JP5426805B1 - Support device, motion support device, and strength training support device - Google Patents

Abstract

  The support device includes a shaft having first and second ends, a meson provided to be movable between the first and second ends, and between the first and second ends and the meson. Each of the first and second elastic members, a linear potentiometer that detects the position of the meson in the one-dimensional direction, and a grip portion that transmits force to the meson in conjunction with the movement of the upper limb or the lower limb. Force measuring sensor structure, drive unit for changing the load applied to the meson, control unit for controlling the drive unit, and mounting unit, which is hung on the shoulder portion and which fixes the drive unit And a waist belt that attaches the main frame to the torso, and an arm that is attached to the main frame and suspends a wire that connects the force measurement sensor structure and the drive unit. 2 elastic members are one-dimensional A possible application of a load direction, measures the force exerted on the intermediate element by a linear potentiometer, control unit controls the drive unit in response to a force exerted on the intermediate element.

Description

  The present disclosure relates to a support device that measures and supports force in a transient state, a muscle strength training support device, and a motion support device.

  Up to now, motion support devices that support the motion of the human body have been developed (see, for example, Patent Documents 1 and 2). In this motion support apparatus, a sensor that detects the movement of muscles is used. However, it may be difficult to provide a sensor in the muscle.

  On the other hand, in general, as a method of measuring force, for example, a change in electrical resistance is measured by a strain gauge, strain is calculated, a method of measuring applied force, or a piezoelectric effect due to strain is measured, There is a method for measuring the applied force.

International Publication No. 2007/043308 JP 2008-12358 A

  Among dynamic forces, human power is not a constant force, the force applied initially is large, and the subsequent force is small compared to the initial force. In addition, the direction in which the force is applied may change in the initial stage and thereafter. When trying to support the movement by human power, it is necessary to measure the subsequent force rather than the initial force.

  However, in such a case, a force sensor using a strain gauge or a force sensor using a piezoelectric effect detects a large initial force, and therefore detects a force in a magnitude and direction different from the subsequent force. There was a problem of doing. When an initial large force is measured, there is a case where the power supplied to support the operation becomes excessive and unexpected movement occurs. In addition, when the initial and subsequent force directions are different, there is a problem in that the direction of motion support is completely reversed.

  Therefore, an object of the present disclosure is to provide a support device that can measure and support not the initial force but the subsequent force when supporting human power that is not a constant force and the subsequent force becomes smaller than the initial force. That is.

A support device according to the present disclosure includes a force measurement sensor structure including first and second elastic members, and a meson supported between the first and second elastic members,
A drive unit for changing a load applied to the meson from the first and second elastic members of the force measurement sensor structure;
A control unit for controlling the driving unit;
A mounting part for mounting on the user's body;
A support device comprising:
The force measuring sensor structure is
A shaft having a first end and a second end;
The meson provided movably between the first end and the second end along the axis;
The first elastic member provided between the first end and the meson along the axis;
The second elastic member provided between the second end and the meson along the axis;
A linear potentiometer connected to the meson for detecting a one-dimensional position of the meson along the axis;
A gripping unit connected to the meson and transmitting force to the meson in conjunction with movement of the upper or lower limbs of a user;
With
The mounting part is
A main frame that is hung on the shoulder of the user and that fixes the drive unit;
A waist belt for attaching the main frame to a user's torso;
An arm attached to the main frame and suspending a wire connecting the force measurement sensor structure and the drive unit;
With
The first and second elastic members support the meson, and can apply a load to the meson in a direction opposite to each other in a one-dimensional direction along the axis,
The linear potentiometer detects the position of the meson in a one-dimensional direction along the axis and measures the force applied to the meson,
The control unit controls the drive unit according to the measured force applied to the meson.

  The above-described general and specific aspect may be realized as a motion support device and a strength training support device using the support device.

  According to the support device according to the present disclosure, in the case of supporting by measuring a force that becomes smaller than the initial force, it is possible to support by measuring the subsequent force instead of the initial force.

It is a perspective view which shows the structure of the force measurement sensor structure which concerns on Embodiment 1 of this indication. It is a disassembled perspective view of the force measurement sensor structure of FIG. It is a perspective view which shows the structure of the modification of the force measurement sensor structure which concerns on Embodiment 1 of this indication. (A) is a front view showing the position of the meson when the force in the upward (+) direction is applied to the meson and the meson moves upward in the force measurement sensor structures 10 and 10a of FIGS. 1 and 3. (B) is a front view showing the position of the meson when no force is applied to the meson, and (c) is a downward (−) direction force applied to the meson and the meson is moved downward. It is a front view which shows the position of the meson in the case. It is a perspective view showing the composition of the load control device concerning Embodiment 1 of this indication. It is a block diagram which shows the functional structure of the load control apparatus of FIG. FIG. 7 is a block diagram illustrating a physical configuration example of a control unit in FIG. 6. It is a block diagram which shows the functional structural example of the control part of FIG. It is a perspective view which shows the structure of the movement assistance apparatus / muscular strength training assistance apparatus which concerns on Embodiment 1 of this indication. It is a block diagram which shows the functional structure of the operation | movement assistance apparatus / muscular strength training assistance apparatus of FIG. 6 is a flowchart for explaining the operation of the operation support apparatus according to the first embodiment of the present disclosure. It is a flowchart explaining operation | movement of the muscular strength training assistance apparatus which concerns on Embodiment 1 of this indication. It is a perspective view which shows the structure of the force measurement sensor structure which concerns on Embodiment 2 of this indication. It is a disassembled perspective view of the force measurement sensor structure of FIG. (A) is a front view showing the position when the force in the clockwise (+) direction is applied to the meson and the meson moves in the clockwise (+) direction in the force measurement sensor structure of FIG. (b) is a front view showing the position of the meson when no force is applied to the meson, and (c) is a counterclockwise (−) direction force applied to the meson, and the meson is counterclockwise ( It is a front view which shows the position of the meson at the time of moving to (-) direction. It is a perspective view which shows the structure of the load control apparatus which concerns on Embodiment 2 of this indication. It is a block diagram which shows the functional structure of the load control apparatus of FIG. FIG. 18 is a block diagram illustrating a physical configuration example of a control unit in FIG. 17. It is a block diagram which shows the functional structural example of the control part of FIG. It is a perspective view which shows the structure of the movement assistance apparatus / muscular strength training assistance apparatus which concerns on Embodiment 2 of this indication. It is a block diagram which shows the functional structure of the operation | movement assistance apparatus / muscular strength training assistance apparatus of FIG. 10 is a flowchart for explaining the operation of the operation support apparatus according to the second embodiment of the present disclosure. It is a flowchart explaining operation | movement of the muscular strength training assistance apparatus which concerns on Embodiment 2 of this indication. It is a schematic perspective view which shows the structure of the mounting part for body of another example used for the assistance apparatus which concerns on Embodiment 1. FIG. It is a front view of the mounting part for bodies of another example of FIG. It is a top view of the mounting part for bodies of another example of FIG. It is a side view of the assistance apparatus using the body mounting part of another example of FIG. (A) is a side view showing a position of a fulcrum of a support device using the body mounting portion of another example of FIG. 24 and a moment applied to the body, and (b) is a fulcrum of the support device of FIG. It is a side view which shows a position and the moment concerning a body.

A support device according to a first aspect of the present disclosure includes a force measurement sensor structure including first and second elastic members, and a meson supported between the first and second elastic members,
A drive unit for changing a load applied to the meson from the first and second elastic members of the force measurement sensor structure;
A control unit for controlling the driving unit;
A mounting part for mounting on the user's body;
A support device comprising:
The force measuring sensor structure is
A shaft having a first end and a second end;
The meson provided movably between the first end and the second end along the axis;
The first elastic member provided between the first end and the meson along the axis;
The second elastic member provided between the second end and the meson along the axis;
A linear potentiometer connected to the meson for detecting a one-dimensional position of the meson along the axis;
A gripping unit connected to the meson and transmitting force to the meson in conjunction with movement of the upper or lower limbs of a user;
With
The mounting part is
A main frame that is hung on the shoulder of the user and that fixes the drive unit;
A waist belt for attaching the main frame to a user's torso;
An arm attached to the main frame and suspending a wire connecting the force measurement sensor structure and the drive unit;
With
The first and second elastic members support the meson, and can apply a load to the meson in a direction opposite to each other in a one-dimensional direction along the axis,
The linear potentiometer detects the position of the meson in a one-dimensional direction along the axis and measures the force applied to the meson,
The control unit controls the drive unit according to the measured force applied to the meson.

  The motion support apparatus according to a second aspect is the first aspect, wherein the drive unit changes at least one of a magnitude of a load applied to the meson from the first and second elastic members and a direction of the load. You may let them.

The operation support apparatus according to a third aspect is the first aspect, wherein the main frame is composed of a back rest provided on the back side of the user and a shoulder belt for passing the user's arm,
The arm may be arranged from the back side of the user toward the front side.

An operation support apparatus according to a fourth aspect is the operation support apparatus according to the first aspect, wherein the main frame is connected to the front frame provided on the front side of the user and the back side provided on the back side of the user. Frame, and
The arm may be attached to the front frame.

  In the operation support apparatus according to the fifth aspect, in the first aspect, the first and second elastic members may be composed of one or more members selected from a group such as a spring, rubber, and air (air). Good.

The operation support apparatus according to the sixth aspect includes the support apparatus according to the first aspect,
The control unit controls the drive unit so as to reduce the force applied to the meson measured according to the movement of the user's upper limb or lower limb, and moves the user's upper limb or lower limb. To help.

A muscle strength training support device according to a seventh aspect includes the support device according to the first aspect,
The control unit controls the driving unit so that a predetermined force is applied to the mesons according to the movement of the user's upper limb or lower limb, thereby assisting in muscular strength training of the user's upper limb or lower limb. To do.

  Hereinafter, a support device, a motion support device, and a strength training support device according to the present embodiment will be described with reference to the accompanying drawings. In the drawings, substantially the same members are denoted by the same reference numerals.

(Embodiment 1)
<Force measurement sensor structure>
FIG. 1 is a schematic perspective view showing a configuration of a force measurement sensor structure 10 according to the first embodiment. FIG. 2 is an exploded perspective view of the force measurement sensor structure 10 of FIG.
The force measuring sensor structure 10 includes a shaft 1 having a first end 5a and a second end 5b, and a space between the first end 5a and the second end 5b along the shaft 1. An intermediate element 2 movably provided, a first elastic member 3 a provided between the first end 5 a and the intermediate element 2 along the axis 1, and a second end part 5 b along the axis 1 And a second elastic member 3b provided between the intermediate element 2 and a linear potentiometer 4 connected to the intermediate element 2 and detecting the position of the intermediate element 2 along the axis 1 in the one-dimensional direction. The first and second elastic members 3a and 3b are provided so as to support the meson 2 and to apply a load to the meson 2 in a direction opposite to each other in a one-dimensional direction along the axis 1. ing. In this force measurement sensor structure 10, the linear potentiometer 4 can detect the position of the meson 2 along the axis 1 in the one-dimensional direction and measure the force applied to the meson 2.

  Below, each member which comprises this force measurement sensor structure 10 is demonstrated.

<Axis>
The shaft 1 supports the meson 2, and the first and second elastic members 3a and 3b, and regulates the movement of the meson 2 between its both ends 5a and 5b. In FIGS. 1 and 2, the meson 2 and the first and second elastic members 3a and 3b are provided so that the shaft 1 penetrates, but the present invention is not limited to this. For example, the meson 2 is provided on the side surface of the meson 2. The shaft 1 may pass through the groove. The material of the shaft 1 can be used as long as it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, bamboo, and the like.

<Meson>
The meson 2 is provided so as to be movable between both end portions 5a and 5b along the shaft 1. The material of meson 2 can be used if it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, and bamboo.

<First and second elastic members>
The first elastic member 3 a is provided between the first end 5 a and the intermediate element 2 along the axis 1. The second elastic member 3 b is provided between the second end 5 b and the intermediate element 2 along the axis 1. Further, since the first and second elastic members 3 a and 3 b are provided at both ends of the intermediate element 2, the intermediate element 2 is supported. The first and second elastic members 3a and 3b are provided so as to support the meson 2 and to apply a load to the meson 2 in a direction opposite to each other in a one-dimensional direction along the axis 1. It has been.

<Linear potentiometer>
The linear potentiometer 4 is connected to the meson 2 and detects the position in the one-dimensional direction of the meson 2 along the axis 1. The linear potentiometer 4 only needs to be capable of detecting a position in a one-dimensional direction, and a commonly used linear potentiometer 4 can be used. 1 and 2, one end of the linear potentiometer 4 is fixed to the end on the first elastic member 3a side, but the present invention is not limited to this, and the second elastic member 3b side is not limited thereto. You may fix to the edge part.

(Modification)
FIG. 3 is a perspective view illustrating a configuration of a force measurement sensor structure 10a according to a modification of the first embodiment of the present disclosure. The force measurement sensor structure 10a according to this modification is different from the force measurement sensor structure 10 of FIG. 1 in that a grip portion (grip) 12 is provided on the meson 2. The user can easily apply a force to the meson 2 by gripping the grip portion 12 with a hand. In addition, in FIG. 3, although the holding part 12 is made into the grip shape suitable for holding with a hand, it is not restricted to this, For example, it is good also as a pedal shape to step on with a foot. The gripping part 12 may be anything that can apply force to the meson 2 in conjunction with the upper limb or the lower limb. Further, the force measurement sensor structure 10a according to the modification of the first embodiment of the present disclosure has a hook 13 at one end. The hook 13 can suspend an object to be moved.

4A shows the position of the meson 2 when a force in the upward (+) direction is applied to the meson 2 and the meson 2 moves upward in the force measurement sensor structures 10 and 10a of FIG. 1 and FIG. 4B is a front view showing the position of the meson 2 when no force is applied to the meson 2, and FIG. 4C is a downward (−) direction of the meson 2. 6 is a front view showing the position of the meson 2 when the force is applied and the meson 2 moves downward. FIG.
As shown in FIG. 4A, when the meson 2 is in the upward position, the first elastic member 3a is compressed and the second elastic member 3b is expanded. A downward load is applied to the meson 2 from the second elastic members 3a and 3b. On the other hand, as shown in FIG. 4C, when the meson 2 is in the downward position, the first elastic member 3a is expanded and the second elastic member 3b is compressed. Further, an upward load is applied to the meson 2 from the second elastic members 3a and 3b. In the force measurement sensor structures 10 and 10a, the linear potentiometer 4 detects the position of the meson 2 along the axis 1 in the one-dimensional direction, and measures the force applied to the meson 2. For example, when the position of the meson 2 is upward, it can be seen that a downward load is applied to the meson 2. On the other hand, when the position of the meson 2 is downward, it can be seen that an upward load is applied to the meson 2.

<Load control device>
FIG. 5 is a perspective view showing the configuration of the load control device 20 according to the first embodiment. FIG. 6 is a block diagram showing a functional configuration of the load control device 20 of FIG.
As shown in FIGS. 5 and 6, the load control device 20 includes a force measurement sensor structure 10 a, a wire 11 fixed to the upper portion thereof, and a motor (drive unit) 16 that winds or releases the wire 11. And a control unit 18 that controls the motor (drive unit) 16. Since the wire 11 is fixed to the upper end of the force measurement sensor structure 10a, the motor (driving unit) 16 is driven to wind the wire 11 and pull the wire 11 upward, or reversely rotate the wire 11 to move the wire 11. By releasing and loosening, the load applied to the meson 2 from the first and second elastic members 3a and 3b can be changed. The control unit 18 controls the drive unit 16 according to the measured force applied to the meson 2.

Below, each member which comprises this load control apparatus 20 is demonstrated.
<Driver>
The drive unit 16 can use, for example, a motor that can take up the wire 11 or rotate it in the reverse direction to release the wire 11. The structure of the drive part 16 is not restricted to a motor, If it can change the load applied to the intermediate | middle 2 from the 1st and 2nd elastic members 3a and 3b, it can be used. For example, the motor 16 pulls the wire 11 to move the upper ends fixing the first elastic member 3a and the second elastic member 3b upward or downward, whereas the first elastic member 3a and the second elastic member 3b move upward. The load applied to the meson 2 from the first elastic member 3a and the second elastic member 3b may be changed by changing the relative position of the second elastic member 3b and the meson 2 upward or downward.

<Control unit>
FIG. 7 is a block diagram illustrating a physical configuration example of the control unit 18 of FIG. FIG. 8 is a block diagram illustrating a functional configuration example of the control unit 18 of FIG.
For example, as shown in FIG. 7, the control unit 18 may be realized by a personal computer including a CPU 21, a memory 22, a storage unit 23, an input unit 24, an output unit 25, and the like. Further, as shown in FIG. 8, the functional configuration of the control unit 18 includes a potentiometer reading unit 26 that reads the value of the potentiometer, an meson application force calculation unit 27 that calculates a force applied to the meson 2, and An elastic member load control unit 28 that controls the load applied to the meson 2 from the first and second elastic members 3a and 3b may be provided.

<Support device (motion support device and strength training support device)>
FIG. 9 is a schematic perspective view illustrating a configuration of the support device 29 (the motion support device 30a and the strength training support device 30b) according to the first embodiment. FIG. 10 is a block diagram illustrating a functional configuration of the support device 29 (the motion support device 30a / muscle training support device 30b) in FIG. The movement support device 30a and the strength training support device 30b are collectively referred to as the support device 29.
The support device 29 (the motion support device 30a and the strength training support device 30b) includes the load control device 20 and a body mounting portion 32a. Note that the force measurement sensor structure 10 a of the load control device 20 includes a grip portion 12. The grip 12 is connected to the meson 2 of the force measurement sensor structure 10a, and transmits force to the meson 2 in conjunction with the movement of the upper or lower limb of the user. Specifically, the grip portion 12 is provided to make it easier to apply a force by grasping it with a hand. In addition, although the holding part 12 is made into the shape which can be grasped with a hand in the example of FIG. 9, it is not restricted to this, You may fix to an upper limb or a lower limb so that it may link with a motion of an upper limb or a lower limb. Moreover, you may make it easy to mount | wear with the body mounting part 32a. Note that the body mounting portion 32a is not essential for the configuration of the support device 29 (the motion support device 30a and the strength training support device 30b).

(Body attachment part 32a: rucksack type attachment part)
The body mounting portion 32a will be described with reference to FIG. The body mounting portion 32a is hung on the shoulder portion of the user, and the backrest portion 41 and the shoulder belt 42 constituting the main frame 40 for fixing the driving portion 16 and the main frame 40 to the user's torso. A waist belt 43 to be attached and an arm 44 that is attached to the main frame 40 and suspends the wire 11 that connects the force measurement sensor structure 10a and the drive unit 16 are provided. The back pad 41 can be made of metal or resin. The shoulder belt 42 and the waist belt 43 can be made of metal, resin, natural fiber, or the like. In FIG. 9, two sets of the arm 44, the force measurement sensor structure 10a, and the driving unit 16 are provided.
The body mounting portion 32a is a so-called rucksack-type mounting portion because the user carries the shoulder belt 42 through his / her arm. In the body mounting portion 32a, since an apparel member can be used, it can be made inexpensive and lightweight. Moreover, since it is a rucksack type, the mounting method is intuitively easy to understand. Furthermore, since there is a heavy object such as a motor in the waist, there is an advantage that the burden during the forward tilt posture is small. Further, there is no frame on the front surface of the body, and a large movable range of the arm can be secured, so that there is an advantage that workability with the support device attached is good.

(Another example: body mounting part 36: front holding type mounting part)
FIG. 24 is a schematic perspective view showing a configuration of another example of the body mounting portion 36 used for the support device 29. FIG. 25 is a front view of the body mounting portion 36 of another example of FIG. FIG. 26 is a plan view of the body mounting portion 36 of another example of FIG. FIG. 27 is a side view of a support device 29 using the body mounting portion 36 of another example of FIG.
The body mounting portion 36 of the support device 29 shown in FIGS. 24 to 27 is different from the body mounting portion 32a of FIG. 9 in that it is not a rucksack-type mounting portion but a front holding type mounting portion. Specifically, in the body mounting portion 36, the main frame 40 shown in FIG. 9 is connected to the front frame 45 provided on the front side of the user and the front frame 45, and provided on the back side of the user. And a rear frame 46. The front frame 45 and the back frame 46 can be made of metal or resin, and are preferably made of a material having rigidity. The arm 44 is attached to the front frame 45. Moreover, you may provide the side belt 47 which fixes the front frame 45 and the back frame 46 aside. Further, a side belt adjustment unit 48 that adjusts the length of the side belt 47 may be provided. Furthermore, a frame width adjustment unit 49 that adjusts the frame width between the front frame 45 and the back frame 46 may be provided. Further, a roller 50 for hanging the wire 11 may be provided on the arm 44.

  The support device 29 using the body mounting portion 36 of this other example has the following advantages. First, in this support device 29, the front frame 45 and the back frame 46 play the same role as the rigid main frame 40 in FIG. It can be installed. Moreover, since the load can be supported by the shoulder and the front of the body widely, the load can be dispersed and the feeling of pressure on the body can be greatly reduced. Further, by extending the arm 44 from the front frame 45, a wide field of view can be secured. Furthermore, the shoulder 44 is used as a fulcrum, the arm 44 is arranged on the front side from the fulcrum, and the heavy load such as a motor as the driving unit 16 is arranged on the back side from the fulcrum, so that a straight load is applied from the shoulder to the trunk. Thus, the load (work) holding posture is stabilized and the moment applied to the body by the load can be reduced.

  Further, among the advantages of the support device 29 using the body mounting portion 36 as the front holding type mounting portion, in particular, with respect to the advantage by arranging the load and the heavy load in a balanced manner with the shoulder as a fulcrum, FIG. This will be described with reference to a) and (b). FIG. 28A is a side view showing the position of a fulcrum of a support device using the body mounting part 36 (front holding type mounting part) of another example of FIG. 24 and the moment applied to the body. FIG. 10B is a side view showing the position of the fulcrum of the support device 29 using the body mounting portion 32a as the backpack-type mounting portion of FIG. 9 and the moment applied to the body.

According to the body mounting portion 36 as the front holding type mounting portion, as shown in FIG. 28A, the fulcrum that supports the support device 29 by placing the load and the heavy load in a balanced manner is used as the shoulder of the user. Can be above. On the other hand, in the support device using the body mounting portion 32a as the backpack-type mounting portion shown in FIG. 28 (b), the fulcrum is on the back side where the backrest portion 41 is located. When the weight of the load is the same, the magnitude of the moment M2 in FIG. 28 (a) and the moment M1 in FIG. 28 (b) are different depending on the distance from the fulcrum (M2 <M1). As a result, the force applied to the abdomen by the waist belt 43 is smaller in the force F2 in FIG. 28A than in the force F1 in FIG. 28B (F2 <F1).
Specifically, the moments M2 and M1 are represented by the product of the magnitude of the load and the distances x2 and x1 from the fulcrum to the load, and the forces F2 and F1 applied to the body and the distances y2 and y1 from the fulcrum to the abdomen Each product is balanced as shown by the following formula.
M2 = (load) × x2 = F2 × y2 (1)
M1 = (load) × x1 = F1 × y1 (2)
In FIG. 28A, since the fulcrum is on the shoulder, there is a relationship of x2 <x1 and y2> y1 as compared with the case of FIG.
Therefore, when the magnitude of the load is the same in the above formulas (1) and (2), the moment M2 is smaller than the moment M1, and as a result, the forces F2 and F1 applied to the abdomen have a relationship of F2 <F1. . That is, according to the support device 29 using the body mounting portion 36 as the front holding mounting portion in FIG. 24, the force F2 applied to the abdomen can be reduced by setting the fulcrum on the shoulder of the user. In addition, since it becomes a counterweight with respect to a load by arrange | positioning heavy objects, such as a motor which comprises the drive part 16, on the back side, a moment can be reduced further and the force F2 concerning an abdominal part can be reduced.

<Operation support device>
When the support device 29 (the motion support device 30a and the strength training support device 30b) functions as the motion support device 30a, it is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user. The drive unit 16 can be controlled to reduce the force to support the movement of the user's upper limb or lower limb.
Specifically, when the user performs the operation of lifting the meson 2 upward by grasping the grip portion 12, the meson 2 moves upward as shown in FIG. In this case, the first elastic member 3a is compressed, the second elastic member 3b is expanded, and a downward force is applied to the meson 2 from the first and second elastic members 3a and 3b. Therefore, when the linear potentiometer 4 detects that the position of the meson 2 is upward, the motor (driving unit) 16 is driven to wind up the wire 11 and pull it upward to lift the user upward. To do.
Further, when the user performs an operation of pressing down the meson 2 by holding the grip portion 12, the meson 2 moves downward as shown in FIG. 4C. In this case, the first elastic member 3a is expanded, the second elastic member 3b is compressed, and an upward force is applied from the first and second elastic members 3a, 3b to the meson 2. Therefore, when it is detected by the linear potentiometer 4 that the position of the meson 2 is downward, the motor (driving unit) 16 is driven to rotate the wire 11 in the reverse direction to loosen the wire 11 and downward of the user. Supports the operation of pushing down.

<Operation support flowchart>
FIG. 11 is a flowchart for explaining the operation of the operation support apparatus 30a according to the first embodiment of the present disclosure.
(1) The value of the linear potentiometer 4 is read (S01).
(2) It is determined whether or not the value of the linear potentiometer 4 is in the upward (+) direction (S02). If the value is in the upward (+) direction, the motor is operated so as to support the operation in the upward direction by winding the wire 11. Drive (S03). Thereafter, the process returns to step S01, and the value of the linear potentiometer 4 is read again. On the other hand, if the value of the linear potentiometer 4 is not upward, the process moves to the next step S04.
(3) It is determined whether or not the value of the linear potentiometer 4 is in the downward (−) direction (S04). If the value is in the downward (−) direction, the wire 11 is released to support the operation in the downward direction. Drive (S05). Thereafter, the process returns to step S01, and the value of the linear potentiometer 4 is read again.
Repeat the above steps. Thereby, the movement of the user's upper limb or lower limb can be supported.

<Muscle training support device>
When the support device 29 (the motion support device 30a and the strength training support device 30b) functions as the strength training support device 30b, it is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user. The driving unit 16 can be controlled so as to increase the force of the user, and the muscle strength training of the upper limb or the lower limb of the user can be supported.
Specifically, when it is detected by the linear potentiometer 4 that the position of the meson 2 is upward from a predetermined value, the predetermined force applied to the upper limb or the lower limb of the user in a preset strength training is more than It can be seen that a large force is applied. Therefore, the motor (driving unit) 16 is driven to wind up the wire 11 and pull it upward so that the force applied to the upper limb or lower limb of the user becomes a predetermined force to support the user's muscle strength training. To do.
When the linear potentiometer 4 detects that the position of the meson 2 is lower than the predetermined value, a force smaller than the predetermined force applied to the upper limb or the lower limb of the user in the preset strength training is applied. It can be seen that it is applied. Therefore, the motor (driving unit) 16 is driven to rotate the wire 11 in the reverse direction to loosen the wire 11 so that the force applied to the upper limb or lower limb of the user becomes a predetermined force, and the user Support muscle strength training.

<Strength training support flowchart>
FIG. 12 is a flowchart for explaining the operation of the strength training support device 30b according to the first embodiment of the present disclosure.
(1) The value of the linear potentiometer 4 is read (S11).
(2) It is determined whether or not the value of the linear potentiometer 4 is in the upward (+) direction from the specified value (S12). If the value is in the upward (+) direction from the specified value, the wire 11 is wound to The motor 16 is driven so as to become (S13). Then, it returns to said step S11 and reads the value of the linear potentiometer 4 again. On the other hand, if the value of the linear potentiometer 4 is not higher than the specified value, the process moves to the next step S14.
(3) It is determined whether the value of the linear potentiometer 4 is in the downward (−) direction from the specified value (S14). If the value is in the downward (−) direction from the specified value, the wire 11 is released to The motor 16 is driven so as to become (S15). Then, it returns to said step S11 and reads the value of the linear potentiometer 4 again.
Repeat the above steps. Thereby, the user's upper limb or lower limb muscle strength training can be supported.

As is clear from the above description, the support device 29 (the motion support device 30a and the strength training support device 30b) according to the first embodiment of the present disclosure uses the first and second elastic members 3a and 3b to hold the meson 2. Since it is the structure which supports, even if a user makes a sudden movement, the force measurement sensor structure 10 and 10a do not react too sensitively. Therefore, the support device 29 (the motion support device 30a and the strength training support device 30b) can be optimized within a range suitable for the user's motion.
In particular, when used as the motion support device 30a, if the first and second elastic members 3a and 3b are adjusted according to the work contents, the upward and downward characteristics shown in the above description can be improved, and the user can be The applied load can be reduced.

  Similarly, when used as the strength training support device 30b, if the first and second elastic members 3a and 3b are adjusted according to the function that the user should recover, the loads in the upward direction and the downward direction shown in the above description Can be optimized. That is, the optimal load for each direction can be set. Therefore, the user can simultaneously perform training with an optimal load in the upward direction and training with an optimal load in the downward direction, and the training time can be shortened.

(Embodiment 2)
<Force measurement sensor structure>
FIG. 13 is a perspective view illustrating a configuration of a force measurement sensor structure 10b according to the second embodiment of the present disclosure. FIG. 14 is an exploded perspective view of the force measurement sensor structure 10b of FIG.
This force measurement sensor structure 10b intersects the measuring element 6 having a length rotatable with respect to the fulcrum 7, the intermediate element 2 provided at a predetermined position of the measuring element 6, and the extending direction of the measuring element 6. With respect to the direction, first and second elastic members 3a and 3b that are provided at both ends of the meson 2 and support the meson 2, and are connected to the meson 2, and the first elastic member 3a, the meson 2, and the second elastic member A rotation potentiometer 9 that detects a change in the rotation angle of the meson 2 in an arc connecting to 3b. Further, the first and second elastic members 3a and 3b are provided so as to be able to apply a load to the intermediate element 2 along the arc and in directions opposite to each other in the rotational direction around the fulcrum 7 of the intermediate element 2. It has been. Further, the rotation potentiometer 9 can detect a change in the rotation angle of the meson 2 in the arc and measure the force applied to the meson 2.
A rotating shaft serving as the fulcrum 7 of the measuring element 6 is provided on the base 14. The upper end of the first elastic member 3a is received by the first spring receiver 15a, and the lower end of the second elastic member 3b is received by the second spring receiver 15b. The first and second spring receivers 15 a and 15 b are provided on the base 14. The fulcrum 7 provided on the base 14 is fitted with a bearing 7 a provided on the probe 6.

  Below, each member which comprises this force measurement sensor structure 10b is demonstrated.

<Measuring element>
The measuring element 6 is provided so as to be rotatable with respect to a rotating shaft (fulcrum) 7. In order to measure the force applied to the intermediate element by providing the intermediate element 2 at a predetermined value of the measuring element 6, the measuring element 6 is preferably made of a rigid body. The material of the measuring element 6 may be a rigid body. For example, any material that can be normally used in force measurement of iron, stainless steel, aluminum, wood, bamboo, or the like can be used.

<Meson>
The intermediate element 2 is provided at a predetermined position of the measuring element 6. The material of meson 2 can be used if it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, and bamboo.

<First and second elastic members>
The first elastic member 3 a and the second elastic member 3 b are provided at both ends of the meson 2 in the direction intersecting with the extending direction of the measuring element 6 and support the meson 2. The first and second elastic members 3a and 3b are connected to the meson 2 along the arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b. Is provided in such a manner that a load can be applied in directions opposite to each other in the rotation direction with respect to the center.

<Rotary potentiometer>
The rotary potentiometer 9 is connected to the meson 2 and detects a change in the rotation angle of the meson 2 in an arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b. The rotation potentiometer 9 can detect a change in the rotation angle of the meson 2 in the arc and measure the force applied to the meson 2.

FIG. 15A is a front view showing the position when a force in the clockwise (+) direction is applied to the meson 2 and the meson 2 moves in the clockwise (+) direction in the force measurement sensor structure 10b of FIG. FIG. 15B is a front view showing the position of the meson 2 when no force is applied to the meson 2, and FIG. 15C is a counterclockwise (−) direction with respect to the meson 2. 6 is a front view showing the position of the meson 2 when the force is applied and the meson 2 moves in the counterclockwise (−) direction. FIG.
As shown in FIG. 15A, when the meson 2 is located in the clockwise (+) direction, the first elastic member 3a is compressed and the second elastic member 3b is expanded. A load in the counterclockwise (−) direction is applied to the meson 2 from the first and second elastic members 3a and 3b. On the other hand, as shown in FIG. 15C, when the meson 2 is located in the counterclockwise (−) direction, the first elastic member 3a is expanded and the second elastic member 3b is compressed. Therefore, a load in the clockwise (+) direction is applied to the meson 2 from the first and second elastic members 3a and 3b. In this force measurement sensor structure 10b, the rotation potentiometer 9 detects a change in the rotation angle of the meson 2 in the arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b, and is applied to the meson 2. Measure the force. For example, when the position of the meson 2 is in the clockwise (+) direction, it can be seen that a load in the counterclockwise (−) direction is applied to the meson 2. On the other hand, when the position of the meson 2 is in the counterclockwise (−) direction, it can be seen that a load in the clockwise (+) direction is applied to the meson 2.

<Load control device>
FIG. 16 is a perspective view illustrating a configuration of the load control device 20a according to the second embodiment of the present disclosure. FIG. 17 is a block diagram showing a functional configuration of the load control device 20a of FIG.
As shown in FIGS. 16 and 17, the load control device 20a includes a force measurement sensor structure 10b and a motor (drive unit) 16 that rotates a base 14 provided with first and second spring receivers 15a and 15b. , And a control unit 18 that controls the motor (drive unit) 16. In addition, a grip portion 12 a that can be gripped by hand is provided at the tip of the measuring element 6. Furthermore, the load control device 20a can be mounted on the upper arm by the upper arm mounting portions 31a and 31b. By rotating the base 14 provided with the first and second spring receivers 15a and 15b by the motor (drive unit) 16, the load applied to the intermediate element 2 from the first and second elastic members 3a and 3b is applied. Can be changed.

Below, each member which comprises this load control apparatus 20a is demonstrated.
<Driver>
As the drive unit 16, for example, a motor that can rotate the base 14 provided with the first and second spring receivers 15a and 15b can be used. The structure of the drive part 16 is not restricted to a motor, If it can change the load applied to the intermediate | middle 2 from the 1st and 2nd elastic members 3a and 3b, it can be used. For example, the load applied to the meson 2 from the first elastic member 3a and the second elastic member 3b by changing the relative positions of the first elastic member 3a and the second elastic member 3b and the meson 2 upward or downward. May be used.

<Control unit>
FIG. 18 is a block diagram illustrating a physical configuration example of the control unit 18 of FIG. FIG. 19 is a block diagram illustrating a functional configuration example of the control unit 18 of FIG.
For example, as shown in FIG. 18, the control unit 18 may be realized by a personal computer including a CPU 21, a memory 22, a storage unit 23, an input unit 24, an output unit 25, and the like. Further, as shown in FIG. 19, the functional configuration of the control unit 18 includes a potentiometer reading unit 26 that reads the value of the potentiometer, an meson application force calculation unit 27 that calculates a force applied to the meson 2, and An elastic member load control unit 28 that controls the load applied to the meson 2 from the first and second elastic members 3a and 3b may be provided.

<Motion support device / Muscle training support device>
FIG. 20 is a perspective view illustrating a configuration of the support device 29a (the motion support device 30c / muscle training support device 30d) according to the second embodiment of the present disclosure. FIG. 21 is a block diagram showing a functional configuration of the support device 29a (motion support device 30c / muscle training support device 30d) in FIG.
The support device 29a (the motion support device 30c and the strength training support device 30d) includes the load control device 20a, upper arm mounting portions 31a and 31b, and a body mounting portion 32b. The force measurement sensor structure 10b of the load control device 20a includes a grip portion 12a. The grip 12a is connected to the meson 2 of the force measurement sensor structure 10b as shown in FIG. 16, and transmits force to the meson 2 in conjunction with the movement of the upper limb or lower limb of the user. Specifically, the grip portion 12a is provided to make it easier to apply a force by grasping it with a hand. In addition, although the holding part 12a is made into the shape which can be grasped with a hand in the example of FIG. 20, it is not restricted to this, You may fix to an upper limb or a lower limb so that it may link with a motion of an upper limb or a lower limb. Moreover, you may make it easy to mount | wear with the mounting parts 31a and 31b for upper arms. Further, the control unit 18 and the power source 33 may be mounted on the body by the body mounting unit 32b. The upper arm mounting portions 31a and 31b and the body mounting portion 32b are not essential to the configuration of the support device 29a (the motion support device 30c and the strength training support device 30d).

<Operation support device>
When the support device 29a (the motion support device 30c and the strength training support device 30d) functions as the motion support device 30c, the support device 29a participates in the meson 2 measured according to the movement of the upper or lower limbs of the user. The drive unit 16 can be controlled to reduce the force to support the movement of the user's upper limb or lower limb.
Specifically, when the user performs the operation of lifting the meson 2 in the clockwise (+) direction by grasping the grip portion 12a, the meson 2 is rotated clockwise (+) as shown in FIG. Move in the direction. In this case, the first elastic member 3a is compressed, the second elastic member 3b is expanded, and a force in the counterclockwise (−) direction is applied from the first and second elastic members 3a and 3b to the meson 2. . Therefore, when the rotation potentiometer 9 detects that the rotation angle of the meson 2 is in the clockwise (+) direction, the motor (drive unit) 16 is driven to rotate the base 14 in the clockwise (+) direction. Thus, the user's movement in the clockwise (+) direction is supported.
Further, when the user holds the grip portion 12a and performs an operation of pushing down the intermediate element 2 in the counterclockwise (−) direction, the intermediate element 2 is counterclockwise (−) direction as shown in FIG. 15 (c). Move to. In this case, the first elastic member 3a is expanded, the second elastic member 3b is compressed, and a force in the clockwise (+) direction is applied from the first and second elastic members 3a and 3b to the meson 2. Therefore, when the rotation potentiometer 9 detects that the rotation angle of the meson 2 is in the counterclockwise (−) direction, the motor (drive unit) 16 is driven to turn the base 14 in the counterclockwise (−) direction. Rotating and assisting the user to push down in the counterclockwise (-) direction.

<Operation support flowchart>
FIG. 22 is a flowchart for explaining the operation of the operation support apparatus 30c according to the second embodiment of the present disclosure.
(1) The value of the rotary potentiometer 9 is read (S21).
(2) It is determined whether the value of the rotary potentiometer 9 is in the clockwise (+) direction (S22). If the value is in the clockwise (+) direction, the motor is driven to support the clockwise operation. The base 14 is rotated clockwise (S23). Then, it returns to said step S21 and reads the value of the rotation potentiometer 9 again. On the other hand, if the value of the rotary potentiometer 9 is not clockwise, the process moves to the next step S24.
(3) It is determined whether or not the value of the rotary potentiometer 9 is in the counterclockwise (−) direction (S24). If the value is in the counterclockwise (−) direction, the motor is operated so as to support the operation in the counterclockwise direction. Driven to rotate the base counterclockwise (S25). Then, it returns to said step S21 and reads the value of the rotation potentiometer 9 again.
Repeat the above steps. Thereby, the movement of the user's upper limb or lower limb can be supported.

<Muscle training support device>
When the support device 29a (the motion support device 30c and the strength training support device 30d) functions as the strength training support device 30d, the support device 29a is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user. The driving unit 16 can be controlled so as to increase the force of the user, and the muscle strength training of the upper limb or the lower limb of the user can be supported.
Specifically, when it is detected by the rotary potentiometer 9 that the position of the meson 2 is in the clockwise (+) direction from the predetermined value, the predetermined value applied to the upper limb or the lower limb of the user set in advance in the strength training It can be seen that a force larger than the value force is applied. Therefore, the motor (drive unit) 16 is driven to rotate the base 14 in the clockwise (+) direction so that the force applied to the upper limb or the lower limb of the user becomes a predetermined force. Support strength training.
Further, when the rotary potentiometer 9 detects that the position of the meson 2 is in the counterclockwise (−) direction from the predetermined value, a predetermined value to be applied to the upper limb or the lower limb of the user by the preset strength training is set. It can be seen that a force smaller than the force is applied. Therefore, the motor (driving unit) 16 is driven to rotate the base 14 in the counterclockwise (−) direction so that the force applied to the upper limb or lower limb of the user becomes a predetermined force. Support muscle strength training.

  In this muscular strength training support device 30d, the rotation angle of the meson 2 is detected by the rotary potentiometer 9, and when the force applied to the user is larger than the predetermined value, it is reduced. The load applied to the user can be a constant load. Thereby, in a user's muscular strength training, it can be kept constant load irrespective of a user's movement.

<Strength training support flowchart>
FIG. 23 is a flowchart for explaining the operation of the strength training support device 30d according to the second embodiment of the present disclosure.
(1) The value of the rotary potentiometer 9 is read (S31).
(2) It is determined whether or not the value of the rotary potentiometer 9 is in the clockwise (+) direction from the specified value (S32). If the value is in the clockwise (+) direction from the specified value, the motor is set so as to have a specified value load. Is driven to rotate the base clockwise (S33). Then, it returns to said step S31 and reads the value of the rotation potentiometer 9 again. On the other hand, if the value of the rotary potentiometer 9 is not clockwise from the specified value, the process moves to the next step S34.
(3) It is determined whether or not the value of the rotary potentiometer 9 is counterclockwise (-) direction from the specified value (S34). If the value is counterclockwise (-) direction from the specified value, the load of the specified value is assumed. The motor is driven to rotate the base counterclockwise (S35). Then, it returns to said step S31 and reads the value of the rotation potentiometer 9 again.
Repeat the above steps. Thereby, the user's upper limb or lower limb muscle strength training can be supported.

As is clear from the above description, the support device 29a (the motion support device 30c and the strength training support device 30d) according to the second embodiment of the present disclosure uses the first and second elastic members 3a and 3b to hold the meson 2. Since it is set as the structure which supports, even if a user performs a sudden movement, the force measurement sensor structure 10b does not react too sensitively. Therefore, the support device 29a (the motion support device 30c and the strength training support device 30d) can be optimized within a range suitable for the user's motion.
In particular, when used as the motion support device 30c, if the first and second elastic members 3a and 3b are adjusted according to the work content, the characteristics of the upward direction and the downward direction shown in the above description are improved, and the user can be improved. The applied load can be reduced.

  Similarly, when used as the muscular strength training support device 30d, if the first and second elastic members 3a and 3b are adjusted according to the function to be recovered by the user, the loads in the upward direction and the downward direction shown in the above description will be described. Can be optimized. That is, the optimal load for each direction can be set. Therefore, the user can simultaneously perform training with an optimal load in the upward direction and training with an optimal load in the downward direction, and the training time can be shortened.

  The support device according to the present disclosure can measure and support not the initial force but the subsequent force when measuring and assisting the force with which the subsequent force becomes smaller than the initial force. Therefore, this support device can be used for a motion support device and a muscular strength training support device that support motion by human power.

1 axis 2 meson 3a first elastic member 3b second elastic member 4 linear potentiometer 5a first end 5b second end 6 measuring element 7 fulcrum (rotating shaft)
7a Bearing 9 Rotary potentiometer 10, 10a, 10b Force measuring sensor structure 11 Wire 12, 12a Gripping part (grip)
13 Hook 14 Base 15a, 15b Spring receiver 16 Motor (drive unit)
18 Control unit 20, 20a Load control device 21 CPU
22 memory 23 storage unit 24 input unit 25 output unit 26 potentiometer reading unit 27 meson applied force calculation unit 28 elastic member load control units 29 and 29a support devices 30a and 30c motion support devices 30b and 30d strength training support devices 31a and 31b for upper arms Mounting part 32a, 32b, 36 Body mounting part 33 Power supply 40 Main frame 41 Back rest part 42 Shoulder belt 43 Waist belt 44 Arm 45 Front frame 46 Rear frame 47 Side belt 48 Side belt adjustment part 49 Frame width adjustment part 50 Roller

Claims (7)

A force measurement sensor structure comprising: first and second elastic members; and a meson supported between the first and second elastic members;
A drive unit for changing a load applied to the meson from the first and second elastic members of the force measurement sensor structure;
A control unit for controlling the driving unit;
A mounting part for mounting on the user's body;
A support device comprising:
The force measuring sensor structure is
A shaft having a first end and a second end;
The meson provided movably between the first end and the second end along the axis;
The first elastic member provided between the first end and the meson along the axis;
The second elastic member provided between the second end and the meson along the axis;
A linear potentiometer connected to the meson for detecting a one-dimensional position of the meson along the axis;
A gripping unit connected to the meson and transmitting force to the meson in conjunction with movement of the upper or lower limbs of a user;
With
The mounting part is
A main frame that is hung on the shoulder of the user and that fixes the drive unit;
A waist belt for attaching the main frame to a user's torso;
An arm attached to the main frame and suspending a wire connecting the force measurement sensor structure and the drive unit;
With
The first and second elastic members support the meson, and can apply a load to the meson in a direction opposite to each other in a one-dimensional direction along the axis,
The linear potentiometer detects the position of the meson in a one-dimensional direction along the axis and measures the force applied to the meson,
The said control part is an assistance apparatus which controls the said drive part according to the force added to the measured said meson.   2. The support device according to claim 1, wherein the driving unit changes at least one of a magnitude of a load applied to the intermediate element from the first and second elastic members and a direction of the load. The main frame is composed of a back rest provided on the back side of the user, and a shoulder belt for passing the user's arm,
The arm is disposed from the back side of the user toward the front side.
The support device according to claim 1. The main frame includes a front frame provided on the front side of the user, and a back frame connected to the front frame and provided on the back side of the user.
The arm is attached to the front frame,
The support device according to claim 1. 2. The support device according to claim 1, wherein the first and second elastic members are formed of one or more members selected from a group of a spring, rubber, and air (air ) . The support device according to claim 1,
The control unit controls the drive unit so as to reduce the force applied to the meson measured according to the movement of the user's upper limb or lower limb, and moves the user's upper limb or lower limb. Operation support device that supports The support device according to claim 1,
The control unit controls the driving unit so that a predetermined force is applied to the mesons according to the movement of the user's upper limb or lower limb, thereby assisting in muscular strength training of the user's upper limb or lower limb. Strength training support device.

Images