angle sensor 17 Insole sensor 20 Communication unit 21 Cable 22 Relay box 23 Belt 25 Communication head 40 Display part 41 Operation part 42 CPU
50 DC motor 51 Clutch part 52 Gear part 60 Patient 61 Insole 62 Insole 63 Right foot (left foot)
64 Socks 65 Floor S Walking assist robot R Right foot drive system L Left foot drive system

Claims (10)

Auxiliary means force that is electrically driven and assists the movement of the person to be supported is output during the assistance, and a person to be provided by the person using the muscle during the movement with the assistance. Relationship information storage means for storing relationship information indicating the relationship between the assistant power,
Detecting means for detecting at least one of a current and a voltage of a drive current that drives the auxiliary means at the time of the assistance by the auxiliary means;
Generating means for generating assistance person power information indicating the assistance person power at the time of assistance based on at least one of the detected and the stored relation information;
An information generation device comprising: The information generation device according to claim 1,
The relationship information is a relationship between at least one of the current and voltage of the drive current that changes in response to the change in the assisting means force and a myoelectric potential that changes in response to the change in the person being assisted. An information generation apparatus characterized by being related information indicating The information generation device according to claim 2,
The exercise is an exercise including extension or flexion of the knee joint of the assistant,
The relation information is relation information indicating relation between at least one of the current and voltage of the driving current and the myoelectric potential for each angle set in advance for the extension or the bending. apparatus. In the information generation device according to any one of claims 1 to 3,
The relation information storage means stores the relation information indicating a relation between the assistance means force and the assistance person power of the assistance person who receives the assistance by the assistance means by wearing the assistance means. And
The generating means reads the relation information about the person to be assisted from the relation information storage means, and at least of the read relation information and the current and the voltage detected for the attached auxiliary means. An information generating apparatus that generates the assistance person power information about the assistance person based on any one of the above. In the information generation device according to any one of claims 1 to 3,
The relation information storage means stores the relation information indicating the relation between the assistance means force and the assistance force for each of the assistance persons so that the plurality of assistance persons can be distinguished from each other. And
The generation unit reads the relationship information about the person being assisted by wearing the auxiliary unit and receiving the assistance by the auxiliary unit from the relationship information storage unit, and the read relationship information, Based on at least one of the current and the voltage detected for the attached auxiliary means, the assistance force information on the assistance person receiving the assistance is generated. An information generation device. In the information generation device according to any one of claims 1 to 5,
An information generating apparatus further comprising notification means for notifying the assistance force indicated by the generated assistance force information. The information generation device according to claim 6,
The generating means generates the assistance force information during the exercise that has received the assistance from the assistance means,
The said notification means notifies the said assistance person power shown by the said assistance person power information produced | generated, whenever the said assistance person power information is produced | generated. Auxiliary means force that is electrically driven and assists the movement of the person to be supported is output during the assistance, and a person to be provided by the person using the muscle during the movement with the assistance. In the information generation method executed in the information generation apparatus provided with the relationship information storage means for storing the relationship information indicating the relationship with the assistant power,
A detection step of detecting at least one of a current and a voltage of a drive current that drives the auxiliary means at the time of the auxiliary by the auxiliary means;
Based on at least one of the detected and the stored relation information, generating step of generating assistance person power information indicating the assistance person power at the time of the assistance,
An information generation method comprising: Auxiliary means force that is electrically driven and assists the movement of the person to be supported is output during the assistance, and a person to be provided by the person using the muscle during the movement with the assistance. A computer included in the information generation device including the relationship information storage means for storing the relationship information indicating the relationship between the assistant power and
Detecting means for detecting at least one of a current and a voltage of a driving current for driving the auxiliary means at the time of the auxiliary by the auxiliary means; and
Generating means for generating assistance person power information indicating the assistance person power at the time of assistance based on at least one of the detected and the stored relation information;
A program for generating information, characterized in that it functions as a program.   An information recording medium in which the information generation program according to claim 9 is recorded so as to be readable by the computer according to claim 9.