JP2018079094A - Body wearing device and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a body wearing device and a control program in which a moment applying to a body is hard to cause delay in adjustment according to physical movement.SOLUTION: A body wearing device is worn in a right thigh CR capable of reciprocating rotary motion around a virtual rotating shaft k-AX fixed in a hip joint. A moment generator constituting the body wearing device has a flywheel 110 capable of swinging around a virtual swinging shaft i-AX fixed to the right thigh CR, a swinging motor for rotating the flywheel 110 around the virtual swinging shaft i-AX, and a self-rotating motor for making the flywheel 110 self-rotate. When the virtual swinging shaft i-AX is in a twist position to the virtual rotating shaft k-AX and the self-rotating flywheel 110 is rotated around the virtual swinging shaft i-AX, a moment is generated around the virtual rotating shaft k-AX. The swinging motor is controlled based on an angular velocity ωaround the virtual rotating shaft k-AX of the right thigh CR.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a body wearing device and a control program.

  As disclosed in Patent Document 1, there is known a body wearing device that is mounted on a user's thigh and applies a moment in a direction to assist the movement of the knee to the user's knee joint. This body wearing device generates the moment by the rotation of the flywheel.

  In addition, the body wearing device includes a measuring instrument and a controller in order to adjust the moment according to the posture of the user. The measuring instrument measures the inclination angle of the thigh with respect to the ground. The controller controls the rotation speed of the flywheel according to the inclination angle measured by the measuring instrument.

JP 2009-254741 A

  The flywheel has the property of trying to maintain the angular momentum of rotation. Therefore, it is difficult to quickly adjust the rotation speed of the flywheel, particularly the rotation speed accompanied by the reverse rotation of the rotation direction. For this reason, when the movement of the knee of the user is agile, the body wearing device may not adjust the moment in time, and may not assist the knee movement properly.

  An object of the present invention is to provide a body wearing tool and a control program that hardly cause a delay in adjusting a moment applied to the body according to the movement of the body.

In order to achieve the above object, the body wearing device of the present invention comprises:
A body wearing tool attached to a reciprocating rotational motion part of the body capable of reciprocating rotational motion around a virtual rotational axis fixed to the body,
A flywheel capable of swinging around a virtual swing shaft fixed to the reciprocating rotary motion unit, a swing motor for rotating the flywheel around the virtual swing shaft, and the flywheel rotating A rotating motor that rotates, the virtual rocking shaft is in a twisted position with respect to the virtual rotating shaft, and when the flywheel that is rotating is rotated around the virtual rocking shaft, A moment generator for generating a moment according to an angular velocity around the virtual swing axis of the flywheel around the virtual rotation axis;
A measuring instrument for measuring an angular velocity or a rotational angle around the virtual rotational axis of the reciprocating rotational movement unit, or a physical quantity depending on the angular velocity and the rotational angle;
A controller for controlling at least the swinging motor among the swinging motor and the rotation motor based on the measurement result of the measuring device;
Is provided.

The controller is
Using the measurement result of the measuring instrument, a rotational direction determination operation for determining whether the reciprocating rotational movement unit is rotating clockwise or counterclockwise with respect to the virtual rotation axis;
During the period in which the reciprocating rotational movement portion is rotating clockwise with respect to the virtual rotation axis, the flywheel represents one of clockwise and counterclockwise rotation around the virtual swing axis. A first control operation for controlling the swing motor so as to rotate in one direction;
During the period in which the reciprocating rotational movement portion rotates counterclockwise with respect to the virtual rotation axis, the flywheel rotates around the virtual swing axis in the first direction out of clockwise and counterclockwise directions. A second control operation for controlling the swing motor so as to rotate in a second direction opposite to the first direction;
It may be configured to perform.

The controller is
In the rotational direction determination operation, using the measurement result of the measuring instrument, the rotational direction of the reciprocating rotational movement unit around the virtual rotational axis is switched from clockwise to counterclockwise, and from counterclockwise. Detect that it ’s switched clockwise,
In the first control operation, when the rotation direction of the reciprocating rotational movement unit around the virtual rotation axis is switched from counterclockwise to clockwise, the flywheel is moved by the predetermined first rotation angle. Controlling the swing motor to rotate in the first direction;
In the second control, when the rotation direction of the reciprocating rotary motion unit around the virtual rotation axis is switched from clockwise to counterclockwise, the flywheel is moved by the predetermined second rotation angle. Controlling the swing motor to rotate in two directions;
It may be configured as follows.

The controller is
Using the measurement result of the measuring instrument, the swing motor is controlled so that the rotation angle around the virtual rotation axis of the reciprocating rotary motion unit approaches a predetermined target value.
It may be configured as follows.

In order to achieve the above object, the control program of the present invention provides:
A moment generator attached to the reciprocating rotational motion part of the body capable of reciprocating rotational motion about a virtual rotational axis fixed to the body,
A flywheel capable of swinging around a virtual swing shaft fixed to the reciprocating rotary motion unit, a swing motor for rotating the flywheel around the virtual swing shaft, and the flywheel rotating A rotating motor that rotates, the virtual rocking shaft is in a twisted position with respect to the virtual rotating shaft, and when the flywheel that is rotating is rotated around the virtual rocking shaft, A moment generator for generating a moment according to an angular velocity around the virtual oscillation axis of the flywheel around the virtual rotation axis;
To control the computer,
An acquisition function for acquiring, from the outside, an angular velocity or a rotation angle around the virtual rotation axis of the reciprocating rotary motion unit, or a physical quantity measurement result depending on the angular velocity and the rotation angle;
A control function for controlling at least the swinging motor among the swinging motor and the rotation motor based on the obtained measurement result;
Is realized.

  According to the present invention, the moment can be adjusted by the swing motor that swings the flywheel. The swing motor is less susceptible to resistance caused by the flywheel trying to maintain the angular momentum of rotation than the rotation motor, so that the movement of the body is greater than when the moment is adjusted by the rotation motor alone. There is little delay in adjusting the moment according to.

Schematic which shows the mounting aspect to the thigh of the body mounting tool which concerns on Embodiment 1. FIG. The conceptual diagram which shows the structure of the main-body part of the body wearing tool which concerns on Embodiment 1. FIG. FIG. 3 is a partially cutaway front view parallel to the swing axis of the moment generating unit according to the first embodiment. The side view perpendicular | vertical to the rocking | fluctuation axis | shaft of the flywheel which concerns on Embodiment 1. FIG. The conceptual diagram which shows the aspect which the flywheel which concerns on Embodiment 1 produces | generates a moment. 5 is a flowchart illustrating a load control procedure performed by the controller according to the first embodiment. (A) is a conceptual diagram which shows the posture of the user at the moment of starting to swing the right leg backward. (B) is a conceptual diagram showing the posture of the user at the moment when the right leg starts to swing forward. Schematic which shows the mounting aspect to the chest back of the body mounting tool which concerns on Embodiment 2. FIG. The conceptual diagram which shows the structure of the controller which concerns on Embodiment 2. FIG.

  Hereinafter, a body wearing tool according to an embodiment of the present invention will be described with reference to the drawings. In the figure, the same or corresponding parts are denoted by the same reference numerals.

[Embodiment 1]
As shown in FIG. 1, a pair of body wearing devices 600 and 700 according to the present embodiment are worn on the user's lower limbs. These body wearing devices 600 and 700 support the user's training by giving the user's body a moment that prevents walking or running.

  One body wearing device 600 includes a main body 610 that generates a moment around a virtual rotation axis k-AX fixed to the user's body, and a belt 620 that attaches the main body 610 to the user's body. Composed.

  In this embodiment, the virtual rotation axis k-AX passes through the user's hip joint in the width direction of the user's body, and serves as a reciprocating rotation motion unit capable of reciprocating rotation around the virtual rotation axis k-AX. A main body 610 is attached to the right thigh CR. The main body 610 applies a moment in a direction that prevents the movement of the right thigh CR to the hip joint on the right side of the user.

  Similarly, the other body wearing tool 700 includes a main body portion 710 that generates a moment around the virtual rotation axis k-AX, and a belt 720 that attaches the main body portion 710 to the left thigh CL as a reciprocating rotational movement portion. Is composed of. The main body 710 imparts a moment in a direction that prevents the movement of the left thigh CL around the left hip joint of the user.

  In the pair of left and right body wearing devices 600 and 700, the configurations and operations of the main body portions 610 and 710 are the same. Therefore, in the following, the configuration and operation of the main body 610 of one body wearing device 600 will be described in detail as a representative.

  As shown in FIG. 2, the main body 610 measures a moment generator 100 that generates a moment around the virtual rotation axis k-AX, and an angular velocity around the virtual rotation axis k-AX of the right thigh CR. Measuring device 200, operating device 300 operated by the user, controller 400 controlling moment generator 100 according to the operation performed by operating device 300 and the measurement result of measuring device 200, and moment generator 100 A measuring instrument 200, an operating device 300, and a battery 500 for supplying power to the controller 400. Hereinafter, first, the moment generator 100 will be described in detail.

  As shown in FIG. 3, the moment generator 100 includes a flywheel 110, a rotation motor 120 that rotates the flywheel 110, a holding member 130 that holds the flywheel 110 and the rotation motor 120, and the self. A base frame 140 that rotatably holds the holding member 130 around the fixed virtual swing axis i-AX and a base frame 140 that is fixed to the base frame 140 and rotates the holding member 130 around the virtual swing axis i-AX. And a swinging motor 150.

  The base frame 140 is fixed to the user's right thigh CR by the belt 620 shown in FIG. That is, the virtual swing axis i-AX is fixed with respect to the user's right thigh CR.

  The flywheel 110 is attached to the holding member 130 in such a direction that the flywheel 110 is inclined around the virtual rocking axis i-AX when the holding member 130 is rotated around the virtual rocking axis i-AX. That is, the virtual rotation axis j-AX representing the rotation center axis of the flywheel 110 is not parallel to the virtual swing axis i-AX.

  Specifically, the virtual rotation axis j-AX intersects with the virtual swing axis i-AX. More specifically, the virtual rotation axis j-AX is orthogonal to the virtual swing axis i-AX at the position of the center of gravity G of the flywheel 110.

  When the holding member 130 is rotated around the virtual swing axis i-AX by the swing motor 150, the flywheel 110 is maintained while maintaining the orthogonal relationship between the virtual rotation axis j-AX and the virtual swing axis i-AX. However, it tilts around the virtual swing axis i-AX together with the holding member 130. Since the holding member 130 can rotate in any rotation direction around the virtual swing axis i-AX, the flywheel 110 can swing around the virtual swing axis i-AX.

As shown in FIG. 4, the flywheel 110 can swing around the virtual swing axis i-AX within an angle range of 2 · φ _amp [rad]. Here, φ _amp is a predetermined angle (where φ _amp <π), and in this embodiment, φ _amp = π / 6. In FIG. 4, only the flywheel 110 among the components of the body wearing device 600 is shown as a representative for easy understanding.

  Next, the positional relationship between the virtual swing axis i-AX and the virtual rotation axis j-AX and the virtual rotation axis k-AX shown in FIG. 1 and the direction of the moment generated by the flywheel 110 will be described. This will be described with reference to FIG. In FIG. 5, only the flywheel 110 is shown as a representative of the body wearing device 600 for easy understanding.

  As shown in FIG. 5, the flywheel 110 is fixed to the end of the user's right thigh CR that is far from the hip joint and closer to the knee. A virtual straight line (hereinafter referred to as a virtual neutral line) NL representing a distance between a virtual rotation axis k-AX that penetrates the hip joint and the center of gravity G of the flywheel 110 extends substantially parallel to the right thigh CR.

  The base frame 140 shown in FIG. 3 is oriented so that a moment is generated around the virtual rotation axis k-AX when the flywheel 110 during rotation is rotated around the virtual swing axis i-AX. Is fixed to the right thigh CR by the belt 620 shown in FIG.

  Specifically, the virtual swing axis i-AX is fixed with respect to the right thigh CR in such a direction as to be twisted with respect to the virtual rotation axis k-AX. In FIG. 5, the virtual swing axis i-AX is fixed to the right thigh CR in a direction perpendicular to the virtual neutral line NL in a virtual plane orthogonal to the virtual rotation axis k-AX. It shows how it is. FIG. 5 shows a state in which the virtual rotation axis j-AX is located on the extension line of the virtual neutral line NL.

  Hereinafter, in order to explain the direction of the moment generated around the virtual rotation axis k-AX by the flywheel 110, first, the plus / minus direction of each axis and the clockwise / counterclockwise direction with respect to each axis And define

  The plus direction of the virtual rotation axis k-AX refers to a direction from the left to the right for the user. The opposite direction is the negative direction of the virtual rotation axis k-AX. 1 and 4, the virtual rotation axis k-AX is represented by an arrow pointing in the plus direction.

  Further, clockwise with respect to the virtual rotation axis k-AX indicates a direction in which the right screw is rotated in order to screw the right screw in the plus direction of the virtual rotation axis k-AX. The opposite direction is counterclockwise with respect to the virtual rotation axis k-AX.

  The plus direction of the virtual swing axis i-AX refers to the direction from the back CRb of the right thigh CR to the front CRf, in other words, the clockwise direction with respect to the virtual rotation axis k-AX. The opposite direction is the negative direction of the virtual swing axis i-AX. 3 and 5, the virtual swing axis i-AX is represented by an arrow pointing in the plus direction.

  Further, clockwise with respect to the virtual swing axis i-AX refers to a direction in which the right screw is turned in order to screw the right screw in the plus direction of the virtual swing axis i-AX. The opposite direction is counterclockwise with respect to the virtual swing axis i-AX.

Returning to FIG. 4, here, a supplementary description will be given of the swinging motion of the flywheel 110 around the virtual swing axis i-AX. The flywheel 110 rotates clockwise with respect to the virtual swing axis i-AX with reference to a state in which the virtual rotation axis j-AX is located on an extension line of the virtual neutral line NL (hereinafter referred to as a non-inclined state). In both the counterclockwise and counterclockwise rotation directions, the rotation is possible by an angle amplitude φ _amp at the maximum. As described above, in this embodiment, φ _amp = π / 6.

  Note that since the virtual swing axis i-AX does not form a right angle with the virtual neutral line NL, the virtual rotation axis j-AX may not be positioned on the extension line of the virtual neutral line NL. In that case, the state where the maximum angle formed by the virtual rotation axis j-AX and the virtual neutral line NL is the smallest is regarded as the non-inclined state.

  Next, a plus / minus direction of the virtual rotation axis j-AX and a clockwise / counterclockwise direction with respect to the virtual rotation axis j-AX are defined. The plus direction of the virtual rotation axis j-AX refers to a direction away from the virtual rotation axis k-AX when the flywheel 110 is not tilted. The opposite direction is the minus direction of the virtual rotation axis j-AX. 3 to 5, the virtual rotation axis j-AX is represented by an arrow pointing in the plus direction.

  Further, clockwise with respect to the virtual rotation axis j-AX indicates a direction in which the right screw is turned in order to screw the right screw in the plus direction of the virtual rotation axis j-AX. The opposite circumferential direction is counterclockwise with respect to the virtual rotation axis j-AX.

  Returning to FIG. 5, next, the magnitude and direction of the moment generated around the virtual rotation axis k-AX by the flywheel 110 will be described.

When the flywheel 110 that is rotating around the virtual rotation axis j-AX is rotated around the virtual swing axis i-AX, I _j · ω _j · ω _i around the virtual rotation axis k-AX. A moment proportional to is generated.

Here, I _j is the moment of inertia around the virtual rotation axis j-AX of the flywheel 110. ω _j is an angular velocity around the virtual rotation axis j-AX of the flywheel 110, and clockwise with respect to the virtual rotation axis j-AX is positive and counterclockwise is negative. ω _i is an angular velocity around the virtual swing axis i-AX of the flywheel 110, and clockwise with respect to the virtual swing axis i-AX is positive and counterclockwise is negative.

  When the moment is positive, it means clockwise with respect to the virtual rotation axis k-AX, and when it is negative, it means counterclockwise. That is, the direction of the moment can be adjusted not only by the rotation direction of the flywheel 110 but also by the rotation direction of the flywheel 110 around the virtual swing axis i-AX.

For example, when the flywheel 110 that is rotating clockwise with respect to the virtual rotation axis j-AX is rotated clockwise with respect to the virtual swing axis i-AX, the rotation is clockwise with respect to the virtual rotation axis k-AX. The moment _MCW is generated. From this state, when the flywheel 110 is rotated counterclockwise with respect to the virtual swing axis i-AX, a counterclockwise moment M _CCW is generated with respect to the virtual rotation axis k-AX. In this way, the direction of the moment applied to the user can be adjusted by the rotation direction of the flywheel 110 around the virtual swing axis i-AX.

Therefore, by controlling the rotation direction of the flywheel 110 around the virtual swing axis i-AX according to the movement of the right thigh CR, it is possible to apply a load that follows the movement of the user. The user's movement can be observed by the value of the angular velocity ω _k around the virtual rotation axis k-AX of the right thigh CR.

Specifically, the following load control is possible. During a period in which the angular velocity ω _k is a positive value, that is, a period in which the right thigh CR is rotating clockwise with respect to the virtual rotation axis k-AX, the flywheel 110 is moved with respect to the virtual swing axis i-AX. By rotating it counterclockwise, the moment M _CCW is given to the user. On the other hand, during a period in which the angular velocity ω _k is a negative value, that is, a period in which the right thigh CR is rotating counterclockwise with respect to the virtual rotation axis k-AX, the flywheel 110 is moved to the virtual swing axis i−. By rotating clockwise with respect to AX, moment _MCW is given to the user.

  In this way, the user's training can be supported by giving the user's body a moment that prevents walking or running. Such load control is realized by the measuring instrument 200 and the controller 400 shown in FIG.

Returning to FIG. 2, a specific description will be given. The measuring instrument 200 measures the angular velocity ω _k around the virtual rotation axis k-AX of the right thigh CR described above. The controller 400 realizes the load control by controlling the swing motor 150 based on the value of the angular velocity ω _k measured by the measuring instrument 200.

  In this embodiment, the controller 400 controls the motor 120 for rotation, but does not control the motor 120 for rotation based on the measurement result of the measuring instrument 200. The controller 400 rotates the motor 120 for rotation at a constant speed while performing the load control.

  The controller 400 stores a control program 410. The control program 410 describes the load control procedure. The controller 400 includes a microprocessor that implements the load control by executing the control program 410. Hereinafter, the load control realized by the control program 410 will be specifically described with reference to FIGS. 6 and 7.

As a premise, it is assumed that the flywheel 110 is rotated by φ _amp counterclockwise with respect to the virtual swing axis i-AX based on the non-tilt state. In addition, the user performs an operation to start load control on the operation device 300, and starts running by swinging the right thigh CR forward from the upright state.

  In FIG. 6, when the controller 400 detects that an operation for starting load control has been performed in the operation device 300 (step S <b> 1; YES), the rotation motor 120 is turned on, and the virtual rotation axis of the flywheel 110. A clockwise constant speed rotational motion with respect to j-AX is started, and 1 is assigned to the flag F (step S2).

Next, the controller 400 determines whether the angular velocity ω _k around the virtual rotation axis k-AX of the right thigh CR measured by the measuring instrument 200 is positive or negative (step S3). ). This step S3 is the value of the angular velocity omega _k, or right thigh CR rotates clockwise with respect to the virtual rotation axis k-AX, the rotation direction determination operation for determining whether the rotating counterclockwise Represents.

As described above, since the user starts sprinting from the action of swinging the right thigh CR forward, immediately after the start of sprinting, the angular velocity ω _k shows a positive value. When the angular velocity ω _k is positive (step S3; ω _k ≧ 0), the controller 400 determines whether or not the flag F is zero (step S4).

  Since the controller 400 assigns 1 to the flag F in step S2, the controller 400 determines NO in step S4. Next, the controller 400 determines whether or not an operation to end the load control has been performed by the operating device 300 (step S7). If the load control is not ended (step S7; NO), the process returns to step S3. . In this way, immediately after the start of sprinting, the flow of steps S3 → S4 → S7 → S3 is repeated.

As shown in FIG. 7A, at the moment when the user switches the direction of swinging the right leg from the front to the back, that is, the moment when the user starts swinging the right leg backward, the angular velocity ω _k is increased from a positive value. Switch to negative value. That is, the controller 400 confirms that the rotation direction of the right thigh CR around the virtual rotation axis k-AX is switched from clockwise to counterclockwise when the angular velocity ω _k is switched from positive to negative. To detect.

Returning to FIG. 6, when the controller 400 detects that the angular velocity ω _k is switched from positive to negative (step S3; ω _k <0), the controller 400 determines whether or not the flag F is 1 (step S8). . Since the controller 400 assigns 1 to the flag F in step S2, the controller 400 determines YES in step S8.

Next, the controller 400 performs a first control operation for controlling the swing motor 150 such that the flywheel 110 rotates by an angle 2 · φ _amp clockwise with respect to the virtual swing axis i-AX. (Step S9). Thus, the users in the posture shown in FIG. 7 (A), around the hip joint, the moment M _CW direction that prevents the drawing board to the rear of the right thigh CR is applied.

Next, the controller 400 assigns zero to the flag F (step S10), and when the load control is not finished yet (step S7; NO), the process returns to step S3. Next, the controller 400 determines that ωk is negative in step S3, and substitutes zero for the flag F in the previous step S10, so that it determines NO in step S8. In this way, immediately after the moment _MCW is given to the user, the flow of steps S7 → S3 → S8 is repeated.

As shown in FIG. 7B, the angular velocity ω _k switches from negative to positive at the moment when the user switches the direction of swinging the right leg from the rear to the front, that is, the moment when the user starts swinging the right leg forward. . That is, the controller 400 confirms that the rotation direction of the right thigh CR around the virtual rotation axis k-AX is switched from counterclockwise to clockwise when the angular velocity ω _k is switched from negative to positive. It can be detected.

Returning to FIG. 6, when the controller 400 detects that the value of the angular velocity ω _k is switched from a negative value to a positive value (step S _< b>3; ω _k ≧ 0), it is determined whether or not the flag F is zero. Is determined (step S8). Since the controller 400 substitutes zero for the flag F in the previous step S10, the controller 400 determines YES in step S4.

Next, the controller 400 performs a second control operation for controlling the swing motor 150 so that the flywheel 110 rotates counterclockwise by an angle 2 · φ _amp with respect to the virtual swing axis i-AX. This is performed (step S5). As a result, a moment M _CCW is applied around the hip joint of the user in the posture shown in FIG. 7B in a direction that prevents the right thigh CR from swinging forward.

  Next, the controller 400 substitutes 1 for the flag F (step S6), and shifts to a determination of whether to end the load control (step S7). As described above, the controller 400 gives a moment in a direction that prevents the sprinting to the user of each posture in FIGS. 7A and 7B in the process of the sprinting of the user.

  When the controller 400 detects that the operation to end the load control has been performed by the operating device 300 (step S7; YES), the controller 400 turns off the rotation motor 120 and ends the load control.

  Heretofore, the body wearing tool 600 to be worn on the right thigh CR has been described. In view of the above description, it will be understood by those skilled in the art that the body wearing device 700 shown in FIG. 1 can be similarly configured to apply a load to the reciprocating rotational motion of the left thigh CL.

  As described above, according to the present embodiment, the direction of the moment applied to the user's body can be adjusted by the swing motor 150 that swings the flywheel 110. The swing motor 150 is less susceptible to resistance caused by the flywheel 110 trying to maintain the angular momentum of rotation than the rotation motor 120. For this reason, the adjustment of the moment according to the movement of the user's body is less likely to be delayed than in the case where the direction of the moment is adjusted only by the motor 120 for rotation. Therefore, even when the user's movement is agile, such as when the user runs, the user's training can be appropriately supported.

[Embodiment 2]
In the first embodiment, the magnitude of the rotation angle around the virtual swing axis i-AX of the flywheel 110 is fixed to a predetermined value. The magnitude of the moment applied to the body by the moment generator 100 may be adjusted by variably controlling according to the above. Specific examples will be described below.

  As shown in FIG. 8, in this embodiment, the virtual rotation axis k-AX is assumed to penetrate the seated user's lumbar vertebra in the width direction of the body. The body wearing device 900 includes a main body portion 910 that generates a moment around the virtual rotation axis k-AX, and a main body portion 910 as a reciprocating rotation motion portion that can reciprocate around the virtual rotation axis k-AX. And a belt 920 attached to the chest BU.

  The moment generator 100 constituting the main body 910 includes a flywheel 110 that can swing around a virtual swing axis i-AX that extends in the front-rear direction with respect to the user, and the flywheel 110 that has a virtual swing axis i-AX. A swinging motor 150 that rotates around the motor and a rotation motor 120 that rotates the flywheel 110.

  When the rotating flywheel 110 is rotated around the virtual oscillation axis i-AX by the oscillation motor 150, a moment according to the angular velocity around the virtual oscillation axis i-AX of the flywheel 110 is It is generated around the virtual rotation axis k-AX.

  The main body 910 is also based on the measuring instrument 200 ′ that measures the rotation angle θ of the seated user's chest BU around the virtual rotation axis k-AX, and the rotation angle θ measured by the measuring instrument 200 ′. And a controller 800 for controlling the swing motor 150.

  The measuring instrument 200 'measures the rotation angle θ of the chest BU with respect to the vertically extending virtual vertical axis VL. With respect to the value of the rotation angle θ, with respect to the virtual vertical axis VL, one of the clockwise and counterclockwise directions with respect to the virtual rotation axis k-AX is positive, and the other direction is negative.

As shown in FIG. 9, the controller 800 includes a target value storage unit 810 that stores a target value θ _dv of the rotation angle θ of the chest BU, and the target value θ _dv and the rotation angle θ measured by the measuring instrument 200 ′. a comparison unit 820 for calculating a deviation theta _dv - [theta] with, so that the difference theta _dv - [theta] calculated by the comparison section 820 approaches zero, the control unit 830 for controlling the moment generator 100 as an actuator, the Have.

Specifically, the control unit 830 controls the swing motor 150 in the moment generator 100. In the present embodiment, the oscillation motor 150 can perform PWM (Pulse Width Modulation) control. Then, the control unit 830 controls the angular velocity ω _i around the virtual swing axis i-AX of the flywheel 110 according to the duty ratio duty of the pulse voltage that drives the swing motor 150.

By controlling the angular velocity ω _i around the virtual swing axis i-AX of the flywheel 110, the moment M generated around the virtual rotation axis k-AX of the body SY is adjusted. Then, as the moment M is adjusted, the rotation angle θ of the chest BU changes, and the changed value of the rotation angle θ is fed back to the comparison unit 820.

The control unit 830 again controls the duty ratio duty of the pulse voltage that drives the oscillation motor 150 so that the deviation θ _dv −θ approaches zero. In this way, feedback control is performed so that the deviation θ _dv −θ approaches zero.

Specifically, the control unit 830 performs proportional control that determines the angular velocity ω _{i of the} flywheel 110 in proportion to the deviation θ _dv −θ, and the flywheel 110 in proportion to the sum of past values of the deviation θ _dv −θ. One or more controls selected from the integral control for determining the angular velocity ω _i of the flywheel 110 and the differential control for determining the angular velocity ω _{i of the} flywheel 110 in proportion to the difference from the previous value of the deviation θ _dv −θ. Do.

Here, the previous value means a past value for one sampling period of the measuring instrument 200 ′. When performing a plurality of controls selected from proportional control, integral control, and derivative control, the angular velocity ω _i is determined by a weighted sum obtained by multiplying the determined value by each control with a gain.

In the present embodiment, the target value θ _dv is 0 [rad]. In FIG. 8, the feedback control performed by the controller 800 corrects the user's posture so that the rotation angle θ converges to 0 [rad] and the user's chest BU is positioned on the virtual vertical axis VL.

  According to the present embodiment, the moment to be applied to the user is adjusted not by the motor 120 for rotation but by the swinging motor 150, so that the moment adjustment according to the user's movement is less likely to be delayed. As a result, hunting hardly occurs in the rotation angle θ, and the user's posture can be corrected quickly.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to these. For example, the following modifications are possible.

  (1) In the first embodiment, only the swing motor 150 is controlled based on the measurement result of the measuring instrument 200, but the swing motor 150 and the rotation motor 120 are controlled based on the measurement result of the measuring instrument 200. May be. Even in such a case, the adjustment of the moment according to the movement of the body is less likely to be delayed than in the case where the direction of the moment is adjusted only by the motor 120 for rotation.

(2) In the first embodiment, in order to facilitate understanding, in FIG. 4, it is assumed that the flywheel 110 does not rotate more than 2π [rad] around the virtual swing axis i-AX. May rotate around the virtual swing axis i-AX by 2π [rad] or more. In that case, although the plus / minus direction cannot be defined for the virtual rotation axis j-AX, the direction of rotation of the flywheel 110 is specified by the direction of the angular momentum vector. If the angular momentum vector _{L j} around a virtual rotation axis j-AX flywheel 110, the angular momentum vector about a virtual pivot shaft i-AX flywheel 110 and _{L i,} the direction of _{L j} × _{L i} Is generated around the virtual rotation axis k-AX. Here, “x” represents an outer product. Therefore, the L _i, can be controlled direction and magnitude of the moment.

Further, since the generated moment is represented by a vector pointing in the direction of L _j × L _i , the virtual oscillation is generated when generating the moment around the virtual rotation axis k-AX assumed at a desired position of the body. It will be understood by those skilled in the art how the axis i-AX and the virtual rotation axis j-AX should be set.

  (3) In the first embodiment, the body wearing devices 600 and 700 give the user's body a moment that prevents the user's movement, but gives the user's body a moment that assists the user's movement. You may do it.

  (4) In the first embodiment, the measuring instrument 200 measures the angular velocity of the right thigh CR. In short, it is only necessary that the angular velocity can be specified by the measurement result of the measuring instrument 200. There is no particular limitation on what physical quantity the measuring instrument 200 measures primarily. For example, the measuring instrument 200 may measure the acceleration of the right thigh CR. Acceleration can be converted to angular velocity.

  Similarly, for the measuring instrument 200 'according to the second embodiment, it is essential that the rotation angle can be specified by the measurement result of the measuring instrument 200'. Therefore, for example, the measuring instrument 200 ′ may measure angular velocity and angular acceleration, and the rotation angle can be specified by integrating them.

  In short, the measuring instruments 200 and 200 ′ only need to measure angular velocities or rotational angles, or physical quantities that depend on the angular velocities and rotational angles.

  (5) In the first and second embodiments, the body wearing devices 600 and 900 are attached to the right thigh CR and the chest BU that reciprocally rotate in the front-rear direction for the user, respectively. It also includes torsional motion around the axis of rotation. That is, for example, the body wearing device is mounted on the trunk, capable of torsional motion around a virtual rotation axis that penetrates the user's body vertically, and applies a load to the torsional motion or assists the torsional motion. The posture may be corrected so that the twist angle converges to the target value.

  (6) In the first and second embodiments, the body wearing devices 600, 700, and 900 to be worn on the human body have been described. However, the body wearing device is used for training and assisting animals other than humans. It may be attached to the animal body.

  Various embodiments and modifications can be made to the present invention without departing from the broad spirit and scope thereof. The above embodiment is for explaining the present invention, and does not limit the scope of the present invention. The scope of the present invention is shown not by the embodiments but by the claims. Variations within the scope of the claims and equivalents thereof are considered within the scope of the present invention.

DESCRIPTION OF SYMBOLS 100 ... Moment generator, 110 ... Flywheel, 120 ... Motor for rotation, 130 ... Holding member, 140 ... Base frame, 150 ... Motor for rocking, 200, 200 '... Measuring instrument, 300 ... Controller, 400 ... Controller , 410 ... control program, 500 ... battery, 600, 700, 900 ... body wearing device, 610, 710, 910 ... body part, 620, 720, 920 ... belt, 800 ... controller, 810 ... target value storage part, 820 ... comparison unit, 830 ... control unit, k-AX ... virtual rotation axis, i-AX ... virtual oscillation axis, j-AX ... virtual rotation axis, NL ... virtual neutral line, VL ... virtual vertical axis, SY ... body, CR: right thigh (reciprocating rotary motion), CRb: back, CRf ... front, CL ... left thigh (reciprocating rotary motion), BU ... chest (reciprocating rotary motion), G ... center of gravity, φ _amp … Angle amplitude ( 1 angle, the second _{angle), M, M CW, M} CCW ... moment, omega _k ... right thigh of the angular velocity, rotation angle of theta ... chest, theta _{dv ...} target value, duty ... duty ratio.

Claims (5)

A body wearing tool attached to a reciprocating rotational motion part of the body capable of reciprocating rotational motion around a virtual rotational axis fixed to the body,
A flywheel capable of swinging around a virtual swing shaft fixed to the reciprocating rotary motion unit, a swing motor for rotating the flywheel around the virtual swing shaft, and the flywheel rotating A rotating motor that rotates, the virtual rocking shaft is in a twisted position with respect to the virtual rotating shaft, and when the flywheel that is rotating is rotated around the virtual rocking shaft, A moment generator for generating a moment according to an angular velocity around the virtual swing axis of the flywheel around the virtual rotation axis;
A measuring instrument for measuring an angular velocity or a rotational angle around the virtual rotational axis of the reciprocating rotational movement unit, or a physical quantity depending on the angular velocity and the rotational angle;
A controller for controlling at least the swinging motor among the swinging motor and the rotation motor based on the measurement result of the measuring device;
Body wearing equipment comprising. The controller is
Using the measurement result of the measuring instrument, a rotational direction determination operation for determining whether the reciprocating rotational movement unit is rotating clockwise or counterclockwise with respect to the virtual rotation axis;
During the period in which the reciprocating rotational movement portion is rotating clockwise with respect to the virtual rotation axis, the flywheel represents one of clockwise and counterclockwise rotation around the virtual swing axis. A first control operation for controlling the swing motor so as to rotate in one direction;
During the period in which the reciprocating rotational movement portion rotates counterclockwise with respect to the virtual rotation axis, the flywheel rotates around the virtual swing axis in the first direction out of clockwise and counterclockwise directions. A second control operation for controlling the swing motor so as to rotate in a second direction opposite to the first direction;
The body wearing device according to claim 1, wherein: The controller is
In the rotational direction determination operation, using the measurement result of the measuring instrument, the rotational direction of the reciprocating rotational movement unit around the virtual rotational axis is switched from clockwise to counterclockwise, and from counterclockwise. Detect that it ’s switched clockwise,
In the first control operation, when the rotation direction of the reciprocating rotational movement unit around the virtual rotation axis is switched from counterclockwise to clockwise, the flywheel is moved by the predetermined first rotation angle. Controlling the swing motor to rotate in the first direction;
In the second control, when the rotation direction of the reciprocating rotary motion unit around the virtual rotation axis is switched from clockwise to counterclockwise, the flywheel is moved by the predetermined second rotation angle. Controlling the swing motor to rotate in two directions;
The body wearing tool according to claim 2. The controller is
Using the measurement result of the measuring instrument, the swing motor is controlled so that the rotation angle around the virtual rotation axis of the reciprocating rotary motion unit approaches a predetermined target value.
The body wearing tool according to claim 1. A moment generator attached to the reciprocating rotational motion part of the body capable of reciprocating rotational motion about a virtual rotational axis fixed to the body,
A flywheel capable of swinging around a virtual swing shaft fixed to the reciprocating rotary motion unit, a swing motor for rotating the flywheel around the virtual swing shaft, and the flywheel rotating A rotating motor that rotates, the virtual rocking shaft is in a twisted position with respect to the virtual rotating shaft, and when the flywheel that is rotating is rotated around the virtual rocking shaft, A moment generator for generating a moment according to an angular velocity around the virtual oscillation axis of the flywheel around the virtual rotation axis;
To control the computer,
An acquisition function for acquiring, from the outside, an angular velocity or a rotation angle around the virtual rotation axis of the reciprocating rotary motion unit, or a physical quantity measurement result depending on the angular velocity and the rotation angle;
A control function for controlling at least the swinging motor among the swinging motor and the rotation motor based on the obtained measurement result;
A control program that realizes