JP2016104057A - 荷重判定方法 - Google Patents
荷重判定方法 Download PDFInfo
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- JP2016104057A JP2016104057A JP2014242789A JP2014242789A JP2016104057A JP 2016104057 A JP2016104057 A JP 2016104057A JP 2014242789 A JP2014242789 A JP 2014242789A JP 2014242789 A JP2014242789 A JP 2014242789A JP 2016104057 A JP2016104057 A JP 2016104057A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 210000002414 leg Anatomy 0.000 description 44
- 238000001514 detection method Methods 0.000 description 36
- 238000010586 diagram Methods 0.000 description 13
- 238000005070 sampling Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 230000000881 depressing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2002/607—Lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/80—Weight
- A61H2230/805—Weight used as a control parameter for the apparatus
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Transplantation (AREA)
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- Dentistry (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
Description
前記抜重状態から前記荷重状態に切り替わったと判定してから予め設定された期間内は、前記検出した使用者の脚部に作用する荷重が前記荷重状態から前記抜重状態に切り替わったと判定される閾値より小さくなっても、前記抜重状態と判定することなく、前記荷重状態であると判定する。
先ず、本実施の形態の荷重判定方法が実行される装着型ロボットの基本構成を説明する。図1は、本実施の形態の装着型ロボットを使用者の膝関節に装着した様子を模式的に示す図である。図2は、本実施の形態の装着型ロボットの制御系を示すブロック図である。図3は、荷重検出部の荷重センサの配置を示す図である。
図6は、本実施の形態の荷重判定プログラムの処理フローを示す図である。図6に示すように、実施の形態1の荷重判定プログラムの処理フローに対して、荷重状態と判定後の経過時間が抜重判定棄却時間を超えているか否かを判定する工程と、計算した総荷重が抜重判定閾値より小さいか否かを判定する工程と、を入れ替えてもよい。
図7は、本実施の形態の荷重判定プログラムの処理フローを示す図である。図7に示すように、実施の形態1の荷重判定プログラムの処理フローに対して、荷重状態と判定後の経過時間が抜重判定棄却時間を超えているか否かを判定する工程と、計算した総荷重が抜重判定閾値より小さいか否かを判定する工程と、を一つの工程で処理してもよい。
上記実施の形態では、装着型ロボットに搭載した荷重検出部7で検出した荷重に基づいて使用者の脚部が荷重状態か抜重状態かを判定したが、使用者が装着型ロボットを装着した状態でトレッドミルを用いて、例えばリハビリを実施する場合は、トレッドミルに搭載した荷重検出部で検出した荷重に基づいて使用者の脚部が荷重状態か抜重状態かを判定してもよい。
2 第1のリンク、2a 固定バンド
3 第2のリンク、3a 固定バンド
4 足部、4a 足裏載置部、4b 突出部
5 アクチュエータ
6 角度検出部
7 荷重検出部、7a 荷重センサ
8 制御装置
9、10 軸
11 荷重判定プログラム
12 制御プログラム
13 総荷重計算部
14 荷重判定部
41 トレッドミル
42 フレーム
43、44 ローラ
45、46 無端ベルト
47 荷重検出部、47a 荷重センサ
Claims (2)
- 検出した使用者の脚部に作用する荷重に基づいて、前記脚部が接地状態である荷重状態か、又は前記脚部が遊脚状態である抜重状態か、を判定する荷重判定方法であって、
前記抜重状態から前記荷重状態に切り替わったと判定してから予め設定された期間内は、前記検出した使用者の脚部に作用する荷重が前記荷重状態から前記抜重状態に切り替わったと判定される閾値より小さくなっても、前記抜重状態と判定することなく、前記荷重状態であると判定する荷重判定方法。 - 前記使用者の脚部に作用する荷重は、一軸荷重センサによって検出する請求項1に記載の荷重判定方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014242789A JP6483419B2 (ja) | 2014-12-01 | 2014-12-01 | 荷重判定方法 |
US14/887,835 US11051717B2 (en) | 2014-12-01 | 2015-10-20 | Load determination method |
EP15191579.0A EP3040168B1 (en) | 2014-12-01 | 2015-10-27 | Load determination method |
NO15191579A NO3040168T3 (ja) | 2014-12-01 | 2015-10-27 | |
CN201510862566.XA CN105640735B (zh) | 2014-12-01 | 2015-12-01 | 负荷确定方法 |
Applications Claiming Priority (1)
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JP2014242789A JP6483419B2 (ja) | 2014-12-01 | 2014-12-01 | 荷重判定方法 |
Publications (2)
Publication Number | Publication Date |
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JP2016104057A true JP2016104057A (ja) | 2016-06-09 |
JP6483419B2 JP6483419B2 (ja) | 2019-03-13 |
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JP2014242789A Active JP6483419B2 (ja) | 2014-12-01 | 2014-12-01 | 荷重判定方法 |
Country Status (5)
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US (1) | US11051717B2 (ja) |
EP (1) | EP3040168B1 (ja) |
JP (1) | JP6483419B2 (ja) |
CN (1) | CN105640735B (ja) |
NO (1) | NO3040168T3 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018003371A1 (ja) * | 2016-06-30 | 2018-01-04 | パナソニックIpマネジメント株式会社 | 歩行アシスト装置、及び制御方法 |
US10874576B2 (en) | 2015-08-17 | 2020-12-29 | Toyota Jidosha Kabushiki Kaisha | Gait state determination apparatus, gait state determination method, and walking training apparatus |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6052234B2 (ja) | 2014-05-27 | 2016-12-27 | トヨタ自動車株式会社 | 歩行訓練装置 |
JP6281444B2 (ja) * | 2014-08-25 | 2018-02-21 | トヨタ自動車株式会社 | 歩行訓練装置及びその制御方法 |
DE102017111099B3 (de) | 2017-05-22 | 2018-06-07 | Otto Bock Healthcare Gmbh | Verfahren und Vorrichtung zum Bestimmen einer mechanischen Belastung |
JP7156390B2 (ja) * | 2018-11-13 | 2022-10-19 | 日本電気株式会社 | 負荷軽減支援装置、負荷軽減システム、負荷軽減方法、及びプログラム |
CN112462754B (zh) * | 2020-10-27 | 2022-09-16 | 机械工业第九设计研究院有限公司 | 一种agv自动控制系统 |
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2014
- 2014-12-01 JP JP2014242789A patent/JP6483419B2/ja active Active
-
2015
- 2015-10-20 US US14/887,835 patent/US11051717B2/en active Active
- 2015-10-27 EP EP15191579.0A patent/EP3040168B1/en active Active
- 2015-10-27 NO NO15191579A patent/NO3040168T3/no unknown
- 2015-12-01 CN CN201510862566.XA patent/CN105640735B/zh active Active
Patent Citations (2)
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10874576B2 (en) | 2015-08-17 | 2020-12-29 | Toyota Jidosha Kabushiki Kaisha | Gait state determination apparatus, gait state determination method, and walking training apparatus |
WO2018003371A1 (ja) * | 2016-06-30 | 2018-01-04 | パナソニックIpマネジメント株式会社 | 歩行アシスト装置、及び制御方法 |
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Also Published As
Publication number | Publication date |
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NO3040168T3 (ja) | 2018-04-21 |
CN105640735B (zh) | 2018-02-27 |
EP3040168A1 (en) | 2016-07-06 |
EP3040168B1 (en) | 2017-11-22 |
US11051717B2 (en) | 2021-07-06 |
CN105640735A (zh) | 2016-06-08 |
JP6483419B2 (ja) | 2019-03-13 |
US20160150999A1 (en) | 2016-06-02 |
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