JP2020189346A - Power assist suit - Google Patents

Abstract

To provide a power assist suit with high reliability that can output appropriate assist torque by actuators and does not provide a feeling of strangeness to a wearer.SOLUTION: A left actuator unit and a right actuator unit have: output links that are attached to a left thigh part or a right thigh part of a wearer and turn around a joint of the left thigh part or of the right thigh part; actuators having output shafts that generate assist torque for assisting turning of the left thigh part or of the right thigh part through the output links; elastic members, whose one end parts are connected to the output links and the other end parts are connected to the output shafts of the actuators, and which store synthesized torque in which torque for an object person outputted through the output links and assist torque outputted from the output shafts are synthesized with each other; and deformation-state detection devices that detect deformation states of the elastic members. A control device determines whether the elastic members break down, on the basis of the deformation states of the elastic members detected by the deformation-state detection devices.SELECTED DRAWING: Figure 20

Description

The present invention relates to a power assist suit that supports the movement of the left thigh and the right thigh with respect to the waist of the wearer.

In recent years, various power assist suits have been proposed to reduce the burden on the wearer's waist and the like at various sites such as manufacturing, distribution, construction, agriculture, nursing care, and rehabilitation.

For example, in the assist device described in Patent Document 1 below, a body wearer worn on the body of the subject including the periphery of the body part to be assisted by the wearer, and a body wearer and the body part to be assisted are mounted. It has an actuator unit that supports the movement of the body part to be assisted. The actuator unit rotates around the joints of the body part to be assisted and is attached to the body part to be assisted, and an output shaft that generates an assist torque to assist the rotation of the body part to be assisted via the output link. And has an actuator.

The output shaft of the actuator is connected to the inner end of the spiral spring. The outer end of the spiral spring is connected via a pulley to the speed increasing shaft of the speed reducer, which reduces the rotation angle of the actuator from the output shaft. The reduction shaft of the reducer is connected to the output link. An output link rotation angle detecting means for detecting the rotation angle of the output link is provided on the speed increasing shaft of the speed reducer. Further, a motor rotation angle detecting means for detecting the rotation angle of the output shaft of the actuator is provided.

The rotation angle of the output shaft detected by the motor rotation angle detecting means, the rotation angle of the output link detected by the output link rotation angle detecting means, and the spring constant of the spiral spring are stored in the spiral spring. Combined torque is required. Then, the wearer torque is extracted from the obtained combined torque, and the assist torque corresponding to the wearer torque is output from the actuator.

JP-A-2018-199186

However, in the assist device described in Patent Document 1, when a problem occurs in the output link rotation angle detecting means, it becomes difficult to accurately detect the rotation angle of the output link, which is inappropriate depending on the actuator. Assist torque is output, and the wearer may feel uncomfortable. In addition, if the actuator outputs an assist torque that exceeds the upper limit of the mechanical strength of the spiral spring, the spiral spring will be deformed and suddenly it will not be possible to output an appropriate assist torque. The wearer may suddenly feel a load and feel uncomfortable when lifting the spring.

Therefore, the present invention has been devised in view of these points, and provides a highly reliable power assist suit that can output an appropriate assist torque by an actuator and does not give a sense of discomfort to the wearer. The purpose is to provide.

In order to solve the above problems, the first invention is a body-wearing device worn at least around the waist of the wearer, and the body-wearing tool and the left thigh of the wearer. The left actuator unit that generates an assist torque that supports the movement of the left thigh with respect to the waist, and the right thigh that is attached to the body wearer and the right thigh of the wearer and with respect to the waist of the wearer. A right actuator unit that generates an assist torque that supports the operation of the unit and a control device that controls the left actuator unit and the right actuator unit are provided, and each of the left actuator unit and the right actuator unit is described. An output link that is attached to the left thigh or right thigh of the wearer and rotates around the joint of the left thigh or the right thigh, and the left thigh via the output link. Alternatively, an actuator having an output shaft that generates an assist torque that assists the rotation of the right thigh around the joint, one end is connected to the output link, and the other end is connected to the output shaft of the actuator. An elastic member that stores a combined torque of the wearer torque input from the output link rotated by the force of the wearer and the assist torque input from the output shaft, and the elasticity. It has a deformation state detection device that detects a deformation state of a member, and the control device is in a deformation state of the elastic member detected by the deformation state detection devices of the left actuator unit and the right actuator unit, respectively. Based on the combined torque acquisition unit that acquires the combined torque stored in each of the elastic members, and the combined torque stored in each of the elastic members acquired via the combined torque acquisition unit. It is a power assist suit having a spring failure determination unit for determining whether or not each of the elastic members of the left actuator unit and the right actuator unit fails.

Next, in the second invention, in the power assist suit according to the first invention, the spring failure determination unit is in the case where the combined torque acquired through the combined torque acquisition unit is equal to or greater than a predetermined torque threshold value. In addition, it is a power assist suit that determines that the elastic member fails.

Next, the third invention includes the left actuator unit and the power supply unit for supplying electric power to the right actuator unit in the power assist suit according to the first invention or the second invention, and the control device comprises. A power assist suit having a power supply control unit that controls to stop the supply of electric power to the left actuator unit and the right actuator unit when the spring failure determination unit determines that the elastic member fails. Is.

Next, the fourth invention is the power assist suit according to one of the first to third inventions, wherein the deformation state detecting device detects the rotation angle of the output shaft. The output link rotation angle detection device includes a rotation angle detection device and an output link rotation angle detection device that detects the rotation angle of the output link, and the combined torque acquisition unit is the output shaft detected by the output shaft rotation angle detection device. This is a power assist suit that acquires the combined torque based on the rotation angle of the output link and the rotation angle of the output link detected by the output link rotation angle detection device.

Next, in the fifth invention, in the power assist suit according to the fourth invention, in each of the left actuator unit and the right actuator unit, the reduction shaft is connected to the output link and the speed increase shaft is formed. It is a power assist suit having a speed reducer connected to the output link rotation angle detection device.

Next, the sixth invention is the body wearing tool worn at least around the waist of the wearer, and the left body mounting tool and the left thigh of the wearer, with respect to the waist of the wearer. The left actuator unit that generates an assist torque to support the movement of the thigh, and the body fitting and the right thigh of the wearer are attached to perform the movement of the right thigh with respect to the waist of the wearer. It includes a right actuator unit that generates an assist torque to support, a power supply unit that supplies power to the left actuator unit and the right actuator unit, and a control device that controls the left actuator unit and the right actuator unit. Each of the left actuator unit and the right actuator unit is attached to the left thigh or the right thigh of the wearer, and the output rotates around the joint of the left thigh or the right thigh. A link, an actuator having an output shaft that generates an assist torque that assists rotation of the left thigh or the right thigh around the joint via the output link, and one end connected to the output link. The other end is connected to the output shaft of the actuator, and the wearer torque input from the output link rotated by the force of the wearer and the assist torque input from the output shaft. The control device includes an elastic member that stores a synthetic torque obtained by synthesizing A synthetic torque acquisition unit that acquires the combined torque stored in each of the elastic members based on the deformed state of the elastic member detected by the state detection device, and each acquired via the combined torque acquisition unit. A first rotation torque acquisition unit that acquires a first rotation torque for rotating the output links of the left actuator unit and the right actuator unit based on the combined torque stored in the elastic member. The current detection unit that detects the current value supplied to each of the left actuator unit and the right actuator unit, and the current supplied to each of the left actuator unit and the right actuator unit detected by the current detection unit. A second that rotates the output link of each of the left actuator unit and the right actuator unit based on the value. The left actuator unit and the right actuator unit are in the deformed state based on the difference between the second rotation torque acquisition unit that acquires the rotation torque and the first rotation torque and the second rotation torque. It is a power assist suit having a device failure determination unit for determining whether or not the detection device is defective.

Next, in the seventh invention, in the power assist suit according to the sixth invention, in the device failure determination unit, the difference between the first rotation torque and the second rotation torque is a predetermined error threshold value. In the above cases, the power assist suit determines that the deformation state detection device is out of order.

Next, the eighth invention is the power assist suit according to the sixth invention or the seventh invention, in which the control device is in a deformed state of the left actuator unit or the right actuator unit by the device failure determination unit. It is a power assist suit having a power supply control unit that controls to stop the supply of power to the left actuator unit and the right actuator unit when it is determined that the detection device is out of order.

Next, the ninth invention is the power assist suit according to one of the sixth to eighth inventions, wherein the deformation state detecting device detects the rotation angle of the output shaft. The output link rotation angle detection device includes a rotation angle detection device and an output link rotation angle detection device that detects the rotation angle of the output link, and the combined torque acquisition unit is the output shaft detected by the output shaft rotation angle detection device. This is a power assist suit that acquires the combined torque based on the rotation angle of the output link and the rotation angle of the output link detected by the output link rotation angle detection device.

Next, in the tenth invention, in the power assist suit according to the ninth invention, the device failure determination unit is the first rotation torque and the second rotation torque of the left actuator unit and the right actuator unit, respectively. It is a power assist suit that determines whether or not the output link rotation angle detection devices of the left actuator unit and the right actuator unit are out of order based on the difference from the rotation torque.

Next, according to the eleventh invention, in the power assist suit according to the ninth invention or the tenth invention, the reduction shaft of each of the left actuator unit and the right actuator unit is connected to the output link. , A power assist suit having a speed reducer whose speed-increasing shaft is connected to the output link rotation angle detection device.

Next, the twelfth invention is the power assist suit according to one of the first to eleventh inventions, wherein the elastic member is a power assist suit including a spiral spring.

According to the first invention, the control device determines the combined torque stored in each elastic member based on the deformation state of each elastic member detected by the deformation state detection devices of the left actuator unit and the right actuator unit. get. Then, the control device determines whether or not each of the elastic members of the left actuator unit and the right actuator unit fails (for example, deformation, breakage, etc.) based on the combined torque stored in each elastic member.

As a result, when the control device determines that the elastic member of the left actuator unit or the right actuator unit fails, the control device can adjust the assist torque by the actuator so as not to exceed the upper limit of the mechanical strength of the elastic member. , It is possible to avoid the failure of the elastic member. As a result, an appropriate assist torque can be output by the actuator, and it is possible to provide a highly reliable power assist suit that does not give a discomfort such as a sudden load to the wearer.

According to the second invention, the control device determines that the elastic member fails (for example, deformation, breakage, etc.) when the combined torque is equal to or higher than a predetermined torque threshold value. As a result, by acquiring in advance the "torque threshold" when the elastic member fails (for example, deformation, breakage, etc.) by CAE (Computer Aided Engineering) analysis or experiment, the control device causes the elastic member to fail (for example). For example, it is possible to accurately determine whether or not the elastic member breaks down before deformation, breakage, etc., and it is possible to improve the reliability of the power assist suit.

According to the third invention, the control device stops the supply of electric power to the left actuator unit and the right actuator unit when it is determined that the elastic member fails based on the combined torque. As a result, the assist torque by the actuator is set to "0", so that the combined torque can be slowly reduced by the spring force of the elastic member. As a result, it is possible to provide a highly reliable power assist suit that does not give a sense of discomfort such as a sudden load to the wearer when assisting the lifting operation and the lifting operation of the luggage.

According to the fourth invention, the combined torque acquisition unit determines the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device. Obtain the combined torque based on. Therefore, when assisting the lifting operation and the lifting operation of the load, the combined torque can be acquired with a simple configuration including the output shaft rotation angle detecting device and the output link rotation angle detecting device.

According to the fifth invention, the output link rotation angle detection device is connected to the output link via a speed reducer. As a result, the change in the rotation angle of the output link can be increased and detected by the output link rotation angle detection device, so that the detection accuracy of the rotation angle of the output link can be improved. , It is possible to improve the detection accuracy of the combined torque.

According to the sixth invention, the control device determines the combined torque stored in each elastic member based on the deformation state of each elastic member detected by the deformation state detection devices of the left actuator unit and the right actuator unit. get. Then, the control device acquires the first rotation torque for rotating the output links of the left actuator unit and the right actuator unit based on the combined torque stored in each elastic member.

Further, the control device acquires a second rotation torque for rotating each output link based on the current values supplied to each of the left actuator unit and the right actuator unit. Then, the control device determines whether or not the deformation state detection devices of the left actuator unit and the right actuator unit are out of order based on the difference between the first rotation torque and the second rotation torque.

As a result, the control device can stop the output of the inappropriate assist torque by the actuator when it is determined that the deformation state detection device of the left actuator unit or the right actuator unit is out of order. By pulling, when assisting the lifting and lowering movements of luggage, the actuator can output an appropriate assist torque, and a highly reliable power assist suit that does not give a sense of discomfort to the wearer. Can be provided.

According to the seventh invention, when the difference between the first rotation torque and the second rotation torque is equal to or greater than a predetermined error threshold value, the control device determines that the deformation state detection device is out of order. As a result, by acquiring in advance the "error threshold" when the deformation state detection device is out of order by CAE (Computer Aided Engineering) analysis or experiment, the control device can check whether the deformation state detection device is out of order. Whether or not it can be accurately determined, and the reliability of the power assist suit can be improved.

According to the eighth invention, the control device determines that the deformation state detection device of the left actuator unit or the right actuator unit is out of order based on the difference between the first rotation torque and the second rotation torque. If this happens, the power supply to the left actuator unit and the right actuator unit is stopped. As a result, the assist torque by the actuator is set to "0", so that the combined torque can be slowly reduced by the spring force of the elastic member. As a result, it is possible to provide a highly reliable power assist suit that does not give a sense of discomfort such as a sudden load to the wearer when assisting the lifting operation and the lifting operation of the luggage.

According to the ninth invention, the combined torque acquisition unit determines the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device. Obtain the combined torque based on. Therefore, when assisting the lifting operation and the lifting operation of the load, the combined torque can be acquired with a simple configuration including the output shaft rotation angle detecting device and the output link rotation angle detecting device.

According to the tenth invention, the control device is based on the difference between the first rotation torque and the second rotation torque of the left actuator unit and the right actuator unit, respectively, of the left actuator unit and the right actuator unit. It is determined whether or not the output link rotation angle detection device is out of order.

As a result, when the control device detects a failure of the output link rotation angle detection device of the left actuator unit or the right actuator unit, the rotation angle of the output link cannot be accurately detected, so that the actuator improperly assists. It is possible to stop the torque output. By pulling, when assisting the lifting and lowering movements of luggage, the actuator can output an appropriate assist torque, and a highly reliable power assist suit that does not give a sense of discomfort to the wearer. Can be provided.

According to the eleventh invention, each output link rotation angle detection device of the left actuator unit and the right actuator unit is connected to the output link via a speed reducer. As a result, the change in the rotation angle of the output link can be increased and detected by the output link rotation angle detection device, so that the detection accuracy of the rotation angle of the output link can be improved. , The accuracy of the first rotation torque can be improved.

According to the twelfth invention, by using the spiral spring, it is only necessary to adjust the expansion / contraction amount (that is, the rotation angle of the output shaft) of the spiral spring as compared with the case where the output torque of the actuator is adjusted by the current. Therefore, the assist torque can be easily adjusted.

It is a perspective view explaining an example of the whole structure of a power assist suit. It is an exploded perspective view of the power assist suit shown in FIG. It is a perspective view explaining an example of the appearance of the body wearing tool in the power assist suit shown in FIG. It is a perspective view explaining the example of the appearance of the actuator unit in the power assist suit shown in FIG. 1 and the load detecting means. It is a perspective view explaining an example of the appearance of the frame part which is a component of a body wearer. It is a development view explaining the example of the structure of the waist support part which is a component of a body wearer. It is a development view explaining the example of the structure of the jacket part which is a component of a body wearer. It is a perspective view of the (right) actuator unit in the power assist suit shown in FIG. It is a perspective view explaining another example of the (right) actuator unit shown in FIG. It is an exploded perspective view explaining an example of the internal structure of an actuator unit. It is sectional drawing explaining the example of the internal structure of an actuator unit. It is a figure explaining the upright state in which the wearer wearing the power assist suit stretches the spine. FIG. 12 is a diagram illustrating a state in which the wearer is in a forward leaning posture and the frame portion or the like is rotated around a virtual rotation axis from the state shown in FIG. It is a figure explaining the example of the appearance of the operation unit. It is a figure explaining the input / output of a control device. It is a figure explaining the change (adjustment) of the operation mode, the gain, and the increase speed from an operation unit. It is a control block diagram which controls an actuator unit by a control device. It is a flowchart explaining the whole processing procedure based on the control block diagram shown in FIG. It is a flowchart explaining the details of the process of [S100: adjustment determination, input process, calculation of torque change amount, etc.] in the flowchart shown in FIG. It is a flowchart explaining the details of the process of [S150: failure detection process] in the flowchart shown in FIG. It is a flowchart explaining the details of the process of [S1600R: failure detection process of right actuator] in the flowchart shown in FIG. It is a flowchart explaining the details of the process of [S200: operation mode determination] in the flowchart shown in FIG. It is a flowchart explaining the details of the process of [S300: load determination (determination of gain C _p )] in the flowchart shown in FIG. It is a figure explaining the load detected by the load detecting means in the upright rest state which the wearer does not hold a load. It is a figure explaining the load detected by the load detecting means in the state which the wearer sits down and lifts a load by hand from the state shown in FIG. It is a figure explaining an example of the baggage mass obtained based on the detection signal from the load detecting means when the wearer actually sat down and grabbed the baggage and then lifted the gripped baggage. It is a figure which adds the acceleration detecting means to the state shown in FIG. 24, and explains the acceleration detected by the acceleration detecting means, and the load detected by a load detecting means. It is a figure explaining the acceleration detected by the acceleration detecting means and the load detected by a load detecting means in a state where a wearer sits down and lifts a load by hand from the state shown in FIG. 27. Actually, when the wearer sits down and grasps the luggage and then lifts the gripped luggage, the luggage mass obtained based on the detection signal from the load detecting means and the detection signal from the acceleration detecting means. It is a figure explaining the example of. It is a flowchart explaining the details of the process of [SD000R: (right) hold down] in the flowchart shown in FIG. It is a figure explaining the state of the lifting work of a wearer. It is a figure explaining the example of the wearer torque change amount / assist amount characteristic. It is a figure explaining the example of the forward tilt angle / lifting torque limit value characteristic. It is a figure explaining the state of the change of the forward tilt angle and the lifting assist torque with respect to time when the wearer performs the lifting work. It is a flowchart explaining the details of the process of [SU000: lifting] in the flowchart shown in FIG. It is a state transition diagram explaining the details of the process of [SS000: operation state determination] in the flowchart shown in FIG. 35. It is a figure explaining the state of the change of the forward tilt angle and the lifting assist torque with respect to the transition of the operating state when the wearer performs the lifting work. It is a flowchart explaining the details of the process of [SS100R: (right) switching determination of an increase speed] in the flowchart shown in FIG. 35. It is a figure explaining an example of a time / switching lower limit characteristic and time / switching upper limit characteristic. It is a figure explaining the example of the increase rate / transition time characteristic. It is a figure explaining an example of time / assist amount characteristic. It is a flowchart explaining the details of the process of [SS170R: (right) assist torque calculation] in the flowchart shown in FIG. 35. It is a figure explaining an example of time / lifting torque characteristic, forward tilt angle / maximum lifting torque characteristic. It is a figure explaining an example of a gain / attenuation coefficient characteristic. It is a figure explaining an example of an assist ratio, a torque attenuation rate characteristic.

Hereinafter, the overall structure of the power assist suit 1 will be described with reference to FIGS. 1 to 16. The power assist suit 1 assists the rotation of the thigh (or the waist with respect to the thigh) with respect to the waist when the wearer lifts the load (or lifts the load), or the wearer walks. It is a device that assists the rotation of the thigh with respect to the waist. The X-axis, Y-axis, and Z-axis in each figure are orthogonal to each other, and the X-axis direction is the forward direction, the Y-axis direction is the left direction, and the Z-axis when viewed from the wearer wearing the power assist suit. The direction corresponds to the upward direction.

● [Overall structure of Power Assist Suit 1 (Figs. 1 and 2)]
FIG. 1 shows the overall appearance of the power assist suit 1. Further, FIG. 2 shows an exploded perspective view of the power assist suit 1 shown in FIG.

As shown in the exploded perspective view of FIG. 2, the power assist suit 1 includes a waist support portion 10, a jacket portion 20, a frame portion 30, a backpack portion 37, a cushion 37G, a right actuator unit 4R, a left actuator unit 4L, and a load detection. It is composed of units 71R, 71L and the like. The waist support portion 10, the jacket portion 20, the frame portion 30, the backpack portion 37, and the cushion 37G constitute the body fitting 2 (see FIG. 3), and the right actuator unit 4R and the left actuator unit 4L form the actuator unit 4. (See FIG. 4) is configured. The backpack unit 37 is provided with an acceleration detecting means 75. Further, in the power assist suit 1, the wearer adjusts the operation mode (lifting assist, lifting assist, etc.), the gain of the assist torque, the speed of increasing the assist torque, and confirms the adjusted state. It has an operation unit R1 (so-called remote controller) and an accommodating unit R1S for accommodating the operation unit R1.

The load detection units 71R and 71L are, for example, insoles of shoes, the load detection unit 71R is placed in the wearer's right shoe and the wearer's right sole, and the load detection unit 71L is in the wearer's left shoe. And it is placed on the left sole of the wearer. The load detection unit 71R has a load detecting means 72R (for example, a pressure sensor) that can detect the load around the tip of the toe of the wearer's right foot, and can detect the load around the heel of the wearer's right foot. A load detecting means 73R (for example, a pressure sensor) is provided. Although not shown, the load detection unit 71R also has a wireless communication means for wirelessly transmitting detection signals from the load detection means 72R and 73R to the operation unit R1, a power source for the communication means, and the like. The load detection unit 71L also has load detection means 72L, 73L, wireless communication means, a power supply, and the like, and these are the same as the load detection unit 71R, so the description thereof will be omitted.

The control device 61 (see FIG. 15) is based on the detection signals from the load detecting means 72L, 72R, 73L, 73R, and is the weight of the wearer or the weight of the wearer when the wearer is not holding the luggage. The weight of the wearer, which is the weight of the person, can be detected. Further, the control device 61 (see FIG. 15) is based on the detection signals from the load detecting means 72L, 72R, 73L, and 73R, and when the wearer is holding the load, the weight of the wearer and the load is combined. It is possible to detect the combined weight, which is the mass or the weight of the wearer and luggage. Then, the control device 61 can detect the baggage mass, which is the mass of the baggage, or the baggage weight, which is the weight of the baggage, based on the synthetic mass or the synthetic weight, and the wearer mass or the wearer weight. Obtain the load-related amount (baggage mass or baggage weight before correction, or baggage mass or baggage weight after correction) based on the baggage weight.

The acceleration detecting means 75 is, for example, an acceleration sensor, for example, a body provided in a backpack portion 37, which is an acceleration of the movement of a part of the wearer's body (in this case, the wearer's upper body (upper body)). Detects operating acceleration. Since the backpack portion 37 is fixed to the wearer's back, the acceleration detecting means 75 includes the body movement acceleration av (see FIGS. 27 and 28) in the spine parallel direction along the back surface of the wearer and the wearer. The body motion acceleration aw (see FIGS. 27 and 28) in the direction orthogonal to the back, which is orthogonal to the back surface of the person, is detected. The control device 61 can obtain the body motion acceleration az (see FIG. 28) of the vertical component based on the body motion acceleration av, aw, and the like.

As will be described later, the control device 61 obtains the load mass (load weight) obtained based on the detection signals from the load detecting means 72L, 72R, 73L, 73R based on the detection signal from the acceleration detecting means 75. By correcting using the body motion acceleration az, the load-related amount (in this case, the corrected baggage mass or baggage weight) is obtained.

The body fitting 2 (see FIG. 3) is worn at least around the waist of the wearer. The right actuator unit 4R and the left actuator unit 4L (see FIG. 4) are attached to the body fitting 2 and the wearer's thigh, and the thigh with respect to the wearer's waist or the wearer's thigh. Assists (assists) the movement of the lower back. Hereinafter, the body fitting 2 and the actuator unit 4 will be described in order.

● [Appearance of body fitting 2 (Fig. 3)]
As shown in FIGS. 2 and 3, the body fitting 2 includes a waist support portion 10 worn around the wearer's waist, a jacket portion 20 worn around the wearer's shoulders and chest, and a jacket portion. It has a frame portion 30 to which the 20 is connected, a backpack portion 37 attached to the frame portion 30, and a cushion 37G. The frame portion 30 is arranged around the back and waist of the wearer.

● [Overall configuration of frame unit 30 (FIGS. 2, 3, 5)]
As shown in FIGS. 2 and 5, the frame portion 30 includes a main frame 31, a right subframe 32R, a left subframe 32L, and the like. As shown in FIG. 5, the main frame 31 has supports 31SR and 31SL in which a plurality of belt connection holes 31H are arranged in the vertical direction, a connection portion 31R, and a connection portion 31L. One end (upper end) of the right subframe 32R is connected to the connecting portion 31R, and one end (upper end) of the left subframe 32L is connected to the connecting portion 31L. The right subframe 32R and the left subframe 32L have elasticity, and the left-right distance between the lower end portions is adjusted together with the waist support portion 10 according to the waist width of the wearer (see FIG. 1).

Further, as shown in FIG. 1, the lower end portion of the right subframe 32R is connected (fixed) to the connection portion 41RS of the right actuator unit 4R, and the lower end portion of the left subframe 32L is connected to the connection portion 41LS of the left actuator unit 4L. Connected (fixed).

● [Overall configuration of waist support section 10 (Fig. 2, Fig. 3, Fig. 6)]
As shown in FIGS. 3 and 6, the waist support portion 10 includes a right waist mounting portion 11R worn around the waist of the wearer's right half of the body and a left waist wearing around the waist of the wearer's left half of the body. It has a part 11L. As shown in FIG. 6, the right waist mounting portion 11R and the left waist mounting portion 11L are connected by a back waist belt 16A, a buttock upper belt 16B, and a buttock lower belt 16C.

As shown in FIGS. 1 and 2, the waist support portion 10 has a connecting belt 19R having a connecting ring 19RS connected to the connecting portion 29RS of the jacket portion 20, and a connecting ring connected to the connecting portion 29LS of the jacket portion 20. It has a connecting belt 19L having 19LS. Further, as shown in FIG. 2, the waist support portion 10 has a mounting hole 15R for connecting to the connecting portion 40RS of the right actuator unit 4R and a connecting portion of the left actuator unit 4L at a position intersecting the virtual rotation axis 15Y. It has a mounting hole 15L for connecting to 40LS.

Further, as shown in FIG. 6, the position of the right hip mounting portion 11R on the back side of the wearer is divided into a right hip portion 11RA and a right buttock portion 11RB by forming a notch portion 11RC. A notch 11LC is formed at a position on the left hip mounting portion 11L on the back side of the wearer, and the left hip mounting portion 11L is divided into a left hip portion 11LA and a left buttock portion 11LB.

Further, as shown in FIG. 6, the waist support portion 10 includes a right waist tightening belt 13RA, a waist belt holding member 13RB (waist buckle), a left waist tightening belt 13LA, a waist belt holding member 13LB (waist buckle), and a right pelvic belt. 17RA, right lower pelvic belt 17RB, left upper pelvic belt 17LA, left lower pelvic belt 17LB, upper right belt holding member 17RC (upper right footjob), lower right belt holding member 17RD (lower right footjob), tension part 13RAH, upper left belt holding member It has various belts with adjustable lengths such as 17LC (upper left footjob), lower left belt holding member 17LD (lower left footjob), tension part 13LAH, etc. so that they can be brought into close contact with the wearer's waist without slippage. ..

● [Structure of the backpack section 37 and the periphery of the backpack section 37 (FIGS. 1 to 3)]
As shown in FIGS. 1 and 3, the backpack portion 37 is attached to the main frame 31 which is the upper end portion of the frame portion 30. As shown in FIG. 3, the right shoulder belt 24R, the right axillary belt 25R, the left shoulder belt 24L, and the left axillary belt 25L of the jacket portion 20 are connected to the main frame 31 or the backpack portion 37.

As shown in FIGS. 1 to 3, the backpack unit 37 has a simple box-like shape, and houses a control device, a power supply unit, communication means, and the like. As shown in FIG. 3, a support 31SR, in which a plurality of belt connection holes 31H (corresponding to belt connection portions) are arranged in the vertical direction at positions of the main frame 31 facing both shoulders on the back side of the wearer. 31SL is provided. That is, a plurality of belt connection holes 31H (belt connection portions) are provided so that the position of the jacket portion 20 in the height direction with respect to the frame portion 30 can be adjusted according to the physique of the wearer. Therefore, the height of the jacket portion 20 can be adjusted to an appropriate position according to the physique of the wearer.

Even when the wearer's upper body is tilted forward, the assist torque is increased by lengthening the cushion 37G (or backrest 37C) that comes into contact with the back from the wearer's shoulders to the waist. The output actuator unit (4R, 4L) can be appropriately supported. Further, even when the wearer's upper body is tilted to the left or right, the actuator unit (4R,) that outputs the assist torque when the cushion 37G (or the back support portion 37C) comes into contact with the center of the bend of the wearer's back. 4L) can be supported more appropriately (support rigidity is increased).

Further, as shown in FIG. 3, the belt connecting portion 24RS of the right shoulder belt 24R is connected to any of the belt connecting holes 31H (belt connecting portion) of the support 31SR. Similarly, as shown in FIG. 3, the belt connection portion 24LS of the left shoulder belt 24L is connected to any of the belt connection holes 31H (belt connection portion) of the support 31SL. The supports 31SR and 31SL may be provided on the backpack portion 37.

As shown in FIG. 3, belt connecting portions 37FR and 37FL are provided on the left and right sides of the lower end of the backpack portion 37. As shown in FIG. 3, the belt connection portion 25RS of the right axillary belt 25R is connected to the belt connection portion 37FR. Similarly, as shown in FIG. 3, the belt connecting portion 25LS of the left axillary belt 25L is connected to the belt connecting portion 37FL. The belt connection portions 37FR and 37FL may be provided on the main frame 31.

● [Overall configuration of the jacket portion 20 (Fig. 2, Fig. 3, Fig. 7)]
As shown in FIG. 3, the jacket portion 20 includes a right chest mounting portion 21R mounted around the chest of the wearer's right half of the body and a left chest mounting portion 21L mounted around the chest of the wearer's left half of the body. Have. The right chest mounting portion 21R is connected to the left chest mounting portion 21L by, for example, a hook-and-loop fastener 21F or a buckle 21B, facilitating attachment / detachment of the jacket portion 20 to the wearer.

As shown in FIG. 3, the right chest mounting portion 21R includes the right shoulder belt 24R and the belt connecting portion 24RS connected to the belt connecting hole 31H of the main frame 31 (or backpack portion 37), and the backpack portion 37 (or backpack portion 37). It has a right axillary belt 25R and a belt connecting portion 25RS connected to the belt connecting portions 37FR and 37FL of the main frame 31). Further, as shown in FIG. 3, the left chest mounting portion 21L is attached to the left shoulder belt 24L and the belt connecting portion 24LS connected to the main frame 31 (or the backpack portion 37) and the backpack portion 37 (or the main frame 31). It has a left axillary belt 25L and a belt connecting portion 25LS to be connected. Further, as shown in FIG. 3, the right chest mounting portion 21R has a connecting belt 29R and a connecting portion 29RS for connecting to the right waist mounting portion 11R, and the left chest mounting portion 21L has a left waist mounting portion 11L. It has a connecting belt 29L and a connecting portion 29LS for connecting with.

Further, as shown in FIG. 7, the jacket portion 20 includes a fixing portion 28R, a fixing portion 28L, a right shoulder belt 23R, a right shoulder belt holding member 23RK (right shoulder footjob), a left shoulder belt 23L, and a left shoulder belt holding member 23LK (left shoulder footjob). ), Right axillary belt 26R, right axillary belt holding member 26RK (right axillary footjob), left axillary belt 26L, left axillary belt holding member 26LK (left axillary footjob), etc. for close contact without slipping around the wearer's chest , Has various belts whose length can be adjusted.

● [Overall configuration of right actuator unit 4R and left actuator unit 4L (FIGS. 2, FIG. 4, FIG. 8, FIG. 9)]
FIG. 4 shows the appearance of the right actuator unit 4R and the left actuator unit 4L and the load detection units 71L and 71R shown in FIG. Since the left actuator unit 4L is symmetrical with respect to the right actuator unit 4R, the description of the left actuator unit 4L will be omitted in the following description.

As shown in FIG. 4, the right actuator unit 4R has a torque generating unit 40R and an output link 50R which is a torque transmitting unit. The torque generating unit 40R includes an actuator base unit 41R, a cover 41RB, and a connection base 4AR. As shown in FIG. 4, the output link 50R rotates around the joint (in this case, the hip joint) of the assisted body part (in this case, the thigh) and the assisted body part (in this case, the thigh). It is attached to. The assist torque that assists the rotation of the body portion to be assisted via the output link 50R is generated by the electric motor (actuator) in the torque generating portion 40R.

The output link 50R has an assist arm 51R (corresponding to the first link), a second link 52R, a third link 53R, and a thigh mounting portion 54R (corresponding to a body holding portion). The assist arm 51R rotates around the rotation axis 40RY by the combined torque of the assist torque generated by the electric motor in the torque generating unit 40R and the wearer torque due to the movement of the wearer's thigh. To do. One end of the second link 52R is rotatably connected to the tip of the assist arm 51R around the rotation axis 51RJ, and one end of the third link 53R is rotatably around the rotation axis 52RJ at the other end of the second link 52R. Is rotatably connected to. A thigh mounting portion 54R is connected to the other end of the third link 53R via a third joint portion 53RS (in this case, a spherical joint).

Next, the details of the link mechanism of the right actuator unit 4R will be described with reference to FIGS. 4, 8 and 9. As an example of the link mechanism, an example of the output link 50R shown in FIG. 8 and an example of the output link 50RA shown in FIG. 9 will be described.

In the output link 50R shown in FIG. 8, the assist arm 51R (corresponding to the first link), the second link 52R, the third link 53R, and the thigh mounting portion 54R (corresponding to the body holding portion) are joint portions, respectively. It is composed of a plurality of connecting members by being connected by.

One end of the second link 52R is connected to the tip of the assist arm 51R by a first joint portion 51RS so as to be rotatable around the rotation axis 51RJ. The first joint portion 51RS has a connection structure in which the second link 52R is rotatable around the rotation axis 51RJ with respect to the assist arm 51R and has a degree of freedom = 1.

One end of the third link 53R is connected to the other end of the second link 52R by a second joint portion 52RS so as to be rotatable around the rotation axis 52RJ. The second joint portion 52RS has a connection structure having a degree of freedom = 1 in which the third link 53R can be rotated around the rotation axis 52RJ with respect to the second link 52R.

The other end of the third link 53R is connected to the femur mounting portion 54R by a third joint portion 53RS (for example, a spherical joint). Therefore, the third joint portion 53RS between the third link and the thigh mounting portion 54R (body holding portion) has a connecting structure having a degree of freedom of 3 = 3. From the above, the total number of degrees of freedom of the output link 50R shown in FIG. 8 is 1 + 1 + 3 = 5.

The total number of degrees of freedom of the output link 50R may be 3 or more. For example, even if the third joint portion 53RS is configured so that the thigh mounting portion 54R can rotate around the rotation axis with respect to the other end of the third link 53R (so that the degree of freedom = 1). Good. Therefore, the total number of degrees of freedom of the output link in this case is 1 + 1 + 1 = 3 because the degree of freedom of the first joint portion 51RS is "1" and the degree of freedom of the second joint portion 52RS is "1". It is more preferable to provide a stopper that limits the rotation range of the second link and the third link.

The output link 50RA shown in FIG. 9 includes an assist arm 51R (corresponding to the first link), a second link 52RA (and a second joint portion 52RS), a third link 53RA, and a femur mounting portion 54R (on the body holding portion). (Equivalent) is configured by being connected by a joint portion, and is composed of a plurality of connecting members.

The end of the second link 52RA is connected to the tip of the assist arm 51R by a first joint portion 51RS so as to be rotatable around the rotation axis 51RJ. The first joint portion 51RS has a connection structure having a second link 52RA with respect to the assist arm 51R and a degree of freedom = 1 that allows the second link 52RA to rotate around the rotation axis 51RJ.

The second link 52RA and the second joint portion 52RS are integrated, and the second link 52RA has a second side on one end of the third link 53RA that can reciprocate along the slide axis 52RSJ in the longitudinal direction. It is connected by the joint portion 52RS. The second joint portion 52RS has a connection structure in which the third link 53RA is slidable along the slide axis 52RSJ with a degree of freedom = 1 with respect to the second link 52RA.

The other end of the third link 53RA is connected to the femur mounting portion 54R by a third joint portion 53RS (for example, a spherical joint). Therefore, the third joint portion 53RS between the third link 53RA and the thigh mounting portion 54R (body holding portion) has a connection structure having a degree of freedom of 3 = 3. From the above, the total number of degrees of freedom of the output link 50RA shown in FIG. 9 is 1 + 1 + 3 = 5.

Since the total number of degrees of freedom may be 3 or more, the third joint portion 53RS may be connected with a degree of freedom of 1 so that the femur mounting portion 54R can rotate around the rotation axis. It is more preferable to provide a stopper that limits the rotation range of the second link 52RA and the slide range of the third link 53RA.

● [Internal structure of torque generating unit 40R in the right actuator unit 4R (FIGS. 10 and 11)]
Next, each member housed in the cover 41RB of the torque generating unit 40R (see FIG. 4) will be described with reference to FIGS. 10 and 11. 11 is a cross-sectional view taken along the line AA in FIG. As shown in FIGS. 10 and 11, in the cover 41RB, a speed reducer 42R, a pulley 43RA, a transmission belt 43RB, a pulley 43RC having a flange portion 43RD, a spiral spring 45R, a bearing 46R, an electric motor 47R (actuator), and a sub The frame 48R and the like are housed. Further, an assist arm 51R having a shaft portion 51RA is arranged on the outside of the cover 41RB.

Further, outlets 33RS and 33LS (connection ports) for actuator drive, control, and communication cables are provided in portions of the actuator unit (4R, 4L) near the frame portion 30. The cables (not shown) connected to the cable outlets 33RS and 33LS are arranged along the frame portion 30 and connected to the backpack portion 37.

As shown in FIG. 11, the torque generating portion 40R includes an actuator base portion 41R to which a subframe 48R equipped with an electric motor 47R and the like is attached, a cover 41RB attached to one side of the actuator base portion 41R, and an actuator. It has a connecting base 4AR attached to the other side of the base portion 41R. The connection base 4AR is provided with a connection portion 40RS that can rotate around the rotation axis 40RY.

As shown in FIGS. 10 and 11, the output link rotation angle detecting means 43RS (rotation angle sensor or the like) for detecting the rotation angle of the assist arm 51R with respect to the actuator base 41R is the speed increasing shaft 42RB of the speed reducer 42R. It is connected to the pulley 43RA connected to. The output link rotation angle detecting means 43RS is, for example, an encoder or an angle sensor, and outputs a detection signal corresponding to the rotation angle to the control device 61 (see FIG. 15). Further, the electric motor 47R is provided with a motor rotation angle detecting means 47RS capable of detecting the rotation angle of the motor shaft (corresponding to the output shaft). The motor rotation angle detecting means 47RS is, for example, an encoder or an angle sensor, and outputs a detection signal corresponding to the rotation angle to the control device 61 (see FIG. 15).

As shown in FIG. 10, the subframe 48R is formed with a through hole 48RA for fixing the reduction gear housing 42RC of the reduction gear 42R and a through hole 48RB for inserting the output shaft 47RA of the electric motor 47R. The shaft portion 51RA of the assist arm 51R is fitted into the hole portion 42RD of the reduction shaft 42RA of the reduction gear 42R, and the reduction gear housing 42RC of the reduction gear 42R is fixed to the through hole 48RA of the subframe 48R. As a result, the assist arm 51R is rotatably supported by the actuator base portion 41R around the rotation axis 40RY, and rotates integrally with the reduction shaft 42RA. Further, the electric motor 47R is fixed to the subframe 48R, and the output shaft 47RA is inserted through the through hole 48RB of the subframe 48R. The subframe 48R is fixed to the mounting portion 41RH of the actuator base portion 41R with a fastening member such as a bolt.

As shown in FIG. 10, a pulley 43RA is connected to the speed increasing shaft 42RB of the speed reducer 42R, and an output link rotation angle detecting means 43RS is connected to the pulley 43RA. A support member 43RT fixed to the subframe 48R is connected to the output link rotation angle detecting means 43RS. As a result, the output link rotation angle detecting means 43RS can detect the rotation angle of the speed increasing shaft 42RB with respect to the subframe 48R (that is, with respect to the actuator base portion 41R). Moreover, since the rotation angle of the assist arm 51R is the rotation angle increased by the speed increasing shaft 42RB of the speed reducer 42R, the output link rotation angle detecting means 43RS and the control device 61 have higher resolution. The rotation angle of the assist arm 51R can be detected. By detecting the rotation angle of the output link with higher resolution, the control device can perform more accurate control. The shaft portion 51RA of the assist arm 51R, the speed reducer 42R, the pulley 43RA, and the output link rotation angle detecting means 43RS are arranged so as to be coaxial along the rotation axis 40RY.

The speed reducer 42R has a gear reduction ratio n _G (1 <n _G ) set, and when the reduction shaft 42RA is rotated by a rotation angle (θ _L , _R ), the speed increase shaft 42RB is rotated. Rotate by angles n _G θ _L and _R. Further, the speed reducer 42R rotates the speed reduction shaft 42RA by the rotation angles θ _L and _R when the speed increase shaft 42 RB is rotated by the rotation angles n _G θ _L and _R. A transmission belt 43RB is hung on the pulley 43RA to which the speed increasing shaft 42RB of the speed reducer 42R is connected and the pulley 43RC. Therefore, the wearer torque from the assist arm 51R is transmitted to the pulley 43RC via the speed increasing shaft 42RB, and the assist torque from the electric motor 47R is transmitted to the speed increasing shaft 42RB via the spiral spring 45R and the pulley 43RC. .. Further, a pulley reduction ratio n _P (pulley reduction ratio = pulley 43RA on the reduction gear side: pulley 43RC on the motor side = n _P : 1), which is the ratio of the pulley 43RA on the reduction gear side to the pulley 43RC on the motor side, is set. .. For example, the gear reduction ratio n _G is set to about 50, and the pulley reduction ratio n _P is set to about 88/60.

The spiral spring 45R has a spring constant Ks, and has a spiral shape having an inner end portion 45RC on the central side and an outer end portion 45RA on the outer peripheral side. The inner end portion 45RC of the spiral spring 45R is fitted in the groove portion 47RB formed in the output shaft 47RA of the electric motor 47R. The outer end portion 45RA of the spiral spring 45R is wound in a cylindrical shape, and a transmission shaft 43RE provided on the flange portion 43RD of the pulley 43RC is fitted and supported by the transmission shaft 43RE (the pulley 43RC is supported by the transmission shaft 43RE. The flange portion 43RD and the transmission shaft 43RE are integrated). The pulley 43RC is rotatably supported around the rotation axis 47RY, and a transmission shaft 43RE protruding toward the spiral spring 45R is provided in the vicinity of the outer peripheral edge portion of the integrated flange portion 43RD. The transmission shaft 43RE is fitted into the outer end 45RA of the spiral spring 45R, and the position of the outer end 45RA is moved around the rotation axis 47RY. Further, a bearing 46R is provided between the output shaft 47RA of the electric motor 47R and the pulley 43RC. That is, the output shaft 47RA is not fixed to the pulley 43RC, and the output shaft 47RA can freely rotate with respect to the pulley 43RC. The pulley 43RC is rotationally driven from the electric motor 47R via the spiral spring 45R. With the above configuration, the output shaft 47RA, the bearing 46R, the pulley 43RC having the flange portion 43RD, and the spiral spring 45R of the electric motor 47R are arranged so as to be coaxial along the rotation axis 47RY.

The spiral spring 45R stores the assist torque transmitted from the electric motor 47R, and the wearer torque transmitted via the assist arm 51R, the reduction gear 42R, the pulley 43RA, and the pulley 43RC by the movement of the wearer's thigh. As a result, the combined torque that combines the assist torque and the wearer torque is stored. Then, the combined torque stored in the spiral spring 45R rotates the assist arm 51R via the pulley 43RC, the pulley 43RA, and the speed reducer 42R. With the above configuration, the output shaft 47RA of the electric motor 47R is connected to the output link (assist arm 51R in the case of FIG. 10) via a speed reducer 42R that reduces the rotation angle of the output shaft 47RA.

The combined torque stored in the spiral spring 45R is obtained based on the amount of angle change from the no-load state and the spring constant. For example, the rotation angle of the assist arm 51R (determined by the output link rotation angle detecting means 43RS). It is obtained based on the rotation angle of the output shaft 47RA of the electric motor 47R (determined by the motor rotation angle detecting means 47RS) and the spring constant Ks of the spiral spring 45R. Then, the wearer torque is extracted from the obtained combined torque, and the assist torque corresponding to the wearer torque is output from the electric motor.

Further, as shown in FIG. 11, the torque generating portion 40R of the right actuator unit has a connecting portion 40RS that can rotate around the rotation axis 40RY (that is, the virtual rotation axis 15Y). Then, as shown in FIGS. 2 and 1, the connecting portion 40RS is connected (fixed) by a connecting member such as a bolt via the mounting hole 15R of the waist support portion 10. Further, as shown in FIGS. 2 and 1, the lower end portion of the right subframe 32R of the frame portion 30 is connected (fixed) to the connection portion 41RS of the right actuator unit 4R. Similarly, the connecting portion 40LS of the torque generating portion 40L of the left actuator unit is connected (fixed) by a connecting member such as a bolt via the mounting hole 15L of the waist support portion 10, and is connected (fixed) to the connecting portion 41LS of the left actuator unit 4L. Is connected (fixed) to the lower end of the left subframe 32L of the frame portion 30. That is, in FIG. 2, the waist support portion 10 and the frame portion 30 are fixed to the torque generating portion 40R of the right actuator unit 4R, and the waist support portion 10 and the frame portion 30 are fixed to the torque generating portion 40L of the left actuator unit 4L. Will be done. The right actuator unit 4R, the left actuator unit 4L, and the frame portion 30 are integrated, and the connecting portions 40RS and 40LS (see FIG. 2) that can rotate around the virtual rotation axis 15Y are used with respect to the waist support portion 10. It is rotatable (see FIGS. 12 and 13).

As described above, the control device 61 rotates from the no-load state in the spiral spring 45R based on the detection signal from the output link rotation angle detecting means 43RS and the detection signal from the motor rotation angle detecting means 47RS. The angle and rotation direction can be detected, and the torque (combined torque) can be detected by these and the spring constant of the spiral spring 45R. In this case, the output link rotation angle detecting means 43RS, the motor rotation angle detecting means 47RS, and the spiral spring 45R correspond to the torque detecting means, and the control device 61 is the output link rotating angle detecting means 43RS (angle detecting means). It is possible to detect the torque-related amount (in this case, the combined torque) related to the torque based on the forward tilt angle detected by using (corresponding to).

In the above description, the electric motor 47R, the spiral spring 45R, the motor rotation angle detecting means 47RS, and the output link rotation angle detecting means 43RS are all provided in the right actuator unit 4R. Although not shown, the left actuator unit 4L is also provided with an electric motor 47L, a spiral spring 45L, a motor rotation angle detecting means 47LS, and an output link rotation angle detecting means 43LS. In the description described later, when the electric motor 47L, the spiral spring 45L, the motor rotation angle detecting means 47LS, and the output link rotation angle detecting means 43LS are described, although not shown, they are provided in the left actuator unit 4L. Refers to what is.

● [Appearance and configuration of operation unit R1 (FIGS. 14 to 16)]
Next, the operation unit R1 for the wearer to easily adjust the assist state of the power assist suit 1 will be described with reference to FIGS. 14 to 16. As shown in FIG. 15, the operation unit R1 is connected to the control device 61 in the backpack unit 37 (see FIG. 1) by a wired or wireless communication line R1T. The control device R1E of the operation unit R1 can send and receive information to and from the control device 61 via the first communication means R1EA, and the control device 61 communicates with the control device R1E in the operation unit R1 via the communication means 64. Can be sent and received. Further, the control device R1E of the operation unit R1 transmits detection signals from the load detecting means 72L, 72R, 73L, 73R via the second communication means R1EB (for example, wireless communication such as Bluetooth (registered trademark) or human body communication). It can be received. As shown in FIG. 1, when the wearer does not operate the operation unit R1, the wearer can store the operation unit R1 in a storage portion R1S such as a pocket provided in the jacket portion 20 (see FIG. 1).

As shown in FIG. 14, the operation unit R1 includes a main operation unit R1A, a gain automatic / manual switching operation unit R1BS, a gain UP operation unit R1BU, a gain DOWN operation unit R1BD, an increase speed automatic / manual switching operation unit R1CS, and an increase speed. It has an UP operation unit R1CU, an increase speed DOWN operation unit R1CD, a weight measurement operation unit R1K, a display unit R1D, and the like. The gain UP operation unit R1BU and the gain DOWN operation unit R1BD correspond to the gain changing means, and the increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD correspond to the increase speed changing means. Further, as shown in FIG. 15, the operation unit R1 includes a control device R1E, an operation unit power supply R1F, and the like. Main operation unit R1A, gain UP operation unit R1BU, gain DOWN operation unit R1BD, increase speed UP operation unit R1CU, increase speed DOWN operation unit R1CD, gain automatic / manual switching operation unit R1BS, increase speed automatic / manual switching operation unit It is preferable that the R1CS and the weight measurement operation unit R1K do not protrude from the arranged surface in order to prevent erroneous operation when the operation unit R1 is housed in the storage unit R1S (see FIG. 1).

The main operation unit R1A is a switch for starting and stopping the assist control by the power assist suit 1 by the operation from the wearer. As shown in FIG. 15, a main power switch 65 for starting and stopping the power assist suit 1 itself (overall) is provided in, for example, the backpack unit 37, and the main power switch 65 is operated to the ON side. Then, the control device 61 and the control device R1E are started, and when the main power switch 65 is operated to the OFF side, the operations of the control device 61 and the control device R1E are stopped. As shown in FIG. 14, for example, in the display area R1DB in the display unit R1D of the operation unit R1, whether the current operating state of the power assist suit is ON (operation) or OFF (stop) is displayed. ..

The gain automatic / manual switching operation unit R1BS is a switch for switching whether the gain (magnitude) of the assist torque is automatically adjusted or manually adjusted by the wearer. When the gain automatic / manual switching operation unit R1BS is set to the "automatic" side, the operations of the gain UP operation unit R1BU and the gain DOWN operation unit R1BD are invalidated, and the control device 61 is the baggage held by the wearer. The mass (or weight) of the load is detected, and the magnitude of the assist torque is automatically adjusted according to the detected mass (or weight) of the luggage. When the gain automatic / manual switching operation unit R1BS is set to the "manual" side, the operations of the gain UP operation unit R1BU and the gain DOWN operation unit R1BD are valid, and the control device 61 is the gain UP operation unit R1BU. The magnitude of the assist torque is changed according to the operation of the gain DOWN operation unit R1BD. In addition, in order to detect the mass (or weight) of the luggage, it is necessary to measure the mass (or weight) of the wearer, and the weight measurement operation unit R1K is described by the wearer himself / herself. It is used when the control device measures the mass. Further, when the gain is automatic, the gain may be adjusted by using a learning model generated by machine learning (neural network or the like) (a learning operation is performed by providing a learning model in a storage means for learning in the control device 61). The learning model of another power assist suit may be stored in the storage means by using the communication means 64 or the like to perform the learning operation for adjustment).

The gain UP operation unit R1BU is a switch that increases the gain of the assist torque generated by the power assist suit by the operation from the wearer when the gain automatic / manual switching operation unit R1BS is set to the "manual" side. The gain DOWN operation unit R1BD is a switch that reduces the gain of the assist torque generated by the power assist suit by the operation from the wearer. For example, as shown in "Operation unit gain (in the case of" gain setting = manual ")" in FIG. 16, the control device R1E stores one gain number each time the gain UP operation unit R1BU is operated. The gain number is incremented by one, and the gain number is decremented by one each time the gain DOWN operation unit R1BD is operated. In the example of FIG. 16, four examples of gain numbers 0 to 3 are shown, but the number is not limited to four. Further, as shown in FIG. 14, the control device R1E (see FIG. 15) displays, for example, in the display area R1DC in the display unit R1D of the operation unit R1 according to the current gain number.

The increase speed automatic / manual switching operation unit R1CS is a switch for switching between automatically adjusting the increase speed of the assist torque (the timing of applying the assist torque) and manually adjusting the increase speed by the wearer. When the increase speed automatic / manual switching operation unit R1CS is set to the "automatic" side, the operations of the increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD are invalidated, and the control device 61 increases the assist torque. The speed (assist torque application timing) is automatically adjusted. When the increase speed automatic / manual switching operation unit R1CS is set to the "manual" side, the operation of the increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD is valid, and the control device 61 controls the increase speed UP. Operation unit R1CU and increase speed The increase speed of the assist torque is changed according to the operation of the DOWN operation unit R1CD. Further, when the weight increase speed is automatic, the weight increase speed may be adjusted by using a learning model generated by machine learning (neural network or the like) (learning by providing a learning model in a storage means for learning in the control device 61). It may be adjusted by making an operation, or a learning model of another power assist suit may be stored in a storage means by using a communication means 64 or the like and the learning operation may be made to make an adjustment).

In the increase speed UP operation unit R1CU and the increase speed DOWN operation unit R1CD, when the increase speed automatic / manual operation unit R1CS is set to the "manual" side, a power assist suit is generated by the operation from the wearer. It is a switch that adjusts the speed of increasing the assist torque (timing of applying the assist torque) to be fast or slow. For example, as shown in “Operation unit increasing speed (in the case of“ increasing speed setting = manual ”)” in FIG. 16, the control device R1E stores the speed number stored every time the increasing speed UP operation unit R1CU is operated. Is increased by one, and the speed number is decreased by one each time the increase speed DOWN operation unit R1CD is operated. In the example of FIG. 16, six examples having speed numbers of -1 to 4 are shown, but the number is not limited to six. Further, as shown in FIG. 14, the control device R1E (see FIG. 15) displays, for example, in the display area R1DD in the display unit R1D of the operation unit R1 according to the current speed number.

Then, the control device R1E of the operation unit R1 has a predetermined time interval (for example, several [ms] to several 100 [ms] intervals), or the main operation unit R1A, the gain UP operation unit R1BU, the gain DOWN operation unit R1BD, and the increase speed UP. Every time any of the operation unit R1CU, the increase speed DOWN operation unit R1CD, the gain automatic / manual switching operation unit R1BS, and the increase speed automatic / manual switching operation unit R1CS is operated, the first communication means R1EA (see FIG. 15) is operated. Operation information is transmitted via. The operation information includes the above stop instruction or start instruction, gain number, gain automatic / manual information from the gain automatic / manual switching operation unit, speed number, increase speed automatic / manual increase speed automatic / manual information from the manual switching operation unit. , Weight measurement instruction information from the weight measurement operation unit, detection signal from the load detecting means, speed number, and the like are included.

When the control device 61 of the backpack unit 37 receives the operation information, the control device 61 stores the received operation information, and the battery information indicating the state of the battery of the power supply unit 63 used for driving the power assist suit and the assist information indicating the assist state. The response information including the above is transmitted via the communication means 64 (see FIG. 15). The battery information included in the response information includes the remaining amount of the power supply unit 63, and the assist information included in the response information includes, for example, when an abnormality is found in the power assist suit. Contains error information indicating the content of the error. As shown in FIG. 15, the control device R1E displays, for example, the remaining battery level and the like in the display area R1DA (see FIG. 14) in the display unit R1D of the operation unit R1, and if error information is included, Error information (in this case, "abnormality 1" and "abnormality 2") is displayed in the display area R1DF (see FIG. 14) in the display unit R1D.

For example, when any of the spiral springs 45L and 45R of the left actuator unit 4L or the right actuator unit 4R exceeds the output limit of the spring torque, the icon of "abnormality 1" (see FIG. 14) will be described later. ) Flashes (see FIG. 20). Further, for example, when any of the output link rotation angle detecting means 43LS and 43RS of the left actuator unit 4L or the right actuator unit 4R fails, the icon of "abnormality 2" (FIG. 14) is blinking (see FIG. 20).

Further, the control device 61 (see FIG. 15) that has received the operation information from the control device R1E activates the power assist suit when the received operation information includes an activation instruction, and stops at the received operation information. Stop the power assist suit if instructions are included. Further, the control device 61 stores the value of the gain C _p (0 to 3) corresponding to the gain number and increases the amount (right) corresponding to the speed number, for example, as shown in “Control device gain” of FIG. The speeds C _s and _R (right speed number: -1 to 4) and (left) increase speed C _s and _L (left speed number: -1 to 4) are stored. The above-mentioned C _p , C _s , _R , C _s , _L , are used in the processing procedure described below.

Further, the power assist suit has three operation modes for generating an assist torque for supporting the movement of the wearer, and the operation modes include a lifting mode, a lifting mode, and a walking mode. The lifting mode is an operation mode that assists the wearer in carrying the luggage. The lifting mode is an operation mode that assists the wearer in lifting the luggage. The walking mode is an operation mode that assists the wearer's walking operation. Although the details will be described later, the control device 61 has the above three operation modes based on the torque (or torque-related amount related to the torque) applied to the left actuator unit 4L and the right actuator unit 4R (see FIG. 1). Is automatically switched. As will be described later, the control device 61 switches to the "lifting mode" when it is determined that the wearer has started the lifting operation, and the "lifting mode" when it is determined that the wearer has started the lifting operation. When it is determined that the wearer has started the walking motion, the mode is switched to "walking mode".

Further, as shown in the example of the "control device operation mode" of FIG. 16, in the "holding mode", the gain can be switched automatically or manually by the gain automatic / manual switching operation unit R1BS (see FIG. 14). , There is no automatic / manual switching for the increase speed. Further, in the "lifting mode", the gain can be switched between automatic and manual by the gain automatic / manual switching operation unit R1BS (see FIG. 14), and the gain increase speed automatic / manual switching operation unit R1CS (see FIG. 14) can be used. The gain rate can be switched between automatic and manual. Also, in the "walking mode", automatic / manual switching is not provided for gain and weight increase speed. The "control device operation mode" shown in FIG. 16 is an example. For example, the lifting speed may be switched between automatic and manual in the lifting mode, and the gain may be switched between automatic and manual in the walking mode. May be good.

As described above, by operating the operation unit R1, the wearer can easily make adjustments to obtain the desired assist state. Further, since the display unit R1D of the operation unit R1 displays the remaining battery level, error information, and the like, the wearer can easily grasp the state of the power assist suit. The form of various information displayed on the display unit R1D is not limited to the example of FIG.

● [Input / output of control device 61 (FIG. 15)]
As shown in FIG. 15, the control device 61 is housed in the backpack portion 37. In the example shown in FIG. 15, the control device 61, the motor driver 62, the power supply unit 63, and the like are housed in the backpack unit 37. The control device 61 includes, for example, a control means 66 (CPU) and a storage means 67 (which stores a control program and the like and corresponds to a storage device). The control device 61 includes an adjustment determination unit 61A, an input processing unit 61B, a torque change amount calculation unit 61C, an operation mode determination unit 61D, a selection unit 61E, a lifting assist torque calculation unit 61F, and a lifting assist torque calculation unit 61G, which will be described later. , Walking assist torque calculation unit 61H, control command value calculation unit 61I, load determination unit 61J, failure detection processing unit 61K, communication means 64, and the like. The motor driver 62 is an electronic circuit that outputs a drive current for driving the electric motor 47R based on a control signal from the control device 61. The power supply unit 63 is, for example, a lithium battery, and supplies electric power to the control device 61 and the motor driver 62. The operation of the communication means 64 will be described later. Further, a detection signal from the acceleration detecting means 75 is input to the control device 61.

The control device 61 contains operation information from the operation unit R1, detection signals from the motor rotation angle detecting means 47RS ((right) detection signals corresponding to the actual motor shaft angles θ _rM and _R of the electric motor 47R), and ( Right) A detection signal from the output link rotation angle detecting means 43RS (a detection signal corresponding to the actual link angles θ _L and _R of the assist arm 51R) and the like are input. The control device 61 obtains the rotation angle of the (right) electric motor 47R based on the input signal, and outputs a control signal corresponding to the obtained rotation angle to the motor driver 62 (the same applies to the (left) electric motor. ).

● [Control block (FIG. 17) and processing procedure of control device 61 (FIG. 18)]
Next, the processing procedure of the control device 61 will be described with reference to the flowchart shown in FIG. 18 and the control block shown in FIG. The control blocks shown in FIG. 17 include adjustment determination block B10, input processing block B20, torque change amount calculation block B30, failure detection processing block B35, operation mode determination block B40, load determination block B45, selection block B54, and assist torque calculation. It has a block B50, a lifting assist torque calculation block B51, a lifting assist torque calculation block B52, a walking assist torque calculation block B53, a control command value calculation block B60, changeover switches S51, S52, and the like. The processing content of each block will be described with reference to the flowchart shown in FIG.

● [Overall processing flow (Fig. 18)]
The flowchart shown in FIG. 18 shows a processing procedure for controlling the (right) actuator unit 4R and the (left) actuator unit 4L. The process shown in FIG. 18 is started at predetermined time intervals (for example, several [ms] intervals), and when the process is started, the control device 61 (corresponding to the control means) proceeds to step S010. The processing program of the control device 61 and data such as a map are stored in the storage means 67 (corresponding to the storage device).

In step S010, the control device 61 executes the process of S100 (see FIG. 19) and proceeds to step S015. The processing of S100 corresponds to the adjustment determination block B10, the input processing block B20, and the torque change amount calculation block B30 shown in FIG. 17, and the adjustment determination unit 61A, the input processing unit 61B, the torque change amount, etc. shown in FIG. It corresponds to the calculation unit 61C. The details of the processing of S100 will be described later.

In step S015, the control device 61 executes the process of S150 (see FIG. 20), and proceeds to step S018. The processing of S150 corresponds to the failure detection processing block B35 shown in FIG. 17, and corresponds to the failure detection processing unit 61K shown in FIG. The process of S150 is a process of detecting a failure of the right actuator unit 4R and the left actuator unit 4L, and the details of the process of S150 will be described later.

In step S018, the control device 61 determines whether or not at least one of the first failure flag and the second failure flag is set to ON in the failure detection process of step S015. The control device 61 ends the process when at least one of the first failure flag and the second failure flag is ON (Yes), and when neither the first failure flag nor the second failure flag is ON (No), the control device 61 ends the process. The process proceeds to step S020.

When the process proceeds to step S020, the control device 61 executes the process of S200 (see FIG. 22) and proceeds to step S025. The processing of S200 corresponds to the operation mode determination block B40 shown in FIG. 17, and corresponds to the operation mode determination unit 61D shown in FIG. The control device 61 switches or maintains the operation mode to any one of "lifting mode", "lifting mode", and "walking mode" in the process of S200. The details of the processing of S200 will be described later.

In step S025, the control device 61 executes the process of S300 (see FIG. 23) and proceeds to step S030. The processing of S300 corresponds to the load determination block B45 shown in FIG. 17, and corresponds to the load determination unit 61J shown in FIG. The process of S300 is a process of determining the value of the gain C _p , and the details of the process of S300 will be described later.

In step S030, the control device 61 determines whether or not the operation mode determined in step S020 is the lift mode. The control device 61 proceeds to step S045 when the operation mode is the lift mode (Yes), and proceeds to step S035 when the operation mode is not the lift mode (No).

When the process proceeds to step S035, the control device 61 determines whether or not the operation mode determined in step S020 is the carry mode. The control device 61 proceeds to step S040R when the operation mode is the carry mode (Yes), and proceeds to step S050 when the operation mode is not the carry mode (No). The processing of steps S030 and S035 corresponds to the selection block B54 shown in FIG. 17, and corresponds to the selection unit 61E shown in FIG.

When the process proceeds to step S040R, the control device 61 executes the process of SD000R (see FIG. 30) and proceeds to the process to step S040L. The processing of the SD000R is a process of obtaining the control command value of the (right) actuator unit 4R during the lifting operation, which corresponds to the lifting assist torque calculation block B51 shown in FIG. 17, and the lifting assist shown in FIG. It corresponds to the torque calculation unit 61F. The details of the processing of SD000R will be described later.

In step S040L, the control device 61 executes the process of SD000L (not shown) and proceeds to step S060R. The processing of the SD000L is a processing for obtaining the control command value of the (left) actuator unit 4L during the lifting operation, which corresponds to the lifting assist torque calculation block B51 shown in FIG. 17, and the lifting assist shown in FIG. It corresponds to the torque calculation unit 61F. Since the processing of SD000L is the same as that of SD000R, detailed description thereof will be omitted.

When the process proceeds to step S045, the control device 61 executes the process of SU000 (see FIG. 35) and proceeds to step S060R. The process of SU000 is a process of obtaining the control command values of the (right) actuator unit 4R and the (left) actuator unit 4L during the lifting operation, and corresponds to the lifting assist torque calculation block B52 shown in FIG. It corresponds to the lifting assist torque calculation unit 61G shown in. The details of the processing of SU000 will be described later.

When the process proceeds to step S050, the control device 61 executes the process of SW000 (not shown) and proceeds to step S060R. The processing of SW000 is a processing for obtaining control command values of the (right) actuator unit 4R and the (left) actuator unit 4L during walking operation, and corresponds to the walking assist torque calculation block B53 shown in FIG. It corresponds to the walking assist torque calculation unit 61H shown in. The details of the SW000 process will be omitted.

In step S060R, the control device 61 feedback-controls the (right) electric motor based on the (right) assist torque command value obtained in SD000R, SU000, or SW000, and proceeds to step S060L.

In step S060L, the control device 61 feedback-controls the (left) electric motor based on the (left) assist torque command value obtained by the SD000L, SU000, or SW000, and ends the process. The processing of steps S060R and S060L corresponds to the control command value calculation block B60 shown in FIG. 17, and corresponds to the control command value calculation unit 61I shown in FIG.

● [S100: Details of calculation of adjustment judgment, input processing, torque change amount, etc. (FIG. 19)]
Next, the details of the processing of S100 according to step S010 shown in FIG. 18 will be described with reference to FIG. In the process of S100, the control device 61 recognizes whether the increase speed automatic / manual switching operation unit is set to "increase speed automatic" or "increase speed manual" based on the information from the operation unit. Remember. Then, in the case of "manual increase speed", the control device 61 is based on the information from the operation unit except "in the case of operation mode = lift mode or lift mode and operation state S = 1 to 4". , (Right) Increased speed C _s , _R , (Left) Increased speed C _s , _L stores any of -1, 0, 1, 2, ₃ , 4 (“Control device increased speed” in FIG. 16). reference). Further, the control device 61 recognizes and stores whether the gain automatic / manual switching operation unit is set to "gain automatic" or "gain manual" based on the information from the operation unit, and "gain manual". In the case of, "operation unit gain (any of 0, 1, 2, 3, see FIG. 16)" is stored based on the information from the operation unit. The above corresponds to the adjustment determination block B10 shown in FIG. 17 and the adjustment determination unit 61A shown in FIG.

Further, the control device 61 stores the (right) link angles θ _L and _R (t) before the update in the previous (right) link angles θ _L and _R (t-1), and stores the (left) link angle before the update. The θ _L and _L (t) are stored in the previous (left) link angle θ _L and _L (t-1). Further, the control device 61 detects the current (right) link angle by using the output link rotation angle detecting means 43RS (corresponding to the angle detecting means, see FIGS. 10 and 11) of the (right) actuator unit, and (right). ) Memorize (update) the link angles θ _L and _R (t). Similarly, the control device 61 detects the current (left) link angle by using the output link rotation angle detecting means (corresponding to the angle detecting means) of the (left) actuator unit, and the (left) link angles θ _L , _L. (T) is stored (updated). Further, the control device 61 obtains a drag force F (see FIGS. 24, 25, 27, 28) based on the detection signals from the load detecting means 72L, 72R, 73L, and 73R based on the information from the operation unit. And remember. Further, the control device 61 has a body motion acceleration av (see FIGS. 27 and 28) in the spine parallel direction along the back surface of the wearer based on the detection signal from the acceleration detection means 75, and the wearer's back. The body motion acceleration aw (see FIGS. 27 and 28) in the direction orthogonal to the back orthogonal to the surface is obtained and stored. The above corresponds to the input processing block B20 shown in FIG. 17 and the input processing unit 61B shown in FIG. The (right) link angles θ _L and _R (t) are the (right) forward tilt angles of the lumbar region with respect to the thigh (see FIG. 31), and the (left) link angles θ _L and _L (t) are. The (left) forward tilt angle of the lumbar region with respect to the thigh (see FIG. 31).

Further, the control device 61 obtains and stores (right) link angle change amounts Δθ _L and _R (t) in the following (Equation 1), and stores (left) link angle change amounts Δθ _L in (Equation 2). _Find and memorize _L (t). The (right) link angle change amount Δθ _L , _R (t), and (left) link angle change amount Δθ _L , _L (t) correspond to the angular velocity related quantities. The output link rotation angle detecting means 43RS corresponds to the torque detecting means.
(Right) Link angle change amount Δθ _L , _R (t) = (Right) Link angle θ _L , _R (t)-(Right) Link angle θ _L , _R (t-1) (Equation 1)
(Left) Link angle change amount Δθ _L , _L (t) = (Left) Link angle θ _L , _L (t)-(Left) Link angle θ _L , _L (t-1) (Equation 2)

Further, the control device 61 obtains and stores (right) wearer torque change amounts τ _S and _R (t) in the following (Equation 3), and (left) wearer torque change amount τ in (Equation 4). _Find and memorize _S and _L (t). Ks is the spring constant of the spiral spring 45R.
(Right) Wearer torque change amount τ _S , _R (t) = Ks * Δθ _L , _R (t) (Equation 3)
(Left) Wearer torque change amount τ _S , _L (t) = Ks * Δθ _L , _L (t) (Equation 4)

Further, the control device 61 obtains and stores the (right) combined torque (t) in the following (Equation 5), and obtains and stores the (left) combined torque (t) in (Equation 6).
(Right) Combined torque (t) = Ks * θ _L , _R (t) (Equation 5)
(Left) Combined torque (t) = Ks * θ _L , _L (t) (Equation 6)

Further, the control device 61 detects the motor shaft angle of the (right) electric motor 47R based on the detection signal from the motor rotation angle detecting means 47RS of the (right) electric motor 47R, and (right) the actual motor shaft angle θ _rM. , _R (t) is memorized (updated). Similarly, the control device 61 detects the motor shaft angle of the (left) electric motor based on the detection signal from the motor rotation angle detecting means (not shown) of the (left) electric motor, and (left) the actual motor shaft. _Store (update) the angles θ _rM and _L (t).

Further, as shown in FIG. 11, the assist torque from the electric motor 47R is input to the spiral spring 45R of the right actuator unit, and the thigh portion of the wearer via the speed reducer 42R, the pulley 43RA and the pulley 43RC. The (right) wearer torque, which is the torque input to the right actuator unit from, is input and is rotated in the compression direction or the extension direction to store the torque. The rotation angle of the spiral spring 45R in the compression direction or the extension direction is (the rotation angle of the pulley 43RC (right) pulley rotation angle θ _P , _R (t) -the (right) actual motor shaft angle θ _{rM of} the electric motor _47R , It can be represented by _R (t)). The (right) spring torques τ _SP and _R (t), which are the torques stored in the spiral spring 45R, are (right) spring torques τ _SP and _R (t) = Ks using the spring constant Ks of the spiral spring 45R. * Can be expressed as (θ _P , _R (t) −θ _rM , _R (t)).

Here, using the gear reduction ratio n _G , the pulley reduction ratio n _P , and the (right) link angle θ _L , _R (t) described above, the pulley rotation angles θ _P , _R (t) = θ _L , _R (t). ) * N _P * n _G. From the above, (right) spring torque τ _SP and _R (t) can be expressed by the following (Equation 6-1). Further, when the sub-encoder rotation angles θ _S and _R (t), which are the rotation angles of the output link rotation angle detecting means 43RS in FIG. 11, are used as the base points, θ _S , _R (t) = θ _L , _R (t). Since it is * n _G , in this case, the (right) spring torque τ _SP and _R (t) can be expressed by the following (Equation 6-2).
(Right) _Spring torque τ _SP , _R (t) = Ks * (θ _L , _R (t) * n _G * n _P −θ _rM , _R (t)) (Equation 6-1)
(Right) _Spring torque τ _SP , _R (t) = Ks * (θ _S , _R (t) * n _P −θ _rM , _R (t)) (Equation 6-2)

Similarly, the torques stored in the spiral spring of the left actuator unit (left) spring torque τ _SP , _L (t) are (left) link angles θ _L , _L (t), gear reduction ratio n _G , Using the pulley reduction ratio n _P , the sub-encoder rotation angle θ _S , _L (t), and (left) actual motor shaft angle θ _rM , _L (t) of the output link rotation angle detecting means of the left actuator unit, the following It can be expressed as (Equation 6-3) and (Equation 6-4).
(Left) _Spring torque τ _SP , _L (t) = Ks * (θ _L , _L (t) * n _G * n _P −θ _rM , _L (t)) (Equation 6-3)
(Left) _Spring torque τ _SP , _L (t) = Ks * (θ _S , _L (t) * n _P −θ _rM , _L (t)) (Equation 6-4)

The above (right) spring torques τ _SP and _R (t) are the right wearer torque input from the wearer's right thigh to the right actuator unit and the right assist torque generated by the right actuator unit. It corresponds to the right torque-related amount, which is the related torque. The right torque-related amount detecting means for detecting the right torque-related amount detects the swing angle of the right thigh with respect to the waist of the wearer. As shown in FIGS. 10 and 11, the right torque-related amount detecting means includes the motor rotation angle detecting means 47RS for detecting (right) actual motor shaft angles θ _rM and _R (t), and the (right) pulley rotation angle θ. _The output link rotation angle detecting means 43RS (corresponding to the right thigh angle detecting means) for detecting _P and _R (t) is included. Similarly, the (left) spring torques τ _SP and _L (t) are the left wearer torque input from the wearer's left thigh to the left actuator unit and the left assist torque generated by the left actuator unit. Corresponds to the left torque related amount, which is the torque related to. The left torque-related amount detecting means for detecting the left torque-related amount detects the swing angle of the left thigh with respect to the waist of the wearer. The left torque-related amount detecting means is not shown, but (left) the motor rotation angle detecting means for detecting the actual motor shaft angles θ _rM and _L (t), and (left) the pulley rotation angles θ _P and _L (t). Includes an output link rotation angle detecting means (corresponding to the left thigh angle detecting means) for detecting.

The control device 61 obtains and stores (right) spring torques τ _SP and _R (t) by the above calculation formula, and obtains and stores (left) spring torques τ _SP and _L (t). The above corresponds to the torque change amount calculation block B30 shown in FIG. 17 and the torque change amount calculation unit 61C shown in FIG.

● [S150: Failure detection process (FIGS. 20 to 21)]
Next, the details of the processing of S150 according to step S015 shown in FIG. 18 will be described with reference to FIGS. 20 and 21. In S150, the control device 61 detects a failure of the right actuator unit 4R and the left actuator unit 4L. The processing of S150 corresponds to the failure detection processing block B35 shown in FIG. 17 and the failure detection processing unit 61K shown in FIG.

In the process of S150, the control device 61 proceeds to the process of step S151. As shown in FIG. 20, in step S151, the control device 61 executes the process of S1600R (see FIG. 21), and then proceeds to step S152. The process of S1600R is a process of detecting a failure of the (right) actuator unit 4R.

In step S152, the control device 61 executes the process of S1600L (not shown), and then proceeds to step S153. The process of S1600L is a process of detecting a failure of the (left) actuator unit 4L. The processing of S1600L executed in step S152 shows the processing procedure of (left) actuator unit 4L, but is the same as the processing procedure of S1600R executed for (right) actuator unit 4R. The explanation will be omitted.

In step S153, the control device 61 reads the first failure flag from the RAM and determines whether or not it is set to "ON". As will be described later, the first failure flag includes the spiral spring 45R of the right actuator unit 4R and the (right) spring torques τ _SP and _R (t) (see FIG. 19) stored in the spiral spring 45L of the left actuator unit 4L. (Left) _Spring torque τ _SP , _L (t) (see FIG. 19) is set to “ON” when at least one of them reaches the maximum torque that can be output without breaking of each of the spiral springs 45R and 45L. (See FIG. 21). The first failure flag is set to "OFF" and stored in the RAM when the control device 61 is started and reset.

Then, when it is determined that the first failure flag is set to "ON" (S153: YES), the control device 61 proceeds to step S154. In step S154, the control device 61 notifies that the output limit of the power assist suit 1 has been exceeded, and then proceeds to step S155. For example, the control device 61 outputs a notification command instructing the control device R1E (see FIG. 15) of the operation unit R1 (see FIG. 14) to blink the “abnormality 1” icon (see FIG. 14). Then, the "abnormality 1" icon is blinked and displayed to notify the wearer that the power assist suit 1 is "output limit". In addition, the power assist suit 1 may be voice-guided to the effect that "the output limit is reached" via a speaker (not shown).

In step S155, the control device 61 supplies electric power to the electric motor 47R (see FIG. 15) of the right actuator unit 4R and the electric motor 47L of the left actuator unit 4L via the motor driver 62 (see FIG. 15). After the stop, the process of the S150 is completed and returned (procedure to step S018 of FIG. 18). Therefore, the state in which the first failure flag is set to "ON" continues until the reset button (not shown) provided on the backpack portion 37 is pressed, so that the power to the electric motors 47R and 47L is supplied. The supply is also stopped until the reset button (not shown) is pressed.

As a result, the supply of electric power to the electric motors 47R and 47L is stopped, so that the torque applied to the spiral springs 45R and 45L disappears, and (right) spring torque τ _SP , _R and (left) spring torque τ _SP , _L becomes "0", and it is possible to prevent the spiral springs 45R and 45L from being broken. Further, since the supply of electric power to the electric motors 47R and 47L is stopped, the assist torque is slowly applied by the spring force of the spiral springs 45R and 45L (it takes about 0.5 to 0.7 seconds). Since it returns to "0", it is possible to prevent a sudden load from being applied to the wearer's waist and prevent the wearer from being hurt. As a result, it is possible to provide a highly reliable power assist suit 1 that does not give a discomfort such as a sudden load to the wearer.

On the other hand, if it is determined in step S153 that the first failure flag is set to "OFF" (S153: NO), the control device 61 proceeds to step S156. In step S156, the control device 61 reads the second failure flag from the RAM and determines whether or not it is set to "ON".

Here, the second failure flag is the (right) first output link of the output link 50R (see FIG. 4) calculated from (right) spring torque τ _SP , _R (t) (see FIG. 19) as described later. (Right) 2nd output link rotation torque τ _O2R (2nd time) of the output link 50R (see FIG. 4) calculated from the rotation torque τ _O1R (first rotation torque) and the motor current value of the electric motor 47R. When the absolute value of the difference from the dynamic torque) is equal to or greater than the “error threshold”, it is determined that the output link rotation angle detecting means 43RS is out of order, and the value is set to “ON” (see FIG. 21).

Further, the second failure flag is the (left) first output link times of the output link 50L (see FIG. 4) calculated from (left) spring torque τ _SP , _L (t) (see FIG. 19), as described later. _{Difference between the} dynamic torque τ _O1L (first rotation torque) and the (left) second output link rotation torque τ _O2L (second rotation torque) of the output link 50L calculated from the motor current value of the electric motor 47L. When the absolute value of is equal to or greater than the “error threshold”, it is determined that the output link rotation angle detecting means 43LS is out of order, and the output link rotation angle detecting means 43LS is set to “ON” (see FIG. 21).

Then, when it is determined that the second failure flag is set to "ON" (S156: YES), the control device 61 proceeds to step S157. In step S157, the control device 61 notifies that either the output link rotation angle detecting means 43RS or the output link rotation angle detecting means 43LS is out of order, and then proceeds to the process in step S155. If it is determined that the second failure flag is set to "OFF" (S156: NO), the control device 61 ends the process of step S156 and returns (process to step S018 of FIG. 18). To proceed).

For example, the control device 61 outputs a notification command instructing the control device R1E (see FIG. 15) of the operation unit R1 (see FIG. 14) to blink the “abnormality 2” icon (see FIG. 14). Then, the "abnormality 2" icon is blinked and displayed to notify the wearer that either the output link rotation angle detecting means 43RS or the output link rotating angle detecting means 43LS is out of order. Note that voice guidance may be provided to the effect that either the output link rotation angle detecting means 43RS or the output link rotation angle detecting means 43LS is out of order via a speaker (not shown).

In step S155, the control device 61 supplies electric power to the electric motor 47R (see FIG. 15) of the right actuator unit 4R and the electric motor 47L of the left actuator unit 4L via the motor driver 62 (see FIG. 15). After the stop, the process of the S150 is completed and returned (procedure to step S018 of FIG. 18). Therefore, the state in which the second failure flag is set to "ON" continues until the reset button (not shown) provided on the backpack portion 37 is pressed, so that the power to the electric motors 47R and 47L is supplied. The supply is also stopped until the reset button (not shown) is pressed.

As a result, the supply of electric power to the electric motors 47R and 47L is stopped, so that the torque applied to the spiral springs 45R and 45L disappears, and (right) spring torque τ _SP , _R and (left) spring torque τ _SP , _L becomes "0". This makes it possible to stop the output of inappropriate assist torque by the electric motors 47R and 47L. By pulling, when assisting the lifting operation and the lifting operation of the luggage, the appropriate assist torque can be output by the electric motors 47R and 47L, and the reliability does not give a sense of discomfort to the wearer. A high power assist suit 1 can be provided.

● [S1600R: Failure detection process of right actuator unit]
Next, the details of the processing of S1600R executed in step S151 shown in FIG. 20 will be described with reference to FIG. In the S1600R, in the control device 61, the (right) spring torques τ _SP and _R (see FIG. 19) stored in the spiral spring 45R of the (right) actuator unit 4R can generate the maximum torque (torque) of the spiral spring 45R without breaking. It is determined whether or not the threshold value has been reached. Further, in S1600R, the control device 61 determines whether or not the output link rotation angle detecting means 43RS is out of order.

The processing of S1600L executed in step S152 shows the processing procedure executed for the (left) actuator unit 4L, but is the same as the processing procedure of S1600R executed for the (right) actuator unit 4R.

As shown in FIG. 21, in the process of S1600R, the control device 61 proceeds to step S1601R. In step S1601R, the control device 61 reads the (right) spring torques τ _SP and _R (t) (see FIG. 19) calculated and stored in step S110 from the RAM. Then, the control device 61 determines whether or not the (right) spring torque τ _SP , _R (t) is equal to or greater than the maximum torque (torque threshold) τ _SP , _MAX that can be output without breaking the spiral spring 45R. The torque thresholds τ _SP and _MAX are determined by experiments, CAE (Computer Aided Engineering) analysis, and the like, and are stored in advance in the storage means 67.

In the control device 61, the first output link rotation torque (first rotation torque) τ _O1 and _R (first rotation torque) of the output link 50R corresponding to the (right) spring torques τ _SP and _R (t) are expressed by the following equation 21. You may try to calculate t). Then, it may be determined whether or not the first output link rotation torques τ _O1 and _R (t) are equal to or more than the maximum torques τ _O1 and _MAX (for example, 22 Nm) that can be output without breaking the spiral spring 45R. Here, n _G (1 <n _G ) is the reduction ratio of the speed reducer 42R. n _P is the pulley reduction ratio of the pulley 43RA to the pulley 43RC.

τ _O1 , _R (t) = τ _SP , _R (t) * n _{P *} n _G (Equation 21)

Then, when it is determined that the (right) spring torque τ _SP and _R (t) are equal to or more than the maximum torque (torque threshold) τ _SP and _MAX that can be output without breaking the spiral spring 45R (S1601R: YES), the control device 61 Proceeds to step S1602R. In step S1602R, the control device 61 reads the first failure flag from the RAM, sets it to “ON”, stores it in the RAM again, finishes the process of the S1600R, and returns (to step S152 in FIG. 20). Proceed with processing). As a result, the control device 61 can accurately determine whether or not the spiral spring 45R fails before the spiral spring 45R fails (for example, deformation, breakage, etc.), and the reliability of the power assist suit 1 can be determined. It is possible to improve the sex.

On the other hand, if it is determined that the (right) spring torques τ _SP and _R (t) are less than the maximum torque (torque threshold) τ _SP and _MAX that can be produced without breaking the spiral spring 45R (S1601R: NO), the control device 61. Determines that the spiral spring 45R does not fail (for example, deformation, destruction, etc.) and proceeds to step S1603R.

In step S1603R, the control device 61, between T _S (msec) (e.g., about between 2 msec) output link times the amount of rotation of the detected speed increasing shaft 42RB by moving angle detector 43RS is N _S pulses (e.g., It is determined whether or not it is 4 pulses) or less. The output link rotation angle detecting means 43RS is accelerated shaft 42RB about 1000 * N _S pulse rotates 1 (e.g., 4096 pulses) output.

Then, while T _S (msec) (e.g., about between 2 msec) output link times the amount of rotation of the movement angle detector speed increasing shaft 42RB detected by 43RS is N _S pulses (e.g., 4 pulses) to be greater than If it is determined (S1603R: NO), the control device 61 determines that the output link 50R is rotating, ends the process of the S1600R, and returns (proceed to step S152 of FIG. 20). ).

On the other hand, between T _S (msec) (e.g., about between 2 msec) output link times the amount of rotation of the detected speed increasing shaft 42RB by moving angle detector 43RS is N _S pulses (e.g., 4 pulses) is not more than If it is determined (S1603R: YES), the control device 61 determines that the output link 50R is hardly rotating, and proceeds to the process of step S1604R. In step S1604R, the control device 61 has the first output link rotation torque (first rotation torque) τ _O1 , _R of the output link 50R corresponding to (right) spring torque τ _SP , _R (t) according to the above equation 21. (T) is calculated and stored in the RAM.

Subsequently, in step S1605R, the control device 61, after obtaining the current value I _R which is supplied to the electric motor 47R via the motor driver 62, the process proceeds to step S1606R. In step S1606R, the control device 61, the following equation 22 from the current value I _R which is supplied to the electric motor 47R, the second output link rotational torque (the second rotation torque) tau _{O2, R} output links 50R ( t) is calculated and stored in the RAM. Here, K _A is the motor constant of the electric motor 47R (Nm / A). n _G (1 <n _G ) is the reduction ratio of the speed reducer 42R. n _P is the pulley reduction ratio of the pulley 43RA to the pulley 43RC.

_{τ O2, R (t) =} K A * I R * n P * n G ( Equation 22)

Thereafter, in step S1607R, the control device 61, T _S (msec) during (e.g., approximately between 2 msec) the first output link rotation torque calculated by the equation 21 (first rotation torque) tau _{O1, R} Movement for S seconds (for example, about 0.5 seconds) of the value obtained by subtracting the second output link rotation torque (second rotation torque) τ _O2 and _R (t) calculated by the above equation 22 from (t). The absolute value of the average is calculated by the following equation 23, stored in the RAM as the (right) torque error Δτ _R (t), and then the process proceeds to step S1608R. Note that τ _O1 and _R (t-1) are the first output link rotation torque (first rotation torque) calculated last time. τ _O2 and _R (t-1) are the second output link rotation torque (second rotation torque) calculated last time.

_{Δτ R (t) = | (} (τ O1, R (t-1) -τ O2, R (t-1)) * ((S / T S) -1) + (τ O1, R (t) - _{τ O2, R (t))} ) ÷ (S / T S) | ( equation 23)

In step S1607R, the control device 61 may be, for example, as follows. Control unit 61, the first output link rotational torque (first rotation torque) tau _{O1, R} (t), the second output link rotational torque (the second rotation torque) tau _{O2, R} a (t) the subtracted value, S seconds (e.g., about 0.5 seconds), for every T _S (msec) (e.g., about every 2 msec) to the sum calculated by. Then, the control device 61 may calculate the absolute value of the average value of the total values, store it in the RAM as a (right) torque error Δτ _R (t), and then proceed to the process of step S1608R.

In step S1608R, the control device 61 reads the (right) torque error Δτ _R (t) calculated and stored in step S1607R from the RAM. Then, the control device 61 determines whether or not the (right) torque error Δτ _R (t) is equal to or greater than the error threshold value τ _LM (for example, about 3.8 Nm). The error threshold τ _LM is determined by an experiment, CAE (Computer Aided Engineering) analysis, or the like, and is stored in advance in the storage means 67.

Then, when it is determined that the (right) torque error Δτ _R (t) is less than the error threshold value τ _LM (for example, about 3.8 Nm) (S1608R: NO), the control device 61 determines the output link rotation angle. The detection means 43RS determines that the failure has not occurred, finishes the process of the S1600R, and returns (procesed with the process to step S152 of FIG. 20).

On the other hand, if it is determined that the (right) torque error Δτ _R (t) is equal to or greater than the error threshold τ _LM (for example, about 3.8 Nm) (S1608R: YES), the control device 61 processes the process to step S1609R. To proceed. In step S1609R, the control device 61 reads the second failure flag from the RAM, sets it to “ON”, stores it in the RAM again, finishes the process of the S1600R, and returns (to step S152 in FIG. 20). Proceed with processing). As a result, the control device 61 can accurately determine whether or not the output link rotation angle detecting means 43RS is out of order, and can improve the reliability of the power assist suit 1.

● [S200: Details of operation mode determination (FIG. 22)]
Next, the details of the processing of S200 according to step S020 shown in FIG. 18 will be described with reference to FIG. In S200, the control device 61 determined (right) spring torque τ _SP , _R (t) (right torque-related amount), (left) spring torque τ _SP , _L (t) (left torque-related amount) obtained in the processing of S100. Etc., the operation mode of the power assist suit is (automatically) switched to or maintained in any of the "lifting mode", "lifting mode", and "walking mode". The "lifting mode" is an operation mode that assists the wearer in lifting the luggage. The "holding mode" is an operation mode that assists the wearer in carrying the luggage. The "walking mode" is an operation mode that assists the wearer's walking operation. As described above, the operation mode includes three modes, a lifting mode, a lifting mode, and a walking mode, but other modes may be included. The processing of S200 corresponds to the operation mode determination block B40 shown in FIG. 17 and the operation mode determination unit 61D shown in FIG.

In the process of S200, the control device 61 proceeds to the process of step S210. Then, in step S210, in the control device 61, (right) spring torque τ _SP , _R (t) is a torque toward the forward tilting direction of the wearer, which is larger than the first predetermined threshold value, and (left) spring torque τ _SP. , _L (t) is a torque toward the forward tilting direction of the wearer and is larger than the first predetermined threshold value. It is determined whether or not the condition is satisfied. For example, the value of the first predetermined threshold value is 0 (zero). If the condition is satisfied (Yes), the control device 61 proceeds to step S240A, and if the condition is not satisfied (No), the process proceeds to step S220. Further, (right) spring torque τ _SP , _R (t), (left) spring torque τ _SP , _L (t) are positive (> 0) in the case of torque in the forward tilt direction of the wearer, and tilt backward of the wearer. In the case of torque in the direction, it becomes negative (<0).

The control device 61 may use a value set in the storage means in advance as the first predetermined threshold value, or may use a learning model generated by machine learning (neural network or the like) to use the first predetermined threshold value. You may adjust the value of. When adjusting using machine learning, a learning model may be provided in a storage means for learning in the control device 61 to perform a learning operation for adjustment, or another power assist suit may be adjusted using a communication means 64 or the like. The learning model may be stored in a storage means to perform a learning operation for adjustment.

When the process proceeds to step S220, in the control device 61, the (right) spring torques τ _SP and _R (t) are torques directed in the backward tilting direction (opposite to the forward tilting direction) of the wearer, and are second predetermined. Satisfies the condition that it is smaller than the threshold and the (left) spring torques τ _SP and _L (t) are torques toward the wearer's backward tilting direction (opposite to the forward tilting direction) and smaller than the second predetermined threshold. Determine whether or not to do so. For example, the value of the second predetermined threshold value is 0 (zero). If the condition is satisfied (Yes), the control device 61 proceeds to step S240B, and if the condition is not satisfied (No), the process proceeds to step S230.

The control device 61 may use a value set in the storage means in advance as the second predetermined threshold value, or may use a learning model generated by machine learning (neural network or the like) as the second predetermined threshold value. You may adjust the value of. When adjusting using machine learning, a learning model may be provided in a storage means for learning in the control device 61 to perform a learning operation for adjustment, or another power assist suit may be adjusted using a communication means 64 or the like. The learning model may be stored in a storage means to perform a learning operation for adjustment.

When the process proceeds to step S230, in the control device 61, [(right) link angle θ _L , _R (t) + (left) link angle θ _L , _L (t)] / 2 is the first operation determination angle θ1. It is determined whether or not the (right) combined torque (t) * (left) combined torque (t) is less than the first operation determination torque τ1. In the control device 61, [(right) link angle θ _L , _R (t) + (left) link angle θ _L , _L (t)] / 2 is equal to or less than the first operation determination angle θ1, and (right). Combined torque (t) * (left) If the combined torque (t) is less than the first operation determination torque τ1 (Yes), the process proceeds to step S240C, and if not (No), the process of S200 ends. (Proceed to step S025 in FIG. 18). In this case, the current operation mode is maintained as the operation mode. Then, the operation mode can be maintained and the assist operation can be continuously performed.

When the process proceeds to step S240A, the control device 61 stores the "holding mode" in the operation mode, ends the process of S200, and returns (proceeds to step S025 of FIG. 18).

When the process proceeds to step S240B, the control device 61 stores the "lifting mode" in the operation mode, ends the process of S200, and returns (proceeds with the process to step S025 of FIG. 18).

When the process proceeds to step S240C, the control device 61 stores the "walking mode" in the operation mode, ends the process of S200, and returns (proceeds to step S025 of FIG. 18).

● [S300: Details of load determination (determination of gain C _p ) (FIGS. 23 to 29)]
Next, with reference to FIG. 23, the details of the processing of S300 according to step S025 shown in FIG. 18 will be described. In S300, the control device 61 determines the value of the gain C _p , which is the magnitude of the assist torque. For example, when the gain automatic / manual switching operation unit R1BS shown in FIG. 14 is set to the “manual” side, the gain C _p is increased by the operation of the gain UP operation unit R1BU and the gain DOWN operation unit R1BD by the wearer. It is set to 0, 1, 2, or 3. Further, when the gain automatic / manual switching operation unit R1BS shown in FIG. 14 is set to the “automatic” side, the control device 61 automatically detects the mass (or weight) of the luggage held by the wearer. Then, the value of the gain C _p , which is the magnitude of the assist torque, is determined according to the detected mass (or weight) of the load. For example, the control device 61 makes the manual gains C _p 0, 1, 2, and 3 correspond to the luggage mass = 0 [kg], 10 [kg], 15 [kg], and 20 [kg], respectively. .. For example, when the mass of the luggage is 18 [kg], it is determined that one of the gains C _p at the time of manual operation is gain C _p = 2, but the assist torque is set to (gain C _p) in order to make it more comfortable. May be 2.6 (proportional, etc.) according to the load mass. The processing of S300 corresponds to the load determination block B45 shown in FIG. 17 and the load determination unit 61J shown in FIG.

In the process of S300 (see FIG. 23), the control device 61 proceeds to step S315. In addition, although the drag force F and the body motion acceleration av and aw have already been obtained in the above-mentioned process of S100, first, the drag force F and the body motion acceleration av and aw will be described.

As shown in FIG. 24, when the wearer TS does not have the load BG (baggage mass m), the drag force F = M * g, where M is the wearer mass and g is the gravitational acceleration. The drag force F is a force received by the wearer TS from the floor surface. Further, as shown in FIG. 25, when the wearer TS lifts the load BG (load mass m), the drag force F = M * g + m * g, where M is the wearer mass and g is the gravitational acceleration. At the time of step S100, the control device 61 temporarily stores the current drag force F regardless of whether or not the wearer TS is holding the luggage BG.

Further, as shown in FIGS. 27 and 28, the acceleration detecting means 75 is orthogonal to the detection signal of the body motion acceleration av in the direction parallel to the spine along the back surface of the wearer TS and the back surface of the wearer TS. Outputs a detection signal of body motion acceleration aw in the direction orthogonal to the back. At the time of step S100, the control device 61 detects and stores the current body motion acceleration av in the spine parallel direction based on the detection signal of the body motion acceleration av, and back orthogonally based on the detection signal of the body motion acceleration aw. The current body motion acceleration aw in the direction is detected and stored.

In step S315, the control device 61 determines whether or not the gain automatic / manual switching operation unit R1BS (see FIG. 14) is set to the “automatic” side, and when it is set to the “automatic” side. (Yes) proceeds to step S320, and if it is set to the "manual" side (No), the process proceeds to step S360C.

When the process proceeds to step S320, the control device 61 determines whether or not the elapsed time after the power is turned on is less than a predetermined time (for example, less than about 0.2 to 2 [sec]), and is less than the predetermined time. If (Yes), the process proceeds to step S330, and if the time is longer than the predetermined time (No), the process proceeds to step S325.

When the process proceeds to step S330, the control device 61 determines that | the current body motion acceleration av | is equal to or less than the predetermined threshold value and | the current body motion acceleration aw | is equal to or less than the predetermined threshold value (that is, the wearer TS , In the case of almost stationary state), if it is equal to or less than the predetermined threshold value (Yes), the process proceeds to step S340B, and if it is larger than the predetermined threshold value (No), the process proceeds to step S350.

When the process proceeds to step S340B, the control device 61 integrates the current drag force F, counts the number of times of integration, and proceeds to step S350.

When the process proceeds to step S325, the control device 61 determines whether or not the elapsed time after the power is turned on is a predetermined time (the same value as the "predetermined time" in step S320), and if it is the predetermined time ( Yes) proceeds to step S340A, and if it is not the predetermined time (No), the process proceeds to step S350.

When the process proceeds to step S340A, the control device 61 averages the integrated value (integrated value of drag F) obtained in step S340B using the number of integrations, and averages the wearer TS only. Ask for. Then, the control device 61 divides the average wearer drag force Fab by the gravitational acceleration g to obtain the wearer mass M (M = Fav / g), stores it, and proceeds to the process in step S350. The wearer mass M is preferably stored in the non-volatile memory.

The control device 61 uses the drag force F detected while the weight measurement operation unit R1K (see FIG. 14) is ON, and obtains the wearer mass M from the drag force F / g at that time (M = F / g) It may be memorized. In this case, the wearer TS turns on the weight measurement operation unit R1K without holding the luggage BG.

When the process proceeds to step S350, the control device 61 determines whether or not the drag force F this time is larger than the wearer's mass M * g + a predetermined load (for example, 2 to 3 [kg] * g, g is gravitational acceleration). If it is large (Yes), the process proceeds to step S355, and if it is not large (No), the process proceeds to step S360B.

When the process proceeds to step S355, for example, the baggage mass m is calculated by the following [Luggage mass m calculation method 1] or [Luggage mass m calculation method 2], and the process proceeds to step S360A.

[Calculation method 1 of luggage mass m]
The control device 61 considers that the current drag force F is the drag force due to the wearer mass M and the luggage mass m, as shown in FIG. 25, and the current drag force F (M * g + m * g) / g- (mounted). The luggage mass m is calculated by the person mass M). When this [method 1 for calculating the load mass m] is used, the acceleration detecting means 75 can be omitted.

FIG. 26 shows a calculation method when the horizontal axis is set to time and the vertical axis is set to the mass of the luggage held by the wearer, and the wearer TS starts lifting the luggage BG at time t [i]. An example of the luggage mass m actually calculated in 1 is shown. F (t) shown by the alternate long and short dash line in FIG. 26 is the ideal baggage mass, and before the time t [i], the baggage mass is 0 (zero) because the wearer TS does not have the baggage BG. ), And after the time t [i], the load mass is m because the wearer TS is lifting the load BG. However, the baggage mass calculated by the calculation method 1 is as shown by the solid line ga (t) in FIG. 26, and before the time t [i], the wearer TS sits down toward the baggage BG. The gradually decreasing load mass is erroneously detected due to acceleration or the like when the load is dropped, and after the time t [i], the gradually increasing load mass is detected due to the response delay of the load detecting means or the like. After the time t [i], it converges to the correct load mass m after the time t [i + 1], so there is no big problem. In addition, the response delay time is short, and it is difficult to feel a sense of discomfort. However, it is not a big problem to determine that the luggage is in the hands even though the luggage is not in the hands before the time t [i] (output link rotation angle detecting means 43RS or motor rotation angle detection). By estimating the bending angle of the waist by means 47RS, the movement with respect to the luggage can be known), which is not very preferable. In the calculation method 2, it is avoided to determine that the baggage is in hand before this time t [i].

[Calculation method 2 of luggage mass m]
As shown in FIG. 28, the control device 61 considers that the drag force F this time is a drag force due to the body movement acceleration az of the wearer mass M, the luggage mass m, and the vertical component of the wearer TS, and the luggage mass m. Ask for. The control device 61 obtains the body motion acceleration az of the vertical component based on the body motion acceleration av, aw, and the like. For example, the control device 61 obtains the body motion acceleration az from az = √ (av ² + aw ² ). In this case, the drag F = (M + m) * (g + az). That is, F = M * g + M * az + m * g + m * az, but here m is smaller than M and az is smaller than g (gravitational acceleration), so if m * az = 0, then F = M * g + M * az + m * g. From this equation, m = [FM * (g + az)] / g, and the control device 61 obtains the load mass m from the equation.

FIG. 29 shows a calculation method when the horizontal axis is set to time and the vertical axis is set to the mass of the luggage held by the wearer, and the wearer TS starts lifting the luggage BG at time t [i]. An example of the luggage mass m actually calculated in 2 is shown. F (t) shown by the alternate long and short dash line in FIG. 29 is the ideal baggage mass, and before the time t [i], the baggage mass is 0 (zero) because the wearer TS does not have the baggage BG. ), And after the time t [i], the load mass is m because the wearer TS is lifting the load BG. The baggage mass calculated by the calculation method 2 is as shown by the solid line gb (t) in FIG. 29, and before the time t [i], the wearer TS is the baggage BG as compared with FIG. 26. False detections due to acceleration, etc., such as when sitting down toward the vehicle are avoided. After the time t [i], as in FIG. 26, the load mass that gradually increases is detected due to the response delay of the load detecting means and the like. After the time t [i], it converges to the correct load mass m after the time t [i + 1], so there is no big problem. Further, since it is avoided to determine that the baggage is in hand before the time t [i], there is no problem.

When the process proceeds to step S360A, the control device 61 converts the obtained load mass m into the value of the gain C _p , ends the process of S300, and returns (proceeds with the process to step S030 of FIG. 18). As an example of conversion, for example, when the gain numbers 0, 1, 2, and 3 shown in FIG. 16 correspond to the luggage mass = 0 [kg], 10 [kg], 15 [kg], and 20 [kg], For example, when the load mass m = 18 [kg], the control device 61 converts the load mass 18 [kg] into a gain C _p = 2.6.

When the process proceeds to step S360B, the control device 61 determines that the wearer TS does not have the baggage BG (baggage mass m = 0), so that the gain C _p = 0 is set and the process of S300 is completed. (Proceed to step S030 in FIG. 18).

When the process proceeds to step S360C, the control device 61 uses the gain number of the “operation unit gain” shown in FIG. 16 (acquired in the process of S100 described above) and corresponds to the gain number (0, 1). (2, 3) is substituted for the gain C _p , the processing of S300 is completed, and the gain is returned (proceeding to step S030 in FIG. 18).

● [SD000R: (Right) Details of lifting (Figs. 30 to 34)]
Next, the details of the processing of the SD000R by step S040R shown in FIG. 18 will be described with reference to FIG. In the SD000R, the control device 61 calculates the (right) lifting assist torque generated by the power assist suit in order to support the lifting work of the wearer. The processing of the SD000R shows the processing procedure for calculating the (right) lifting assist torque generated by the (right) actuator unit 4R (see FIG. 1), but the (left) actuator unit 4L (see FIG. 1). The processing procedure of the SD000L (see FIG. 18) for calculating the (left) lifting assist torque generated in () is the same, and thus the description thereof will be omitted. As shown in FIG. 31, in the lifting work of lowering the luggage held by the wearer, the (right) link angles θ _L , _R (t), and (left) link angles θ _L , _L (t) are , The forward tilt angle of the lumbar region with respect to the thigh. Further, the lifting assist torque that supports the work in the lifting direction of the wearer (direction of "wearer torque" in FIG. 31) is the lifting direction with respect to the wearer (direction of "assist torque" in FIG. 31). Generate in. Further, in the following description, the sign of the torque in the lifting direction will be described as − (negative), and the sign of the torque in the lifting direction will be described as + (positive).

In the processing of SD000R, the control device 61 proceeds to the process of step SD010R. Then, in step SD010R, the control device 61 determines whether or not the (right) link angles θ _L and _R (t) are equal to or less than the first lifting angle θ d1, and the (right) link angles θ _L and _R (t). ) Is equal to or less than the first lifting angle θd1 (Yes), the process proceeds to step SD015R, and if not (No), the process proceeds to step SD020R. For example, the first lifting angle θd1 is a forward tilt angle of about 10 [°], and when θ _L and _R (t) ≦ θd1, the control device 61 determines that the lifting starts or the lifting ends.

When the process proceeds to step SD015R, the control device 61 initializes (reset to zero) the (right) integrated assist amount and proceeds to step SD020R.

When the process proceeds to step SD020R, the control device 61 has (right) increase speeds C _s and _R , (right) wearer torque change amount τ _S , _R (t), and wearer torque change amount / assist amount. Based on the characteristics (FIG. 32), the (right) assist amount is calculated and the process proceeds to step SD025R. As shown in FIG. 32, for example, when (right) increase speed C _s , _R = 1, (right) wearer torque change amount τ _S , _R (t) = τ11, Cs = 1 f11 (x). Using the characteristics, τd1 corresponding to τ11 is the desired (right) assist amount.

In step SD025R, the control device 61 adds the (right) assist amount obtained in step SD020R to the (right) integrated assist amount (that is, integrates the obtained (right) assist amount) to step SD030R. Proceed with processing.

In step SD030R, the control device 61 determines the gain C _p , the (right) link angle (forward tilt angle) θ _L , _R (t), the forward tilt angle / lifting torque limit value characteristic (see FIG. 33), and Based on (right), the lowering torque limit value is calculated and the process proceeds to step SD035R. As shown in FIG. 33, for example, when the gain C _p = 1, (right) link angle (forward tilt angle) θ _L , and _R (t) = θ 11, the characteristic of f21 (x) of C _p = 1 is used. , Τmax1 corresponding to θ11 is the desired (right) lifting torque limit value. For example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these two values correspond to C _p = 2.6. The value may be interpolated to obtain the value. The forward tilt angle / lifting torque limit value characteristic of FIG. 33 is one of a plurality of maps in which the assist torque related amount is set in advance.

In step SD035R, the control device 61 determines whether or not | (right) integrated assist amount | is | (right) lowering torque limit value | or less, and | (right) integrated assist amount | is | (right). ) Lowering torque limit value | If it is less than or equal to (Yes), the process proceeds to step SD040R, and if not (No), the process proceeds to step SD045R.

When the process proceeds to step SD040R, the control device 61 stores the (right) integrated assist amount in the (right) lifting assist torque (that is, (right) assist torque command value τ _s , _cmd , _R (t)). Then, the process is completed and returned (procedure to step S060R in FIG. 18).

When the process proceeds to step SD045R, the control device 61 sets the (right) lifting torque limit value to (right) lifting assist torque (that is, (right) assist torque command value τ _s , _cmd , _R (t)). The process is completed and returned (procedure to step S060R in FIG. 18).

In the above steps SD035R, SD040R, and SD045R, the control device 61 sets the smaller of | (right) integrated assist amount | and | (right) lifting torque limit value | as (right) lifting assist torque. ..

FIG. 34 shows the state of the lifting assist torque corresponding to the forward tilt angle during the lifting work by the above processing. In the example shown in FIG. 34, the wearer is holding the luggage in an upright position at time = 0, and while gradually increasing the forward tilt angle, the lifting of the luggage is completed at time T1 and before time T2. The case where the tilted state is maintained and the forward tilt angle is gradually reduced while returning to the upright state is shown. In this case, the lifting assist torque in the lifting direction (-(negative) side in FIG. 34) is as shown in FIG. 34, reducing the load on the wearer's waist and appropriately assisting the lifting work. Can be done.

When the wearer stops the forward tilting motion and the change in the forward tilting angle stops (Δθ _L , _R (t) = 0, Δθ _L , _L (t) = 0) (in the example of FIG. 34, the time (Between T1 and time T2), or during an upright operation (in the example of FIG. 34, between time T2 and time T3) in which the wearer gradually reduces the forward tilt angle from the forward leaning state. Since the wearer torque change amount is zero or in the opposite direction, the assist amount obtained from the wearer torque change amount / assist amount characteristic (see FIG. 32) is zero. That is, in this case, the control device 61 stops and holds the update of the integrated assist amount, and based on the retained integrated assist amount and the lifting torque limit value, the (right) lifting assist torque ((right) Right) Obtain the assist torque command value).

● [SU000: Details of lifting (Figs. 35 to 43)]
Next, with reference to FIG. 35, the details of the processing of SU000 according to step S045 shown in FIG. 18 will be described. In SU000, the control device 61 calculates the lifting assist torque generated by the power assist suit in order to support the lifting work of the wearer. In the lifting work in which the wearer lifts the luggage, the (right) link angles θ _L , _R (t), and (left) link angles θ _L , _L (t) (see FIG. 31) are the waist relative to the thigh. The forward tilt angle. Further, the lifting assist torque for supporting the work in the lifting direction of the wearer is generated in the lifting direction (direction of "assist torque" in FIG. 31) with respect to the wearer. Further, in the following description, the sign of the torque in the lifting direction will be described as − (negative), and the sign of the torque in the lifting direction will be described as + (positive).

In the process of SU000, the control device 61 proceeds to the process of step SU010. Then, in step SU010, the control device 61 executes the process of SS000 (see FIG. 36) and proceeds to step SU015. In the process of SS000, as shown in the state transition diagram of FIG. 36, when the entire lifting operation from the start of lifting to the end of lifting is divided into operating states S = 0 to 5, the current operating state S is set. This is a determination process, and details will be described later.

In step SU015, the control device 61 determines whether or not the operating state S has transitioned from 0 to 1, and if the operating state S has transitioned from 0 to 1 (Yes), the operation state S is set to step SU020. The process proceeds, and if not (No), the process proceeds to step SU030.

When the process proceeds to step SU020, the control device 61 substitutes 0 (zero) for (right) virtual elapsed time t _map , _R (t), (left) virtual elapsed time t _map , and _L (t). (Right) Lifting assist torque ((Right) Assist torque command value τ _s , _cmd , _R (t)), (Left) Lifting assist torque ((Left) Assist torque command value τ _s , _cmd , _L (t)) Substitute 0 (zero). After that, the control device 61 proceeds to the process in step SU030.

● [Determination of operating state S = 1 and processing when operating state S = 1 (FIG. 35)]
When the process proceeds to step SU030, the control device 61 determines whether or not the operating state S determined in step SU020 is 1, and if the operating state S is 1, (Yes), the process proceeds to step SU031. If not (No), the process proceeds to step SU040.

When the process is advanced to step SU031, the control device 61 is (right) when the virtual elapsed time t _map and _R (t) are started in the task cycle (for example, when the process shown in FIG. 18 is activated every 2 [ms]). , 2 [ms]) is added, the task cycle is added to (left) virtual elapsed time t _map , and _L (t), and the process proceeds to step SU032. (Right) Virtual elapsed time t _map , _R (t), (Left) Virtual elapsed time t _map , _L (t) indicates the (virtual) elapsed time since the operating state S = 1.

In step SU032, the control device 61 determines whether or not the increase speed is automatic, and if it is "increase speed automatic" (Yes), the process proceeds to step SU033R, and if not (No), the step Proceed to SU034.

When the process proceeds to step SU033R, the control device 61 executes the process of SS100R (see FIG. 38) and proceeds to the process to step SU033L. The processing of SS100R (see FIG. 38) is a processing of changing or maintaining (right) increasing speeds C _s and _R and (right) virtual elapsed time t _map and _R (t), but (left). The same applies to the processing of SS100L, which is a processing for changing or maintaining the increase speeds C _s and _L and (left) virtual elapsed time t _map and _L (t), and thus the description thereof will be omitted. In step SU033L, the control device 61 executes the process of SS100L and proceeds to step SU034. The details of the process of step SS100R will be described later.

In step SU034, the control device 61 determines whether or not the (right) increase speed C _s , _R and the (left) increase speed C _s , _L are equal, and the (right) increase speed C _s , _R and (left). ) If the increase speeds C _s and _L are equal (Yes), the process proceeds to step SU037R, and if not (No), the process proceeds to step SU035.

When the process proceeds to step SU035, the control device 61 determines whether or not the (right) increase speed C _s and _R are larger than the (left) increase speed C _s and _L , and (right) the increase speed C _s. If _R is (left) greater than the increase rate C _s and _L (Yes), the process proceeds to step SU036A, and if not (No), the process proceeds to step SU036B.

When the process proceeds to step SU036A, the control device 61 substitutes (right) increase speeds C _s and _R for (left) increase rates C _s and _L and proceeds to step SU037 R.

When the process proceeds to step SU036B, the control device 61 substitutes (left) the increase speed C _s and _L for the (right) increase rate C _s and _R and proceeds to the process to step SU037 _R.

When the process proceeds to step SU037R, the control device 61 executes the process of SS170R (see FIG. 42) and proceeds to the process to step SU037L. The processing of SS170R (see FIG. 42) is a processing for obtaining (right) lifting assist torque ((right) assist torque command value τ _s , _cmd , _R (t)) when the operating state S = 1. , The process of SS170L, which is the process of obtaining the (left) lift assist torque ((left) assist torque command value τ _s , _cmd , _L (t)) when the operating state S = 1, is the same, so the description is omitted. To do. In step SU037L, the control device 61 executes the processing of SS170L, ends the processing, and returns (procedes to step S060R in FIG. 18). The details of the process of step SS170R will be described later.

● [Determination of operating state S = 2 and processing when operating state S = 2 (FIG. 35)]
When the process proceeds to step SU040, the control device 61 determines whether or not the operating state S determined in step SU020 is 2, and if the operating state S is 2, (Yes), the process proceeds to step SU041. If not (No), the process proceeds to step SU050.

When the process proceeds to step SU041, the control device 61 determines whether or not the (previous) operating state S is 1, and if the (previous) operating state S is 1, (Yes), the process proceeds to step SU042. If not (No), the process proceeds to step SU047.

When the process proceeds to step SU042, the control device 61 substitutes 0 (zero) for (right) virtual elapsed time t _map , _R (t), (left) virtual elapsed time t _map , and _L (t). The process proceeds to step SU047. The process of step SU042 is a process executed when the operating state S transitions to 1-> 2.

When the process proceeds to step SU047, the control device 61 obtains | maximum value | corresponding to the gain C _p based on the gain C _p and the time / lifting torque characteristic (see FIG. 43). The maximum value is (right) lift assist torque ((right) assist torque command value τ _s , _cmd , _R (t)), (left) lift assist torque ((left) assist torque command value τ _s , _cmd , _L Substitute in (t)) to end the process and return (proceed to step S060R in FIG. 18). For example, when the gain C _p = 1, the characteristic of f41 (x) of C _p = 1 in FIG. 43 is used, and τmax11, which is the maximum value of the | f41 (x) |, is the maximum value to be obtained. As shown in FIG. 43, the time / lifting torque characteristic (one of the lifting reference characteristics) is prepared according to the gain C _p , and the control device 61 changes the lifting reference characteristic according to the gain C _p. To do. For example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these two values correspond to C _p = 2.6. The value may be interpolated to obtain the value. The time / lifting torque characteristic shown in FIG. 43 is one of a plurality of maps in which the assist torque related amount is set in advance.

● [Determination of operating state S = 3 and processing when operating state S = 3 (FIG. 35)]
When the process proceeds to step SU050, the control device 61 determines whether or not the operating state S determined in step SU020 is 3, and if the operating state S is 3, (Yes), the process proceeds to step SU051. If not (No), the process proceeds to step SU060.

When the process proceeds to step SU051, the control device 61 obtains the maximum value corresponding to the gain C _p based on the gain C _p and the time / lifting torque characteristic (see FIG. 43), and obtains the maximum value. Set the values as (temporary) (right) lifting assist torque ((temporary) τ _s , _cmd , _R (t)), (temporary) (left) lifting assist torque ((temporary) τ _s , _cmd , _L (t)) Substituted in and the process proceeds to step SU057. For example, when the gain C _p = 1, the characteristic of f41 (x) of C _p = 1 in FIG. 43 is used, and τmax11, which is the maximum value of the | f41 (x) |, is the maximum value to be obtained. For example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these two values correspond to C _p = 2.6. The value may be interpolated to obtain the value.

In step SU057, the control device 61 is based on the gain C _p , the (right) wearer torque change amounts τ _S , _R (t), and the assist ratio / torque attenuation rate characteristics (see FIG. 45). Right) Find the torque damping rates τ _d and _R. Similarly, the control device 61 (left) is based on the gain C _p , the (left) wearer torque changes τ _S , _L (t), and the assist ratio / torque attenuation rate characteristics (see FIG. 45). Find the torque damping rates τ _d and _L. Then, the control device 61 obtains and stores the (right) assist torque command values τ _s , _cmd , and _R (t) in the following (Equation 7), and stores the (Left) assist torque command in the following (Equation 8). _Find and store the values τ _s , _cmd , and _L (t). Then, the control device 61 ends the process and returns (proceeds with the process to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t) = (provisional) τ _s , _cmd , _R (t) * (right) Torque attenuation factor τ _d , _R (Equation 7)
(Left) Assist torque command value τ _s , _cmd , _L (t) = (provisional) τ _s , _cmd , _L (t) * (Left) Torque attenuation rate τ _d , _L (Equation 8)

For example, when the gain C _p = 1, the control device 61 obtains the attenuation coefficients τ _s , _map , and _thre = Tb2 based on the gain / attenuation coefficient characteristics shown in FIG. 44. Then, the control device 61 calculates the (right) assist ratio by the following (Equation 9), and calculates the (left) assist ratio by (Equation 10). For example, when the gain C _p = 2.6, Tb3 corresponding to the gain C _p = 2 and Tb4 corresponding to the gain C _p = 3 are obtained, and C _p = 2 from these two values (Tb3, Tb4). It may be obtained by interpolating the value corresponding to 6.6. The gain / attenuation coefficient characteristic shown in FIG. 44 is one of a plurality of maps (a plurality of data tables) in which an assist torque-related amount is set in advance.
(Right) Assist ratio = [τ _s , _map , _thre − (Right) Wearer torque change amount τ _S , _R (t)] / τ _s , _map , _thre (Equation 9)
(Left) Assist ratio = [τ _s , _map , _thre − (Left) Wearer torque change amount τ _S , _L (t)] / τ _s , _map , _thre (Equation 10)

Then, the control device 61 obtains (right) torque attenuation rates τ _d and _R based on the (right) assist ratio and the assist ratio / torque attenuation rate characteristics (see FIG. 45), and obtains the (right) torque attenuation rates τ _d and _R , and obtains the (left) assist ratio. , Assist ratio / torque attenuation rate characteristics (see FIG. 45), and (left) torque attenuation rate τ _d , _L are obtained. Then, the control device 61 lifts (provisional) τ _s , _cmd , _R (t) * (right) torque attenuation rate τ _d , _R (right) and assist torque ((right) assist torque command value τ _s , _cmd , _R. Stored in (t)), (provisional) τ _s , _cmd , _L (t) * (left) torque attenuation rate τ _d , _L is (left) lifted assist torque ((left) assist torque command value τ _s , _cmd , _L (t)).

● [Determination of operating state S = 4 and processing when operating state S = 4 (FIG. 35)]
When the process proceeds to step SU060, the control device 61 determines whether or not the operating state S determined in step SU020 is 4, and if the operating state S is 4, (Yes), the process proceeds to step SU061. If not (No), the process proceeds to step SU077.

When the process proceeds to step SU061, the control device 61 is (right) when the virtual elapsed time t _map and _R (t) are started in the task cycle (for example, when the process shown in FIG. 18 is activated every 2 [ms]). , 2 [ms]) is added, the task cycle is added to (left) virtual elapsed time t _map , and _L (t), and the process proceeds to step SU062. (Right) Virtual elapsed time t _map , _R (t), (Left) Virtual elapsed time t _map , _L (t) indicates the (virtual) elapsed time since the operating state S = 4.

In step SU062, the controller 61 substitutes the current τ _s , _cmd , _R (t) for (previous) τ _s , _cmd , _R (t-1), and substitutes the current τ _s , _cmd , _L (t-1). ) Is substituted into (previous) τ _s , _cmd , and _L (t-1), and the process proceeds to step SU067.

In step SU067, the control device 61 obtains and stores (right) assist torque command values τ _s , _cmd , and _R (t) in the following (Equation 11), and (Left) assist torque in (Equation 12). _Obtain and store the command values τ _s , _cmd , and _L (t). The attenuation coefficient K1 is a preset coefficient, and is set to, for example, 0.9. Then, the control device 61 ends the process and returns (proceeds with the process to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t) = K1 * (previous) τ _s , _cmd , _R (t-1) (Equation 11)
(Left) Assist torque command value τ _s , _cmd , _L (t) = K1 * (previous) τ _s , _cmd , _L (t-1) (Equation 12)

● [Processing when operating state S = 5 (FIG. 35)]
When the process proceeds to step SU077, the control device 61 obtains and stores (right) assist torque command values τ _s , _cmd , and _R (t) in the following (Equation 13), and stores them in (Equation 14). (Left) Assist torque command values τ _s , _cmd , and _L (t) are obtained and stored. Then, the control device 61 ends the process and returns (proceeds with the process to step S060R in FIG. 18).
(Right) Assist torque command value τ _s , _cmd , _R (t) = 0 (Equation 13)
(Left) Assist torque command value τ _s , _cmd , _L (t) = 0 (Equation 14)

As described above, at the time of lifting work, the control device 61 shifts the operating state S from 0 to 5 in order according to the lifting state, and a preset calculation method corresponding to each operating state S. According to (right) lift assist torque ((right) assist torque command value τ _s , _cmd , _R (t)), (left) lift assist torque ((left) assist torque command value τ _s , _cmd , _L (t)) ).

● [SS000: Details of operating state determination (FIG. 36)]
Next, the details of the processing of SS000 by step SU010 shown in FIG. 35 will be described with reference to FIG. At SS000, the control device 61 determines the operating state S = 0 to 5 according to the lifting state in the lifting work of the wearer. As shown in FIG. 37, the outline of the operating state S is the operating state S = 0 at the time when the wearer starts the forward tilting from the upright state (the state in which the forward tilting of the previous work is completed) and starts the lifting operation. , Operation state S = 1, transition after starting the lifting operation, Luggage lifting operation state S = 2, Operation state S = 3, S = 4, which gradually reduces the forward tilt angle, Upright after completing the lifting of the luggage The operating state S = 5, which is in the state. The operating state S is (right) virtual elapsed time t _map , _R (t), (left) virtual elapsed time t _map , _L (t), (right) link angle (forward tilt angle) θ _L , _R (t). , (Left) Link angle (forward tilt angle) θ _L , _L (t), (Right) Wearer torque change τ _S , _R (t), (Left) Wearer torque change τ _S , _L (t) It is set corresponding to a lifting state including at least one of.

● [When operating state S = 0]
Hereinafter, the procedure for determining the operating state S will be described with reference to the state transition diagram shown in FIG. As shown in FIG. 36, at the event ev00 that the lifting is started, the control device 61 determines that the operating state S is 0. The determination of whether or not the lifting is started is made by (right) link angle θ _L , _R (t), (left) link angle θ _L , _L (t), (right) link angle change amount Δθ _L , _R. (T), (Left) Link angle change amount Δθ _L , _L (t), (Right) Wearer torque change amount τ _S , _R (t), (Left) Wearer torque change amount τ _S , _L (t) It can be determined based on the above. When the operating state S = 0, the control device 61 shifts the operating state S from 0 to 1 when the event ev01 is detected. The event ev01 is "always", and as shown in step SU015 of FIG. 35, the control device 61 unconditionally transitions to the operating state S = 1 after setting the operating state S = 0.

● [When operating state S = 1]
When the operation state S = 1, the control device 61 shifts the operation state S from 1 to 2 when the event ev12 is detected. The control device 61 maintains the operating state S = 1 when the event ev12 is not detected. The event ev12 is, for example, when (right) virtual elapsed time t _map , _R (t) ≧ (right) t _map , _thre1 is established, or (left) virtual elapsed time t _map , _L (t) ≧ (left). When t _map , _thre1 is established, or at the _forward tilt angle near the end of the lifting work (right) link angle ( _forward tilt angle) θ _L , _R (t), (left) link angle (forward tilt angle) θ _L , _L (t) is the time when is established. Note that (right) t _map and _thre1 are determined based on (right) increasing speeds C _s and _R and increasing speed / transition time characteristics (see FIG. 40), and (left) t _map and _thre1 are determined. (Left) It is determined based on the increase rate C _s and _L and the increase rate / transition time characteristic (see FIG. 40).

● [When operating state S = 2]
When the operation state S = 2, the control device 61 shifts the operation state S from 2 to 3 when the event ev23 is detected. The control device 61 maintains the operating state S = 2 when the event ev23 is not detected. In event ev23, for example, (right) wearer torque change amount τ _S , _R (t) or (left) wearer torque change amount τ _S , _L (t) became relatively weak near the end of the lifting work. When, or (right) link angle (forward tilt angle) θ _L , _R (t) or (left) link angle (forward tilt angle) θ _L , _L (t) becomes a forward tilt angle near the end of lifting work. When it becomes, it is the time when is established.

● [When operating state S = 3]
When the operation state S = 3, the control device 61 shifts the operation state S from 3 to 4 when the event ev34 is detected. The control device 61 maintains the operating state S = 3 when the event ev34 is not detected. The event ev34 is, for example, (right) wearer torque change amount τ _S , _R (t) ≧ τ _s , _map , _thre , or (left) wearer torque change amount τ _S , _L (t) ≧ τ _s , _map , _thre , or (right) link angle ( _forward tilt angle) θ _L , _R (t) or (left) link angle (forward tilt angle) θ _L , _L (t) forward tilt near the end of lifting work When it becomes an angle, is the time when is established. Note that τ _s , _map , and _thre are determined based on the gain C _p and the gain / attenuation coefficient characteristics (see FIG. 44).

● [When operating state S = 4]
When the operation state S = 4, the control device 61 shifts the operation state S from 4 to 5 when the event ev45 is detected. The control device 61 maintains the operating state S = 4 when the event ev45 is not detected. The event ev45 is, for example, (right) virtual elapsed time t _map , _R (t) ≥ state determination time t41 (for example, about 0.15 [sec]), or (left) virtual elapsed time t _map , _L (t). ) ≧ State determination time t41 (for example, about 0.15 [sec]) is established.

● [When operating state S = 5]
When the operation state S = 5, the control device 61 shifts the operation state S from 5 to 0 when the event ev50 is detected. The control device 61 maintains the operating state S = 5 when the event ev50 is not detected. Event ev50 is the start of the lifting work, but returns to S = 0 after the lifting work is completed.

● [SS100R: (Right) Details of determination of switching of increase speed (Fig. 38)]
Next, the details of the processing of SS100R by step SU033R shown in FIG. 35 will be described with reference to FIG. 38. In SS100R, the control device 61 automatically switches (right) the increase speeds C _s and _R to appropriate values in -1 to 4 according to the lifting operation of the wearer. The processing of SS100R shows the processing procedure of (right) automatically switching the increase speed C _s and _R , but (left) of SS100L (see FIG. 35) that automatically switches the increase speed C _s and _L. Since the processing procedure is the same, the description thereof will be omitted.

In the processing of SS100R, the control device 61 proceeds to the process of step SS110R. Then, in step SS110R, the control device 61 stores the current (right) increase speeds C _s and _R in the previous C _s and _R , and proceeds to the process in step SS115R.

In step SS115R, the control device 61 determines whether or not the switching stop counter is starting, and if the switching stop counter is starting (Yes), the process proceeds to step SS120R, and if not (No). Proceeds to step SS125R. The switching stop counter is a counter that is activated when (right) the increase speeds C _s and _R are switched (changed) in steps SS140R and SS145R.

When the process proceeds to step SS120R, the control device 61 determines whether or not the switching stop counter is equal to or longer than the switching standby time, and if the switching stop counter is equal to or longer than the switching standby time (Yes), the process proceeds to step SS125R. The process proceeds, and if not (No), the process proceeds to step SS150R.

When the process proceeded to step SS125R, the control device 61, lifting the elapsed time t _{Stay up-(t),} and time-switching limit characteristic (see FIG. 39), on the basis, the current lifting elapsed time t _{Stay up-( Find the} switching lower limit τ _s and _mas1 (t) corresponding to t). Further, the control device 61 is based on the current (right) increase speeds C _s and _R , the elapsed lift time t _up (t), and the time switching upper limit characteristic (see FIG. 39), and the current lift progress. _{Find the} switching upper limit τ _s and _mas2 (t) corresponding to the time t _up (t). The lift elapsed time t _up (t) is the elapsed time from the timing at which the lifting is started (the operating state S transitions to 0-> 1). Then, the process proceeds to the control device 61 and step SS130R. In the example shown in FIG. 39, at time T1 (at the position of P1) | (right), the wearer torque change amount τ _S , _R (t) |> | switching upper limit τ _s , _mas2 (t) | (At the position of P2)) | (Right) Wearer torque change amount τ _S , _R (t) | <| Switching upper limit τ _s , _mas1 (t) | An example of is shown.

In step SS130R, the control device 61 determines whether or not | (right) wearer torque change amount τ _S , _R (t) | is less than | switching lower limit τ _s , _mas1 (t) |, and | ( Right) If the wearer torque change amount τ _S , _R (t) | is less than | switching lower limit τ _s , _mas1 (t) | (Yes), the process proceeds to step SS145R, otherwise (No) is a step. Proceed to process to SS135R.

When the process proceeds to step SS135R, the control device 61 determines whether or not | (right) wearer torque change amount τ _S , _R (t) | is larger than | switching upper limit τ _s , _mas2 (t) |. If | (right) wearer torque change amount τ _S , _R (t) | is larger than | switching upper limit τ _s , _mas2 (t) | (Yes), the process proceeds to step SS140R, and if not (No) ) Proceeds to step SS150R.

When the process proceeds to step SS140R, the control device 61 (right) increases the values of the increase speeds C _s and _R by 1 (however, guards to the maximum value = 4), activates the switching stop counter, and steps. Proceed with processing to SS150R.

When the process proceeds to step SS145R, the control device 61 reduces (right) the values of the increase speeds C _s and _R by 1 (however, guards to the minimum value = -1), activates the switching stop counter, and activates the switching stop counter. The process proceeds to step SS150R.

When the process proceeds to step SS150R, the control device 61 sets (right) t _map and _{thre 1} based on (right) increasing speeds C _s and _R and increasing speed / transition time characteristics (see FIG. 40). The process proceeds to step S155R. The (right) t _map and _thre1 are used for determining the operating state (determining the transition to the operating state 1-> 2) and the like.

In step SS155R, the control device 61 determines whether the current (current) (right) increase speed C _s and _R are equal to the previous C _s and _R (see step SS110R), and if they are equal (Yes). The process is completed and returned (returns to step SU033L in FIG. 35), and if they are not equal (No), the process proceeds to step SS160R.

When the process proceeds to step SS160R, the control device 61 has the previous C _s , _R , (right) virtual elapsed time t _map , _R (t), time / assist amount characteristics (see FIG. 41), and gain C. _The temporary lifting assist torque A1 (t) is calculated based on _p and the time / lifting torque characteristics (see FIG. 43). For example, in the case of the previous C _s and _R = 3, the control device 61 has f33 (x) corresponding to C _s and _R = 3 and (right) virtual elapsed time t _map and _R (t) as shown in FIG. The temporary lifting assist torque A1 (t) is calculated from the above. As shown in FIG. 41, the time / assist amount characteristic (one of the lifting reference characteristics) is prepared according to (right) increase speed C _s , _R , (left) increase speed C _s , _L. The control device 61 changes the lifting reference characteristic according to (right) increasing speed C _s , _R , (left) increasing speed C _s , _L.

The control device 61 has the current (current) (right) increase speeds C _s and _R , the time / assist amount characteristic (see FIG. 41), the gain C _p, and the time / lifting torque characteristic (see FIG. 43). ) and, on the basis, a temporary lift assist torque A1 (t), the torque deviation reduced virtual elapsed time t _map, calculates _R (s), calculated torque deviation reduced virtual elapsed time t _{map, R} (s ) Is substituted (rewritten) in (right) virtual elapsed time t _map and _R (t). When using the time / lifting torque characteristics, for example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these 2 are obtained. The value corresponding to C _p = 2.6 may be interpolated from the value to obtain the value. For example, in the case of the current (current) (right) increase speed C _s , _R = 4, the control device 61 is temporarily lifted with f34 (x) corresponding to C _s , _R = 4, as shown in FIG. The torque deviation reduction virtual elapsed time t _map and _R (s) are calculated from the assist torque A1 (t), and the torque deviation reduction virtual elapsed time t _map and _R (s) are (right) virtual elapsed time t _map and _R (t). ). Then, the control device 61 finishes the process and returns (returns to step SU033L in FIG. 35). (Right) The virtual elapsed time t _map and _R (t) are rewritten when the predetermined operating state S is transitioned (in this case, when the operating state S = 1 is transitioned), the above-selected lifting standard is used. Lifting assist torque (temporary lifting assist torque A1 (t)) obtained based on the characteristics (time / assist amount characteristics (see Fig. 41) corresponding to the previous (right) increase speeds C _s and _R ) and the current Torque deviation reduction correction at the time of switching to reduce the deviation between the selected lifting reference characteristics (this time (current) (right) increase speed C _s , _R corresponding time / assist amount characteristics (see Fig. 41)) Corresponds to.

In the above description, the time / assist amount characteristic (see FIG. 41), the time / lifting torque characteristic, and the forward tilt angle / maximum lifting torque characteristic (see FIG. 43) are the lifting assist torque which is the torque in the lifting direction. Corresponds to multiple lift reference characteristics that have been set. Then, the control device 61 selects an appropriate lifting reference characteristic, obtains a lifting assist torque based on the selected lifting reference characteristic, uses the obtained lifting assist torque as an assist torque, and drives the actuator unit based on the assist torque. .. When using the time / lifting torque characteristics, for example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these 2 are obtained. The value corresponding to C _p = 2.6 may be interpolated from the value to obtain the value.

● [SS170R: (Right) Details of assist torque calculation (Fig. 42)]
Next, the details of the processing of SS170R by step SU037R shown in FIG. 35 will be described with reference to FIG. 42. At SS170R, the control device 61 obtains (right) lifting assist torque ((right) assist torque command value) τ _s , _cmd , and _R (t). The processing of SS170R shows the processing procedure for obtaining (right) lifting assist torque ((right) assist torque command value) τ _s , _cmd , _R (t), but (left) lifting assist torque ((left) ) Assist torque command value) τ _s , _cmd , _L (t) SS170L (see FIG. 35) The processing procedure is the same, so the description will be omitted.

In the processing of SS170R, the control device 61 proceeds to the process of step SS175R. Then, in step SS175R, the control device 61 sets the current (current) (right) increase speed C _s , _R , (right) virtual elapsed time t _map , _R (t), gain C _p , and time assist. Based on the quantity characteristic (see FIG. 41) and the time / lifting torque characteristic (see FIG. 43), (provisional) τ _s , _cmd , and _R (t) are calculated, and the process proceeds to step SS177R. For example, in the case of the current (current) (right) increase rate C _s , _R = 3, the control device 61 has f33 (x) and (right) corresponding to C _s , _R = 3, as shown in FIG. virtual elapsed time t _map, the assist torque A1 obtained from _R (t) a (t), and stores (temporarily) τ _{s, cmd,} the _R (t). When using the time / lifting torque characteristics, for example, when the gain C _p = 2.6, the value of the characteristic of the gain C _p = 2 and the value of the characteristic of the gain C _p = 3 are obtained, and these 2 are obtained. The value corresponding to C _p = 2.6 may be interpolated from the value to obtain the value.

In step SS177R, the control device 61 sets the (right) torque upper limit values τ _s , _max , and _R (t) based on the forward tilt angle and the forward tilt angle / maximum lifting torque characteristic (see FIG. 43). Calculate and proceed to step SS180R. For example, the control device 61 obtains the forward tilt angle / maximum lift torque characteristic shown in FIG. 43, the (right) link angle (forward tilt angle) θ _L , and the maximum lift torque B1 (t) obtained from _R (t). (Right) Stored in torque upper limit values τ _s , _max , and _R (t). The lift torque is limited by the "forward tilt angle / maximum lift torque characteristic" so that it does not become too large when the forward tilt angle is small.

In step SS180R, the control device 61 determines whether | (provisional) τ _s , _cmd , _R (t) | is larger than | (right) torque upper limit τ _s , _max , _R (t) |. If it is large (Yes), the process proceeds to step SS185R, and if it is not (No), the process proceeds to step SS187R.

When the process proceeds to step SS185R, the control device 61 sets the (right) lifting assist torque ((right) assist torque command value τ _s , _cmd , _R (t)) to the (right) torque upper limit value τ _s , _max , _R (t) is stored, processing is completed, and the process returns (returning to step SU037L in FIG. 35).

When the process proceeds to step SS187R, the control device 61 sets the (right) lift assist torque ((right) assist torque command value τ _s , _cmd , _R (t)) to (provisional) τ _s , _cmd , _R (t). ) Is stored, the process is completed, and the process returns (returning to step SU037L in FIG. 35).

As described above, the power assist suit 1 described in the present embodiment has a simple configuration and can be easily attached to the wearer. Further, the assist control for the lifting work and the assist control for the lifting work are simple controls, and the lifting work and the lifting work of the luggage can be appropriately assisted. In addition, when assisting the lifting and lowering movements of luggage, the magnitude of the assist torque is automatically adjusted according to the mass or weight of the luggage held by the wearer, causing the wearer to feel uncomfortable or dissatisfied. It is possible to suppress giving (improve the harmony of assist). In addition, when the wearer does not have the luggage, it is possible to prevent unnecessary assist torque from being generated (when the gain C _p = 0, the assist torque can be set to be hardly generated), so the luggage is not in the hand. It does not interfere with the wearer's movements.

The structure, configuration, shape, appearance, processing procedure, etc. of the power assist suit of the present invention can be variously changed, added, or deleted without changing the gist of the present invention. For example, the processing procedure of the control device is not limited to the flowchart or the like described in the present embodiment. Further, in the description of the present embodiment, an example using the spiral spring 45R (see FIG. 10) has been described, but a torsion spring (torsion bar or torsion bar spring) may be used instead of the spiral spring.

In the power assist suit 1 described in the present embodiment, an example in which a footjob or a buckle is used as a belt holding member for holding the belt in a tightened state has been described. Then, although the example in which the belt or the like is connected and released by the buckle has been described, the belt or the like may be connected and released by a belt holding member different from the buckle. Further, although the pulled belt is prevented from loosening by passing the belt through the footjob, a belt holding member other than the footjob may be used. Further, a belt holding member having both functions of a footjob and a buckle may be used.

In the description of the present embodiment, an example has been described in which the operation unit R1 has both a gain UP operation unit R1BU and a gain DOWN operation unit R1BD, and an increase speed UP operation unit R1CU and an increase speed DOWN operation unit R1CD. However, it may be configured to have at least one of a gain UP operation unit R1BU and a gain DOWN operation unit R1BD, and an increase speed UP operation unit R1CU and an increase speed DOWN operation unit R1CD.

In the power assist suit 1 described in the present embodiment, an example in which the gain, the increase speed, etc. can be changed from the operation unit R1 has been described, but the communication means (communicate wirelessly or by wire) with the control device 61. 64 (see FIG. 15) may be provided so that the change can be made by communication from a smartphone or the like. Further, the control device 61 is provided with a communication means 64 (see FIG. 15) (which communicates wirelessly or by wire), various data are collected by the control device 61, and the collected data is collected at a predetermined timing (always, at regular time intervals,). It may be sent to the analysis system after the assist operation is completed. For example, the collected data includes wearer information and assist information. The wearer information includes, for example, the wearer torque and the posture of the wearer, and is information about the wearer. The assist information includes, for example, the assist torque, the rotation angle of the electric motor (actuator) (actual motor shaft angle θ _rM , _{R in} FIG. 15), the output link rotation angle (actual link angle θ _{L in} FIG. 15), and the operation. Information about the input and output of the left and right actuator units, including the mode, gain, and speed increase speed. The analysis system is a system prepared separately from the power assist suit, for example, an external personal computer, a server, a PLC (Programmable Logic Controller), a CNC (Computerized Numerical Control) device, etc. connected by a network (LAN). It is an embedded system. Then, the analysis system analyzes (calculates) the optimum set values (optimal values such as gain and increase speed) specific to the power assist suit 1 (that is, specific to the wearer), and the analysis result (calculated result). The analysis information including the optimum set value may be transmitted to the control device 61 (communication means 64) of the power assist suit 1. By analyzing the wearer's movements, assist force, etc. with the analysis system, it is possible to output the optimum assist torque in consideration of the type of work (repetition, lifting height, etc.) and the wearer's ability. Then, the left and right actuator units adjust their own operation based on the analysis information (for example, gain, increase speed) received from the analysis system (for example, the gain and increase speed are changed to the received gain and increase speed). ).

In the description of the present embodiment, an example of obtaining the gain C _p using the wearer mass M and the luggage mass m has been described, but the wearer weight (M * g) and the luggage weight (m) are used by using the gravitational acceleration g. * G) may be used to obtain the gain C _p .

In the description of the present embodiment, an example in which load detecting means are provided on the left and right soles of the wearer has been described, but gloves are worn on the left and right hands of the wearer, and load detecting means are provided on the left and right gloves. It may be. In this case, the load mass (or load weight) can be detected from the load detected by the load detecting means, and the detected load weight (or load weight) may be converted into a gain C _p . Further, instead of providing the load detecting means on the left and right soles or the left and right gloves, a plurality of switches for detecting the presence or absence of a load may be provided. For example, if each switch is a switch that is turned on by 2 [kg] or more, the approximate load weight can be detected according to the number of the switches that are turned on.

1 Power Assist Suit 2 Body Wear 4 Actuator Unit 4AR Connection Base 4L Left Waist Unit 4R Right Waist Unit 10 Waist Support 11L Left Waist Wear 11LA Left Waist 11LB Left Waist 11R Right Waist Wear 11RA Right Waist 11RB Right Waist 11RC, 11LC Notch 13LA Left waist tightening belt 13LB Waist belt holding member (waist buckle)
13RA Right waist tightening belt 13RB Waist belt holding member (waist buckle)
15R, 15L Mounting hole 15Y Virtual rotation axis 16A Back waist belt 16B Upper buttock belt 16C Lower buttock belt 17LA Left pelvic upper belt 17LB Left pelvic lower belt 17LC Upper left belt holding member (upper left footjob)
17LD lower left belt holding member (lower left footjob)
17RA Right pelvis upper belt 17RB Right pelvis lower belt 17RC Upper right belt holding member (upper right footjob)
17RD lower right belt holding member (lower right footjob)
19R, 19L Connecting belt 19RS, 19LS Connecting ring 20, 20A Jacket part 21L Left chest mounting part 21R Right chest mounting part 21F Hook-and-loop fastener 23L, 24L Left shoulder belt 23R, 24R Right shoulder belt 23LK Left shoulder belt holding member (left shoulder footjob)
23RK Right shoulder belt holding member (Right shoulder footjob)
24RS, 24LS Belt connection 25L, 26L Left axillary belt 25R, 26R Right axillary belt 25RS, 25LS Belt connection 25RL Adhesion belt 26LK Left axillary belt holding member (left axillary footjob)
26RK Right axillary belt holding member (right axillary footjob)
28R, 28L Fixed part 29R, 29L, 29RD, 29LD Connecting belt 29RK, 29LK Connecting belt holding member (connecting foot)
29RS, 29LS Connection part 30 Frame part 31 Main frame 31H Belt connection hole 31SR, 31SL Support 31L Connection part (counterclockwise rotation shaft part)
31R connection part (clockwise rotation shaft part)
32L Left subframe 32R Right subframe 33RS, 33LS Outlet 37 Backpack part 37C Backrest part 37FL, 37FR Belt connection part 37G Cushion 40R, 40L Torque generator 40RY Rotation axis 40RS, 40LS Connection part 41R Actuator base part 41RB cover 42R reducer 42RA reduction shaft 42RB speed increase shaft 43RA, 43RC pulley 43RD flange 43RE transmission shaft 43RS, 43LS output link rotation angle detection means ((right thigh) angle detection means, torque detection means, right torque related amount detection means)
45R, 45L spiral spring (torque detecting means)
47R, 47L electric motor (actuator)
47RA Output shaft 47RS, 47LS Motor rotation angle detecting means (torque detecting means, right torque related amount detecting means)
48R Subframe 50R, 50RA Output Link 51R Assist Arm (1st Link)
51RJ, 52RJ, 53RJ Rotating axis 51RS 1st joint 52R, 52RA 2nd link 52RS 2nd joint 53R, 53RA 3rd link 53RS 3rd joint 54R Femur mounting part (body holding part)
55R Femur belt 56R Connecting member 57R Below-the-knee belt 61 Control device (control means)
61A Adjustment judgment unit 61B Input processing unit 61C Torque change amount calculation unit 61D Operation mode judgment unit 61E Selection unit 61F Lifting assist torque calculation unit 61G Lifting assist torque calculation unit 61H Walking assist torque calculation unit 61I Control command value calculation unit 61J Load Judgment unit 61K Failure detection processing unit 62 Motor driver 63 Power supply unit 64 Communication means 66 Control means (CPU)
67 Storage means (storage device)
71L, 71R Load detection unit 72L, 72R, 73L, 73R Load detection means 75 Acceleration detection means av, aw, az Body movement acceleration B10 Adjustment judgment block B20 Input processing block B30 Torque change amount calculation block B35 Failure detection processing block B40 Operation Mode judgment block B45 Load judgment block B50 Assist torque calculation block B51 Lifting assist torque calculation block B52 Lifting assist torque calculation block B53 Walking assist torque calculation block B54 Selection block B60 Control command value calculation block S51, S52 Changeover switch C _p Gain C _s , _R (Right) Weight increase speed C _s , _L (Left) Weight increase speed F Resistance force Ks (Swirl spring 45R) Spring constant M Wearer mass m Luggage mass n _G Gear reduction ratio n _P Pulley reduction ratio R1 Operation unit R1BS Gain automatic / Manual switching operation unit R1BU gain UP operation unit (gain changing means, operation switching means)
R1BD gain DOWN operation unit (gain changing means)
R1CU increase speed UP operation unit (increase speed changing means)
R1CD increase speed DOWN operation unit (increase rate changing means)
R1K Weight measurement operation unit S Operating state t _map , _R (t) (Right) Virtual elapsed time t _map , _L (t) (Left) Virtual elapsed time t _map , _R (s) Torque deviation reduction Virtual elapsed time θ _rM , _R (t), θ _rM , _L (t) Real motor shaft angle θ _L Real link angle (attitude angle)
θ _L , _R (t) (right) Link angle (forward tilt angle)
θ _L , _L (t) (Left) Link angle (forward tilt angle)
Δθ _L , _R (t) (Right) Link angle change amount (angular velocity related amount)
Δθ _L , _L (t) (Left) Link angle change amount (angular velocity related amount)
τ _S , _R (t) (Right) Wearer torque change τ _S , _L (t) (Left) Wearer torque change τ _s , _cmd , _R (t) (Right) Assist torque ((Right) Assist torque Command value)
τ _s , _cmd , _L (t) (left) assist torque ((left) assist torque command value)
τ _SP , _R (t) (right) spring torque τ _SP , _L (t) (left) spring torque

Claims (12)

Body wear that is worn at least around the waist of the wearer,
A left actuator unit that is attached to the body wearer and the left thigh of the wearer and generates an assist torque that supports the movement of the left thigh with respect to the waist of the wearer.
A right actuator unit that is attached to the body wearer and the wearer's right thigh and generates an assist torque that supports the movement of the right thigh with respect to the wearer's waist.
A control device that controls the left actuator unit and the right actuator unit,
With
Each of the left actuator unit and the right actuator unit
An output link that is attached to the left thigh or right thigh of the wearer and rotates around the joint of the left thigh or the right thigh.
An actuator having an output shaft that generates an assist torque that assists the rotation of the left thigh or the right thigh around the joint via the output link.
One end is connected to the output link, the other end is connected to the output shaft of the actuator, and the wearer torque input from the output link rotated by the force of the wearer and the output shaft. An elastic member that stores the combined torque of the assist torque input from
A deformation state detection device that detects the deformation state of the elastic member,
Have,
The control device is
A combined torque acquisition unit that acquires the combined torque stored in each of the elastic members based on the deformed state of the elastic member detected by the deformation state detecting devices of the left actuator unit and the right actuator unit. When,
Based on the combined torque stored in each of the elastic members acquired through the combined torque acquisition unit, it is determined whether or not each of the elastic members of the left actuator unit and the right actuator unit fails. Spring failure judgment unit and
Have,
Power assist suit. In the power assist suit according to claim 1,
The spring failure determination unit
When the combined torque acquired through the combined torque acquisition unit is equal to or greater than a predetermined torque threshold value, it is determined that the elastic member fails.
Power assist suit. In the power assist suit according to claim 1 or 2.
A power supply unit that supplies electric power to the left actuator unit and the right actuator unit is provided.
The control device is
It has a power supply control unit that controls to stop the supply of electric power to the left actuator unit and the right actuator unit when the spring failure determination unit determines that the elastic member fails.
Power assist suit. In the power assist suit according to any one of claims 1 to 3.
The deformation state detection device is
An output shaft rotation angle detection device that detects the rotation angle of the output shaft,
An output link rotation angle detection device that detects the rotation angle of the output link,
Have,
The combined torque acquisition unit
The combined torque is acquired based on the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device.
Power assist suit. In the power assist suit according to claim 4,
Each of the left actuator unit and the right actuator unit
A speed reducer having a speed reduction shaft connected to the output link and a speed increase shaft connected to the output link rotation angle detection device.
Power assist suit. Body wear that is worn at least around the waist of the wearer,
A left actuator unit that is attached to the body wearer and the left thigh of the wearer and generates an assist torque that supports the movement of the left thigh with respect to the waist of the wearer.
A right actuator unit that is attached to the body wearer and the wearer's right thigh and generates an assist torque that supports the movement of the right thigh with respect to the wearer's waist.
A power supply unit that supplies electric power to the left actuator unit and the right actuator unit,
A control device that controls the left actuator unit and the right actuator unit,
With
Each of the left actuator unit and the right actuator unit
An output link that is attached to the left thigh or right thigh of the wearer and rotates around the joint of the left thigh or the right thigh.
An actuator having an output shaft that generates an assist torque that assists the rotation of the left thigh or the right thigh around the joint via the output link.
One end is connected to the output link, the other end is connected to the output shaft of the actuator, and the wearer torque input from the output link rotated by the force of the wearer and the output shaft. An elastic member that stores the combined torque of the assist torque input from
A deformation state detection device that detects the deformation state of the elastic member,
Have,
The control device is
A combined torque acquisition unit that acquires the combined torque stored in each of the elastic members based on the deformed state of the elastic member detected by the deformation state detecting devices of the left actuator unit and the right actuator unit. When,
The first rotation torque for rotating the output links of the left actuator unit and the right actuator unit based on the combined torque stored in each of the elastic members acquired through the combined torque acquisition unit. The first rotation torque acquisition unit to acquire
A current detection unit that detects the current value supplied to each of the left actuator unit and the right actuator unit, and
The output link of each of the left actuator unit and the right actuator unit is rotated based on the current value supplied to each of the left actuator unit and the right actuator unit detected by the current detection unit. A second rotation torque acquisition unit that acquires two rotation torques,
Device failure determination for determining whether or not the deformation state detection devices of the left actuator unit and the right actuator unit are failed based on the difference between the first rotation torque and the second rotation torque. Department and
Have,
Power assist suit. In the power assist suit according to claim 6,
The device failure determination unit
When the difference between the first rotation torque and the second rotation torque is equal to or greater than a predetermined error threshold value, it is determined that the deformation state detection device has failed.
Power assist suit. In the power assist suit according to claim 6 or 7.
The control device is
When the device failure determination unit determines that the left actuator unit or the deformation state detection device of the right actuator unit has failed, the supply of electric power to the left actuator unit and the right actuator unit is stopped. Has a power supply control unit that controls
Power assist suit. In the power assist suit according to any one of claims 6 to 8.
The deformation state detection device is
An output shaft rotation angle detection device that detects the rotation angle of the output shaft,
An output link rotation angle detection device that detects the rotation angle of the output link,
Have,
The combined torque acquisition unit
The combined torque is acquired based on the rotation angle of the output shaft detected by the output shaft rotation angle detection device and the rotation angle of the output link detected by the output link rotation angle detection device.
Power assist suit. In the power assist suit according to claim 9.
The device failure determination unit
The output link rotation angle of each of the left actuator unit and the right actuator unit is based on the difference between the first rotation torque and the second rotation torque of the left actuator unit and the right actuator unit. Determine if the detector is out of order,
Power assist suit. In the power assist suit according to claim 9 or 10.
Each of the left actuator unit and the right actuator unit
A speed reducer having a speed reduction shaft connected to the output link and a speed increase shaft connected to the output link rotation angle detection device.
Power assist suit. In the power assist suit according to any one of claims 1 to 11.
The elastic member includes a spiral spring.
Power assist suit.

Images