JP5061285B2 - Biological exercise support device - Google Patents

Biological exercise support device Download PDF

Info

Publication number
JP5061285B2
JP5061285B2 JP2007210481A JP2007210481A JP5061285B2 JP 5061285 B2 JP5061285 B2 JP 5061285B2 JP 2007210481 A JP2007210481 A JP 2007210481A JP 2007210481 A JP2007210481 A JP 2007210481A JP 5061285 B2 JP5061285 B2 JP 5061285B2
Authority
JP
Japan
Prior art keywords
part
angle
joint
support
connecting portion
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2007210481A
Other languages
Japanese (ja)
Other versions
JP2009039454A (en
Inventor
淳 中山
五郎 大日方
和人 宮脇
洋一 島田
武裕 巖見
俊樹 松永
俊郎 深田
和徳 長谷
Original Assignee
国立大学法人名古屋大学
国立大学法人秋田大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 国立大学法人名古屋大学, 国立大学法人秋田大学 filed Critical 国立大学法人名古屋大学
Priority to JP2007210481A priority Critical patent/JP5061285B2/en
Publication of JP2009039454A publication Critical patent/JP2009039454A/en
Application granted granted Critical
Publication of JP5061285B2 publication Critical patent/JP5061285B2/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Description

  The present invention relates to a biological motion support device that uses both muscle force by functional electrical stimulation (FES) and driving force by a driving device, and particularly, the driving device by feedback control that feeds back a joint angle. It relates to the technology to control.

  A patient with spinal cord injury has normal muscle function but the nerve is torn, so the nerve cannot transmit motor commands from its superior tissue, and the muscle corresponding to the damaged spine site I can't move it.

  Even when the spine is damaged as described above, the function of the muscle is normal, so functional electrical stimulation (FES), which is a technique for operating the muscle by applying an appropriate electrical signal from the outside, has been proposed. ing. Then, exercise support using this functional electrical stimulation and reconstruction of motor function are being studied. For example, this is the technique described in Patent Document 1.

JP 2002-200104 A JP-A-7-163607

  On the other hand, a method has been proposed in which exercise support is provided by power obtained from an external drive device such as a motor. For example, Patent Literature 2 discloses an electric assist device that can assist muscle strength by being worn on a user's foot.

  When exercise support using the functional electrical stimulation (electrical stimulation) or reconstruction of the exercise function is performed, the self-muscles are operated, so that deterioration of blood circulation and disjoint of the joints caused by not operating the muscles are prevented. can do. However, when performing exercise support or reconstruction of exercise function using only functional electrical stimulation, (1) for each of the main muscles used for exercise, an electrode for applying electrical stimulation is provided in the skin near the muscle. (2) Poor reproducibility of the magnitude of the muscle strength for electrical stimulation due to displacement of the electrode position or muscle fatigue. (3) Measurement of muscle strength The muscle action potential signal and the electrical stimulation for generating muscle force are simultaneously present in the living body, so that the accurate muscle action potential signal cannot be measured, and the generated muscle force is feedback controlled. In particular, there is a problem that it is difficult to maintain posture stability in a dynamic situation such as walking. When reconstructing exercise support or motor function using only functional electrical stimulation, there is no means to generate force related to exercise in addition to the muscular strength generated by this functional electrical stimulation. It was necessary to use a walker.

  On the other hand, when exercise support is provided by power obtained from an external drive device such as a motor, the angle of the joint controlled by the motor, the output torque of the motor, etc. can be accurately controlled by performing feedback control, for example. There is. However, when exercise support is performed only by such an external drive device, (1) it is necessary to generate all the power necessary for the movement of the living body by the external drive device, so that the required output is increased. Along with this, the weight of the drive device becomes heavy, and accordingly, a battery for supplying electricity to the drive device also needs to be increased in capacity, so that it becomes impossible to support exercise, or the device is used as a living body. It becomes difficult to wear (2) Since it is not necessary to move its own muscles, it may promote disuse syndromes such as muscle contraction due to a decrease in the size and number of fibers, and may hinder rehabilitation There are problems such as.

  The present invention has been made against the background of the above circumstances, and the object of the present invention is through a joint of a living body, which is a combination of muscular strength generated by functional electrical stimulation and power generated by an external driving device. Another object of the present invention is to provide a biological motion support device for two parts connected together.

  As a result of various studies to solve the above-mentioned problems, the present inventors have used the muscle joint generated by functional electrical stimulation and the power generated by an external driving device in combination. When the output of the drive device is controlled by feedback control that feeds back the angle of the joint as well as the time change of the angle of the joint, the angle of the joint follows the target value even when there is a disturbance or a load. It has been found that it has so-called robustness. The present invention has been made based on such knowledge.

  That is, the invention according to claim 1 for solving such a problem includes: (a) a first support post attached along a first part of a living body; and a first strut connected to the first part of the living body via a joint. A second support attached along two parts, a connecting part for connecting the first support and the second support so as to be relatively rotatable, and the connecting part for connecting the first support and the second support; A drive device for driving to open and close, and an electrical stimulus to muscles involved in an operation of bending or extending the first part and the second part of the living body in relation to the opening and closing drive of the connecting part by the drive device A body motion support device for supporting bending or extension of the first part and the second part of the living body, and (b) An angle detector for detecting the angle; c) a feedback control unit that controls the output of the driving device based on a deviation between a target value of the angle of the connecting unit in a preset target operation and an actual angle of the connecting unit detected by the angle detecting unit; It is characterized by having.

  In the invention according to claim 2, the target value of the angle of the connecting portion in the target action is a time function determined in advance based on an action of bending or extending the first part and the second part of a healthy person. It is characterized by being.

  According to a third aspect of the present invention, the target value of the angle of the connecting portion is determined by the magnitude of the angle of the connecting portion and / or the connecting portion in a target operation for bending or extending the first portion and the second portion. A plurality of types are determined in advance corresponding to the angular velocity of the angle, and the plurality of types of target values can be switched.

  The invention according to claim 4 is characterized in that the electrical stimulus applying unit applies an electrical stimulus only to a muscle involved in an operation of bending or extending the first part and the second part.

  In the invention according to claim 5, when the electrical stimulation applying unit performs an operation of extending the first part and the second part, the electrical stimulation applying unit is in a state where the first part and the second part are extended. Compared with the case where it maintains, it is characterized by giving an electric stimulus to the muscle so that the muscular strength which the muscle which participates in the operation which extends the 1st part and the 2nd part generates may become large.

  According to a sixth aspect of the present invention, there is provided (a) a first support post attached along the first part of the living body, and a second part connected to the first part of the living body via the first joint. Along the second column to be attached, a first coupling part that couples the first column and the second column so that they can rotate relative to each other, and a third unit that is coupled to the second unit via a second joint. Opening and closing the third support column, the second support column and the second connection unit that connect the third support column so as to be relatively rotatable, and the first connection unit that connects the first support column and the second support column. A first driving device for driving; a second driving device for driving to open and close the second connecting portion that connects the second support column and the third support column; and the first driving device and the second driving device. In connection with the angle of the first connecting part and the opening / closing drive of the second connecting part, An electrical stimulation applying unit that outputs a signal for applying electrical stimulation to a muscle involved in an operation of bending or extending the second part and the third part of the living body, and the second part and the third part of the living body, respectively. A biological motion support device for supporting the bending or extension operation of the first part and the second part of the living body and the bending or extension operation of the second part and the third part, (b) An angle detection unit that detects an angle of the first coupling unit and an angle of the second coupling unit; and (c) a target value of the angle of the first coupling unit and the angle of the second coupling unit in a preset target operation; The respective outputs of the first driving device and the second driving device are controlled based on respective deviations between the actual angle of the first connecting portion and the angle of the second connecting portion detected by the angle detecting portion. And having a feedback control section.

  In the invention according to claim 7, the first part is a lower leg of the living body, the second part is a thigh of the living body, the third part is a lower back of the living body, and the first joint is a living body's lower leg. It is a knee joint, and the second joint is a living hip joint.

  The invention according to claim 8 is characterized in that the bending or extending movements of the first part and the second part of the living body and the second part and the third part of the living body are accompanied by a walking motion. And

  According to a ninth aspect of the invention, (a) the first driving device and the second driving device are respectively provided on the front side of any one of the first part to the third part, and (b) the first The first connecting part and the second connecting part are driven to open and close by a first driving device and a second driving device, respectively, via a link mechanism.

  In the invention according to claim 10, each of the link mechanisms has an operation range that is greater than a movable range of the first joint and the second joint to which the first connection portion and the second connection portion respectively correspond. It is limited.

  The invention according to claim 11 is characterized in that a cuff is provided on the front side of the lower leg and the thigh of the first support column and the second support column, respectively.

  According to the first aspect of the present invention, the opening / closing drive of the connecting portion by the driving device and the electrical stimulation to the muscle output by the electrical stimulus applying unit in association with the opening / closing driving by the driving device. By using both in combination, the drive device can compensate for the low reproducibility of muscular strength generated by the electrical stimulation output by the electrical stimulation applying unit, such as the pre-electrical stimulation applying unit or driving In the biological exercise support device in which the disadvantages of using any of the devices alone are complemented, the feedback control unit feeds back the angle of the connection unit detected by the angle detection unit, thereby Since the output of the driving device is controlled based on the deviation between the target value of the angle and the actual angle of the connecting portion, for example, the electrical stimulation is caused by fatigue or electrode displacement. Even if there is a disturbance or a load, such as the muscular strength that is generated when a predetermined electrical stimulus is output by the applying unit, the muscular strength is appropriately compensated by the driving device and corresponds to the connecting unit. It is possible to make the angle of the joint of the living body follow the target value.

  According to the invention according to claim 2, since the target value of the angle of the connecting portion in the target motion is determined in advance based on the target motion for bending or extending the first part and the second part of the healthy person, Smooth movement of the first part and the second part by the person is set as the target action, and the angle of the joint angle is controlled so as to follow the target action, so that the first part and the second part operate smoothly. To help you.

  According to the invention of claim 3, the target value of the angle of the connecting portion is the magnitude of the joint angle and / or the angular velocity of the joint angle in the target action of bending or extending the first part and the second part. Correspondingly, a plurality of types are determined in advance, and the target values of the plurality of types can be switched. Therefore, an appropriate size and angular velocity of the joint angle can be selected from a plurality of predetermined types of target motion.

  According to the invention of claim 4, the electrical stimulation applying unit applies electrical stimulation only to muscles involved in the operation of bending or extending the first part and the second part. The number of muscles to be actuated by electrical stimulation can be reduced as compared with the case where exercise support is performed only by means of. As a result, the number of electrodes to be installed for applying the electrical stimulation to the muscle can be reduced, and the exercise using the functional electrical stimulation and an external drive device in combination while suppressing the influence of muscular strength with poor reproducibility to the electrical stimulation. Can provide support.

  According to the fifth aspect of the present invention, when the electrical stimulation applying unit performs an operation of extending the first part and the second part, the electrical stimulation applying unit is in a state where the first part and the second part are extended. Since the muscles are electrically stimulated to increase the muscular strength generated by the muscles involved in the action of extending the first part and the second part as compared with the case of maintaining the first part and the second part, Even in the case where the stretched state is maintained, a smooth operation can be performed as compared with the case where an electrical stimulus is applied or more than the case where the operation of extending the first part and the second part is performed. Further, the output of the driving device is used when maintaining the extended state of the first part and the second part, but the output is compared with the case where the operation of extending the first part and the second part is performed. Therefore, power saving can be achieved. Furthermore, since the time during which a large electrical stimulus is applied to the muscle can be shortened, muscle fatigue can be reduced.

  According to the invention concerning Claim 6, the 1st support | pillar attached along the 1st site | part of a biological body, and the 2nd support | pillar attached along this 2nd site | part connected with this 1st site | part via the 1st joint. A first connecting portion that connects the first support column and the second support column in a relatively rotatable manner, and a third support column that is attached along the third portion connected to the second portion via a second joint. A first driving device that opens and closes a second connecting portion that connects the second support column and the third support column in a relatively rotatable manner, and a first connection unit that connects the first support column and the second support column. A second driving device that opens and closes the second connecting portion that connects the second column and the third column, and the first driving device and the opening and closing drive of the second driving device, A first part and a second part of the living body, and a second part and a third part of the living body. An electrical stimulation applying unit that outputs a signal for applying electrical stimulation to muscles involved in the bending or extending operation, and bending or extending operation of the first part and the second part, And a body motion support device for supporting the bending or extension operation of the second part and the third part, and an angle detection unit for detecting the angle of the first connection part and the angle of the second connection part, respectively. And the target value of the angle of the first connecting part and the angle of the second connecting part in the preset target operation, and the actual angle of the first connecting part and the angle of the second connecting part detected by the angle detecting part Since the feedback control unit that controls the respective outputs of the first drive device and the second drive device based on the respective deviations, the same effects as those of the above-described invention can be obtained.

  According to the invention of claim 7, the first part is the lower leg of the living body, the second part is the thigh of the living body, the third part is the waist of the living body, and the first joint is the living body's thigh. Since it is a knee joint and the second joint is a hip joint of a living body, it is possible to support the exercise of a person who has a motor dysfunction in the lower limbs.

  According to the eighth aspect of the invention, since the bending or extending movements of the first and second parts of the living body and the second and third parts of the living body are accompanied by walking movement, It is possible to support the walking motion that is the most basic motion in daily life.

  According to the ninth aspect of the present invention, the first drive device and the second drive device are respectively provided on the front side of any one of the first part to the third part, and the first connection part and the first drive part are provided. Since the two connecting portions are driven to open and close by the first driving device and the second driving device via the link mechanism, respectively, the two connecting portions are provided in front of any one of the first part to the third part by the link mechanism. The power generated by each of the first drive device and the second drive device is transmitted to the first connection portion and the second connection portion, and the size of the biological motion support device in the lateral width direction is The first drive device and the second drive device are smaller than the case where the first drive device and the second drive device are provided on the side corresponding to the body side as shown in Patent Document 2, for example, the size in the width direction assuming an average physique. It can be seated like a wheelchair as specified while wearing the biological exercise support apparatus.

  According to the invention of claim 10, each of the link mechanisms has an operation range that is greater than a movable range of the first joint and the second joint to which the first connection portion and the second connection portion correspond. Therefore, the first support column and the second support column, or the second support column and the third support column may bend or extend beyond the movable range of the first joint or the second joint, respectively. For example, even if the drive device runs away, damage to the wearer is prevented.

  According to the eleventh aspect of the present invention, since the first strut and the second strut are provided with cuffs on the front side of the lower leg and the thigh, respectively, the biological motion support device of the present invention is provided on the front side of the body. For example, it can be attached and detached while sitting in a wheelchair or a chair.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a front view of the biological exercise support device of the present invention. A biological exercise support device 10 in FIG. 1 supports movement of a knee joint and a hip joint of a living body, and is used by being attached to a lower limb of a living body. This biological exercise support device 10 is based on an auxiliary device used for the purpose of reducing dysfunction of the lower limbs, that is, a lower limb orthosis with a pelvic belt (HKAFO; Hip Knee Angle Foot Orthosis). In order to drive the joint portion, motors 36 and 38 that are drive devices, and link mechanisms 32 and 34 as drive mechanisms that transmit power from the motors 36 and 38 to the joint portion are provided. 1 has a substantially symmetrical structure on the left and right sides, the following description is performed only on the right side of the figure, that is, the part corresponding to the left foot of the wearer, and the left side of the figure. The part is omitted.

  The long limb orthosis with pelvic belt 12 has metal struts on both the inside and outside of the portion corresponding to the lower limb when worn. Specifically, a portion corresponding to the shin portion of the lower limb is fitted with the first strut 22a on the outside and the first strut 22b on the inside of the shin portion with the pelvic belted long leg brace 12 respectively. In this case, it is provided along the shin part. The portion corresponding to the thigh is provided with the second support column 24a on the outer side and the second support column 24b on the inner side. The second column 24b extends to the middle of the thigh, and the upper end of the second column 24b is locked to one end of a strip-shaped cuff 44 described later. The upper ends of the first struts 22a and 22b are rotatably connected to the lower ends of the second struts 24a and 24b by first connecting portions 28a and 28b respectively provided on the outer side and the inner side of the wearer's knee. . At this time, the 1st connection parts 28a and 28b are equivalent to a knee joint, and respond | correspond to a motion of a wearer's knee joint. That is, the first connecting portions 28a and 28b are located near the rotation center of the knee joint of the wearer wearing the long limb orthosis 12 with the pelvic belt.

  The upper end of the second support column 24a provided on the outer side of the thigh of the wearer is connected to a second connecting part 30 provided on the outer side of the hip joint of the wearer. The lower end of the third support column 26 provided along the body side portion is connected to the second connection unit 30, and the second support unit 24 a and the third support column 26 can be rotated by the second connection unit 30. It is connected to. The second connecting portion 30 corresponds to a hip joint and corresponds to the movement of the wearer's hip joint. The 2nd connection part 30 is located in the rotation axis | shaft vicinity of the wearer's hip joint which mounted | wore with this pelvic belted long leg brace 12. This pelvic belted long leg brace 12 is an outer hip joint type brace. The upper end of the third support column 26 is engaged with a pelvis body 48 described later.

  The first connecting portions 28a and 28b and the second connecting portion 30 are, for example, uniaxial box joints that are not limited in the rotation angle but can restrict the inner and outer rotations and the inner and outer rotations.

  The long limb orthosis 12 with pelvic belt is provided with a pelvic belt 48, a cuff 44, a cuff 42, and a cuff 40. The pelvic belt 48, the cuff 44, the cuff 42, and the cuff 40 are all band-plate-like parts that circulate around the front surface of the wearer. Wearing devices such as leather belts and hook-and-loop fasteners are provided at both ends of the band plate-like parts, and the pelvic belt is attached by fixing the wearer's rear surface with these wearing devices. The long leg brace 12 is fixed to a living body. The pelvic belt 48, the cuff 44, the cuff 42, and the cuff 40 are provided so as to fix the middle of both iliac crests and both trochanters, the upper thigh, the lower thigh, and the upper shin, respectively. The band 48 is provided at the upper end of the lower limb orthosis 12 with the pelvic band and engaged with the upper end of the third support column, and the cuff 44 and the cuff 42 are provided at both ends of the band plate-like parts outside the thigh. The cuff 40 is provided so as to be engaged with the second support column 24a and the second support column 24b provided on the inner side of the thigh. It is provided to be engaged with a first support 22b provided inside the section.

  The lower limb orthosis with pelvic belt 12 is provided with a foot plate 50 for supporting the sole of the foot, and the foot plate 50 is further provided with a stirrup 52 for connecting to the lower ends of the first support columns 22a and 22b. The stirrup 52 is rotatably connected to the lower ends of the first struts 22a and 22b by an ankle joint 54. The ankle joint 54 may be, for example, a crenzac joint or a double crenzac joint that can limit the angle of rotation, fix the rotation, or support the rotation with a spring or lot that incorporates the rotation. Used.

  1 is output by the first motor 36 and the second motor 38 serving as driving devices and the first motor 36 and the second motor 38 to the above-described long limb orthosis 12 with pelvic belt. A first driving mechanism 32 and a second driving mechanism 34 are provided for transmitting the driving force to the first connecting portion 28 and the second connecting portion 30 and driving them.

  This 1st motor 36 changes the angle produced | generated by the 1st support | pillar 22a and the 2nd support | pillar 24a which were connected with the said 1st connection part 28a via the 1st drive mechanism 32 mentioned later. The 2nd motor 38 changes the angle produced | generated by the 2nd support | pillar 24a and the 3rd support | pillar 26 which were connected with the said 2nd connection part 30 via the 2nd drive mechanism 34 mentioned later. In the present embodiment, a link mechanism is used as the first drive mechanism 32 and the second drive mechanism 34 as will be described later. Therefore, the first motor 36 and the second motor 38 are considered in consideration of the size of the link mechanism. The installation position of is determined. Specifically, as shown in FIG. 1, the first motor 36 and the second motor 38 are respectively attached to a first motor mounting plate 56 and a second motor mounting plate 58 provided on the second support column 24a. In the present embodiment, the outputs of the first motor 36 and the second motor 38 are transmitted via the first drive mechanism 32 and the second drive mechanism 34, which are link mechanisms, respectively. The shaft and the rotation axis of the first connection part 28 are positioned substantially parallel, and the output shaft of the second motor 38 and the rotation axis of the second connection part 30 are positioned substantially parallel.

  FIG. 2 is a right side view of the biological exercise support device 10 of FIG. 1, that is, a side view seen from the left side as viewed from the wearer. For ease of explanation, only the members corresponding to the outer side of the left lower limb are described, and the members corresponding to the right lower limb, the first strut 22b and the second strut 24b inside the left lower limb, etc. The description of the members in is also omitted. As shown in FIG. 2, the first motor 36 is formed integrally with the second support column 24a or attached to the second support column 24a by welding or the like, and extends from the second support column 24a to the front of the wearer. It is attached to a first motor mounting plate 56 having a substantially triangular shape. That is, the first motor 36 does not protrude outward in the body side direction of the wearer. At this time, the first motor 36 is selected so that the axial length of the first motor 36 does not exceed the distance between the second support column 24a outside the thigh and the second support column 24b inside. The left and right first motors 36 do not interfere with each other. The output shaft of the first motor 36 passes through a through hole provided in the first motor mounting plate 56 so as to be freely rotatable, and is in the vicinity of the center of one link constituting the link mechanism as the first drive mechanism 32. Combined. One link of the first drive mechanism 32 engaged with the output of the first motor 36 rotates by the rotation angle of the output shaft of the first motor 36.

  Similarly, the second motor 38 is formed integrally with the second support post 24a or attached to the second support post 24a by welding or the like, and extends in a substantially triangular shape from the second support post 24a to the front of the wearer. It is attached to the 2nd motor attachment plate 58 which has. For this reason, the second motor 38 does not protrude outward in the body side direction of the wearer. The second motor 38 is selected so that the axial length of the second motor 38 does not exceed the distance between the second support column 24a outside the thigh and the second support column 24b inside. The left and right second motors 38 do not interfere with each other. The output shaft of the second motor 38 passes through a through hole provided in the second motor mounting plate 58 so as to be rotatable, and is engaged near the center of one link constituting the link mechanism as the second drive mechanism 34. Combined. Thereby, one link of the second drive mechanism 34 engaged with the output of the second motor 38 rotates by the rotation angle of the output shaft of the second motor 38.

  The selection of the first motor 36 and the second motor 38 is performed as follows, for example. For example, in the case of performing a motion that is supported by the biological motion support device 10 of the present invention, such as a walking motion, it is necessary in each of the first connection portions 28a and 28b and the second connection portion 30 corresponding to the knee joint and hip joint of the wearer. The torque to be measured is measured in advance by experiments, simulations, and the like, and the magnitude of the muscular strength generated by the electrical stimulation generated by the electrical stimulation applying unit 104 described later is also measured. The torque required for the exercise measured for each of the first connecting part 28a and the second connecting part 30 is the muscular force generated by the electrical stimulation generated by the electrical stimulus applying part 104, and the first The motor having an output that can be covered by the torque generated by each of the first motor 36 and the second motor 38 is selected.

  As the first motor 36 and the second motor 38, for example, a servo motor capable of accurately controlling the rotation angle at the output thereof is used. At this time, a reduction gear or the like is also used in consideration of the rotational speed at the motor rating. That is, a reduction gear is provided between the output shaft of the motor and the drive mechanism, and the torque can be increased while the rotational speed of the output shaft is reduced.

  The first motor 36 and the second motor 38 are provided with a first encoder 60 and a second encoder 62, respectively. The first encoder 60 and the second encoder 62 detect the rotation angles of the output shafts of the first motor 36 and the second motor 38, respectively. The first motor 36 and the second motor 38 correspond to an angle detection unit. The first connecting portion 28 and the second connecting portion 30 are configured such that power is transmitted to the output shafts of the first motor 36 and the second motor 38 by the first drive mechanism 32 and the second drive mechanism 34 that are link mechanisms, respectively. Although connected, as will be described later, there is a one-to-one relationship between the change in the angle of the first connecting portion 28 and the second connecting portion 30 and the rotation angle of the output shaft of the first motor 36 and the second motor 38. Therefore, by appropriately offsetting the first encoder 60 and the second encoder 62, the first connecting portion 28 and the second connecting portion 28 are based on the measured amounts in the first encoder 60 and the second encoder 62. The angle of the part 30 is obtained.

  3 to 5 are views for explaining the operation of the second drive mechanism 34 and the second connecting portion 30. In the present embodiment, as described above, the second drive mechanism 34 is a link mechanism, and the four links 34a to 34d are connected to each other by joints 34e to 34h that rotatably connect both ends thereof. Opposing links 34a and 34c and links 34b and 34d have the same length, and links 34a and 34c and links 34b and 34d are always parallel to each other. That is, the second drive mechanism 34 is a parallel motion mechanism.

  As described above, since the central portion 34j of the link 34b constituting the second drive mechanism 34 is fixed so as to move integrally with the output shaft of the second motor 38, the output of the second motor 38, That is, the second drive mechanism 34 is operated in synchronization with the rotation operation. A central portion 34k of the link 34d facing the link 34b is rotatably connected to the second support column 24a by the second connecting portion 30. On the other hand, the link 34d and the third support column 26 are fixed so as to move together. For this reason, when the second motor 38 is driven and rotated, the output shaft of the second motor 38 and the link 34b are rotated, and the second drive mechanism 34 causes the link 34d to be rotated by the same angle as the link 34b. It is rotated about 30. And since the 3rd support | pillar 26 rotates integrally with the link 34d, the 3rd support | pillar 26 is rotated only the same angle as the angle which the 2nd motor 38 rotated with respect to the 2nd support | pillar 24a.

  Here, the relationship between the second support column 24a and the third support column 26 is expressed by using an angle θhip formed by the straight line extending from the second support column 24a and the third support column 26 (see FIG. 10). Thus, θhip is an angle representing the forward tilt of the third column 26 with respect to the second column 24a.

  FIG. 3 is a diagram illustrating a case where θhip is the smallest value, and is a diagram corresponding to a case where the wearer takes the most backward posture. At this time, the value of θhip representing the state of the second connecting portion 30 is −16.8 degrees, and the second support post 24a and the third support post 26 connected in the second connecting portion 30 are in the most extended state. is there. In this state, the power input portion 34j of the link 34b and the adjacent link 34c are in contact with each other, and the second drive mechanism 34 is prevented from moving in a direction in which θhip is further reduced.

  FIG. 4 is a diagram corresponding to the case where the wearer takes an upright posture, and is a diagram showing a case where θhip becomes 0 degree, and the state shown in FIG. 3 and the state shown in FIG. 5 described later. Is the state between.

  FIG. 5 is a diagram illustrating a case where θhip is several degrees before the largest value, and is a diagram corresponding to a case where the wearer takes a posture closest to the forward tilt. At this time, the value of θhip representing the state of the second connecting portion 30 is 111.7 degrees, and the second strut 24a and the third strut 26 connected in the second connecting portion 30 are in a state closest to bending. . That is, when the forward inclination is further several degrees, that is, when θhip is increased, the power input portion 34j of the link 34b is brought into contact with the adjacent link 34a, and the second drive mechanism 34 moves in a direction in which θhip is further decreased. It is preventing that.

  As shown in FIGS. 3 to 5, the movable range of the second connecting portion 30 is greater than the movable range of the hip joint, which is a part of the wearer corresponding to the second connecting portion 30, due to the structure of the second drive mechanism 34. It is made not to move. Therefore, for example, even when the second motor 38 runs away, the wearer's hip joint is not given any force beyond the movable range, and an accident is prevented. In other words, the length of each link of the second drive mechanism 34 can be designed so that the second connecting part 30 does not move beyond the movable range of the hip joint of the wearer.

  6 and 7 are diagrams for explaining the operation of the first drive mechanism 32 and the first connecting portion 28a. In the present embodiment, as described above, the first drive mechanism 32 is a link mechanism, and the four links 32a to 32d are connected to each other by joints 32e to 32h that rotatably connect both ends thereof. Further, the opposed links 32a and 32c and the links 32b and 32d have the same length, and the links 32a and 32c and the links 32b and 32d are always parallel to each other. That is, the first drive mechanism 32 is a parallel motion mechanism. In the present embodiment, the first connecting portion 28b on the inner crotch side is not provided with a parallel motion mechanism such as the first motion mechanism 32, and the first support column 22b and the second support column 24b can freely rotate. Since they are only connected so as to be possible, they are operated in accordance with the movement of the outer first connecting portion 28a driven by the first motor 36 via the first drive mechanism 32.

  As in the case of the second drive mechanism 34 described above, the link 32b constituting the first drive mechanism 32 is fixed to the central portion 32j so as to move integrally with the output shaft of the first motor 36. The first drive mechanism 32 is operated in synchronism with the output of the first motor 36, that is, the rotation operation. A central portion 32k of the link 32d facing the link 32b is rotatably connected to the second support column 24a by the first connecting portion 28a30. On the other hand, the link 32d and the first support post 22a are fixed so as to move together. For this reason, when the first motor 36 is driven and rotated, the output shaft of the first motor 36 and the link 32b are rotated, and the first drive mechanism 32 causes the link 32d to move the first connecting portion 28 by the same angle as the link 32b. Rotated as center. And since the 1st support | pillar 22a rotates integrally with the link 32d, the 1st support | pillar 22a is rotated only the same angle as the angle which the 1st motor 36 rotated with respect to the 2nd support | pillar 24a.

  Here, the relationship between the first support column 22a and the second support column 24a is expressed using an angle θknee formed by a straight line extending from the second support column 24a and the first support column 22a (see FIG. 10). Thus, θknee is an angle representing the bending of the first column 22a with respect to the second column 24a.

  FIG. 6 is a diagram illustrating a case where θknee is the smallest value, and corresponds to a case where the wearer takes an upright posture. At this time, the value of θknee indicating the state of the first connecting portion 28a is 0 degree, and the first support 22a and the second support 24a connected in the first connecting portion 28a are in the most extended state. In this state, the power input portion 32j of the link 32b and the adjacent link 32c are in contact with each other, and the second drive mechanism 34 is prevented from moving in a direction in which θknee is further reduced.

  FIG. 7 is a diagram illustrating a case where θknee has the largest value, and is a diagram corresponding to a case where the wearer bends the knee most. At this time, the value of θknee representing the state of the first connecting portion 28a is 126.0 degrees, and the first strut 22a and the second strut 24a connected in the first connecting portion 28a are in the most bent state. In this state, the power input portion 32j of the link 32b and the adjacent link 32a are in contact with each other, and the first drive mechanism 32 is prevented from moving in a direction in which θknee is further reduced.

  Thus, as shown in FIGS. 6 and 7, the movable range of the first connecting portion 28 a is based on the structure of the first drive mechanism 32, and the knee joint that is the part of the wearer corresponding to the first connecting portion 28. It is designed not to move beyond the movable range. Therefore, for example, even when the second motor 38 runs away, the wearer's hip joint is not given any force beyond the movable range, and an accident is prevented. In other words, the length of each link of the first drive mechanism 32 can be designed so that the first connecting portion 28a does not move beyond the movable range of the wearer's knee joint.

  FIG. 8 is a diagram illustrating a state in which the biological exercise support device 10 according to the present embodiment is attached to a person sitting in a wheelchair. As described above, each of the pelvic belt 48, the cuff 44, the cuff 42, and the cuff 40 has a belt plate-shaped component that circulates half around the front surface of the wearer, and the belt plate-shaped components are respectively made of leather. Since the attachments such as belts and hook-and-loop fasteners are extended and the rear surface of the wearer is fastened with these attachments, the user can sit in the wheelchair with the attachments released. It can be mounted by covering it from the front of the person who is wearing it and fixing the mounting tool to the waist, upper thigh, lower thigh, and upper shin. At this time, as described above, the first motor 36 and the second motor 38 are disposed on the front surface of the wearer, and the outer end of the first motor 36 and the second motor 38 are attached to the second support column 24a. Since the two motor mounting plates 58 are respectively attached, the first motor 36 and the second motor 38 are not positioned on the outer side of the wearer with respect to the second column 24a. As shown in FIG. The biological exercise support device 10 can be mounted without interference.

  FIG. 9 is a diagram illustrating a series of situations when the biological exercise support device 10 of the present embodiment is mounted on a person seated in a wheelchair. First, in FIG. 9A showing the state before wearing, a wearer seated in a wheelchair is positioned behind the biological exercise support device 10. Then, as shown in FIG. 9 (b), the biological exercise support device 10 from which the wearing tool has been released is attached so that the wearer covers his / her lower leg and waist. Thereafter, the wearing devices provided on each of the pelvic belt 48, the cuff 44, the cuff 42, and the cuff 40 are fixed to the waist, the upper thigh, the lower thigh, and the upper shin, and the state where the attachment is completed is shown in FIG. It is. After wearing, since the attached biological exercise support apparatus 10 does not interfere with the wheelchair frame or the like as described above, the biological exercise support apparatus 10 is attached as shown in FIG. The wearer can move with a wheelchair.

  FIG. 10 is a diagram in which variables related to the control are defined when the biological exercise support apparatus 10 of the present embodiment is controlled. As described above, the angle formed by the straight line extending from the second column 24a and the third column 26 is the angle θhip formed by the second column 24a and the third column 26, and the second column 24a is moved downward. The angle formed by the extended straight line and the first column 22a is defined as an angle θknee formed by the second column 24a and the first column 22a. In this embodiment, θhip is also referred to as the angle of the second connecting portion 30 or the hip joint angle, and θknee is also referred to as the angle of the first connecting portion 28a or the knee joint angle. Further, the torque τhip around the rotation axis in the second connecting portion 30 and the torque τknee around the rotation axis in the first connecting portion 28 respectively reduce the angle θhip of the second connecting portion 30 and the angle θknee of the first connecting portion 28. The torque direction is positive.

  FIG. 11 is a functional block diagram illustrating functions of the biological exercise support device 10 according to the present embodiment. The control unit 100 is constituted by a so-called computer that reads out a program or data stored in a RAM or ROM as a so-called storage device and performs a calculation in a CPU as an arithmetic device, and includes a target action setting unit 102, an electrical stimulus applying unit. 104, a feedback control unit 106, and the like. Note that, as described above, there are a pair of left and right adhesive electrodes (FES electrodes) 46, the first motor 36, the second motor 38, the first encoder 60, and the second encoder 62, corresponding to the right lower limb of the wearer. Those that do are marked with R at the end of the code, and those that correspond to the left lower limb are marked with L at the end of the code.

  The target motion setting unit 102 sets a target motion that is a motion supported by the biological motion support device 10. For example, when the target motion is a walking motion, the stride or the walking speed, that is, the left and right feet The knee joint angle θknee and the hip joint angle θhip are determined based on the time change pattern determined based on the pitch of the movements. And this time change pattern is determined by analyzing the walking motion of a healthy person, for example, depending on the stride and walking speed, for example, and these are changed by the wearer using an input means (not shown), for example. Is set.

  The electrical stimulation applying unit 104 is a muscle that extends the knee joint and the hip joint corresponding to the first connection unit 28 and the second connection unit 30 in order to achieve the target operation set in the target operation setting unit 102. In order to generate the muscular strength, the electrical stimulation applied to this muscle is determined. In this embodiment, since the target action is a walking action, the knee joint and the hip joint corresponding to the first connecting part 28 and the second connecting part 30 can be stretched simultaneously to the rectus femoris muscle. On the other hand, electrical stimulation is given by the surface electrode 46 (not shown) attached to the position through the rectus femoris and the skin. FIG. 12 is an example of a diagram illustrating a temporal change in electrical stimulation generated by the electrical stimulation applying unit 104. From time ts to time tf is one unit of motion of one foot when the target motion is a walking motion, that is, a time corresponding to one step, and a signal that is repeated as one cycle is generated. At this time, the electrical stimulus applying unit has each of the signal strength s, the rise time t1 from the signal non-generation state to the signal generation state, the signal generation time t2, and the convergence time t3 from the signal generation state to the signal non-generation state. By controlling, the generated electrical stimulation can be changed.

  Further, the time corresponding to one step of one leg shown in FIG. 12 and the target angle of the knee joint or the hip joint can be selectively switched from a plurality of patterns. The plurality of patterns correspond to changes in the stride or the walking pitch. The target angle of the knee joint or the hip joint is determined based on the angle of the knee joint or the hip joint in the walking motion of a healthy person, and is obtained by previously analyzing the walking motion of the healthy person for each step length or walking pitch. It is done.

  FIG. 14 is a diagram illustrating an example of a relationship between a target action set by the target action setting unit 102 and an electrical stimulus pattern determined by the electrical stimulus applying unit 104. In FIG. 14, the temporal change of the knee joint angle θknee and hip joint angle θhip of one leg in the walking motion as the target motion and the stimulation pattern are displayed on the same time axis. The time axis is normalized so that one cycle of walking motion, that is, one step is 1.0, and the stimulus pattern is also normalized so that the maximum stimulus is 1.0. Yes. Focusing on the target movement, time 0.0 to 0.4 is a swing period in which the sole does not touch the ground and the foot is swung forward from the rear, and 0.4 to 1.0 is the foot period. This is the stance phase where the back is grounded and the body moves forward while kicking the floor. On the other hand, with respect to the stimulation pattern, the output that had been 0 until then is increased from time 0.15 to 0.2, the maximum output is maintained from 0.2 to 0.4, and 0.4 to 0.45. The output is decreased gradually from 0.45 to 1.0 and no output is performed.

  Returning to FIG. 11, the feedback control unit 106 controls the operations of the first motor 36 and the second motor 38 by feeding back each of the knee joint angle θknee and the hip joint angle θhip. At this time, the target motion set in the target motion setting unit 102, that is, the time change of each of the knee joint angle θknee and the hip joint angle θhip is used as a reference input so that the deviation between the reference input and the state becomes zero. Control.

FIG. 13 is a block diagram showing a control system in the biological exercise support device 10 of the present embodiment. In FIG. 13, q represents the angle of the hip joint and the knee joint of each of the left and right by a vector, and q = [θ hip — R , θ knee — R , θ hip — L , θ knee — L ] T is there. Q r is a vector representing the angles of the left and right hip joints and knee joints corresponding to the target motion set in the target motion setting unit 102, and q r = [θ hip — Rr , θ knee _Rr , θ hip _Lr , θ knee _Lr ] T. Further, τ a is a torque around the rotation axis in the first connecting portion 28 and the second connecting portion 30 generated by the first motor 36 and the second motor 38 provided on the left and right, respectively, and τ a = [τ hip _ R _ a, τ knee _ R _ a, τ hip _ L _ a, is τ knee _ L _ a] T . In addition, τ FES is the rotation of the first connecting portion 28 and the second connecting portion 30 due to the muscular strength generated by the right and left rectus femoris muscles that have received the electrical stimulation generated by the electrical stimulation applying portion 104 and the FES stimulating device 124. It is the torque around the axis, and τ FES = [τ hip — R — FES , τ knee — R — FES , τ hip — L — FES , τ knee — L — FES ] T. Here, θ hip — R in q is the angle of the hip joint of the right foot (second connecting portion 30), θ knee — R is the angle of the knee joint of the right foot (first connecting portion 28), and θ hip — L is the hip joint of the left foot. angle (second connecting portion 30), theta knee _ L is the angle of the left knee joint (first connecting portion 28), similarly q r, tau a, for each vector of tau FES also first component Represents a value relating to the hip joint of the right foot, a second component relating to the knee joint of the right foot, a third component relating to the hip joint of the left foot, and a fourth component relating to the knee joint of the left foot. The definition of the positions of θknee and θhip, and the positions and orientations of τknee and τhip are as shown in FIG.

  As shown in FIG. 13, in the control of the biological exercise support device 10 of the present embodiment, so-called PD control is performed in which q, which is the angle value of the left and right hip joints and knee joints, and the differential value thereof are fed back. At this time, Kp and Kv are gains corresponding to the angle q of each joint and the angular velocity (dq / dt) which is a differential value thereof. In general, in PD control, if the proportional gain Kp is increased, the control system approaches the stability limit, but if Kp is decreased, the follow-up performance is inferior. Therefore, the feedback control unit 106 considers these performances and achieves both stability and follow-up performance. Possible Kp values are used.

  Referring back to FIG. 11, the interface unit (I / F unit) 110 includes a DA conversion unit 112, an AD conversion unit 114, a counter 116, a timer 118, and the like. The DA conversion unit 112 is configured between a control unit 100 configured by a computer and handling digital data, and the servo motor amplifier 120 and the FES stimulating device 124 handling analog data, and outputs the digital data output by the control unit 100. The data is converted into analog data, which is passed to the servo motor amplifier 120, the FES stimulator 124, and the like. The AD converter 114 receives analog data about the magnitude of the drive current output from the servo motor amplifier 120 to the motors 36 and 38, the rotational speed of the motor output shaft, and the like, and can be used in the controller 100. Is converted to digital data. The counter 116 also receives data from the first encoder 60 that detects the rotation angle of the output shaft of the first motor 36 and the second encoder 62 that detects the rotation angle of the output shaft of the second motor 38, and calculates the rotation angle. calculate. That is, since the first encoder 60 and the second encoder 62 detect the number of pulses proportional to the rotation angle of the motor output shaft, the current joint angle is determined based on the result of the calibration performed in advance. Is calculated. The timer 118 is used to control the input / output timing of data by the DA conversion unit 112, AD conversion unit 114, and counter 116 to be a predetermined interval.

  The servo motor amplifier 120 is provided for each of the left and right first motors 36 and second motors 38 and has a mode in which at least the rotation angle of the output shaft of each motor can be controlled. Moreover, the output shaft rotational speed and the drive current value of the motor can be measured from the motor, respectively.

  The FES stimulating device 124 applies electrical stimulation to the peripheral nerve that moves the rectus femoris muscle from the applied electrode 46 attached to the skin of the wearer based on the stimulation pattern determined by the electrical stimulation applying unit 104, Move the rectus femoris. At this time, the FES stimulating device 124 uses a sine wave having a frequency of, for example, 2.5 kHz, which is a frequency at which the impedance between the electrode and the skin is the lowest, as a carrier wave, and applies a voltage having a frequency of 50 Hz and a pulse width of 200 μsec. Applied to the electrode 46. The amplitude, frequency, and pulse width of the output voltage can be controlled to arbitrary values.

  FIG. 15 shows a case where the biological exercise support apparatus 10 of the present invention is controlled with the proportional gain Kp set to Kp = 24 when the stimulation pattern by the electrical stimulation applying unit 104 is determined as shown in FIG. It is a figure explaining an experimental result. That is, the angle and the actual angle in the target motion of the knee joint and the hip joint, the torque generated by the first motor 36 and the second motor 38, and the stimulation pattern determined by the electrical stimulation applying unit 104 are respectively shown in the upper, middle, and lower stages. Displayed on the same time axis. At this time, the value of Kv is Kv = 1315.

  First, in the upper part of FIG. 15, the actual value of the angle θknee of the first connecting portion 28 (the knee joint) is a solid line, the value in the target motion (target value) is a one-dot chain line, and the second connecting portion 30 (the hip joint) ) Of the angle θhip is represented by a broken line, and the value (target value) in the target motion is represented by a two-dot chain line. Comparing the actual value with the target value for both the angle θknee of the first connecting portion 28 (the knee joint) and the angle θhip of the second connecting portion 30 (the hip joint), both θknee and θhip follow the target value. I understand.

  In the middle of FIG. 15, the output torque of the first motor 36 is represented by a solid line, and the output torque of the second motor 38 is represented by a broken line. Neither the first motor 36 nor the second motor 38 instantaneously generates a sudden torque.

  FIG. 16 is a diagram showing experimental results when only the value of the proportional gain Kp is set to Kp = 12, and the others are controlled under the same conditions as in FIG. 15 according to the present invention. FIG. 16 is a diagram corresponding to FIG. 15. 15 is compared with FIG. 16, the followability of the actual value of the angle θknee of the first connecting portion 28 (knee joint) shown in the upper stage with respect to the target value, and the angle θhip of the second connecting portion 30 (hip joint). The followability of the actual value to the target value is slightly inferior because the proportional gain Kp is made smaller than in the case of FIG. On the other hand, as for the generated torque of the motor shown in the middle stage, a relatively large torque is generated in the negative direction in the first motor 36 immediately after the occurrence of the electrical stimulus. This seems to be because immediately after the electrical stimulation occurs, the target value of the joint angle, its angular velocity, and angular acceleration are larger than those in other sections, so a large torque is generated to accurately follow the position. It is. As described above, by selecting the proportional gain Kp, the motor torque appropriately compensates for the muscular strength caused by the electrical stimulation, thereby suppressing a rapid change in the motor output torque.

  FIG. 17 is a diagram illustrating another stimulation pattern determined by the electrical stimulation applying unit 104. The patterns of the joint angle θknee of the knee joint and the joint angle θhip of the hip joint in the target movement shown in the upper part of FIG. 17 are the same as those in FIG. In the stimulation pattern of FIG. 17, electrical stimulation that has not occurred until then is generated from time 0.15 to 0.35. Then, the maximum electrical stimulation is generated from time 0.35 to 0.75, and then the electrical stimulation is decreased from 0.75 to 0.95, and does not occur until 1.0. That is, comparing the stimulation pattern of FIG. 17 with the stimulation pattern of FIG. 14, in FIG. 14, the stimulation is applied only during the transition from the swing phase to the stance phase. Is performed immediately before the transition from the swing phase to the stance phase and immediately before the transition from the stance phase to the swing phase, and the rate of increase when the stimulus is generated and the rate of decrease when the stimulus ends are shown in FIG. It is considered to be gentle compared to the stimulation pattern.

  FIG. 18 shows a case where the biological exercise support apparatus 10 of the present invention is controlled with the proportional gain Kp set to Kp = 12, when the stimulation pattern by the electrical stimulation applying unit 104 is determined as shown in FIG. It is a figure explaining an experimental result, Comprising: It is a figure corresponding to FIG.15 and FIG.16. That is, the angle and the actual angle in the target motion of the knee joint and the hip joint, the torque generated by the first motor 36 and the second motor 38, and the stimulation pattern determined by the electrical stimulation applying unit 104 are respectively shown in the upper, middle, and lower stages. Displayed on the same time axis. At this time, the value of Kv is Kv = 1315.

  In the upper part of FIG. 18, as in FIG. 15 and the like, the actual value of the angle θknee of the first connecting portion 28 (the knee joint) is a solid line, the value in the target motion (target value) is a one-dot chain line, The actual value of the angle θhip of the connecting portion 30 (hip joint) is represented by a broken line, and the value (target value) in the target motion is represented by a two-dot chain line. When the angle θknee of the first connecting portion 28 (knee joint) and the angle θhip of the second connecting portion 30 (hip joint) are compared with the actual value and the target value, both θknee and θhip are about the same as those in FIG. It can be seen that the target value is being followed.

  On the other hand, in the middle of FIG. 18, the output torque of the first motor 36 is represented by a solid line, and the output torque of the second motor 38 is represented by a broken line. Comparing this with the output torque of the first motor 36 and the first motor 36 in the control of FIG. 15 or FIG. 16, in FIG. 18, for example, in the stance phase such as a section where the time t is about 2.8 to 2.9. In the middle period, the first motor 36 outputs a relatively large negative torque. This section is called the double knee action of the knee joint, and is an action to reduce the vertical movement of the body center of gravity. Here, the knee is once bent from the fully extended state and then extended again. Since the knee joint is in a fully extended state due to electrical stimulation, the motor torque seems to be acting in the direction to bend it. That is, the muscle force of the rectus femoris muscle is generated so as to extend the knee joint by electrical stimulation, while the first motor 36 generates torque that bends the knee joint.

  By the way, the stimulation pattern shown in FIG. 17 is an application of the stimulation pattern in the case where the walking motion is supported only by the muscular force generated by the conventional electrical stimulation as it is. When walking is supported only by the muscular strength generated by electrical stimulation, the moment when the knee is bent in the stance phase, that is, the moment vector acts in the direction of bending the knee joint when the reaction force vector from the floor passes behind the knee joint. An electrical stimulus was generated to prevent this. However, as shown in FIG. 15 and FIG. 16, it is not always necessary to continue applying electrical stimulation to prevent knee breakage in the stance phase, and it is output from the first motor 36 by the control of the feedback control unit 106. An effective effect can be obtained even with a relatively small output torque. In other words, the muscular strength generated by the rectus femoris muscle, which is a muscle involved in the extension movement, is greater in the swing leg period in which the knee joint is extended than in the stance period in which the knee joint is maintained in the extended state. In the case of FIG. 14 where electrical stimulation is performed by the electrical stimulation applying unit 104 as described above, the knee joint can move more smoothly than in the case of FIG. Moreover, since the time during which a large electrical stimulus is applied to the muscle can be shortened, muscle fatigue can be reduced.

  However, even in such a case as shown in FIG. 17, for example, it can be said that the knee joint can be held in the extended state by the muscular strength of the rectus femoris generated by electrical stimulation. That is, by adjusting the timing of the start and end of the electrical stimulation by the electrical stimulation applying unit 104, it can sufficiently contribute to the support of the exercise combined with the torque generated by the first motor 36. In particular, as described above, the followability of the knee joint and hip joint angles with respect to each target motion angle can be evaluated to a certain degree. This is when there is an external force that works in the direction opposite to the output torque of the motor. Even so, it can be said that the feedback control unit 106 can control the joint angles of the knee joint and the hip joint.

  According to the above-described embodiment, control of the joint angles, that is, the angles θknee and θhip of the knee joint (first connecting portion 28a) and the hip joint (second connecting portion 30), by the first motor 36 and the second motor 38 as the driving devices. And the electrical stimulation to the muscle output by the electrical stimulation applying unit 104 in conjunction with the angle control by the motors 36 and 38 are used in combination, so that the electrical stimulation applying unit with low reproducibility is used. For example, the motors 36 and 38 can compensate for the muscular strength generated by the electrical stimulation output by the 104, and the disadvantages of using either the electrical stimulation applying unit 104 or the driving device alone are compensated. In the biological exercise support device 10, the feedback control unit 106 detects the joint angle detected by the encoders 60 and 62 as the angle detection unit. By feeding back the angles θknee and θhip, the outputs of the drive devices 36 and 38 are controlled based on the deviation between the target values of the joint angles θknee and θhip and the actual joint angle. Even when there is a disturbance or load, such as when the predetermined electrical stimulation is output by the electrical stimulation applying unit 104 due to fatigue, electrode displacement, etc. It is appropriately compensated by the motors 36 and 38, and the angles θknee and θhip of the joint can follow the target values.

  Further, according to the above-described embodiment, the target values of the joint angles θknee and θhip are based on a target action of bending or extending the knee joint as the first part and the hip joint as the second part of a healthy person. Since the smooth movement of the first part and the second part by the healthy person is the target action, and the joint angles θknee and θhip are controlled to follow the target movement, 1 part and 2nd part are supported so that it may operate smoothly.

  Further, according to the above-described embodiment, the target values of the angles θknee and θhip of the joint angle are the magnitude and / or the joint angle of the joint angle in the target action for bending or extending the first part and the second part. A plurality of types are determined in advance based on the angular velocities, and the target values of the plurality of types can be switched. Therefore, it is possible to select an appropriate size and angular velocity of the joint angle from a plurality of predetermined target motions. it can.

  Further, according to the above-described embodiment, the electrical stimulation applying unit 104 applies electrical stimulation only to muscles involved in the operation of bending or extending the knee joint as the first part and the hip joint as the second part. Therefore, the number of muscles activated by electrical stimulation can be reduced as compared with the case where exercise support is performed only by electrical stimulation. As a result, the number of electrodes to be installed to give the electrical stimulation to the muscle can be reduced, and the functional electrical stimulation and an external driving device are used in combination while suppressing the influence of muscular strength with poor reproducibility to the electrical stimulation. Exercise support can be performed.

  Further, according to the above-described embodiment, the electrical stimulation applying unit 104 is a muscle that is involved in an operation of bending or extending the first part and the second part at the timing when the outputs of the motors 36 and 38 are minimized. Since electrical stimulation is applied to the motor 36, the output of the motors 36, 38 can be suppressed, and the motor 36, 38, a battery for supplying power to the motors 36, 38, etc. can be reduced in size or weight.

  Further, according to the above-described embodiment, the electrical stimulation applying unit 104 is configured to perform the first leg and the second part during the swinging period in which the first part and the second part are extended during walking. Electricity is applied to the muscles so that the muscular strength generated by the muscles involved in the operation of extending the first and second parts is greater than that in the stance phase, which is when the second part is maintained in the extended state. Since stimulation is given, when the first part and the second part are maintained in the extended state, the same or more electrical stimulation is applied as in the case of performing the operation of extending the first part and the second part. Compared with this, it is possible to perform a smooth operation. Further, in the case where the state where the first part and the second part are extended is maintained, the output of the motors 36 and 38 is used. In the case where the output performs the operation of extending the first part and the second part. Therefore, power saving can be achieved. Furthermore, since the time during which a large electrical stimulus is applied to the muscle can be shortened, muscle fatigue can be reduced.

  Moreover, according to the above-mentioned Example, the 1st support | pillar 22a, 22b attached to the 1st site | part of a biological body, and the 2nd support | pillar 24a attached to the 2nd site | part connected with this 1st site | part via the 1st joint. 24b, first connecting portions 28a, 28b for connecting the first support column and the second support column so as to be relatively rotatable, and a third portion connected to the second portion via a second joint. It is formed by the third support column 26, the second support column 30 and the second connection portion 30 for connecting the third support column so as to be relatively rotatable, the first support columns 22a and 22b, and the second support columns 24a and 24b. A first motor 36 for controlling the angle of the first joint angle θknee, a second motor 38 for controlling an angle θhip of a second joint angle formed by the second column 24a and the third column 26, and 1 motor 36 and the first 2 In connection with the angle control operation of the motor 38, electrical stimulation is applied to the muscles involved in the operation of bending or extending the first and second parts of the living body and the second and third parts of the living body, respectively. An electrical stimulus applying unit 104 that outputs a signal for giving, and bending or extending operation of the first part and the second part, and bending or extending action of the second part and the third part The same effects as those described above can also be obtained for the biological exercise support device 10 for support.

  Further, according to the above-described embodiment, the first part is the lower leg, the second part is the thigh, the third part is the waist, the first joint is the knee joint, and the second part is the thigh. Since the joint is a hip joint, it is possible to support the movement of a person having a motor dysfunction in the lower limbs.

  In addition, according to the above-described embodiment, since the bending or extending movements of the first and second parts of the living body and the second and third parts of the living body are accompanied by walking exercise, It is possible to support the walking motion which is the most basic motion.

  According to the above-described embodiment, the first motor 36 and the second motor 38 are provided in front of any one of the first part to the third part, respectively, and the first connecting part and the second motor Since the connecting portion is driven by the first motor 36 and the second motor 38 via the driving mechanisms 32 and 34, respectively, the connecting portions 32 and 34 are driven forward of any one of the first part to the third part. The motive power generated by each of the first motor 36 and the second motor 38 provided to the first motor 36 is transmitted to the first connector 28a and the second connector 30 and the lateral width of the biological exercise support device 10 The size in the direction is smaller than that in the case where the first motor 36 and the second motor 38 are provided on the side corresponding to the body side. For example, assuming the average physique, the size in the width direction is large. It is can be seated like a wheelchair as specified while wearing the biological exercise support apparatus 10.

  Further, according to the above-described embodiment, each of the driving mechanisms 32 and 34 is within the movable range of the first joint and the second joint corresponding to the first connecting portion 28a and the second connecting portion 30, respectively. Correspondingly, the operating range is limited, so that the first support column 22a and the second support column 24a, or the second support column 24a and the third support column 26 are respectively connected to the first joint or the second joint. It does not bend or extend beyond the movable range, and even if, for example, the motors 36 and 38 run away, damage to the wearer is prevented.

  Further, according to the above-described embodiment, the first strut 22a and the second strut 24a are provided with the cuffs 40, 42, 44 in front of the lower leg and the thigh, respectively. The device 10 can be attached / detached from the front of the body, for example, while being seated in a wheelchair or a chair.

  As mentioned above, although the Example of this invention was described in detail based on drawing, this invention is applied also in another aspect.

  For example, in the above-described embodiment, the biological motion support device 10 of the present invention is realized by attaching the first motor 36 and the second motor 38 as the driving device to the long limb orthosis 12 with pelvic belt. The apparatus is not limited to a motor, and may be, for example, a hydraulic cylinder or a pneumatic cylinder. As the drive mechanism, a link mechanism is used for both the first drive mechanism 32 and the second drive mechanism 34, but the present invention is not limited to this, and for example, a pulley or a gear mechanism may be used. In other words, the drive device only needs to be able to generate a rotational torque for extending or bending the first connecting portion 28a and the second connecting portion 30 respectively, and the drive mechanism can generate torque generated by the drive mechanism. What is necessary is just to be able to transmit to the 1st connection part 28a and the 2nd connection part 30 appropriately.

  In the above-described embodiment, the walking motion is supported by the biological motion support device 10 of the present invention. However, since an independent control system can be set for the left and right lower limbs, the walking of only one foot is supported. Is also possible. In this way, it is possible to appropriately support the walking movement of a hemiplegic patient, that is, a person who has a motor dysfunction only on one leg. In the above-described embodiment, the biological motion support device 10 of the present invention supports walking motion, but the present invention is not limited to this. For example, a hip joint and a knee joint whose angles are controlled by the biological motion support device 10 of the present invention. If it is an exercise | movement using, it can support not only a walking exercise.

  In the above-described embodiment, since the electrical stimulation by the electrical stimulation applying unit 104 is given to the rectus femoris that is involved in the extension of both the knee joint and the hip joint, the two joints are applied to one muscle. Although it was possible to elongate by the muscle force by electrical stimulation, the electrical stimulation may be applied to different muscles of the muscle relating to the extension of the knee joint and the muscle relating to the extension of the hip joint.

  Further, in the above-described embodiment, the biological exercise support device 10 of the present invention has the first strut 22 corresponding to the lower leg portion of the long limb orthosis 12 with pelvic belt and the second strut corresponding to the thigh portion. 24, the support column corresponding to the waist is the third support column 26, but is not limited thereto. For example, the foot plate is the first support column, the support column corresponding to the lower leg is the second support column, and the support column corresponding to the thigh is the first support column. Three struts may be used. In this case, the first driving device drives the ankle joint corresponding to the ankle joint, and the second driving device drives the knee joint corresponding to the knee joint to control the angle of the ankle joint and the angle of the knee joint. . Moreover, although the biological exercise support device 10 of the present invention is applied to two struts and one connecting portion that connects them, or three struts and two connecting portions that connect them, four or more similarly. The present invention can be similarly applied even to a structure including a support post and a connecting portion for connecting them.

  In the above-described embodiment, the biological motion support device 10 of the present invention supports the lower limb motion by applying the driving device to the long limb orthosis 12 with the pelvic belt. However, the present invention is not limited to this. It is also possible to support the movement of the upper limb by applying the drive device to the brace. That is, the positions of the first part, the second part, and the third part of the living body targeted by the biological exercise support device of the present invention are not limited, and the first part and the second part can be rotated by the first connecting portion. The second portion and the third portion are connected to each other so as to be rotatable by the second connecting portion.

  In the above-described embodiment, the pasted electrode 46 is used for applying electrical stimulation. However, the present invention is not limited to this. For example, a percutaneous implant electrode that is a pierced skin electrode is used. Alternatively, a fully-embedded electrode that is implanted in the body together with a device (FES stimulating device 124) that generates electrical stimulation and controls the device wirelessly from outside the body may be used.

It is a front view of the external appearance of the biological exercise assistance apparatus of one Example of this invention. It is a side view of the external appearance of the biological exercise assistance apparatus of FIG. It is a figure explaining the action | operation of the 2nd motor and 2nd drive mechanism in the biological movement assistance apparatus of FIG. 1 and FIG. 2, and a motion of the 2nd connection part which moves in connection with this, Comprising: It is a figure at the time of making it tilt most backward. It is a figure explaining the action | operation of the 2nd motor and the 2nd drive mechanism which moves in connection with the action | operation of the 2nd motor and the 2nd drive mechanism in the biological movement assistance apparatus of FIG.1 and FIG.2, Comprising: It is a figure at the time of making the angle made into 0. It is a figure explaining the action | operation of the 2nd motor and 2nd drive mechanism in the biological movement assistance apparatus of FIG. 1 and FIG. 2, and a motion of the 2nd connection part which moves in connection with this, Comprising: A 3rd support | pillar with respect to a 2nd support | pillar It is a figure at the time of making it lean forward most. It is a figure explaining the action | operation of the 1st motor and 1st drive mechanism in the biological movement assistance apparatus of FIG. 1 and FIG. 2, and a motion of the 1st connection part which moves in connection with this, Comprising: It is a figure at the time of making the angle made into 0. It is a figure explaining the action | operation of the 1st motor and the 1st drive mechanism in the biological movement assistance apparatus of FIG. 1 and FIG. 2, and a motion of the 1st connection part which moves in connection with this, Comprising: A 1st support | pillar with respect to a 2nd support | pillar It is a figure at the time of making it bend most. It is a figure showing an example in the case of mounting | wearing the wearer of the state which seated the wheelchair support apparatus of FIG. 1 in the wheelchair. It is a figure explaining the state before and behind mounting | wearing the wearer of the state which seated the biological exercise assistance apparatus of FIG. 1 in the wheelchair. It is a figure which defines the variable in control of the biological exercise assistance apparatus of FIG. It is a functional block diagram showing the outline | summary of the control function of the biological exercise assistance apparatus of FIG. It is a figure explaining the pattern of the electrical stimulation in the electrical stimulation provision part of the biological exercise assistance apparatus of FIG. It is a figure explaining the outline | summary of the control system in the feedback control part of the biological exercise assistance apparatus of FIG. FIG. 12 is a diagram illustrating joint angles θknee and θhip of a target action and a stimulation pattern of electrical stimulation in the control of the biological exercise support device shown in FIG. 11. It is a figure explaining the mode of the exercise | movement assistance by the biological exercise assistance apparatus in the case of FIG. 14, Comprising: The actual value and target value of the angle of joint angle (theta) knee and (theta) hip, the output torque of a motor, and the stimulation pattern of electrical stimulation, It is a figure showing the time change of. It is a figure explaining the mode of the exercise | movement assistance by the biological exercise assistance apparatus in the case of FIG. 14, Comprising: The actual value and target value of the joint angles (theta) knee and (theta) hip when a different feedback torque from the case of FIG. It is a figure showing the time change of the output torque of a motor, and the stimulation pattern of an electrical stimulation. FIG. 15 is a diagram illustrating joint patterns θknee and θhip of the target motion during walking motion and different stimulation patterns of electrical stimulation from those in FIG. 14 in the control of the biological exercise support device shown in FIG. 11. It is a figure explaining the mode of the exercise | movement assistance by the biological exercise assistance apparatus in the case of FIG. 17, Comprising: The actual value and target value of the angle of joint angle (theta) knee and (theta) hip, the output torque of a motor, and the stimulation pattern of electrical stimulation, It is a figure showing the time change of.

Explanation of symbols

10: biological exercise support device 22: first support column 24: second support column 26: third support column 28: first connecting portion (knee joint)
30: Second connecting part (hip joint)
32: 1st drive mechanism 34: 2nd drive mechanism 36: 1st motor 38: 2nd motor 40: Cuff 42: Cuff 44: Cuff 46: Surface electrode 102: Target action setting part 104: Electrical stimulus provision part 106: Feedback control unit

Claims (11)

  1. A first support attached along the first part of the living body;
    A second support post attached along a second part connected to the first part of the living body via a joint;
    A connecting portion for connecting the first support column and the second support column to be relatively rotatable;
    A driving device that opens and closes the connecting portion that connects the first support column and the second support column;
    An electrical stimulus that outputs a signal for applying an electrical stimulus to a muscle involved in an operation of bending or extending the first part and the second part of the living body in association with the opening / closing drive of the connecting portion by the driving device. A granting unit;
    A body movement support device for supporting bending or extension of the first part and the second part of the living body,
    An angle detection unit for detecting an angle of the coupling unit;
    A feedback control unit configured to control an output of the driving device based on a deviation between a target value of the angle of the coupling unit in a preset target operation and an actual angle of the coupling unit detected by the angle detection unit; A biological exercise support device characterized by the above.
  2. The target value of the angle of the connecting portion in the target action is a time function that is predetermined based on an action of bending or extending the first part and the second part of a healthy person. The biological exercise support device described.
  3. There are a plurality of target values for the angle of the connecting portion in advance corresponding to the size of the angle of the connecting portion and / or the angular velocity of the angle of the connecting portion in the target operation of bending or extending the first portion and the second portion. The biological exercise support device according to claim 1, wherein the plurality of target values are switchable.
  4. 4. The electrical stimulation applying unit according to claim 1, wherein the electrical stimulation applying unit applies electrical stimulation only to muscles involved in an operation of bending or extending the first part and the second part. 5. Biological exercise support device.
  5. In the case where the electrical stimulation applying unit performs an operation of extending the first part and the second part, the first part is compared with a case where the first part and the second part are maintained in an extended state. 5. The biological exercise support according to claim 1, wherein electrical stimulation is applied to the muscle so that the muscle force generated by the muscle involved in the movement of extending the second part is increased. apparatus.
  6. A first support attached along the first part of the living body;
    A second support attached along a second part connected to the first part of the living body via a first joint;
    A first connecting portion for connecting the first support column and the second support column so as to be relatively rotatable;
    A third column attached along a third part connected to the second part via a second joint;
    A second connecting portion for connecting the second support column and the third support column to be relatively rotatable;
    A first driving device that opens and closes the first connecting portion that connects the first support column and the second support column;
    A second drive device that opens and closes the second connecting portion that connects the second support column and the third support column;
    The first part and the second part of the living body and the second part of the living body in relation to the angle of the first connecting part and the opening / closing driving of the second connecting part by the first driving device and the second driving device. An electrical stimulation applying unit that outputs a signal for applying electrical stimulation to muscles involved in the operation of bending or extending each of the region and the third region;
    A biological motion support device for supporting the bending or extension operation of the first part and the second part of the living body and the bending or extension operation of the second part and the third part,
    An angle detection unit for detecting an angle of the first connection unit and an angle of the second connection unit;
    The target value of the angle of the first connecting part and the angle of the second connecting part in the preset target operation and the actual angle of the first connecting part and the angle of the second connecting part detected by the angle detecting part. A biological exercise support device comprising a feedback control unit that controls the outputs of the first drive device and the second drive device based on the deviations.
  7. The first part is a lower leg of the living body, the second part is a thigh of the living body, the third part is a waist of the living body, the first joint is a knee joint of the living body, and the second joint is Being a hip joint of a living body,
    The biological exercise support device according to claim 6.
  8. The biological motion according to claim 7, wherein each of the first and second portions of the living body and the second and third portions of the living body are accompanied by a walking motion. Support device.
  9. The first driving device and the second driving device are respectively provided on the front side of any one of the first part to the third part,
    The living body according to claim 7 or 8, wherein the first connecting portion and the second connecting portion are driven to open and close by a first driving device and a second driving device via a link mechanism, respectively. Exercise support device.
  10. The operation range of each of the link mechanisms is more limited than the movable range of the first joint and the second joint to which the first connection portion and the second connection portion respectively correspond. The biological exercise support device according to 9.
  11. 11. The biological exercise support device according to claim 7, wherein the first support column and the second support column are provided with cuffs on the front side of the lower leg and the thigh, respectively.
JP2007210481A 2007-08-10 2007-08-10 Biological exercise support device Active JP5061285B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007210481A JP5061285B2 (en) 2007-08-10 2007-08-10 Biological exercise support device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2007210481A JP5061285B2 (en) 2007-08-10 2007-08-10 Biological exercise support device

Publications (2)

Publication Number Publication Date
JP2009039454A JP2009039454A (en) 2009-02-26
JP5061285B2 true JP5061285B2 (en) 2012-10-31

Family

ID=40440850

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2007210481A Active JP5061285B2 (en) 2007-08-10 2007-08-10 Biological exercise support device

Country Status (1)

Country Link
JP (1) JP5061285B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101417482B1 (en) * 2012-12-17 2014-07-08 현대자동차주식회사 Apparatus for driving joint of robot

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011117999A1 (en) * 2010-03-25 2011-09-29 トヨタ自動車株式会社 Ambulation assistance device
US9314393B2 (en) 2011-04-08 2016-04-19 Yonsei University Wonju Industry-Academic Cooperation Foundation Active robotic gait-training system and method
JP5810844B2 (en) * 2011-11-02 2015-11-11 トヨタ自動車株式会社 assist robot controller
JP5943470B2 (en) * 2012-05-15 2016-07-05 国立大学法人 名古屋工業大学 Single leg walking support machine
JP2014200653A (en) * 2013-04-07 2014-10-27 幸平 秋元 Mounting fixture of walking assist device
JP6160415B2 (en) * 2013-09-30 2017-07-12 大日本印刷株式会社 Chair for walking assist device
JP5758028B1 (en) * 2014-06-19 2015-08-05 本田技研工業株式会社 Step counting device, walking assist device, and step counting program

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0311233B2 (en) * 1983-12-02 1991-02-15 Sanwa Seiki Mfg Co Ltd
JP3270766B2 (en) * 1992-03-04 2002-04-02 本田技研工業株式会社 The legged mobile robot control system
JP3026007B1 (en) * 1999-03-29 2000-03-27 学校法人 久留米大学 Strengthening muscles
JP2002200104A (en) * 2000-12-28 2002-07-16 Japan Science & Technology Corp Hybrid fes device used in combination with short lower limb appliance
JP2002355236A (en) * 2001-06-01 2002-12-10 Kiyomi Iizuka Method to measure joint angle using biaxial acceleration sensor and electric stimulator
JP2004313555A (en) * 2003-04-18 2004-11-11 Roudou Fukushi Jigyodan Functional electrostimulation walking assisting device
JP4178185B2 (en) * 2004-02-17 2008-11-12 国立大学法人 筑波大学 Wearable motion assist device, drive source control method and program in wearable motion assist device
JP2007098550A (en) * 2005-10-07 2007-04-19 Toyota Motor Corp Grip controlling device of robot hand
JP4751694B2 (en) * 2005-10-20 2011-08-17 オージー技研株式会社 Electric stimulation combined exercise equipment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101417482B1 (en) * 2012-12-17 2014-07-08 현대자동차주식회사 Apparatus for driving joint of robot

Also Published As

Publication number Publication date
JP2009039454A (en) 2009-02-26

Similar Documents

Publication Publication Date Title
Kawamoto et al. Power assist method based on phase sequence and muscle force condition for HAL
DE60207069T2 (en) Therapeutic and / or exercise device for the lower limb of a person
Sale et al. Use of the robot assisted gait therapy in rehabilitation of patients with stroke and spinal cord injury
US8251930B2 (en) Walking assistance device
Yoon et al. A 6-DOF gait rehabilitation robot with upper and lower limb connections that allows walking velocity updates on various terrains
CN101094640B (en) Body weight support device and body weight support program
EP2392305A1 (en) Wearable action-assist device and control program
Sawicki et al. A pneumatically powered knee-ankle-foot orthosis (KAFO) with myoelectric activation and inhibition
JP4315766B2 (en) Walking assist device
ES2319390T3 (en) March locomotion device.
US8556836B2 (en) System for controlling an exoskeleton haptic device for rehabilitation purposes, and corresponding exoskeleton haptic device
Asbeck et al. Stronger, smarter, softer: next-generation wearable robots
ES2538141T3 (en) Movement assist apparatus of type to wear, calibration apparatus of movement assistance apparatus of wear and calibration program
US8313448B2 (en) Walking assistance device
KR20150077413A (en) Soft exosuit for assistance with human motion
US8298164B2 (en) Motion assisting device
Lenzi et al. Powered hip exoskeletons can reduce the user's hip and ankle muscle activations during walking
JP4588666B2 (en) Control device and control program for walking assist device
US6666798B2 (en) Therapeutic and rehabilitation apparatus
US7537573B2 (en) Active muscle assistance and resistance device and method
JP4499508B2 (en) Control device for walking assist device
KR101065420B1 (en) Wearable Robotic System for the Rehabilitation Training of upper limbs
JP4112430B2 (en) Walking assist device
Stauffer et al. The WalkTrainer—a new generation of walking reeducation device combining orthoses and muscle stimulation
US6666831B1 (en) Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20100809

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20120420

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20120424

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20120523

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150817

Year of fee payment: 3

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250