JP2015217126A - Angle sensor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an angle sensor device with a novel structure capable of highly accurately detecting angles of a first limb and a second limb by a simple structure.SOLUTION: The angle sensor device includes: a first fitting part 14 to be worn around a first limb 18, where the first fitting part 14 includes a first sensor 24 including a gyro sensor 26 for detecting an angular speed of the first limb 18, and the first fitting part 14 includes measurement means 30 connected to the first sensor 24 and performing the measurement of the angle of the first limb 18; and a second fitting part 16 to be worn around a second limb 20, including a second sensor part 34 that has a bending sensor 36 extending across the first fitting part 14 and the second fitting part 16 for detecting an angle of a joint part 22. The second sensor 34 is connected to the measurement means 30 at a fitting end side fitted to the first fitting part 14, such that the measurement means 30 can measure the angle of the joint part 22 by the second sensor 34.

Description

  The present invention relates to an angle sensor device that measures angles of limbs such as arms and legs, and in particular, can measure both angles of a first limb and a second limb connected via a joint. It is related with the angle sensor apparatus made into.

  Conventionally, joint exercise assisting devices that assist movements such as walking and bending and stretching of arms have been proposed, and in such joint exercise assisting devices, in order to exert an appropriate assisting force according to the operation of the wearer, It is necessary to detect the movement of the wearer using a sensor. For example, in the walking support device disclosed in Japanese Patent Application Laid-Open No. 2013-70785 (Patent Document 1), sensors for detecting posture and reaction force are attached to each part of the lower limb, and based on the detection results of these sensors. The movement of the lower limb is grasped, and an appropriate assisting force is applied to each part of the lower limb.

  Meanwhile, while a walking support device having a complicated structure as in Patent Document 1 has been proposed, the applicant of the present application disclosed in Japanese Patent Application Laid-Open No. 2012-192013 (Patent Document 2) easily with a simple structure. Proposal of possible joint exercise aids. That is, in the structure of Patent Document 1, it is considered that the device is troublesome to attach and detach and it is difficult to easily obtain the assisting force, and the device including a large number of actuators and sensors is considered to be extremely expensive. In such an articulation assisting tool, the angle sensor device including the sensor itself and the measuring means for controlling the sensor has a simple structure that does not significantly disturb the operation of the articulation assisting tool when it is attached or detached, and has excellent detection. It is desirable to be able to achieve accuracy.

  However, in the structure of Patent Document 2, the sensor used for detecting the motion is merely an example, and is employed in the angle sensor device that measures the motion of the first and second limbs. There was room for further study on the type, arrangement, and number of sensors.

  Note that the joint exercise assisting device of Patent Document 2 mainly considers the assistance of bending and stretching exercises, and therefore, in the sensor for setting the auxiliary force, the operation of the first limb is three-dimensionally performed. The ability to detect was not always required. However, there are cases where it is required to detect the state of movement of the wearer at a higher level, and the adoption of a sensor that can detect the movement of the first limb with a high degree of freedom in three dimensions is also being studied.

JP 2013-70785 A JP 2012-192013 A

  The present invention has been made in the background of the above-described circumstances, and its solution is a novel structure that can accurately detect the angles of the first and second limbs with a simple structure. An object of the present invention is to provide an angle sensor device having a structure.

  Hereinafter, the aspect of this invention made | formed in order to solve such a subject is described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

  A first aspect of the present invention is an angle sensor device capable of measuring an angle of a first limb part and an angle of a joint part connecting the first limb part and the second limb part. A first attachment portion mounted on the first limb, and the first attachment portion is provided with a first sensor portion including a gyro sensor for detecting an angular velocity of the first limb portion; In addition, the first attachment portion is provided with measuring means connected to the first sensor portion to measure the angle of the first limb portion, while being attached to the second limb portion. And a second sensor portion including a bending sensor that extends across the first attachment portion and the second attachment portion and detects an angle of the joint portion. And the second sensor part is connected to the measuring means on the attachment end side to the first attaching part, and the measuring means is connected to the second sensor part. That the angle of articulation portion there is a measurable I, characterized.

  According to the angle sensor device having the structure according to the first aspect as described above, by adopting the gyro sensor that detects the angular velocity in the first sensor unit, it is on the side opposite to the joint part on the second limb side. The angle of the first limb can be measured without arranging the first sensor so as to straddle the joint. On the other hand, by adopting a bending sensor for the second sensor part and arranging the bending sensor across the first attachment part and the second attachment part, the angle of the joint part has a simple structure. The second sensor part can be easily connected to the measuring means attached to the first attachment part while enabling detection. Thus, by adopting a combination of the gyro sensor that constitutes the first sensor part and the bending sensor that constitutes the second sensor part, power feeding and detection to these first and second sensor parts It is possible to collectively provide measurement means for performing signal processing and the like on the first mounting portion. As a result, the range of restraint of the limbs by the measuring means is suppressed, and the structure is extremely simplified to facilitate wearing. In addition, it is possible to further reduce the size and weight by mounting the gyro sensor on the same substrate as the arithmetic unit of the measuring means. Note that a gyro sensor that detects only the uniaxial angular velocity can be used.For example, if a gyro sensor that can detect the angular velocity in three axes is used, the posture of the first limb can be measured at a higher level. it can.

  Furthermore, by attaching the first attachment part to the first limb part and attaching the second attachment part to the second limb part, the angle sensor device can be attached to and detached from the human body without attaching or detaching a plurality of sensors individually. can do. Therefore, even when the angle sensor device is used intermittently over a long period of time, the burden of attaching / detaching work is reduced.

  According to a second aspect of the present invention, in the angle sensor device having the structure according to the first aspect, the first sensor unit includes an acceleration sensor, and the first sensor unit and the measuring means are the gyroscope. The angle of the first limb with respect to the gravitational acceleration direction detected by the acceleration sensor is measured based on the angular velocity of the first limb detected by the sensor.

  According to the second aspect, by providing an acceleration sensor in the first sensor unit, the gravitational acceleration direction detected by the acceleration sensor can be set as the reference direction of the angle of the first limb, so that any Even if the detection is started with this posture, the orientation of the first limb can be detected effectively.

  According to a third aspect of the present invention, in the angle sensor device described in the second aspect, the measurement unit performs calibration of the gyro sensor based on a detection result of the acceleration sensor.

  According to the third aspect, even if an error due to noise or the like occurs in the gravitational acceleration direction calculated based on the detection signal of the gyro sensor, the calibration based on the actual gravitational acceleration direction detected by the acceleration sensor is executed. Therefore, excellent measurement accuracy can be maintained even for long-term measurement.

  According to a fourth aspect of the present invention, in the angle sensor device according to any one of the first to third aspects, the angle of the first limb is detected in three dimensions by the first sensor unit. At the same time, the relative angle of the second limb to the first limb is detected one-dimensionally by the second sensor.

  According to the fourth aspect, by adopting a gyro sensor capable of detecting a three-axis angular velocity, even when the degree of freedom of movement of the first limb is large, the angular velocity can be detected in three dimensions, The angle of the first limb can be measured highly. Therefore, in the human body, it is possible to effectively measure the angle of the thigh and the upper arm where a three-dimensional complicated motion is allowed by the hip joint and the shoulder joint. On the other hand, in the human body, the angle of the lower leg and forearm where only one-dimensional simple bending and stretching movements are allowed by the knee joint and elbow joint is complicated by the second sensor part having a simple structure including a bending sensor. Measurement can be easily performed without requiring arithmetic processing.

  According to a fifth aspect of the present invention, in the angle sensor device according to any one of the first to fourth aspects, the bending sensor is electrically conductive on both surfaces of a dielectric film formed of a dielectric elastic material. The sensor main body is provided with a pair of electrode films formed to be deformable by an elastic material, and the pair of electrode films is connected to the measuring means.

  According to the fifth aspect, the bending sensor disposed so as to extend over the joint portion includes the sensor main body provided with the elastic electrode films on both sides of the flexible dielectric film. The entire structure is a flexible structure that can be bent and deformed elastically. Thereby, when detecting the angle of a joint part based on the change of the electrostatic capacitance accompanying the bending deformation of a sensor main body, it can prevent that the motion of a joint part is prevented by the sensor main body. In particular, since not only the dielectric film but also the electrode film is formed of an elastic material, excellent durability is exhibited even if bending deformation is repeatedly generated over a long period of time.

  According to a sixth aspect of the present invention, in the angle sensor device according to any one of the first to fifth aspects, the first limb is a thigh, and the second limb is It is a lower leg, and at least one of the cycle of walking motion, the walking speed, the stride, and the stage of walking motion is detected by the first sensor unit, the second sensor unit, and the measuring means. Is.

  According to the sixth aspect, the walking state of the wearer can be measured with excellent accuracy by applying the angle sensor device according to the present invention to the legs. Moreover, since the angle sensor device can be easily attached / detached by attaching / detaching the first attachment part and the second attachment part to both sides of the knee joint, it can be used even when measuring intermittently over a long period of time. Can be reduced.

  According to the present invention, the first sensor unit is configured to include the gyro sensor, the second sensor unit is configured to include the bending sensor, and the gyro sensor is attached to the first mounting unit. In addition, both end portions of the bending sensor are attached to one of the first attachment portion and the second attachment portion. Thereby, the measurement means for measuring the angles of the first limb and the second limb by the first sensor part and the second sensor part can be collectively provided in the first attachment part. Miniaturization, weight reduction, simplification of structure, and the like can be achieved. In addition, the angle sensor device can be easily worn by attaching the first attachment portion to the first limb and attaching the second attachment portion to the second limb. The burden is reduced.

The side view which shows the angle sensor apparatus as 1st embodiment of this invention in the mounting state to a leg part. The block diagram of the 1st sensor part which comprises the angle sensor apparatus shown in FIG. 1, a 2nd sensor part, and a measurement means.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 shows an angle sensor device 10 as a first embodiment of the present invention in a state where the angle sensor device 10 is attached to a leg portion 12. The angle sensor device 10 includes a first attachment portion 14 and a second attachment portion 16. In the angle sensor device 10, the first attachment portion 14 is attached to the thigh 18 as the first limb, and the second attachment portion 16 is attached to the crus 20 as the second limb. Thus, the angle of the thigh 18 with respect to the vertical direction and the angle of the knee joint 22 can be measured. In FIG. 1, the downward direction is the gravitational acceleration direction, and the vertical direction is the vertical direction as indicated by the alternate long and short dash line in the figure.

  More specifically, in the present embodiment, the first attachment portion 14 has a ring shape that can be extrapolated to the thigh 18, and is formed of a cloth, an elastomer, or the like. It is desirable to have a degree of stretchability that does not hinder. In addition, it is good also as a ring shape according to the thickness of the thigh part 18 by winding the thigh part 18 by making the 1st attachment part 14 into a strip | belt shape, and connecting an end part with a hook-and-loop fastener, a hook, a snap, etc. .

  Further, the first sensor portion 24 is attached to the first attachment portion 14. The first sensor unit 24 includes a gyro sensor 26 and an acceleration sensor 28. The gyro sensor 26 is a general MEMS (Micro Electro Mechanical Systems) sensor, and is a triaxial angular velocity sensor capable of detecting an angular velocity of rotation about three axes. The acceleration sensor 28 is a MEMS sensor similar to the gyro sensor 26, and is a triaxial acceleration sensor capable of detecting acceleration in three axial directions. The first sensor unit 24 includes a gyro sensor 26 and an acceleration sensor 28, and does not need to be attached to the trunk unit across the hip joint.

  Further, the measuring means 30 is attached to the first attachment portion 14. The measuring unit 30 includes an arithmetic device 32 that processes a detection signal of the first sensor unit 24 and a power source 33 that supplies electric power to the first sensor unit 24 and the arithmetic device 32. The first sensor unit 24 and the arithmetic device 32 can be mounted on the same substrate and supplied with power necessary for operation by the power source 33.

The computing device 32 calculates the gravitational acceleration direction and the inclination angle (θ, ψ, φ) of the thigh 18 with respect to the vertical direction based on the detection signals of the gyro sensor 26 and the acceleration sensor 28. Hereinafter, an example of a method for calculating the inclination angle (θ, ψ, φ) of the thigh 18 will be described. In the following description, the angular velocity (ω) around the three axes detected by the gyro sensor 26 is ω = (ω ₁ , ω ₂ , ω ₃ ), and a quaternion (quaternion) indicating the posture of the thigh 18 (quaternion) ( Let Q) be Q = (q ₁ , q ₂ , q ₃ ; q ₀ ).

  First, the movement (change in posture) of the thigh 18 is detected by the gyro sensor 26 as an angular velocity. Then, based on the detection signal of the gyro sensor 26, the time change of the quaternion due to the posture change (rotation of the position vector) of the thigh 18 is calculated as in the following [Equation 1].

  Next, as shown in [Formula 2], the quaternion is converted into a direction cosine matrix (DCM).

  The relationship between the direction cosine matrix and the Euler angles (θ, ψ, φ), which are rotation angles around three axes, is as shown in [Equation 3].

  Then, the Euler angle is calculated from [Equation 2] and [Equation 3]. As described above, the computing device 32 can calculate the angle of the thigh 18 in three dimensions based on the angular velocity detected by the gyro sensor 26.

  For example, when the first sensor unit 24 is activated in a stationary state in which the angle sensor device 10 is worn, and the acceleration sensor 28 detects the action direction (vertical direction) of gravity, the detected vertical direction is large. The angle of inclination of the thigh 18 with respect to the vertical direction is calculated as a reference axis for the angle of the thigh 18 by the above processing. Moreover, since the action direction of the gravity with respect to the 1st sensor part 24 changes when the 1st sensor part 24 displaces (rotates), the arithmetic unit 32 is the 1st sensor part by [Equation 4]. The direction of gravity with respect to 24 is calculated based on the detection signal of the gyro sensor 26. If such a calculation process in the vertical direction is repeated for a long time, an error with respect to the actual vertical direction gradually increases. For example, the acceleration sensor 28 detects the vertical direction when the thigh 18 is stationary. It is desirable to appropriately execute the process of replacing the detection result with the actual vertical direction. In short, the vertical calibration can be appropriately performed using the detection result of the acceleration sensor 28.

  Further, for example, when a sensor fusion algorithm such as an extended Kalman filter or a particle filter is employed in measurement combining the gyro sensor 26 and the acceleration sensor 28, the detection error of the gyro sensor 26 due to noise or the like is reduced, and the thigh The angle of the part 18 can also be measured with excellent accuracy over a long period of time.

  On the other hand, the second attachment portion 16 has a ring shape that can be extrapolated to the crus 20 in the present embodiment, and is formed of cloth, elastomer, or the like, like the first attachment portion 14, and It is desirable to have elasticity that does not hinder the deformation of the muscles of the thigh 20. In addition, the 2nd attachment part 16 is made into strip | belt shape similarly to the 1st attachment part 14, and an end part is connected by a hook-and-loop fastener, a hook, a snap, etc., and it becomes the outer diameter of the leg part 20. You may make it wind around the lower leg part 20 as a corresponding ring shape.

  The first attachment portion 14 and the second attachment portion 16 are arranged on one side with respect to the knee joint 22 and are separated from each other by a predetermined distance. A bending sensor 36 that constitutes a second sensor unit 34 that detects a change in angle due to bending and stretching of the knee joint 22 extends over the first mounting unit 14 and the second mounting unit 16.

  Although the specific structure of the bending sensor 36 is not particularly limited, for example, a pair of electrode films formed of a conductive elastic material on the front and back of a dielectric film 38 formed of a dielectric elastic body. A sensor body 44 having a laminated structure with 40 and 42 attached thereto is provided. The sensor main body 44 has a plate shape or a bar shape linearly extending in the length direction with a constant cross-sectional shape such as a rectangle so as to exhibit a stable curved shape, and the specific structure thereof is disclosed in the above-mentioned JP Since it is also described in Japanese Patent Application Publication No. 2009-20006, detailed description thereof is omitted here.

  Furthermore, in the bending sensor 36 according to the present embodiment, the deformation defining member 46 is superimposed on one surface in the stacking direction on the sensor body 44 having a stacked structure including the dielectric film 38 and the pair of electrode films 40 and 42. Has been fixed.

  In particular, in the present embodiment, the dielectric film 38 and the pair of electrode films 40 and 42 are each formed into a thin strip sheet shape, and the same thin plate-shaped deformation regulating member 46 is used, and one electrode film 42 is used. The deformation regulating member 46 is superimposed on the entire surface of the plate and fixedly adhered. Thus, the deformation defining member 46 is integrated with the sensor main body 44, and the sensor main body 44 and the deformation defining member 46 are integrally deformed.

  The deformation regulating member 46 is an elastic material that can be deformed into a predetermined shape that is stable when an external force is applied, and has an initial shape holding force and a stability of the deformed shape as compared with the sensor body 44. Yes. Preferably, in a region where a load of 10 N or the like is expected to be input, the deformation of tension or compression is so small that it is substantially ignored, and the cross-sectional secondary moment in only one of the three orthogonal directions is the other direction. By being made much smaller than the above, the bending deformation in one direction can be stably generated when an external force is applied.

  Specifically, by forming a thin rectangular flat plate shape, it is possible to stably generate bending deformation that deforms into a curved shape with a radius of curvature perpendicular to the plate surface. In addition, by adopting a shape in which the cross-sectional secondary moment is constant over the entire length, when a predetermined bending moment is exerted as an external force, it is curved and deformed with a substantially constant curvature over the entire length in the longitudinal direction. Can be.

  Furthermore, in order to ensure a stable deformation mode, it has at least a bending rigidity greater than that of the sensor main body 44, but can be set to a value that does not give a sense of incongruity to the movement of the joint to be worn. The specific material is not particularly limited, but a thin resin plate such as polyimide or polyethylene or a metal plate such as thin spring steel can also be used.

  In addition, it is preferable to use an insulating material in consideration of electrical stability, but it is also possible to employ a deformation regulating member 46 made of, for example, a conductive material. In that case, an insulating film is interposed between the electrode film 42 and the deformation regulating member 46 to electrically insulate the electrode film 42 via the deformation regulating member 46, or a deformation regulating member. It is also possible to form the electrode film 42 with the deformation regulating member 46 by directly superimposing the 46 on the dielectric film 38 and fixing it.

  The bending sensor 36 having such a structure has one end portion in the length direction attached to the first attachment portion 14 and the other end portion attached to the second attachment portion 16. It is arranged on the side of the knee joint 22. As a result, the bending sensor 36 is worn at the joint part of the limb of the human body and is bent and deformed along with the bending of the joint. In the illustration of FIG. 1, the movement of the lower leg 20 relative to the thigh 18 is illustrated. In accordance with the change in the angle of the knee joint 22 generated by the above, the curve is deformed.

  The bending sensor 36 is worn so that the sensor body 44 and the deformation regulating member 46 constituting the bending sensor 36 are curved and deformed with a curvature radius orthogonal to the plate surface, with the plate thickness direction being the front-rear direction of the human body.

  Further, the bending sensor 36 is elastically deformed into an arc shape having a substantially constant curvature as a whole when an equal bending moment is exerted on both ends in the longitudinal direction by the action of an external force accompanying the bending of the hip joint. It has become. Specifically, as shown in FIG. 1, knee joints in which the center point in the length direction becomes the bending point by using both ends in the length direction of the bending deformation region functioning as a sensor as input points. 22 is set to substantially match.

  As a result, the leg 20 is bent with respect to the thigh 18 as shown in FIG. 1 from the stretched state of the knee joint 22 in which the thigh 18 and the thigh 20 are stretched substantially linearly. By taking the state, the bending sensor 36 is caused to have an arcuate curve between both ends. The curvature radius of the curved state takes a value corresponding to the bending angle (δ) of the knee joint 22.

  The deformation mode generated in the bending sensor 36 along with the bending of the knee joint 22 is based on a model using a mathematical calculation formula because the deformation mode of the bending sensor 36 is defined by the deformation regulating member 46. It can be expressed approximately. In particular, by defining the deformation mode by the deformation defining member 46, it is possible to construct a calculation model that can realize practically good accuracy and efficiency that can be processed.

Specifically, an efficient calculation model can be obtained by appropriately adopting simplified conditions that make each of the following conditions (1) to (5) constant.
(1) The bending deformation region of the bending sensor 36 has a constant curvature over the entire length.
(2) The bending deformation region of the bending sensor 36 has a constant cross-sectional shape over the entire length.
(3) The dimension of the surface of the bending sensor 36 on the side overlapping the deformation regulating member 46 is constant regardless of the presence or absence of bending deformation.
(4) The volume of the bending sensor 36 is constant regardless of the presence or absence of bending deformation.
(5) In the cross section of the bending sensor 36, the relative ratio between the dimensional change rate in the width direction and the dimensional change rate in the height direction during bending deformation is constant.

  At least one of these conditions (1) to (5) can be adopted, and a plurality of conditions can be appropriately combined in consideration of required accuracy, computing ability, and the like. In particular, the calculation model can be simplified by adopting a combination of all the conditions (1) to (5).

  The end portions of the electrode films 40 and 42 on the first attachment portion 14 side are electrically connected to the arithmetic device 32, and the detection signal of the bending sensor 36 is arithmetically processed by the arithmetic device 32, so that the knee joint 22 is processed. The joint angle (δ) is calculated. Since the knee joint 22 is a joint that allows only bending and stretching, the joint angle is determined by a bending sensor 36 that detects one-dimensionally only the bending angle in the stacking direction of the dielectric film 38 and the electrode films 40 and 42. It can be measured effectively.

  As described above, the arithmetic device 32 that performs the arithmetic processing of the angle based on the detection result of the sensor is attached to the thigh 18 so that the first sensor unit 24 and the second sensor unit 34 are common to each other. It is attached to the first attachment portion 14. Further, a power source 33 that supplies power to the first and second sensor units 24 and 34 and the arithmetic device 32 is also attached to the first attachment portion 14 together with the arithmetic device 32. In short, the measuring means 30 configured to include the arithmetic device 32 and the power source 33 and capable of measuring the angle by the first and second sensor portions 24 and 34 is integrated and arranged on the first mounting portion 14 side. In this embodiment, the second attachment portion 16 is provided only for attaching the other end of the bending sensor 36 to the crus 20.

  According to the angle sensor device 10 having the structure according to this embodiment, the angle of the thigh 18 with respect to the gravitational acceleration direction and the knee are measured by the first and second sensor units 24 and 34 and the measuring unit 30. The angle of the joint 22 is measured. In addition, the measurement means 30 is centrally arranged on the first attachment portion 14 attached to the thigh 18, and the second attachment portion 16 attached to the crus 20 can be configured to be lightweight and compact. . Therefore, the angle sensor device 10 can be worn without allocating a large weight to the crus 20 having a smaller muscular strength than the thigh 18 and can reduce the sensible weight of the wearer. Moreover, the area constrained by the arrangement of the measuring means 30 can be narrowed and the ease of wearing can be improved.

  In addition, the first sensor unit 24 is configured by combining a triaxial gyro sensor 26 and an acceleration sensor 28, and can measure the angle of the thigh 18 having a large degree of freedom in three dimensions. The posture of the unit 18, in other words, the angle of the hip joint can be measured more accurately. Moreover, the gyro sensor 26 and the acceleration sensor 28 do not need to be attached to the torso and the thigh 18 across the hip joint, and can be centrally arranged on the thigh 18. The wearing of the unit 12 is facilitated, the angle sensor device 10 is miniaturized and the wearing range of the leg unit 12 is minimized, and the wearer's hand is the first sensor when walking. It is also possible to prevent hitting the portion 24. In addition, the gyro sensor 26 and the acceleration sensor 28, which are MEMS sensors, can be mounted on the same substrate as the arithmetic device 32, and can be arranged on the first mounting portion 14 in a more integrated manner.

  Further, the second sensor unit 34 is constituted by a flexible bending sensor 36, and the angle of the knee joint 22 that is allowed to bend and stretch with one degree of freedom can be measured with sufficient accuracy. Moreover, compared to the case where a gyro sensor or an acceleration sensor is arranged on the second attachment portion 16, it is not necessary to arrange a substrate, a power source, etc. on the crus 20 and the weight of the mounting part on the crus 20 is reduced. And downsizing.

  As described above, the first sensor unit 24 configured by the gyro sensor 26 and the acceleration sensor 28 and the second sensor unit 34 configured by the bending sensor 36 are appropriately combined and employed to reduce the size. Sensing according to the movable range of the hip joint and the knee joint 22 is realized while realizing a reduction in size and weight, and the angles of the thigh 18 and the crus 20 can be highly measured.

  Further, based on the angle of the thigh 18 with respect to the vertical direction and the angle of the knee joint 22 measured by the angle sensor device 10 attached to the leg 12, for example, the cycle of the walking motion of the wearer and the walking motion It is possible to grasp at least one of a stage (such as a swing period or a stance period), a walking speed, and a stride. Thereby, the information regarding a wearer's walking motion can be easily obtained with the angle sensor apparatus 10 with a simple structure and easy attachment / detachment. The walking speed (v) is calculated by [Equation 5] based on the direction cosine matrix (DCM) and the acceleration (α) detected by the acceleration sensor 28.

  Furthermore, the angle sensor device 10 can be worn alone and used for collecting and analyzing walking motion information as described above, while being combined with an articulation assisting tool disclosed in Japanese Patent Application Laid-Open No. 2012-192013. By being employed, it can also be used for controlling the auxiliary force exerted on the legs and arms. Moreover, when employ | adopting in combination with a joint exercise assistance tool, the 1st attachment part 14 and the 2nd attachment part 16 may be comprised with a joint exercise assistance tool.

  As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited by the specific description. For example, the specific configuration of the measurement unit 30 is not limitedly interpreted by the description of the embodiment. For example, the measurement unit 30 may be provided with a wireless communication device so that the measurement result can be transmitted wirelessly to an external processing device (such as a personal computer).

  The configuration of the first sensor unit 24 is merely an example, and for example, as an auxiliary sensor that assists the gyro sensor 26, a geomagnetic sensor may be employed in addition to or instead of the acceleration sensor 28. Further, the second sensor unit 34 for detecting the angle of the knee joint 22 is not necessarily limited to the one constituted by the bending sensor 36 alone, and the detection accuracy can be improved by combining with other sensors. it can.

  Further, in place of or in addition to providing an auxiliary sensor such as the acceleration sensor 28, an origin-finding means such as a switch for initializing the output of the gyro sensor 26 at a reference position may be provided. In this case, after the output of the gyro sensor 26 is initialized, the angular velocity output from the gyro sensor 26 can be integrated to obtain the position (angle).

  Further, the bending sensor 36 constituting the second sensor unit 34 is not limited to the capacitance type flexible sensor shown in the embodiment. That is, various known types that can measure the angle of the joint portion by bending deformation, such as an angle sensor described in US Pat. No. 5,086,785 and a goniometer using an optical fiber (for example, a goniometer manufactured by Biometrics). These sensors can be used.

  Moreover, although the example which applied the angle sensor apparatus 10 which concerns on this invention to the leg part 12 was shown in the said embodiment, it is also possible to apply to an arm part. In other words, the upper arm is the first limb, the forearm is the second limb, and the elbow joint connecting the upper arm and the forearm is used as the joint. Thus, the angle of the upper arm and the angle of the elbow joint can be measured. In addition, while attaching the 1st attaching part 14 to the leg part 20 or the forearm part, you may attach the 2nd attaching part 16 to the thigh part 18 or the upper arm part.

  Moreover, the specific structure of the 1st attaching part 14 and the 2nd attaching part 16 is not specifically limited, What is necessary is just to be able to mount | wear to a 1st limb part and a 2nd limb part. Specifically, for example, it may be attached to a clothing or the like covering the first limb or the second limb by a hook-and-loop fastener, a snap, or the like, and does not necessarily have to be attached in an extrapolated state.

  In the above-described embodiment, the first sensor unit 24, the measuring unit 30, and the second sensor unit 34 are all arranged on the outer side surface of the leg unit 12, and it is difficult to hinder the walking motion. If there is no problem in operation, it may be placed on the front or back of the limb, the inner side, or the like.

10: Angle sensor device, 14: First attachment portion, 16: Second attachment portion, 18: Thigh (first limb), 20: Lower limb (second limb), 22: Knee joint (Joint part), 24: first sensor part, 26: gyro sensor, 28: acceleration sensor, 30: measuring means, 34: second sensor part, 36: bending sensor, 38: dielectric film, 40: electrode film , 42: electrode film, 44: sensor body

Claims (6)

An angle sensor device capable of measuring the angle of the first limb and the angle of the joint connecting the first limb and the second limb,
A first attachment portion mounted on the first limb portion, and the first attachment portion is provided with a first sensor portion including a gyro sensor for detecting an angular velocity of the first limb portion; In addition, the first attachment portion is provided with measurement means connected to the first sensor portion to measure the angle of the first limb,
A second attachment part mounted on the second limb part, and a bending sensor that extends over the first attachment part and the second attachment part and detects an angle of the joint part; A second sensor portion is provided, and the second sensor portion is connected to the measuring means on an attachment end side to the first attaching portion, and the measuring means is connected to the second sensor portion by the second sensor portion. An angle sensor device capable of measuring an angle of the joint.   The first sensor unit includes an acceleration sensor, and the first sensor unit and the measuring means detect the gravity detected by the acceleration sensor based on the angular velocity of the first limb detected by the gyro sensor. The angle sensor device according to claim 1, wherein an angle of the first limb with respect to an acceleration direction is measured.   The angle sensor device according to claim 2, wherein the measurement unit performs calibration of the gyro sensor based on a detection result of the acceleration sensor.   The first sensor unit detects the angle of the first limb in three dimensions, and the second sensor unit detects the relative angle of the second limb to the first limb in one dimension. The angle sensor device according to any one of claims 1 to 3.   The bending sensor has a sensor body provided with a pair of electrode films formed deformably by a conductive elastic material on both surfaces of a dielectric film formed of a dielectric elastic material, and the pair of electrodes The angle sensor device according to claim 1, wherein a film is connected to the measuring unit.   The first limb is a thigh and the second limb is a crus, and the first sensor unit, the second sensor unit, and the measuring means are used for walking. The angle sensor device according to any one of claims 1 to 5, wherein at least one of an operation cycle, a walking speed, a stride, and a step of a walking operation is detected.

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