JP2019040085A - Human body type dummy of pose reproduction self-contained type or pose change self-contained type - Google Patents

Abstract

To provide a human body type dummy device that has a weight, size and weight balance of each part of a human body reproduced, can correctly and objectively reproduce poses peculiar to elderly persons, and is used for an evaluation of welfare tools, care instruments, care robots and the like.SOLUTION: A human body type dummy device, which collects or evaluates data conducive to developments of devices intended for a human body, is configured to comprise: respective portion components 110 that simulate a weight and size of each portion of a human body serving as an object; a joint part 120 that variably supports and connects these components; an additional weight body 130; and a surface frame 140. By erecting a shaft body corresponding to a backbone of a portion component 110i of a back part eccentrically onto a rear side with respect to a center of a horizontal cross section of a structure of a portion component 110j of a waist part, a weight of each portion component where the weight is prone to lean forward and a weight of each portion component where the weight is prone to lean backward are balanced in a backward and forward direction. While the structure of the portion component 110i of the waist part is caused to tilt, the structure thereof is balanced backward and forward with the backbone caused to bend backward.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a human body dummy device that collects or evaluates data that contributes to the development of devices intended for the human body. For example, it is a humanoid dummy of a posture reproduction self-supporting type or a posture change self-supporting type that can reproduce and change a posture peculiar to an elderly person and can stand on its own. Here, the devices for the human body include, for example, welfare tools, nursing equipment, and nursing robots.

In recent years, in addition to existing welfare equipment and care equipment, development of robots and devices that support care for users, such as care robots, has been progressing.
With the progress of aging in recent years, securing human resources at the nursing care site has become a problem. Therefore, by using the equipment and mechanically assisting / supporting some of the daily activities such as walking, eating, bathing, transferring to a wheelchair, etc. Robots are also being developed in addition to tools and devices that increase or support care work when a caregiver cares for a cared person. Among these, the robot is sometimes called a care robot or a robot care device. In the present invention, the meaning of the term “care robot” is not limited to a so-called humanoid robot and is broadly described as a device for a human body.
In this way, nursing care robots are being developed and introduced to cope with the increase in the elderly population and the shortage of caregivers. Until now, the majority of nursing care robots have not been covered by nursing care insurance, so it has not been popularized in the field. However, in recent years there has been a policy of putting nursing care robot usage fees within the scope of nursing care insurance coverage. It has been launched.

Here, since welfare tools, care devices, and care robots are intended for application to the body of a living user, their safety and usefulness must be fully verified. In other words, in the development of welfare tools, nursing care devices, and nursing care robots, it is important to demonstrate and evaluate the behavior and durability of nursing care robots.
In order to objectively demonstrate and evaluate the movement and durability of welfare tools, nursing equipment, and nursing robots, the use of welfare tools, nursing equipment, and nursing robots is repeated, and these welfare tools, nursing equipment, and nursing care Data that contributes to robot development needs to be collected or evaluated. Although it is effective to use a monitor user that assumes an actual user for collecting and evaluating these data, it is possible to have the same user cooperate with the trial every time to evaluate a large number of devices. Not only that, but there is also data that can be evaluated by repeated operations over an enormous number of times. It is physically impossible to try welfare tools, nursing equipment, nursing robots, etc. with all the same users.

Therefore, a dummy device imitating an actual caregiver who is a user of a welfare tool, a care device, and a care robot is required.
Various dummy dolls that have been used in the field of medical and nursing care are known.

For example, a dummy doll for emergency medical training disclosed in Japanese Patent Laid-Open No. 2003-255822 as shown in FIG. 12 is known. A dummy doll for emergency medical training disclosed in Japanese Patent Application Laid-Open No. 2003-255822 as shown in FIG. 12 includes a surgical doll serving as a patient having an electrocardiogram waveform displayed on a simulated electrocardiograph, and an electrocardiogram waveform. Treatment setting means capable of setting a corresponding treatment, treatment comparison means for comparing the symptom of the electrocardiogram waveform displayed on the simulated electrocardiograph and the setting of the treatment setting means, and means for outputting the comparison result of the treatment comparison means First-aid training with a simulated defibrillator with means for recognizing the execution of simulated defibrillation when the symptoms of the electrocardiogram waveform displayed on the simulated electrocardiograph match the settings of the treatment setting means An apparatus is disclosed.
The emergency medical training dummy doll disclosed in Japanese Patent Application Laid-Open No. 2003-255822 is a doll for training a direct current energization method in an emergency response such as heart failure. The DC energization method is an emergency treatment that stops the tachyarrhythmia that the patient has fallen and restores the heart to sinus rhythm, but an emergency treatment training device with a surgical doll that allows medical personnel to train the DC energization method has been developed. ing.

Next, for example, a doll and a doll joint structure disclosed in Japanese Patent Laid-Open No. 2011-036514 as shown in FIG. 13 are known. The doll disclosed in Japanese Patent Application Laid-Open No. 2011-036514 is mainly intended to imitate the movement of a joint to the movement of a joint of a human body. It has a structure having two doll constituent parts forming a movable joint in the gap, a connecting member, and a fitting member movably fitted to the end of the connecting member. Here, a fitting member is arranged inside each doll constituent part, the fitting members are connected by a connecting member, and at least one of the fitting members is relative to the doll constituent part with the fitting member. It is possible to move. Further, the fitting member is provided with a repulsive force generation mechanism that generates a repulsive force when the doll constituent parts move in directions away from each other.
Thus, the doll disclosed in Japanese Patent Application Laid-Open No. 2011-036514 is characterized by the movement of the human body, particularly the movement of the joints.

Next, for example, a doll disclosed in Japanese Patent No. 4733215 as shown in FIG. 14 is known. The doll disclosed in Japanese Patent No. 4733215 as shown in FIG. 14 is a substantially life-sized doll part, an inclination measuring device for measuring the inclination of the doll part, and supporting the doll part movably in the vertical direction. , A load device that applies torque to allow the user who holds the doll side to experience a predetermined weight, a connecting device that connects the load device and the doll portion, and an input for inputting setting information including a weight value A side-holding motion sensation apparatus including a display unit, a display unit, an audio output unit, and a control unit. Here, the control unit controls the posture of the doll unit, generates a load on the load device based on the input weight value, outputs a predetermined sound from the audio output unit based on the tilt information from the tilt measuring device, and tilts It is a side-holding motion sensation device that outputs a side-holding motion evaluation to a display unit based on tilt information from a measuring instrument. There is also disclosed a function that includes an acceleration measuring device and outputs an evaluation of a horizontal holding motion to a display unit based on inclination information from the inclination measuring device and acceleration information from the acceleration measuring device.
This doll is a kind of sensation-type game machine, and is a doll for game machines specialized in so-called side-holding simulation.

JP 2003-255822 A JP 2011-036514 A Japanese Patent No. 4733215

Here, there are several conditions for the human body dummy for objectively demonstrating and evaluating the movement and durability of welfare tools, care devices, and care robots.
The first is that the weight and size of each part of the actual human body are simulated as a human body type dummy. Since each part part that imitates each part of the actual human body is provided, each part part, neck column body and back column body that will be used to support them instead of the skeleton, joint parts that connect them movably, etc. It is mentioned that it has.

  Second, in the human body type dummy, the weight balance of each part of the human body is reproduced. Welfare tools, care devices, and care robot users are assumed to be cared persons who are unable to walk due to weakness of their legs, etc., or are unable to stand independently, but the human body originally has a balance suitable for independent walking. . For this reason, when the care robot supports the user's body, the balance of each part that the human body originally has is affected, so it is necessary to reproduce the weight balance of each part of the human body.

The third is to accurately and objectively reproduce the postures specific to the elderly such as pelvic tilt and round back of welfare tools, care devices and care robot users in the human body type dummy.
Users of welfare equipment, care devices and care robots are assumed to be cared persons who are unable to walk due to weakness of their legs, etc., or who cannot stand on their own. It is important how the user who is in the posture to receive the care actually feels. Therefore, in order to accurately evaluate welfare tools, care devices, and care robots using a humanoid dummy, it is necessary to accurately reproduce the assumed care postures of users of welfare tools, care devices, and care robots. is there. When the posture of the human body type dummy is varied, data for verifying the safety and usefulness of welfare tools, care devices, and care robots cannot be objectively obtained.

Fourth, the human body type dummy can take a self-supporting posture.
As a user of welfare equipment, nursing care equipment and nursing care robots, it is assumed that caregivers are unable to walk due to weakness of their legs, etc., or are unable to stand on their own. There are many users who need nursing care for their behavior, and it can be fully assumed that the posture when receiving nursing care is independent while the waist is bent. Therefore, in many cases, human body dummies that evaluate welfare equipment, nursing care devices, and nursing robots are required to be able to take an independent posture without support.
Therefore, in order to objectively verify and evaluate the movement and durability of welfare tools, care devices, and care robots, a humanoid dummy that satisfies the above conditions is required.

However, in the prior art, there is currently no human body type dummy suitable for verifying the safety and usefulness of welfare tools, care devices, and care robots.
The dummy doll for emergency medical training disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 2003-255822 shown in FIG. 12 is specialized for a doll for training a direct current energization method in emergency response such as heart failure. The operation doll is also equipped with a function that is useful for medical personnel in training the direct current energization method. The care robot does not give emergency medical care to the user, and is not suitable for evaluating the intended care support function.
The weight and size of each part of the human body as a humanoid dummy are not simulated, the weight balance of each part of the human body is not reproduced, and the posture when receiving care as a humanoid dummy is accurate and objective It is not something that can be reproduced. For this reason, the emergency medical training dummy doll disclosed in Japanese Patent Laid-Open No. 2003-255822 is a humanoid dummy suitable for verifying safety and usefulness of welfare tools, care devices, and care robots. Is not available.

  Next, the doll disclosed in the above Japanese Patent Application Laid-Open No. 2011-036514 shown in FIG. 13 is specialized in that the movement of the joint can simulate the movement of the joint of the human body. The doll constituent parts are connected to each other via a fitting member and a connecting member, and a bending motion imitating a joint of a human body can be performed. However, the doll disclosed in Japanese Patent Application Laid-Open No. 2011-036514 can simulate a joint, but does not show a means for making the bending posture of the joint objective and the like and cannot reproduce the same posture. . In other words, the posture at the time of receiving care as a human body type dummy cannot be accurately and objectively reproduced. Moreover, it is specialized in joints, and as a human body type dummy, there is no mention of simulating the weight and size of each part of the human body and simulating the weight balance of each part of the human body. Moreover, nothing is disclosed about the device for balancing each part so that it can become independent without support.

  Next, a doll disclosed in Japanese Patent No. 4733215 shown in FIG. 14 is a doll for a game machine specialized in so-called side-holding simulation as a kind of sensation-type game machine. The doll disclosed in Japanese Patent No. 4733215 is a simulation of a case in which a user is held by a care robot, although it reproduces the size when holding a woman sideways, the weight on the arm of the hug, etc. Although it may be possible to some extent, no means for objectively expressing the bending posture of the joint is shown, and the same posture cannot be reproduced. In addition, nothing is disclosed about postures other than side-holding. In other words, postures that can be variously assumed when receiving care as a humanoid dummy cannot be accurately and objectively reproduced. Moreover, since it is assumed that the holding is horizontal, it is not assumed to be independent at all. That is, Japanese Patent No. 4733215 does not disclose any device for balancing each part so that the doll can stand on its own without support.

  Therefore, the present invention has been made in view of the above problems, and is required to provide a humanoid dummy suitable for verifying the safety and usefulness of welfare tools, care devices, and care robots. The condition, that is, the weight and size of each part of the human body as a humanoid dummy is simulated, the weight balance of each part of the human body is also reproduced, and the posture when receiving care as a humanoid dummy is accurately and objectively reproduced An object of the present invention is to provide a human body type dummy device that satisfies various conditions that a device for balancing each part is incorporated so that it can stand on its own without support.

In order to achieve the above object, the present invention is a humanoid dummy device that collects or evaluates data that contributes to the development of devices intended for the human body, and the weight and size of each part of the target human body. It is the structure provided with each site | part part which imitated, and the joint part which supports and connects them movably.
With the above configuration, the weight and size of each part of the human body as the human body type dummy can be simulated, and the weight balance and the center of gravity balance of each part of the human body can also be reproduced.

Here, in the human body type dummy device, a shaft corresponding to the spinal column of the part part corresponding to the back part is erected on the rear side with respect to the center of the horizontal section of the structure of the part part corresponding to the waist part. Thus, the weight of each part part that is likely to be heavy on the front side and the weight of each part part that is likely to be heavy on the back side are balanced in the front-rear direction.
In the human body type dummy device, the structure of the part part corresponding to the lumbar part is inclined, while the shaft corresponding to the spinal column is bent forward or imitating a bow or a bow to be balanced in the front-rear direction It is also preferable to do.

  With the above configuration, the shaft corresponding to the spinal column is intentionally shifted to the rear side, so that the load applied to the front side and the load applied to the rear side are dispersed with respect to the center of the lumbar region. As a result, the effect of facilitating stability in the front and rear is obtained, and it becomes easy to balance each part so that it can stand on its own without support.

  As each part part, for example, the head, neck part, shoulder part, upper arm part, forearm part, hand part, chest part, abdominal part, back part, waist part, thigh part, thigh part part part part Can be. If there are parts for each part, it is possible to collect or evaluate data in consideration of each part of the human body of the user who uses the welfare tool, the care device, and the care robot.

Next, the joint part will be described.
The joint portion includes at least two relative sliding or relative rotating members, the reference positions of the joint members are fixed, the angle is variable by relative sliding or rotating, and It is a stepless change that does not fix the angle of movement or rotation, or an adjustment mechanism that can be fixed by adjusting to a plurality of predetermined angles, and depending on the predetermined posture to be taken at the time of data collection or evaluation, the member of the joint part By adjusting the relative sliding or rotating angle of each other with an adjusting mechanism, the posture of each part part can be reproduced substantially accurately.
According to the above configuration, the posture of each part part is substantially accurately adjusted by adjusting the relative sliding or rotation angle between the members of the joint portion with the adjusting mechanism according to the predetermined posture to be taken at the time of data collection or evaluation. It can be reproduced, and the posture when receiving care as a humanoid dummy can be accurately and objectively reproduced.

For example, as an adjustment mechanism, the angle of relative sliding or relative rotation with respect to a reference position can be adjusted and fixed to a plurality of predetermined angles, and the two members of the joint portion are coaxial at the center. In the case where the plate-like body is on and one of the plates rotates relative to the other with the axis as the rotation axis, holes are provided in increments of 22.5 degrees on the circumference, Assume that the other side of the plate-like body is provided with holes in increments of 40 degrees on the circumference, and the adjusting mechanism is relatively slid or rotated at a position where one of the holes in the two plate-like bodies overlaps. Is preferably fixed.
By the said structure, it can adjust to the angle of 5 degree | times.

In particular, with regard to the part parts of the shoulder, in order to improve the reproducibility of the posture of the shoulder of the user who uses the welfare tool, the care device, and the care robot, the directions in which the rotation can be adjusted are varied.
First, there are two joints at the connection between the chest part and the shoulder part. The first joint part includes a cylindrical cylinder whose members are arranged in a substantially vertical direction and a rotational axis of the cylindrical cylinder. The part part of the shoulder part is centered on the rotational axis of the cylindrical cylinder with respect to the part part of the chest part. It can be rotated in a horizontal plane. Reproduce the so-called “shoulder shoulder”. The second joint part has two disk members facing each other, and the angle is variable by relative sliding or rotation, and the shoulder part part is perpendicular to the chest part part. Can be rotated within. Reproduces the so-called “rotating motion of the arm back and forth”.

Furthermore, there are two joints at the connection between the shoulder part and the upper arm part. The first joint part is a cylindrical cylinder having a rotational axis arranged in the front direction, and the part part of the entire arm is rotatable about the rotational axis of the cylindrical cylinder with respect to the part part of the shoulder part. . Reproduces the so-called “raising and lowering the arms laterally”. The second joint part has two discs facing each other and the rotation axis thereof is arranged substantially vertically. The part part of the upper arm part rotates in the horizontal plane with respect to the part part of the shoulder part. It is possible to move. Reproduces the so-called “twist of arm from shoulder”.
In this way, by providing four rotating parts around the part of the shoulder part, it is possible to reproduce the posture of turning the shoulder, turning the arm, and further so-called shoulders. .

Next, in order to improve the reproducibility of the posture from the chest to the abdomen of the user who uses the care robot, the positions and the number of joints from the chest to the abdomen are varied. The joint part is provided in the direction of bending in the front-rear direction at the joint between the chest part part and the abdominal part part, and at least one joint part is provided in the abdomen part part in the direction of bending in the front-rear direction. In this case, it is possible to reproduce a posture that is curled forward with a so-called rounded back.
Moreover, in order to improve the reproducibility of the posture of the user who uses the nursing robot from the abdomen to the waist, the positions and number of joints from the abdomen to the waist are varied. As described above, at least one joint part is provided in the abdominal part part so as to bend in the front-rear direction, and further in the direction bent in the front-rear direction at the joint between the abdominal part part and the waist part part. If the joint portion is provided, a so-called bent posture can be reproduced.

Next, adjustment of the weight balance of each part part of the human body type dummy apparatus of the present invention will be described.
There is a device for supplying an additional weight body that can be individually attached to each part of the human body. By attaching the additional weight body, it is possible to easily balance the weight and the size.
As an example of the additional weight body, if it is attached to the shaft body of the part part, it is a disc body provided with a notch for receiving the shaft body, and its weight is known as 500 g, 1 kg, 3 kg, 5 kg, etc. There is a weight that is heavy.
Further, as an example of the additional weight body, there is a weight body having a known weight such as a belt-like belt body wound around the outer surface of the part part and having a weight of 500 g, 1 kg, 3 kg, 5 kg or the like.

Next, the frame body that can be individually attached to each part of the human body will be described.
The frame body imitates the outer surface of the human body, and the outline of the outer surface of the human body can be substantially reproduced by attaching the frame body to the surface of each part part. When a care robot touches the user's human body, the user's body is touched. Therefore, if the outline of the outer surface of the human body can be roughly reproduced, the safety and usefulness of the care robot etc. can be improved. Useful for verification.

According to the human body type dummy according to the present invention, conditions required to provide a human body type dummy suitable for verifying the safety and usefulness of welfare tools, care devices, and care robots, that is, human body types The weight and size of each part of the human body as a dummy is simulated, the weight balance of each part of the human body is reproduced, the posture when receiving care as a human body type dummy can be accurately and objectively reproduced, and it can stand on its own without support Thus, it is possible to satisfy various conditions that a device for balancing each part is incorporated.
By intentionally shifting the shaft corresponding to the spinal column to the back side, the load applied to the front side and the load applied to the back side are dispersed with respect to the center of the lumbar region. The effect of facilitating stability in the front-rear direction is obtained, and it becomes easy to balance each part so that it can stand on its own without support.

It is a figure which shows simply the structure of the human body type dummy apparatus 100 which concerns on Example 1 of this invention. FIG. 2 is a view showing the surface of the human body dummy device 100 shown in FIG. It is the figure which removed the additional weight body 130 from the human body type | mold dummy apparatus shown in FIG. 2, and exposed the site | part part 110 and the joint part 120 inside. It is the figure (the 1) explaining relative sliding or relative rotation by the joint part 120, and control of the angle. It is the figure (the 2) explaining the relative sliding or relative rotation by the joint part 120, and control of the angle. It is a figure explaining the motion of the joint part 120 applied to the arm part (upper arm part, forearm part, hand part) from the head to the shoulder part. It is a figure explaining the motion of the joint part 120 hung on the chest, abdomen, back, and waist. It is a figure explaining a motion of joint part 120 of a lower half. In human body type dummy device 100, it is a figure explaining the device which balances in the front-back direction and becomes easy to become independent. It is a figure which shows a mode that the structure of the lumbar part part 110j was inclined, and the shaft of the back part part 110i was bent forward like a bow. Examples of various postures reproduced by the human body type dummy apparatus 100 are shown. It is a figure which shows the dummy doll for emergency medical training disclosed by the prior art (Unexamined-Japanese-Patent No. 2003-255822). It is a figure which shows the joint structure of the doll and the doll disclosed by the prior art (Unexamined-Japanese-Patent No. 2011-036514). It is a figure which shows the doll disclosed by the prior art (patent 4733215 gazette).

The human body type dummy device of the present invention is to verify or evaluate the operation of devices intended for the human body and collect or evaluate data contributing to development. Examples of target devices include welfare tools, nursing equipment, and nursing robots.
Hereinafter, embodiments of the human body type dummy apparatus of the present invention will be described with reference to the drawings.

As a first embodiment, a basic configuration of a human body type dummy device of the present invention will be described.
FIG. 1 is a diagram simply showing the structure of a human body type dummy apparatus 100 according to Embodiment 1 of the present invention. FIG. 1A is a front view and FIG. 1B is a side view.
FIG. 2 is a view showing the surface of the human body dummy device 100 shown in FIG. 1 with the attached surface frame 140 removed.
2A is a front view, and FIG. 2B is a rear view.
FIG. 3 is a view showing the human body type dummy device shown in FIG. 2 (with the surface frame 140 removed) by removing the additional weight body 130 and exposing the internal part part 110 and the joint 120. is there.
3A is a front view, and FIG. 3B is a rear view.

As shown in FIGS. 1 to 3, the human body type dummy device 100 has a structure including a part part 110, a joint part 120, an additional weight body 130, and a surface frame 140.
The surface frame 140 is a frame body that can be individually attached to each part part 110 of the human body. By attaching the frame body, the outline of the outer surface of the human body is substantially reproduced.
In the configuration example shown in the first embodiment, the surface of the human body type dummy device 100 is covered with the surface frame 140. As shown in FIG. 1, the outer shape of the human body is generally imitated smoothly with the front frame 140 attached.

  FIG. 2 is a view showing a state in which the surface frame 140 is removed from the outer surface of the human body type dummy device 100, and is attached to the part part 110, the joint part 120 that supports and connects the part part 110, and the part part 110. The additional weight body 130 is exposed.

  The part part 110 is a member of each part of the human body, and imitates the weight and size of the actual part of the human body. The level of simulation of the weight and size varies depending on the relative weight and size of devices such as nursing robots on which the human body type dummy device 100 conducts verification tests, and the measurement accuracy of data necessary for evaluation. However, there are many cases where the weight and size of the human body are generally simulated.

The configuration of the site part 110 differs depending on whether the human body type dummy device 100 is a whole body type or a partial type, but here, it will be described as a whole body type. In the case of the whole body type, the part parts 110 include at least parts of the head, neck, shoulder, upper arm, forearm, hand, chest, abdomen, back, waist, thigh, lower leg, and foot. Can be assumed.
In the configuration example of FIG. 2, the head part part 110a, the neck part part 110b, the shoulder part part 110c, the upper arm part part 110d, the forearm part part 110e, the hand part part 110f, the chest part part 110f, A part part 110g, an abdominal part part 110h, a back part part 110i, a waist part part 110j, a thigh part part 110k, a crus part part 110m, and a foot part part 110n are shown. These head part parts 110a to foot part parts 110n are supported and connected by joints 120 as described later.
The size and weight of each part part simulates the size and weight of each part of an actual human body. Note that as will be described later, when the surface frame 140 is mounted, the outer diameter of the human body dummy device 100 when handled by a care robot or the like is the outer diameter after the surface frame 140 is mounted. is necessary.

Next, the additional weight body 130 will be described.
The additional weight body 130 can be individually attached to each part part 110 of the human body. By attaching the additional weight body, the weight of each part part 110 of the human body can be adjusted, or between each part part 110 of the human body. It is easy to balance.
FIG. 2 is a view showing a state in which the surface frame 140 is removed from the human body type dummy apparatus 100, and the attached additional weight body 130 can be seen.
In FIG. 2, the additional weight body 130 is hatched so as to be easily understood. Here, by adjusting the size (weight) and the number of the additional weights 130 to be attached to the part parts 110, the weight of each part part 110 of the human body is adjusted, and the balance between the part parts 110 of the human body is taken. be able to.

For example, when assuming a user with a body weight of 60 kg, the size (weight) and the number of additional weight bodies 130 to be attached to the part parts 110 may be adjusted so that the total weight becomes 60 kg. When assuming a user with a body weight of 75 kg, the size (weight) and the number of additional weight bodies 130 to be attached to the part parts 110 may be adjusted so that the total weight becomes 75 kg. Similarly, the assumed weight of the user can be reproduced freely by adjusting the size (weight) and the number of additional weights 130.
FIG. 3 is a view showing a state in which the surface frame 140 and the additional weight body 130 are removed from the outer surface of the human body type dummy apparatus 100, and the part parts 110 and the joint portion 120 that supports and connects them are exposed. It has become.

Next, the joint part 120 will be described.
The joint 120 is a structure that supports and connects the part parts 110 to each other.
The joint 120 has a structure including at least two members that perform relative sliding or relative rotation, and the positional relationship between the two changes due to relative sliding or relative rotation. Furthermore, the structure is provided with an adjustment mechanism that can be fixed in a stepless manner in which the angle of relative sliding or relative rotation is not fixed or adjusted to a plurality of predetermined angles.

4 to 5 are diagrams for explaining the relative sliding or relative rotation and the control of the angle by the joint portion 120.
The members of the joint part 120 may have various structures as long as the members slide or rotate relative to each other.
The configuration example of the joint portion 120a shown in FIG. 4A is an example in which two plate-like bodies face each other and slide or rotate relative to each other.
In the example of Fig.4 (a), the joint part 120 is a thing of the substantially same size with which the two plate-shaped bodies faced rotatably. Further, the center of the inner plate-like body and the outer plate-like body is coaxial, and at least one of them rotates with its axis as the rotation axis.

The configuration example of the joint portion 120b shown in FIG. 4B is an example in which the plate-shaped body faces the cylindrical cylinder body and the upper end surface and the lower end surface thereof and is relatively slid or rotated. ing.
In the example of FIG. 4B, the joint portion 120 has substantially the same size in which the diameter of the cylindrical cylinder body and the diameter of the plate-like body face each other in a rotatable manner, and the rotation axis is coaxial. It has a structure in which at least one of them is rotated with the axis as a rotation axis.
Both the joint 120a shown in FIG. 4A and the joint 120b shown in FIG. 4B rotate a predetermined angle from the reference position by relative sliding or relative rotation. ing.

FIG. 4C and FIG. 4D are diagrams for explaining a reference position related to relative sliding or relative rotation between the members of the joint portion 120.
As shown in FIG. 4C, in this example, the left plate-like body is an example in which alphabet symbols are provided at positions where the circumference from A to P is divided into 16 equal parts. That is, the mark is provided at a position where the circumference is in steps of 22.5 degrees. Further, the right plate is provided with a hole at a position where the circumference is divided into nine equal parts from 0 to 8. That is, the hole is provided at a position where the circumference is set to 40 degrees.

A reference position for relative sliding or relative rotation between the members of the joint 120 is determined. Here, the reference position is a positional relationship in which the position of the hole “0” of the other plate-like body overlaps the position of the alphabet symbol “A” of one plate-like body. FIG. 4D is a diagram illustrating a state in which the right plate-like body is placed on top of each other. As shown in FIG. 4D, the alphabet symbol “A” is visible in the hole “0”. Note that the letter “J” is visible in the hole “5”. This is the reference position. Even though the alphabet symbols are visible under the other holes, they are partially missing and are not visible in the front.
If a relative angle between the two parts is fixed in a state where a desired angle is relatively slid or rotated relative to this reference position and a certain hole is overlapped with a certain hole, the position between each part part 110 is fixed. The relationship can be adjusted objectively, and the posture of the humanoid dummy device 100 can be objectively reproduced.

FIG. 5 illustrates an example in which angle adjustment is performed as an example.
FIG. 5A shows a positional relationship in which the alphabets “C” and “L” of the other plate-like body overlap with the positions of the holes “1” and “6” of one plate-like body. ing. This positional relationship is such that 22.5 degrees on one plate is in increments of 2, that is, 45 degrees, and 40 degrees on the other plate is in increments of 1, that is, 40 degrees. The relative rotation angle between the two is 5 degrees.

  FIG. 5B shows a positional relationship in which the alphabets “E” and “N” of the other plate-like body overlap with the positions of the holes “2” and “7” of one plate-like body. This position relationship is such that 22.5 degrees in one plate-like body is in 4 steps, that is, 90 degrees, and 40 ° in the other plate-like body is in 2 steps, that is, 80 degrees. The relative rotation angle between the two is 10 degrees.

  FIG. 5C shows a positional relationship in which the alphabets “G” and “P” of the other plate-like body overlap with the positions of the holes “3” and “8” of one plate-like body. This position relationship is such that 22.5 degrees on one plate is in 6 increments, that is, 135 degrees, and 40 degrees is in 3 increments on the other plate, that is, 120 degrees. The relative rotation angle between the two is 15 degrees.

  FIG. 5D shows a positional relationship in which the alphabetic symbols “I” and “B” of the other plate-like body overlap with the positions of “4” and “0” of one plate-like body. In this positional relationship, the position of 22.5 degrees in one plate is 8 steps, that is, 180 degrees, and the position of 40 degrees is 4 steps in the other plate, that is, 160 degrees. The relative rotation angle between them is 20 degrees.

  FIG. 5E shows a positional relationship in which the alphabetical symbols “K” and “D” of the other plate-like body overlap with the positions of the holes “5” and “1” of one plate-like body. The relative rotation angle between them is 25 degrees. FIG. 5 (f) shows the positional relationship in which the alphabets “M” and “F” of the other plate-like body overlap with the positions of the holes “6” and “2” of one plate-like body. The relative rotation angle between them is 30 degrees.

Similarly, if the difference between the two is adjusted using the adjustment mechanism, the adjustment can be made from 0 degrees to 360 degrees in steps of 5 degrees.
By setting the relative positional relationship between the part parts via the joint portion 120 by the adjusting mechanism, the posture of the entire human body type dummy device 100 can be substantially accurately reproduced. If the posture of the entire human body type dummy device 100 is reproduced approximately accurately, a predetermined posture to be taken at the time of data collection or evaluation in a verification test of a nursing robot or the like can be accurately controlled.

Next, an example of posture control of the human body type dummy device 100 via the joint portion 120 will be described.
FIG. 6 is a diagram for explaining the movement of the joint 120 from the head to the shoulder and further to the arm (upper arm, forearm, hand).
FIG. 6A is a diagram illustrating an example of movement from the head to the shoulder.
As shown in FIG. 6 (a), the joint part 120 between the head part part 110a and the neck part part 110b is a joint part of the type shown in FIG. 4 (b), and its rotation axis faces the front. It is an example of being arranged in the state. This joint 120 enables the so-called “head tilting operation”. The joint part 120 between the neck part part 110b and the shoulder part part 110c is a joint part of the type shown in FIG. 4A, and is arranged in a state in which the rotation axis is oriented in the vertical direction. It has become a thing. A so-called “left and right neck swinging operation” is enabled by the action of the joint portion 120.

FIGS. 6B, 6C, and 6D are diagrams illustrating examples of movements from the vicinity of the shoulder portion to the vicinity of the arm portion (upper arm portion, forearm portion, hand portion).
In this configuration example, four joint portions 120 are provided to reproduce the movement near the shoulder.
As the first (1) of the four joints that reproduce the movement near the shoulder, as shown in FIG. 6B, the shoulder part 110c is the joint between the chest part 110g. Reference numeral 120 denotes a joint portion of the type shown in FIG. 4B, and the rotation axis thereof is arranged vertically. The action of the joint 120 enables a so-called shoulder-shrinking operation.

  Of the four joints that reproduce the movement near the shoulder (2), the upper part of FIG. 6C and the upper left part of FIG. There is a relatively large plate-shaped joint 120 between the part parts 110d. The joint 120 is of the type shown in FIG. 4A and is arranged with its rotation axis facing the chest. The action of the joint 120 enables a so-called “motion of swinging the arm back and forth”.

  Of the four joints that reproduce the movement near the shoulder (3), the upper part of FIG. 6C and the upper center of FIG. There is a cylindrical joint 120 between the part parts 110d. The joint 120 is of the type shown in FIG. 4B and is arranged with its rotation axis facing the front side. The action of the joint 120 enables a so-called “operation to open and raise the arm laterally”.

  As the fourth (4) of the four joints that reproduce the movement in the vicinity of the shoulder, the part corresponding to the so-called biceps in the part part 110d of the upper arm is also of the type shown in FIG. The joint 120 is disposed with its rotation axis vertical. This reproduces the movement of twisting the entire arm from the shoulder.

  Next, in order to reproduce the movement of the elbow, the joint 120 of the type shown in FIG. 4B is also provided on the portion corresponding to the elbow between the upper arm part part 110d and the forearm part part 110e. The rotating shaft is disposed horizontally and horizontally.

  Next, in order to reproduce the movement of the wrist, a joint part 120 of the type shown in FIG. 4B is arranged in the forearm part part 110e so that its rotation axis is vertical, and the part of the forearm part. A joint 120 of the type shown in FIG. 4 (b) is disposed between the part 110e and the hand part 110f so that its rotation axis is directed to the front, and performs operations such as wrist turning and wrist twisting. It has been reproduced.

Next, the movement of the joint 120 on the chest, abdomen, back and waist will be described.
FIG. 7 is a diagram for explaining the movement of the joint 120 on the chest, abdomen, back, and waist.
In FIG. 7, in order to make the movement easy to understand, the display of members not related to movement such as the chest part part 110 g and the abdominal part part 110 h is omitted, and the shaft member corresponding to the spine of the back part part 110 i and the joint part are omitted. 120 is shown in the center.

FIG. 7A shows an upright state.
On the center side, there is a joint 120b between the upper member and the lower member of the back part part 110i, and this joint 120b is of the type shown in FIG. It is what was arranged in the state. In FIG. 7B, a so-called “operation of bending the chest and abdomen back and forth” is possible by the action of the joint portion 120.

Similarly, on the lower side of FIG. 7C, there are two joint portions 120 that reproduce the movement of the waist.
Of the two, the upper joint part 120b is located between the back part part 110i and the waist part part 110j. This joint part 120 is of the type shown in FIG. It is what is arranged in the state suitable for. The action of the joint portion 120 enables a so-called “operation to bend the waist back and forth”.

  Of the two, the lower joint part 120 is provided in the waist part part 110j, and is disposed in a state in which the rotation axis faces the vertical direction in the type shown in FIG. It has become a thing. A so-called “operation for turning the upper body” is enabled by the action of the joint 120.

  Although not provided in this configuration example, it is possible to provide a third joint as a joint that reproduces the movement of the waist. This is because a relatively large joint 120 of FIG. 4B type is arranged in the waist part part 110j so that the rotation axis thereof is directed in the front direction. "Body-side bending motion" can be reproduced.

Next, the movement of the joint 120 of the lower body will be described.
FIG. 8 is a view for explaining the movement of the joint 120 of the lower body.
As shown in the upper side of FIGS. 8A and 8B, three joint portions 120 are provided near the upper portion in order to reproduce the movement of the hip joint.

  The first of the three is shown by (1) in the vicinity of the upper side of FIG. 8 (b). FIG. 4 (a) is relatively large between the waist part part 110j and the thigh part part 110k. The joint portion 120b of the type shown in FIG. The rotating shaft is disposed horizontally and facing in the lateral direction. A so-called “foot kicking-out operation” is possible by the relative sliding or relative rotation around the rotation axis by the action of the joint portion 120b.

  The second of the three is indicated by (2) in the vicinity of the upper side of FIG. 8B, and is provided between the waist part part 110j and the thigh part part 110k in FIG. 4B. The joint portion 120b of the type shown in FIG. The rotating shaft is arranged with the front facing. A so-called “leg opening operation” is enabled by the action of the joint portion 120b.

  The third of the three is shown by (3) near the upper side of FIGS. 8 (a) and 8 (b), and is shown in FIG. 4 (a) provided in the part part 110k of the thigh. Type of joint 120a. The rotating shaft is arranged in a state of being oriented vertically. The action of the joint 120 enables so-called “foot rotation and twisting operations”. In the actual human body, there is no joint that can be rotated inside the thigh, but in this example, a member corresponding to the joint is provided inside the part part 110k of the thigh due to the structure.

  Next, the joint 120 that reproduces the knee movement will be described. As shown in FIG. 8 (b), there is a knee joint 120b between a thigh part part 110k and a crus part part 110m, and its rotation axis is horizontal and oriented in the lateral direction. It is possible to reproduce the so-called “knee bending”.

Next, the joint part 120 for reproducing the movement of the ankle will be described.
As shown in FIGS. 8A and 8B, three joints 120 for reproducing the movement of the ankle are provided.

  The first of the three is indicated by (1) near the lower side of FIGS. 8 (a) and 8 (b), between the lower leg part part 110m and the foot part part 110n. It is a joint part 120a at the ankle. The rotation axis is arranged so as to face the vertical direction, and so-called “ankle turning operation” can be reproduced.

  The second of the three is shown by (2) near the lower side of FIG. 8 (a). The joint part 120 of the type shown in FIG. is there. There is one in which the rotation axis is arranged in a direction facing the front, so that a so-called “ankle twisting operation” is reproduced.

  The third of the three is shown by (2) near the lower side of FIG. 8 (a). The joint part 120 of the type shown in FIG. is there. Some of the rotating shafts are horizontal and arranged in a horizontal direction, and reproduce the so-called “operation of bending and stretching an ankle”.

The above is a simple description of the joint portion 120.
It should be noted that the reproduction of what is flexible and can be freely bent in multiple directions, such as an actual human shoulder joint, hip joint, and ankle joint, can be a so-called ball joint system, and a mechanical structure such as a bearing shaft is also possible. Here, as described with reference to FIG. 5, since the example is configured using the joint portion 120 that is easy to be quantified in order to correctly reproduce the posture of each part of the human body type dummy device 100, a part of actual For convenience, the joint portion 120 is provided in a portion that does not exist in the human body, but the structure and arrangement position of the joint portion can be designed as appropriate.

Next, a device for facilitating the human body type dummy device 100 to become independent will be described.
FIG. 9 is a diagram for explaining a device for facilitating self-supporting by balancing in the front-rear direction in the human body type dummy device 100.
In the human body type dummy device 100, in order to balance in the front-rear direction, and particularly in the front-rear direction of the upper body, the joint S of the shaft body corresponding to the spine of the back part part 110i and the structure part of the waist part part 110j. On the other hand, it is necessary to balance the weight moment of each part part that takes weight on the front side and the weight moment of each part part that takes weight on the rear side. Here, the chest part part 110g and the abdominal part part 110h are located in front of the body and tend to increase the weight moment applied to the front, and the head part part 110a, neck part part 110b, The shoulder part part 110c, the upper arm part part 110d, the forearm part part 110e, and the hand part part 110f are located slightly in front of the body when the elderly person's posture is reproduced. The weight moment applied to the front with respect to S tends to increase. On the other hand, the back side of the back part part 110i and the back side of the waist part part 110j have no joints, and a space for mounting the additional weight body 130 can be secured to some extent.

  Therefore, as a device, as shown in FIG. 9, a shaft corresponding to the spinal column of the back part part 110i is erected on the back side with respect to the center of the horizontal section of the structure of the waist part part 110j. Make it eccentric. The eccentric part 130g is attached to the front side of the chest part part 110g, the abdominal part part 110h, and the waist part part 110j on the front side, and the back part part 110i on the back side. Additional weights 130 are also attached to the back side of the waist part parts 110j. In this way, by attaching the additional weight body 130 both on the front and rear sides, the weight on the front side is increased with respect to the joint portion S of the shaft body corresponding to the spinal column of the back part part 110i and the structure part of the waist part part 110j. The weight moment of each part part to be applied and the weight moment of each part part to which the weight is applied to the back side are created and balanced. This means that a kind of “Yajirobe” effect has occurred. In other words, compared to the case where there is no additional weight 130 on one of the front and rear sides, it is easier to stabilize when the additional weight 130 is present on both sides, and the shaft corresponding to the spinal column of the back part 110i is eccentric to the rear side. As a result, it becomes easier to balance each part part in the front-rear direction.

  Further, assuming that the user is an elderly person, there is a need to reproduce a self-supporting posture while reproducing a so-called bent posture in the humanoid dummy device 100. While the structure of the part 110j is inclined in the front-rear direction, the shaft body corresponding to the spinal column of the part part 110i in the back part can be devised to be bent forward so as to form a bow and balanced in the front-rear direction.

FIG. 10 is a view showing a state in which the structure of the waist part part 110j is inclined backward, and the shaft corresponding to the spine of the back part part 110i is bent forward so as to form a bow.
As shown in FIG. 10A, the structure of the waist part part 110j is tilted forward. The posture in which the pelvic angle is tilted back and forth in this way is a posture often seen by a person with an elderly back bent. Since a user using a care robot or the like is assumed to be such an elderly person with a bent back, it is important to reproduce the posture in which the pelvis is tilted forward and backward in the human body type dummy device 100.
FIG. 10B and FIG. 10C are diagrams simply showing the connection relationship of the respective part parts 110 of the human body type dummy apparatus 100. FIG. 10B shows a standing posture, and FIG. 10C shows a sitting posture. In the sitting position, the posture is slightly corrected by the chair, but the posture may be adjusted on the assumption that the waist tends to be bent.

FIG. 11 shows examples of various postures reproduced by the human body type dummy apparatus 100.
The human body type dummy device 100 of the present invention can reproduce various postures as shown in FIG. 11 by adjusting the joint portion 120, and the difference in individual differences in the bending of the back and the anteroposterior tilt of the pelvis that are often seen in the elderly. It can be seen that various postures can be reproduced with consideration.

  As mentioned above, although the preferred example in the example of composition of the human body type dummy device of the present invention was illustrated and explained, it is understood that various changes are possible without departing from the technical scope of the present invention. Let's go.

  The humanoid dummy device of the present invention can be applied to a humanoid dummy device that collects or evaluates data that contributes to the development of devices intended for the human body. Examples of devices intended for the human body include welfare equipment, nursing equipment, and nursing robots. It can be provided as a humanoid dummy device for collecting or objectively evaluating data that contributes to the development of welfare equipment, nursing equipment and nursing robots.

100 Human body type dummy device 110 Part parts 120 Joint part 130 Additional weight body 140 Surface frame

Claims (10)

A humanoid dummy device that collects or evaluates data that contributes to the development of devices intended for the human body,
Each part part simulating the weight and size of each part of the target human body, and a joint part that supports and connects them movably,
By placing a shaft corresponding to the vertebral column of the part part corresponding to the back on the center of the horizontal section of the structure of the part part corresponding to the waist part, it is easy to apply weight to the front side. A humanoid dummy device characterized by being able to stand in a variety of postures and independence by balancing the weight of each part part with the weight of each part part that tends to be heavy on the back side in the front-rear direction.   The structure of the part parts corresponding to the pelvis is inclined in the front-rear direction, and the shaft body corresponding to the spine is balanced in the front-rear direction while bending forward like a bow or bow. The human body type dummy device according to claim 1.   Each of the part parts includes at least part parts of the head, neck, shoulder, upper arm, forearm, hand, chest, abdomen, back, waist, thigh, lower leg, and foot. The human body type dummy device according to claim 1 or 2. The joint portion includes at least two members that perform relative sliding or relative rotation, a reference position between the members of the joint portion is determined, and the angle is variable by the relative sliding or the relative rotation. And an adjustment mechanism that can be fixed steplessly or adjusted to a plurality of predetermined angles unless the relative sliding or relative rotation angle with respect to the reference position is fixed,
The position of each part part is adjusted by adjusting the relative sliding or relative rotation angle between the members of the joint portion with the adjusting mechanism according to a predetermined posture to be taken at the time of collecting or evaluating the data. The human body type dummy device according to any one of claims 1 to 3, wherein the human body type dummy device can be reproduced substantially accurately. The adjustment mechanism is capable of fixing the relative sliding or relative rotation angle with respect to the reference position by adjusting the angle to a plurality of predetermined angles,
The two members of the joint part are plate-like bodies whose centers are on the same axis, and one of the plate-like bodies rotates with respect to the other with the shaft as a rotation axis. Holes are provided in increments of 22.5 degrees, and the other of the plate-like bodies is provided with holes in increments of 40 degrees on the circumference.
The said adjustment mechanism fixes the said relative sliding or the said relative rotation in the position where either of the said holes of the said 2 plate-shaped body overlapped, The said relative rotation is characterized by the above-mentioned. Human body type dummy device. There are four joint parts related to reproduce the movement in the vicinity of the shoulder part in the vicinity of the part part of the shoulder part and the part part of the chest part and the part part of the upper arm part before and after the part part.
The first joint portion includes a cylindrical cylinder and a disk corresponding to an end face of the cylindrical cylinder, the angle of which is variable by the relative sliding or the relative rotation, and the rotation axis thereof is arranged in a substantially vertical direction. It is possible to reproduce the so-called shoulder squeezing motion,
The second joint portion is arranged such that two disc bodies face each other and the angle is variable by the relative sliding or the relative rotation, and the rotation axis thereof is directed in the horizontal lateral direction. It reproduces the action of turning the so-called shoulder back and forth,
The third joint is a cylindrical cylinder and a disc corresponding to the end face of the cylindrical cylinder, the angle of which is variable by the relative sliding or the relative rotation, and the rotation axis of which is arranged in the front direction. It reproduces the movement of raising and lowering the so-called arm laterally,
The fourth joint portion is configured such that two disc bodies face each other, the angle is variable by the relative sliding or the relative rotation, and the rotation axis is oriented in the vertical direction. 5. The human body type dummy device according to claim 4, which reproduces a motion of twisting the entire arm from a so-called shoulder.   The joint part is in a direction bent in the front-rear direction at a joint between the chest part part and the abdominal part part, and at least one joint part is also bent in the front-rear direction in the part part of the abdomen. The human body type dummy device according to claim 4, wherein the human body type dummy device is provided.   Provided with an additional weight body that can be individually attached to each part part of the human body, by attaching the additional weight body, it is easy to balance the weight of each part part of the human body and the weight part of each part of the human body The human body type dummy device according to any one of claims 1 to 7,   The frame body that can be individually attached to each part of the human body is provided, and the outline of the outer surface of the human body is substantially reproduced by attaching the frame body. Human body type dummy device.   The apparatus for the human body includes a welfare tool, a care device, and a care robot, and collects or evaluates data that contributes to the development of the apparatus. The humanoid dummy device described.