JP2015083091A - Movement support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movement support device which is excellent in wearability, has high detection accuracy of movement intention based on a relatively few detection signals from a sensor, and is easy to match drive control of an actuator with a voluntary feeling of a wearer.SOLUTION: A movement support device comprises: a fixing part/arithmetic processing part 11 for driving an actuator 6; a position detection sensor for detecting a rotation angle position of the actuator 6 and inputting a rotation angle position signal to the fixing part/arithmetic processing part 11 for every predetermined time; and angular velocity detection means 7 for inputting an electromotive force signal to the fixing part/arithmetic processing part 11 for every predetermined time. The fixing part/arithmetic processing part 11 estimates a rotation angular acceleration of a joint 1 on the basis of the rotation angle position signal and the electromotive force signal in time series to control the drive of the actuator 6 on the basis of the estimated rotation angular acceleration.

Description

  The present invention relates to an operation support apparatus such as a power assist suit that is attached to a living body that spontaneously exercises, such as a human being or an animal, and supports a wearer's movement.

2. Description of the Related Art Conventionally, various types of motion support devices that are worn on the body and used for the purpose of supporting human physical work or rehabilitation of a person who has had difficulty in voluntary movement for some reason have been developed.
For example, Patent Document 1 (Japanese Patent Laid-Open No. 2008-200512) includes a detection unit that detects a physical quantity corresponding to a wearer's movement and a biological signal (myoelectric potential signal) associated with the wearer's muscle activity. By comparing the joint angle detected by the means with the joint angle of the reference parameter, the movement pattern of the wearer is determined, and a command signal is generated for generating power according to the detected data in the drive source It describes a device that identifies a series of behaviors from information on myoelectric potential signals and joint angles, and activates each joint in accordance with the identified behaviors.
Patent Document 2 (Japanese Patent Application Laid-Open No. 2013-116319) simplifies wearing on a user, improves the degree of freedom of the user, and stabilizes the user even in bending and stretching work in a forward tilt posture. A body movement part 10 to be worn on the user's torso, a thigh link part 30 provided along the thigh, a crus link part 40 provided along the lower leg, and the user's foot A foot placement portion 50 for placing and fixing the body, a hip joint portion 31 for rotatably connecting the body mounting portion 10 and the thigh link portion 30, a knee joint portion 32 for rotatably connecting the thigh link portion 30 and the lower leg link portion 40, An ankle joint portion 41 that rotatably connects the crus link portion 40 and the foot placement portion 50, a hip joint drive actuator unit 60, a knee joint drive actuator unit 61, an ankle joint drive actuator unit. 62, a rotary encoder that detects the rotation angle of the hip joint drive actuator unit 60, a rotary encoder that detects the rotation angle of the knee joint drive actuator unit 61, a rotary encoder that detects the rotation angle of the ankle joint drive actuator unit 62, and a control It is described that the actuator unit 60 to 62 is driven by predicting what kind of operation the user intends to perform based on the rotation angle detected by each rotary encoder. Yes.

JP 2008-200512 A JP2013-116319A

However, the technique described in Patent Document 1 has a problem that the myoelectric potential signal is weak, there are individual differences in the signal level, and the myoelectric potential is not always linked to the movement of the user's limbs. It has not yet achieved stability and safety that can be expected to provide stable assistance immediately after installation.
In addition to the myoelectric potential, there are many sensors that measure the physical quantity according to the angle of each joint and the movement of the user, so that there are problems that it takes time for the user to wear and various controls become complicated.

  Although the technology described in Patent Document 2 has succeeded in reducing the number of sensors, the detection accuracy of motion intention is low, and the drive control of each actuator unit based on motion prediction does not necessarily match the voluntary feeling of the wearer. There was a problem.

  The present invention has been made for the purpose of solving these problems, improves the wearability, changes the observed value without necessarily responding to the intention of exerting the force of the living body, and causes a very large noise. Without using a rate sensor (differential sensor) such as a gyro sensor or acceleration sensor that may be superimposed on the observation value, and based on detection signals from relatively few sensors, the detection accuracy of the motion intention is high, It is an object of the present invention to provide an operation support device in which the drive control of an actuator easily matches the voluntary feeling of the wearer.

  According to a first aspect of the present invention, there is provided a motion support apparatus comprising: a first terminal and a second terminal fixedly attached to each of one part and the other part of a living body capable of relative movement via a rotary joint; An actuator capable of being rotationally or linearly mounted fixedly attached to any part of the above, a rod or wire directly or indirectly connected to the actuator, a drive control unit for driving the actuator, and the actuator A rotation angle position or a linear position is detected, and a position detection sensor for inputting a rotation angle position signal corresponding to the rotation angle position or a linear position signal corresponding to the linear position to the drive control unit every predetermined time, By rotating or moving the rod or wire with the driving force of the actuator, the relative position of the one part and the other part can be changed. The drive control unit calculates a rotation angular velocity or a linear velocity of the actuator based on the time-series rotation angle position signal or the linear position signal, and the actuator based on the calculated rotation angular velocity or linear velocity. It is characterized by controlling the driving of

  According to a second aspect of the present invention, in the motion support device according to the first aspect, the rotation of the rotary joint of the living body on which the motion support device is mounted based on the calculated rotational angular velocity or the calculated linear velocity. An angular acceleration is estimated, and driving of the actuator is controlled based on the estimated value.

  According to a third aspect of the present invention, in the motion support device according to the first aspect, the motion support is based on the calculated rotation angular velocity and the rotation angle position signal or the calculated linear velocity and the linear position signal. The rotational angular acceleration of the rotary joint of the living body equipped with the apparatus is estimated, and the driving of the actuator is controlled based on the estimated value.

  According to a fourth aspect of the present invention, there is provided an operation support apparatus comprising: a first terminal and a second terminal fixedly attached to each of one part and the other part of a living body capable of relative movement via a rotary joint; An actuator that can be rotationally or linearly driven fixedly attached to any part of the actuator, a rod or wire that is directly or indirectly connected to the actuator, a drive control unit that drives the actuator, and the rod Alternatively, an angular velocity detection unit or linear velocity detection unit directly or indirectly connected to a wire, and an electromotive force induced by the angular velocity detection unit or the linear velocity detection unit are detected, and the drive control unit corresponds to the electromotive force. An electromotive force detection unit that inputs an electromotive force signal to be input every predetermined time, and by rotating or moving the rod or the wire by the driving force of the actuator With relative positions of the other sites and the site of the one can be changed, the drive control unit, the time series based on the electromotive force signal and controls the driving of the actuator.

  According to a fifth aspect of the present invention, in the motion support device according to the fourth aspect, based on the electromotive force signal, the rotational angular acceleration of the rotating joint of the living body on which the motion support device is mounted is estimated, and the estimated value The drive of the actuator is controlled based on the above.

  According to a sixth aspect of the present invention, in the motion support device according to the fourth aspect, the rotational angle position or linear position of the actuator is detected, and the rotational angle position signal corresponding to the rotational angle position is detected by the drive control unit or the A position detection sensor that inputs a linear position signal corresponding to a linear position at predetermined time intervals is further provided, and the drive control unit supports the operation based on the electromotive force signal and the rotation angle position signal or the linear position signal. The rotational angular acceleration of the rotary joint of the living body equipped with the apparatus is estimated, and the driving of the actuator is controlled based on the estimated value.

According to the motion support apparatus of the invention according to claim 1, the rotational angle position or linear position of the actuator is detected, and the rotational angle position signal corresponding to the rotational angle position or the linear position signal corresponding to the linear position is sent to the drive control unit. Provided with a position detection sensor that inputs every predetermined time, the drive control unit calculates the rotational angular velocity or linear velocity of the actuator based on the time-series rotational angular position signal or linear position signal, and the calculated rotational angular velocity or linear velocity The driving of the actuator is controlled based on the above.
Therefore, the motion intention of the living body can be accurately detected by a small number of sensors without detecting the biological signal, and the drive control of the actuator can be matched with the voluntary feeling of the living body.
Further, since the number of sensors is small and the configuration is simple, the weight can be reduced, and there is also an effect that it can be easily attached to a living body.

  According to the motion support apparatus of the invention according to claim 2, in addition to the effect of the invention according to claim 1, the rotating joint of the living body equipped with the motion support apparatus based on the calculated rotational angular velocity or the calculated linear velocity The rotation angular acceleration is estimated and the actuator drive is controlled based on the estimated value.The rotation angular acceleration is a signal having the same phase as the joint torque or force, and is suitable as a signal for operation support. The movement intention of the living body can be estimated with higher accuracy, and the drive control of the actuator can be matched with the voluntary feeling of the living body.

  According to the operation support apparatus of the invention of claim 3, in addition to the effect of the invention of claim 1, in addition to the effect of the invention of claim 2, the calculated rotation angular velocity and the rotation angle position signal or the calculated The rotational angular acceleration of the rotating joint of the living body wearing the motion support device is estimated based on the linear velocity and the linear position signal, and the actuator driving is controlled based on the estimated value. Alternatively, since the signal is in phase with the force and is suitable as a signal for assisting the operation, the motion intention of the living body can be estimated with higher accuracy, and the drive control of the actuator can be better matched to the voluntary feeling of the living body.

According to the motion support apparatus of the invention according to claim 4, the angular velocity detecting means or the linear velocity detecting means directly or indirectly connected to the rod or the wire is provided, and the drive control unit is provided with the angular velocity detecting means or the linear velocity detecting means. Since the electromotive force signal corresponding to the induced electromotive force is input every predetermined time, the drive control unit does not calculate the rotational angular velocity or the linear velocity, but changes according to the rotational angular velocity of the rotary joint. The driving of the actuator can be controlled based on the electromotive force signal.
Therefore, the motion intention of the living body can be accurately detected by a small number of sensors without detecting the biological signal, and the drive control of the actuator can be matched with the voluntary feeling of the living body.
In addition, since the number of sensors is small and the configuration is simple, the weight can be reduced, and it is easy to attach to the living body, and it is not necessary to calculate the rotational angular velocity or linear velocity, so the control load on the drive control unit is lightened. In addition, there is also an effect that it is possible to detect the movement intention of the living body without delay and to quickly perform drive control of the actuator thereafter.

  According to the motion support device of the invention according to claim 5, in addition to the effect of the invention according to claim 4, based on the electromotive force signal, the rotational angular acceleration of the rotational joint of the living body equipped with the motion support device is estimated, The actuator drive is controlled based on the estimated value, and the rotational angular acceleration is a signal having the same phase as the joint torque or force, and is suitable as a signal for assisting the operation. It can be estimated, and the drive control of the actuator can be matched better with the voluntary feeling of the living body.

  According to the operation support apparatus of the invention of claim 6, in addition to the effect of the invention of claim 4, in addition to the effect of the invention of claim 5, the electromotive force signal and the rotation angle position signal or the linear position signal Based on this, the rotational angular acceleration of the rotating joint of the living body equipped with the motion support device is estimated, and the drive of the actuator is controlled based on the estimated value. The rotational angular acceleration is a signal in phase with the joint torque or force. In addition, since it is suitable as an operation support signal, the motion intention of the living body can be estimated with higher accuracy, and the drive control of the actuator can be better matched to the voluntary feeling of the living body.

1 is a diagram illustrating an outline of an operation support apparatus according to Embodiment 1. FIG. FIG. 3 is a block diagram relating to drive control of the operation support apparatus according to the first embodiment. A graph (broken line) of a value obtained by estimating the angle of the joint 1 using the estimated angular acceleration value of Example 1 is superimposed on a graph (solid line) of an angle observed using a rotation angle sensor mounted on the apparatus. Figure. FIG. 6 is a diagram illustrating an outline of an operation support apparatus according to a second embodiment.

  Hereinafter, embodiments of the present invention will be described by way of examples.

FIG. 1 is a schematic diagram of an operation support apparatus according to a first embodiment that is attached to an upper arm 2 and a lower arm 3 connected by a joint 1.
The first terminal 4 is attached and fixed to the upper arm 2, and the second terminal 5 is attached and fixed to the lower arm 3.
The first terminal 4 has a structure for transmitting the rotational motion of the joint 1 induced by the rotational motion with respect to the upper arm of the lower arm 3 to the detection shaft of the angular velocity detecting means 7 through the gear trains 9 and 8 for increasing the speed. ing. The movement of the lower arm 3 is converted into a rotational movement of 9 through the second terminal 5 and the rod 10 fixed to the lower arm 3. Since the nine rotational movements are the same as the rotational movement of the joint 1, the electromotive force proportional to the rotational speed of the joint 1 can be extracted from the angular velocity detecting means 7 using this device. The first terminal 4 is fixed to the upper arm 2 by a fixing / cumulative processing unit 11 and is supported so as not to drop off due to the movement of the arm.
In addition, the actuator 6 is fixed to the first terminal 4 and meshes with a gear that rotates together with the detection shaft of the angular velocity detection means 7. Therefore, by controlling the rotational driving force of the actuator 6, the lower arm with respect to the upper arm 2 is controlled. The rotation of the arm 3 around the joint 1 can be supported.
Further, as shown in FIG. 2, the first terminal 4 is provided with a position detection sensor 12 such as a rotary encoder that rotates in conjunction with the joint 1 and the gear 9, and muscles in the upper arm 2 or the lower arm 3. When the relative angle between the upper arm 2 and the lower arm 3 changes due to the movement of the actuator 6 or the driving of the actuator 6, the relative angle between the upper arm 2 and the lower arm 3 using the rotation angle position signal from the position detection sensor 12. In addition, the rotational angle position of the actuator 6 can be measured.

As the angular velocity detection means 7, for example, use of a DC tacho generator can be considered. Further, instead of the tacho generator, a DC permanent magnet type small motor or the like may be used.
However, in the case of using a small motor, it is not driven and controlled, and the gear 9... After the speed is increased by 8, the rotor rotates.
And if a rotor rotates with the change of those angles, the electromotive force according to the rotational speed will be induced | guided | derived between lead wires.
The fixed portion / arithmetic processing portion 11 receives a rotation angle position signal from the position detection sensor 12 and an electromotive force signal corresponding to the electromotive force induced in the angular velocity detection means 7 every 10 milliseconds. Yes. As the electromotive force signal, a current value or a voltage value measured by an electromotive force detection unit 13 (an ammeter or a voltmeter) connected between the lead wires can be used.
Since the electromotive force induced in the angular velocity detection means 7 has a magnitude proportional to the rotational speeds of the joint 1 and the gear 9, the fixing unit / arithmetic processing unit 11 generates the rotational angle position signal and the electromotive force as shown in FIG. Based on the power signal, the rotational angular acceleration of the joint 1 can be estimated by an acceleration estimator such as a Kalman filter or a particle filter, and the actuator 6 is driven by the controller based on the estimated rotational angular acceleration and the rotational angular position signal. Can be controlled.

  FIG. 3 is a graph (broken line) of values obtained by estimating the angle of the joint 1 using the rotational angular acceleration estimated by the acceleration estimator of Example 1, and a graph of the angle observed by the position detection sensor 12 of FIG. (Solid line) is superimposed, but it can be seen that the degree of coincidence is very high.

FIG. 4 is a schematic diagram of the motion support apparatus according to the second embodiment that is attached to the upper arm 2 and the lower arm 3 connected by the joint 1.
The first terminal 14 is attached and fixed to the upper arm 2, and the second terminal 15 is attached and fixed to the lower arm 3.
The first terminal 14 includes an actuator 16 such as a solenoid that is linearly driven by power from a battery or the like, a rod 17 that is linearly moved by the driving force of the actuator 16, and a fixed portion that controls linear driving of the actuator 16. An arithmetic processing unit 18 is provided, and the other end of the rod 17 is fixed to the second terminal 15 so as to be rotatable.
The actuator 16 is rotatably fixed to a case body of a fixed portion / arithmetic processing unit 18 whose one end is fixed to the upper arm 2.
With the configuration as described above, by controlling the linear driving force of the actuator 16, it is possible to support the rotation of the lower arm 3 around the joint 1 with respect to the upper arm 2.
Furthermore, the first terminal 14 is provided with a position detection sensor such as an encoder that moves in conjunction with the linear movement of the actuator 16 and a movable portion position detector of the actuator 16, and muscles in the upper arm 2 or the lower arm 3. When the relative angle between the upper arm 2 and the lower arm 3 changes due to movement or driving of the actuator 16, the relative angle between the upper arm 2 and the lower arm 3 or the actuator 16 is utilized using a linear position signal from the position detection sensor. The straight line position can be measured.

A linear position signal from the position detection sensor is input to the fixed section / arithmetic processing section 18 every 10 milliseconds.
The fixed unit / arithmetic processing unit 18 calculates the linear velocity of the actuator 16 using the time-series linear position signal, and, as in the first embodiment, based on the linear position signal and the calculated linear velocity, The rotational angular acceleration of 1 can be estimated, and the drive of the actuator 16 can be controlled by the controller based on the estimated rotational angular acceleration and the linear position signal.

The modification regarding the operation | movement assistance apparatus of Example 1, 2 is listed.
(1) In the first and second embodiments, the rotation angle position signal or the linear position signal and the electromotive force signal are input to the fixed unit / arithmetic processing unit 11 every 10 milliseconds, but the sampling rate is However, it may be changed as appropriate within a range where no problem occurs in control.
Also, the sampling rate may be changed between when there is no movement and when there is movement.
(2) In the first embodiment, the angular velocity detecting means 7 and the electromotive force detecting section 13 are provided. However, as in the second embodiment, the angular velocity detecting means 7 and the electromotive force detecting section 13 are omitted, and the time-series rotation angles are omitted. The rotational angular acceleration of the joint 1 may be estimated by calculating the rotational angular velocity of the actuator 6 from the position signal.
(3) In the first embodiment, the rotational angular acceleration of the joint 1 is estimated based on the rotational angle position signal and the electromotive force signal. In the second embodiment, the joint is calculated based on the linear position signal and the calculated linear velocity. Although the rotational angular acceleration of 1 is estimated, it is also possible to estimate the rotational angular acceleration of the joint 1 based on only the electromotive force signal or only the calculated linear velocity.
(4) In the first and second embodiments, the rotational angular acceleration of the joint 1 is estimated by the acceleration estimator, and the actuators 6 and 16 are driven based on the estimated rotational angular acceleration and the rotational angular position signal or linear position signal. The rotational angular velocity of the joint 1 caused by the rotation of the actuator 6 or the linear motion of the actuator 16 is estimated by the velocity estimator, and the actuator is based on the estimated rotational angular velocity and the rotational angular position signal or the linear position signal. You may make it control the drive of 6,16.
(5) In the first and second embodiments, the actuators 6 and 16 are provided on the first terminals 4 and 14, but may be provided on the second terminals 5 and 15.
The actuators 6 and 16 may be fixedly attached to any part of the living body having the upper arm 2 and the lower arm 3. Positions for mounting and fixing the actuators 6 and 16 include parts of the upper arm 2 other than the positions where the first terminals 4 and 14 are mounted, parts of the lower arm 3 other than the positions where the second terminals 5 and 15 are mounted, and the upper arm 2 and the shoulder joint. Appropriate parts of the upper body that are connected together (shoulder, back, chest, abdomen, torso, waist, etc.).
However, when mounting and fixing to a portion connected via a joint other than the joint 1, the relative position of the joint 1 and the actuators 6 and 16 changes. Therefore, even if the relative position changes, the actuator 6 and 16 and a device to prevent the drive path of the rods 10 and 17 from being affected (for example, the rod end on the upper arm side and the actuator operating portion on the upper body side are indirectly connected via the shoulder joint. The joint part does not move even if the shoulder joint rotates), or the relative position change is detected to detect the rotational angle position or linear position of the actuator, the rotational angular speed or the linear speed It is necessary to devise to correct the detection result or the calculation result.
(6) In the first embodiment, the actuator 6 and the angular velocity detection means 7 both rotate. However, at least one of them may be linearly moved by a solenoid or the like.
Then, when the actuator fixed and attached to any part of the living body is a solenoid, a crank mechanism or a rack and pinion mechanism that converts linear motion into rotational motion is provided so that the rod 10 can be driven to rotate. There is a need.
(7) The rod 17 of the second embodiment may be a wire. In that case, since the wire is stretched by its own weight of the lower arm 3, the actuator 16 does not need to be driven in the direction in which the wire is stretched, and only needs to be driven in a direction in which the wire contracts or to restrain the wire from stretching. .
(8) In the second embodiment, the linear velocity of the actuator 16 is calculated from the time-series linear position signal and the rotational angular acceleration of the joint 1 is estimated. A power detection unit may be provided to detect the linear velocity of the actuator 16 directly.

DESCRIPTION OF SYMBOLS 1 Joint 2 Upper arm 3 Lower arm 4, 14 1st terminal 5, 15 2nd terminal 6, 16 Actuator 7 Angular velocity detection means 8, 9 Gear 10 Rod 11, 18 Fixed part and arithmetic processing part 12 Position detection sensor 13 Electromotive force detection Part 17 Rod

Claims (6)

A first terminal and a second terminal fixedly attached to each of one part and the other part of a living body that can move relative to each other via a rotary joint;
An actuator that can be rotationally driven or linearly driven fixedly attached to any part of the living body;
A rod or wire directly or indirectly connected to the actuator;
A drive control unit for driving the actuator;
A position detection sensor that detects a rotation angle position or a linear position of the actuator and inputs a rotation angle position signal corresponding to the rotation angle position or a linear position signal corresponding to the linear position to the drive control unit at predetermined time intervals; Prepared,
By rotating or moving the rod or wire with the driving force of the actuator, the relative position of the one part and the other part can be changed,
The drive control unit calculates a rotation angular velocity or a linear velocity of the actuator based on the time-series rotation angle position signal or the linear position signal, and drives the actuator based on the calculated rotation angular velocity or linear velocity. Operation support device to control. Based on the calculated rotational angular velocity or the calculated linear velocity, the rotational angular acceleration of the rotating joint of the living body equipped with the motion support device is estimated, and the driving of the actuator is controlled based on the estimated value. The operation support apparatus according to claim 1. Based on the calculated rotational angular velocity and the rotational angular position signal, or the calculated linear velocity and linear position signal, the rotational angular acceleration of the rotational joint of the living body equipped with the motion support device is estimated, and the estimation The operation support apparatus according to claim 1, wherein the driving of the actuator is controlled based on a value. A first terminal and a second terminal fixedly attached to each of one part and the other part of a living body that can move relative to each other via a rotary joint;
An actuator that can be rotationally driven or linearly driven fixedly attached to any part of the living body;
A rod or wire directly or indirectly connected to the actuator;
A drive control unit for driving the actuator;
Angular velocity detection means or linear velocity detection means connected directly or indirectly to the rod or wire;
An electromotive force detection unit that detects an electromotive force induced by the angular velocity detection unit or the linear velocity detection unit and inputs an electromotive force signal corresponding to the electromotive force to the drive control unit at predetermined time intervals;
By rotating or moving the rod or wire with the driving force of the actuator, the relative position of the one part and the other part can be changed,
The drive control unit controls driving of the actuator based on the time-series electromotive force signal. The motion support apparatus according to claim 4, wherein based on the electromotive force signal, a rotational angular acceleration of the rotating joint of the living body equipped with the motion support apparatus is estimated, and driving of the actuator is controlled based on the estimated value. . A position detection sensor that detects a rotation angle position or a linear position of the actuator and inputs a rotation angle position signal corresponding to the rotation angle position or a linear position signal corresponding to the linear position to the drive control unit at predetermined time intervals; In addition,
The drive control unit estimates a rotation angular acceleration of the rotating joint of the living body on which the motion support device is mounted based on the electromotive force signal and the rotation angle position signal or the linear position signal, and based on the estimated value The operation support apparatus according to claim 4, wherein the driving of the actuator is controlled.

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