JP5598667B2 - Walking assistance device, walking assistance method, walking assistance program, etc. - Google Patents

Description

  The present invention relates to a technical field of a walking assistance device that assists walking using power of a driving source.

  Conventionally, by strengthening muscle strength and range of motion by assisting various actions such as walking movements of elderly people and victims with weak muscles, raising and lowering stairs, standing movement from sitting position, sitting movement from standing position, etc. Rehabilitation that aims to increase the number of brains and new generation of cranial nerve transmission circuits (synapse formation), etc., was based on instructions from a physical therapist or occupational therapist, and the elderly and injured persons tried various actions on their own .

  2. Description of the Related Art In recent years, walking assist devices that assist rehabilitation performed by an elderly person or an injured person have been used.

  For example, in patent document 1, the 1st link fixed to the side surface of the abdominal band wound around a user's abdomen, and the 2nd link fixed to the side surface of the leg rest wound around a user's thigh. A walking assistance device that assists the movement of the user's thigh by linking the second link in the front-rear direction with respect to the first link by the power output from the electric actuator. Is disclosed.

  Patent Document 2 discloses a technology related to a walking robot that assists in shifting a leg to a standing state by power output from a pneumatic actuator (air circuit unit).

JP 2002-301124 A JP 2009-274142 A

  Since such a walking assist device aims to assist the movement of the hip, knee and hips of the human body during walking, it is possible to apply a power source according to the structure and motion characteristics of the joints and parts. desirable.

  For example, the knee joint is a joint composed of the femur, tibia, and patella, and the movement of the limbs and muscles stretched around this joint has a wide range of motion such as walking, sitting, and sitting from the standing position. Is possible. In such a walking assist device that assists the operation of the knee joint, a power source capable of controlling a complicated mechanism is required.

  On the other hand, a hip joint composed of an acetabulum and a femoral head having a shape close to a sphere has a smaller operating angle than a knee joint, and even a slight assist at the start of the operation is often sufficient. In such a walking assist device that assists the operation of the hip joint, it is preferable to apply a simple mechanism and a power source that enables simple control.

  However, the power source in the conventional walking assist device is not selected in consideration of the structure of the joints and parts of the human body and the characteristics of the movement, and even if such a device is used, the movement of the human body in walking Couldn't assist enough.

  Therefore, the present invention has been made in view of the above problems, and an example of the purpose thereof is to sufficiently assist the movement of the human body during walking by applying a power source that takes into account the characteristics of human joints and the like. It is to provide an apparatus and a method that can be used.

In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that one end of a first link attached to the user's thigh and a second attached to the user's lower leg. Knee joint connection means for connecting one end of the link to a side corresponding to the side of the knee joint of the user so as to be rotatable by the power generated by the electric motor; A hip joint connecting means for connecting the end of the head to a side of the user's hip joint by a power generated by a pneumatic actuator so as to be rotatable with respect to the user's walking direction; and control means for controlling the power output from the motor and the pneumatic actuator is connected to the heel of the user, comprising a pneumatic actuator, a power which is generated by the pneumatic actuator, the waist direction of the user Comprising a power generating means for the heel to force, wherein the control means is further characterized that you control the power output from the power generating means for the heel portion.

According to such a configuration, it is possible to sufficiently assist the motion of the human body during walking by applying a power source that takes into account characteristics such as joints of the human body. Further, according to such a configuration, it is possible to sufficiently assist the movement of the human body in walking by applying a power source that takes into account the characteristics of the human body joints and the like.

According to a second aspect of the present invention, there is provided one end of a first link to be attached to a user's thigh and one end of a second link to be attached to the user's lower leg. And a knee joint connecting means for connecting to the side of the knee joint of the user so as to be rotatable by power generated by an electric motor, and using the other end of the first link. A hip joint connecting means for connecting to the user's hip joint at a position corresponding to the side of the user's hip joint by means of power generated by a pneumatic actuator, and connecting to the user's buttocks A walking assistance method in a walking assistance device , comprising: a pneumatic actuator; and power generation means for a buttock that outputs power generated by the pneumatic actuator in a direction toward the waist of the user , wherein the electric motor , the air Pressure actuator, and characterized by having a control step of controlling the power output from the power generating means for the heel portion.

According to a third aspect of the present invention, there is provided one end of a first link to be attached to a user's thigh and one end of a second link to be attached to the user's lower leg. And a knee joint connecting means for connecting to the side of the knee joint of the user so as to be rotatable by power generated by an electric motor, and using the other end of the first link. A hip joint connecting means for connecting to the user's hip joint at a position corresponding to the side of the user's hip joint by means of power generated by a pneumatic actuator, and connecting to the user's buttocks A computer included in a walking assistance device comprising a pneumatic actuator, and a power generation means for a buttock that outputs power generated by the pneumatic actuator in a direction toward the waist of the user, the electric motor , air pressure Actuator, and characterized in that to function as a control means, for controlling the power output from the power generating means for the heel portion.

  As described above, according to the present invention, the walking assistance device and the like can sufficiently assist the movement of the human body in walking by applying the power source in consideration of characteristics such as the joints of the human body.

It is a figure which shows the user equipped with the walking assistance apparatus of this embodiment by a front view. It is a figure which shows the user equipped with the walking assistance apparatus of this embodiment by a side view. It is a figure which shows the user equipped with the walking assistance apparatus of this embodiment by a back view. It is a figure which shows the outline | summary of the pneumatic actuator of this embodiment. It is a block diagram which shows the function structure of the walk assistance apparatus in this embodiment. It is a flowchart which shows the control signal which the control part 6 outputs. It is a graph which shows the bending angle or control signal of the knee joint part connection mechanisms 3L and 3R, the hip joint part connection mechanisms 4L and 4R, and the foot attachment parts 5L and 5R based on the control signal. It is the figure which showed typically the operation | movement of one leg at the time of the user's H walk.

  Hereinafter, the best embodiment of the present application will be described with reference to the accompanying drawings. In addition, embodiment described below is embodiment when this application is applied with respect to the walking assistance apparatus which assists the operation | movement of a user's knee joint, hip joint, and buttocks in walking.

  1 is a diagram showing a user equipped with the walking assistance device of the present embodiment in a front view, and FIG. 2 is a diagram showing a user equipped with the walking assistance device of the present embodiment in a side view. These are figures which show the user equipped with the walking assistance apparatus of this embodiment by a back view, and FIG. 4 is a figure which shows the outline | summary of the pneumatic actuator of this embodiment. The members described in each figure are connected to transmission paths (signal lines, air tubes, etc.) for transmitting power such as power, signals, or air (air) necessary for operation and control. The illustration is omitted.

  As shown in FIGS. 1, 2, and 3, the walking assist device S according to the present embodiment is provided with first links 1 </ b> L and 1 </ b> R (an example of the first link of the present application) that are attached to the thighs of the user H And second links 2L and 2R (an example of the second link of the present application) to be mounted on the lower leg of the user H, and knee joint connection mechanisms 3L and 3R (an example of the knee joint connection means of the present application) , Hip joint connection mechanisms 4L, 4R (an example of the hip joint connection means of the present application), foot mounting portions 5L, 5R, a control unit 6 (an example of the control means of the present application), and the like.

  In the description of the present embodiment, L attached to a member number indicates a member that is attached to the left leg portion of the user H. Moreover, R attached | subjected to the member number shows the member with which the right leg part of the user H is mounted | worn. Except when specifically described, the members indicated by the member numbers with L and R have at least the same functions and effects.

  For convenience of explanation, in the member attached to the right leg shown in FIG. 1, the illustration of the covers T1 to T5 among the members attached to the left leg is omitted (indicated by a broken line). In FIG. 1, members attached to the right and left leg portions are given member numbers only for members attached to the right leg portion, and illustrations of member numbers for members attached to the left leg portion are omitted. .

  The first links 1L and 1R are rod-shaped appliances in which the first links 7L and 7R and the first links 8L and 8R are connected to each other by dials 9L and 9R so as to be extendable in the axial direction of the first links 1L and 1R. . The dials 9L and 9R are substantially disk-shaped knobs, and a shaft provided with a screw (not shown) is erected on the surface of the dials 9L and 9R facing the user H. The shaft passes through the first links 7L and 7R and the first links 8L and 8R, and a fixed component (for example, a nut or the like) (not shown) is screwed to the tip portion of the shaft. When the dials 9L and 9R are rotated, the distance between the first links 7L and 7R and the first links 8L and 8R is made closer by bringing the fixed parts close to the dials 9L and 9R along the screws. The links are fixed.

  At least one of the first links 7L and 7R or the first links 8L and 8R is attached to the thigh of the leg of the user H via the cuffs 10L and 10R. The cuffs 10L and 10R are belt-shaped fixtures that can be contracted or bent, such as cloth holders or resin materials. Can be attached to.

  The second links 2L and 2R are rod-shaped appliances in which the second links 11L and 11R and the second links 12L and 12R are connected to each other so as to expand and contract in the axial direction of the second links 2L and 2R by dials 13L and 13R. . Since the dials 13L and 13R have the same functions as the dials 9L and 9R, detailed description thereof is omitted.

  The second links 11L and 11R are attached to the lower leg of the user H via the cuffs 14L and 14R. The second links 12L and 12R are attached to the lower leg of the user H via the cuffs 15L and 15R. Since the cuffs 14L and 14R and the cuffs 15L and 15R have the same configuration as the cuffs 10L and 10R, detailed description thereof is omitted.

  One end of the first links 8L and 8R (an example of one end of the first link of the present application) and the second links 11L and 11R (one end of the second link of the present application) are the knee joint of the user H The knee joint connection mechanisms 3L and 3R are pivotally connected at a position corresponding to the side portion.

  The knee joint connection mechanisms 3L and 3R are joints having a degree of freedom of rotation about one axis in the left-right direction of the user H (around the axis A in FIG. 1). That is, the second links 11L and 11R and the first links 8L and 8R are relatively rotatable around the axis A by the knee joint connection mechanisms 3L and 3R.

  The knee joint connection mechanisms 3L and 3R include electric motors 16L and 16R for driving the knee joint connection mechanisms 3L and 3R, and a knee joint angle sensor 17L that detects a rotation angle of the knee joint connection mechanisms 3L and 3R. , 17R are connected. As the electric motors 16L and 16R, for example, a motor capable of controlling the rotation angle under the control of the control unit 6, such as a DC motor, an AC motor, or a stepping motor, can be applied.

  Although not shown, the knee joint connection mechanisms 3L and 3R are connected to the electric motors 16L and 16R via a gear box including a predetermined gear group (for example, a reduction gear, a rotation direction change gear, etc.). Has been. The rotational driving force obtained by rotating the rotating shafts of the electric motors 16L, 16R is transmitted to the first links 8L, 8R and the second links 11L, 11R via the gear group (that is, the first links 8L, 8R). And the center part of the joint constituted by the second links 11L and 11R and the rotation axis of the gear box are connected and rotated), assisting the user H in the knee joint, Assisting user H to walk.

  The knee joint angle sensors 17L and 17R are rotated at a rotation angle from the reference rotation position of the first links 8L and 8R and the second links 11L and 11R (in a broad sense, the first links 1L and 1R and the second links 2L and 2R). The corresponding detection signal is output to the control unit 6 as a signal indicating the bending angle of the first links 8L and 8R and the second links 11L and 11R. The reference rotation position can be arbitrarily set. For example, an angle formed by the first links 8L and 8R and the second links 11L and 11R when the user H is in an upright posture is set as the reference rotation position. It may be. As the knee joint angle sensors 17L and 17R, for example, a known rotary encoder or the like can be applied. Although not shown, the knee joint connection mechanisms 3L and 3R include a drive control unit that controls the electric motors 16L and 16R at a predetermined rotation direction and speed. The drive control unit is a so-called motor control driver circuit, and can be configured to be included in the control unit 6.

  The other end of the first links 8L and 8R (an example of the other end of the first link of the present application) is rotated by the hip joint connection mechanisms 4L and 4R at a position corresponding to the side of the hip joint of the user H. Connected as possible.

  The hip joint connection mechanisms 4L and 4R are joints having a degree of freedom of rotation about one axis in the left-right direction of the user H (around the axis B in FIG. 1). That is, the first link 7L, 7R (first link 8L, 8R) is relatively rotatable around the axis B by the hip joint connecting mechanisms 4L, 4R. As described above, the first links 7L and 7R are connected to the second links 11L and 11R and the second links 12L and 12R via the first links 8L and 8R. Accordingly, the first link 1L, 1R and the second link 2L, 2R can be relatively rotated around the axis B (that is, in the traveling direction of the user H) by the hip joint connecting mechanisms 4L, 4R.

  The hip joint connection mechanisms 4L and 4R include pneumatic actuators 18L and 18R for driving the hip joint connection mechanisms 4L and 4R and hip joint angle sensors 19L and 19R that detect the rotation angles of the knee joint connection mechanisms 3L and 3R. It is connected. Since the hip joint angle sensors 19L and 19R have at least the same functions as the knee joint angle sensors 17L and 17R, detailed description thereof is omitted.

  As the pneumatic actuators 18L and 18R, for example, a known rotary actuator (rotary type air cylinder) can be applied.

  Here, the outline and operating principle of the pneumatic actuators 18L and 18R will be described with reference to FIGS.

  As shown in FIG. 4A, the pneumatic actuators 18L and 18R are actuators that swing the shafts 20L and 20R provided in the pneumatic actuators 18L and 18R within a set angle range by the action of compressed air.

  More specifically, as shown in FIG. 3, the control unit 6 converts the air whose output is adjusted (adjusted air pressure) by the regulator 22 from the air cylinder 21 filled with compressed air (air) to a predetermined air pressure. Output to the actuator. Then, the controller 6 opens a hip joint electromagnetic valve (so-called solenoid valve) 23 provided at the air inlet of the pneumatic actuator, and outputs the air to a predetermined actuator.

  As shown in FIG. 4B, when the air is inputted, the pneumatic actuators 18L and 18R rotate (swing) the shafts 20L and 20R within a predetermined angle range.

  The shafts 20L and 20R are examples of joints having a degree of freedom of rotation about one axis in the left-right direction of the user H (around the axis B in FIG. 1), and are connected to the first links 7L and 7R. Accordingly, the rotational motion of the shafts 20L and 20R assists (assides) the movement of the user H in the hip joint, and assists the user H in walking.

  As shown in FIG. 4C, the shafts 20L and 20R can freely swing (start-up motion) with the axis B in FIG. 1 as the starting point after the rotational motion is completed by the action of the air. It has become.

  In other words, the pneumatic actuators 18L and 18R are rotated to a predetermined angle range (target value) when air is input based on the control of the control unit 6. Therefore, the controller 6 does not need to control the pneumatic actuators 18L and 18R while reaching the angle.

  Although the shafts 20L and 20R are connected to the first links 8L and 8R, they may be connected to the cuffs 10L and 10R. The shafts 20L and 20R may be connected to the first links 7L and 7R.

  The hip joint angle sensors 19L and 19R correspond to the rotation angles from the reference rotation position of the first links 8L and 8R (the shafts 20L and 20R. In a broad sense, the first links 1L and 1R and the second links 2L and 2R). The detected signal is output to the control unit 6 as a signal indicating the bending angle of the first links 7L and 7R. The reference rotation position can be arbitrarily set. For example, the angle formed by the first links 7L and 7R when the user H is in the upright posture and the upward direction (see FIG. 1) is set as the reference rotation position. You may do it.

  Further, the hip joint connection mechanisms 4L and 4R are connected to the fixed belt 26 via fixed shafts 25L and 25R including a latch (not shown) that can be expanded and contracted in the axial direction. The fixing belt 26 is a belt-like fixing tool that can be contracted or bent, such as a cloth holder or a resin material, and is attached so as to wrap the waist of the user H.

  The first links 7L and 7R are connected to the pneumatic actuators 18L and 18R via the link balls 27L and 27R. The link balls 27L and 27R are free joints having a degree of freedom of rotation around three axes, such as ball joints. By the link balls 27L and 27R, the first links 7L and 7R are connected to be slidable in the axial direction of the first links 7L and 7R.

  The foot mounting portions 5L and 5R include sole sensors 28L and 28R attached to the shoe sole of the user H, and pneumatic actuators 29L and 29R connected to the buttocks of the user H (the power generation means for the heel portion of the present application). Example).

  For example, a semiconductor pressure sensor or the like is applied to the sole sensors 28L and 28R, and the pressure applied to the sensors is converted into an electrical signal and output to the control unit 6. In the present embodiment, the sole sensors 28L and 28R are used to determine whether the user H is in the stance phase (grounding state) or in the free leg phase (floating state).

  Specifically, when the user H is in the stance phase, since the sole of the user H is in contact with the ground, a predetermined pressure is applied to the sole sensors 28L and 28R. In this case, the sole sensors 28 </ b> L and 28 </ b> R convert the pressure into an electric signal and output it to the control unit 6. On the other hand, when the user H is in the swinging leg period, the sole of the user H is not in contact with the ground, and thus the predetermined pressure is not applied to the sole sensors 28L and 28R. In this case, the sole sensors 28L and 28R do not output any electrical signal. The control unit 6 detects whether the user H is in the stance phase or the swing phase in accordance with the electrical signal.

  The pneumatic actuators 29L and 29R are actuators for assisting the walking motion by lifting the user's H buttocks upward. Specifically, the pneumatic actuators 29L and 29R linearly push the rods 30L and 30R included in the pneumatic actuators 29L and 29R outward by the action of compressed air. In this embodiment, the user's H buttocks are lifted up by the action of the rods 30L, 30R.

  The rechargeable battery (battery BOX) 31 supplies, for example, electricity stored by charging to the power supply unit (power supply BOX) 32. The power supply unit 32 supplies electricity to each unit of the walking assist device S.

  Next, the functional configuration of the walking assistance device in the present embodiment will be described with reference to FIG. FIG. 5 is a block diagram showing a functional configuration of the walking assist device in the present embodiment. In addition, the member which shows the same member number in another figure shall have at least the same function, and detailed description is abbreviate | omitted.

  As shown in FIG. 5, the control unit 6 includes a CPU that mainly has a calculation function, a working RAM, and a ROM that stores various data and programs. The CPU executes various programs stored in the ROM, for example, thereby controlling the entire walking assisting device S as a whole and also functions as a control unit in the present embodiment.

  Specifically, in order to assist the movement of the knee joint of the user H in walking, the control unit 6 controls the first link 8L, 8R and the second link 11L, 11R to a predetermined bending angle. Is output to the drive control unit. The drive control unit that has received the control signal controls the first link 8L, 8R and the second link 11L, 11R to a predetermined bending angle based on the control signal. The knee joint angle sensors 17L and 17R measure (monitor) the angles formed by the first links 8L and 8R and the second links 11L and 11R that are bent based on the control signal, and send the signals to the control unit 6 indicating the bending angles. Output.

  Whether the first link 8L, 8R and the second link 11L, 11R are performing an operation according to the control signal by comparing the received signal with the previously output control signal. Confirm whether or not. And when the operation | movement according to the said control signal is not performed, the control part 6 outputs the correction signal for performing the operation | movement according to the said said control signal (what is called feedback). Execute control).

  A series of control signals (including signals for feedback control) for controlling the first links 8L and 8R and the second links 11L and 11R to a predetermined bending angle are referred to as “knee joint control signals”. To do.

  Generally, a knee joint is a joint composed of the femur, tibia, and patella. Due to the action of ligaments and muscles stretched around the joint, the range of motion such as walking, sitting, and sitting from the standing position is wide and complicated. Operation is possible. In such a walking assist device that assists the operation of the knee joint, a power source capable of controlling a complicated mechanism is required.

  In order to assist the operation of the knee joint, the first links 8L and 8R attached to the thigh of the user H and the second links 11L and 11R attached to the lower leg of the user H are described above. The control based on the control signal for the knee joint of the control unit 6 is continuously controlled up to a predetermined bending angle.

  Therefore, it is possible to control the movement of the user's H femur, tibia and patella (that is, assisting the operation of the knee joint) with high accuracy and reliability.

  In addition, in order to assist the operation of the hip joint of the user H during walking, the control unit 6 outputs a control signal for rotating the first links 7L and 7R to a predetermined bending angle to the pneumatic actuators 18L and 18R.

  This control signal is a control signal for opening the hip joint electromagnetic valve 23 in order to output the air to a predetermined actuator as described above. In other words, the control signal for opening the electromagnetic valve 23 for hip joint operation is a control signal (that is, a single command) such as an on / off signal (01 signal or the like), and thus is simpler than the control signal for the knee joint. It is a configuration and does not require complicated control.

  A control signal for rotating the first links 7L and 7R to a predetermined bending angle is hereinafter simply referred to as a “hip joint control signal”.

  In general, a hip joint composed of an acetabulum and a femoral head having a shape close to a sphere has a smaller operating angle than a knee joint, and a small amount of assist is often sufficient at the start of the operation. Specifically, in the walking motion, the thigh is rotated in the traveling direction of the user H with the knee joint as the rotation center (that is, the thigh is swung out with respect to the traveling direction). . In such a walking assist device that assists the operation of the hip joint, it is preferable to apply a simple mechanism and a power source that enables simple control from the viewpoint of reducing the processing load of the control unit 6.

  Therefore, in order to assist such an operation, the control unit 6 performs an operation of rotating the first links 7L and 7R attached to the thighs of the user H in the traveling direction of the user H. Just do it. As a command for executing this operation, the control unit 6 outputs a hip joint control signal.

  Therefore, the operation of the user's H femur, tibia, and patella can be assisted by simple control.

  Further, in order to assist the operation of the buttocks of the user H in walking, the control unit 6 outputs a control signal for lifting the buttocks of the user H to the pneumatic actuators 29L and 29R.

  This control signal is a control signal for opening the buttocks operation electromagnetic valve 33 in order to output the air to a predetermined actuator, similarly to the hip joint control signal.

  The control signal for the user H's buttocks to lift upward will be simply referred to as a buttocks control signal hereinafter.

  Generally, the buttocks are one of the components of the legs, and the total load of the user H may be concentrated. However, in the walking motion, as the buttocks move away from the ground contact surface (floor, ground, etc.), the load is relaxed, and the gravity center position of the user H moves to the front side (traveling direction), leading to walking. In other words, the walking motion can be assisted simply by lifting the user's H buttocks upward. In such a walking assist device that assists the operation of the buttocks, it is preferable to apply a simple mechanism and a power source that enables simple control.

  In order to assist the operation of the buttocks, the buttocks of the user H can be lifted up by the control based on the control signal for the buttocks of the control unit 6 described above.

  Therefore, the operation of the buttocks of the user H can be assisted by simple control.

  Next, operation | movement of the walking assistance apparatus S based on the various control signals of the control part 6 is demonstrated by contrasting FIG. 6, FIG. 7, and FIG. 8, respectively. FIG. 6 is a flowchart showing a control signal output by the control unit 6, and FIG. 7 shows bending of the knee joint connection mechanisms 3L and 3R, the hip joint connection mechanisms 4L and 4R, and the foot mounting parts 5L and 5R based on the control signal. It is a graph which shows an angle or a control signal, and FIG. 8 is the figure which showed typically the operation | movement of one leg at the time of the user's H walk. Note that the elapsed time X indicated by (A) to (C) in FIG. 7 is common.

  The walking motion is performed in conjunction with the motion of the knee joint, hip joint, and buttocks of the user H. Therefore, as described above, the control unit 6 outputs the knee joint control signal, the hip joint control signal, and the hip joint control signal in order to assist the operations of the knee joint, the hip joint, and the hip joint.

  Specifically, as shown in FIG. 6, the control unit 6 outputs a hip joint control signal at time T1 (step S1). Here, the bending angles indicated by the first links 7L and 7R based on the hip joint control signals at times T1 to T3 required for the movement of one leg during walking will be described with reference to FIG.

  FIG. 7A is a waveform representing the bending angles indicated by the first links 7L and 7R based on the hip joint control signals at times T1 to T3 required for the movement of one leg during walking.

  Based on the hip joint control signal from the control unit 6, the first links 7L and 7R are rotated in the direction of arrow A in FIG. 8A by the power of the pneumatic actuators 18L and 18R. Then, the first links 7L and 7R rotate to a predetermined bending angle (near 40 ° in FIG. 7A) (FIGS. 8B and 8C). And as it shifts to the stance phase, the bending angle indicated by the first links 7L and 7R decreases ((D) and (E) in FIG. 8).

  Moreover, as shown in FIG. 6, the control part 6 outputs the control signal for hips in time T1 (step S2). Here, regarding the ground contact state of the bottom of the foot indicated by the sole sensors 28L and 28R by the control of the control unit 6 based on the buttock control signal in the time T1 to T3 required for the operation of one leg during walking, FIG. A description will be given using (C).

  FIG. 7C shows the ground contact state of the bottom of the foot indicated by the sole sensors 28L and 28R by the control of the control unit 6 based on the control signal for the buttocks at times T1 to T3 required for the movement of one leg during walking. It is a waveform which shows.

  Based on the control signal for the buttocks from the control unit 6, the bottom of the leg (the buttocks) of the user H is lifted in the direction indicated by the arrow C (upper part) in FIG. . During the period when the user's H's sole (hip) is being lifted (free leg period, (B), (C), (D) in FIG. 8), no pressure is applied to the sole sensors 28L, 28R. No electrical signal is output (see FIG. 7C). And if it shifts to the stance phase, since the leg bottom of the user H will contact the ground (FIG.8 (E)), pressure is applied to the sole sensors 28L and 28R. Then, the sole sensors 28L and 28R convert the pressure into an electric signal and output it to the control unit 6 (see FIG. 7C).

  Moreover, as shown in FIG. 6, the control part 6 outputs the control signal for knee joints during time T1-T3 (step S3).

  In the movement of one leg during walking, the knee joint generally bends and extends from about 0 ° to a maximum of about 75 °. In order to assist this operation, the control unit 6 continuously controls the first links 8L and 8R and the second links 11L and 11R to have a predetermined bending angle by the knee joint control signal.

  Here, the bending angles indicated by the first links 8L and 8R and the second links 11L and 11R by the control based on the knee joint control signal of the control unit 6 at the times T1 to T3 required for the movement of one leg during walking. Will be described with reference to FIG.

  FIG. 7B shows the first links 8L and 8R and the second links 11L and 11R by the control based on the knee joint control signal of the control unit 6 at times T1 to T3 required for the movement of one leg during walking. It is a waveform showing the bending angle.

  Based on the knee joint control signal from the control unit 6, the first links 8L and 8R and the second links 11L and 11R are bent in the direction of arrow B in FIG. 8A by the control of the electric motors 16L and 16R. Is done. Then, the first links 8L and 8R and the second links 11L and 11R are bent ((B) and (C) in FIG. 8) to a predetermined bending angle (near 60 ° in FIG. 7B).

  In order to shift to the stance phase, the first links 8L, 8R and the second links 11L, 11R are bent in the direction of arrow B in FIG. 8C by the control of the electric motors 16L, 16R. Then, the bending angles of the first links 8L and 8R and the second links 11L and 11R are reduced (FIG. 7B), and a transition is made to an upright posture.

  In addition, embodiment described above does not limit the invention concerning a claim. And not all combinations of the configurations described in the above embodiments are essential means for solving the problems of the invention. Moreover, the structure demonstrated in the said embodiment can be implemented combining suitably.

  As described above, according to the present embodiment, the walking assistance device S is attached to one end of the first links 8L and 8R attached to the thigh of the user H and the lower leg of the user H. Knee joints that connect one end of the second links 11L, 11R to the side of the knee joint of the user H so as to be rotatable by the power generated by the electric motors 16L, 16R. The walking of the user H by the power generated by the pneumatic actuators 18L, 18R at the other end of the connection mechanisms 3L, 3R and the first links 8L, 8R corresponding to the side of the hip joint of the user H The hip joint connection mechanisms 4L and 4R that are pivotably connected to the direction, and the power output from the electric motors 16L and 16R and the pneumatic actuators 18L and 18R are determined by the knee joint control signal and the hip joint control signal. And Gosuru control unit 6, since configured to include, by applying the power source in consideration of the characteristics such as the human body joints, can be sufficiently assist the human operation in the walking. Further, by using the hip joint control signal, the processing load on the control unit 6 can be reduced.

  Further, according to the walking assist device S of the present embodiment, each link mechanism unit is forced to operate under the control of the control unit 6, so that the user H naturally moves his / her foot and naturally sets the stepping timing. And can be worn on the body.

  In addition, the control unit 6 monitors the start of walking of the user H using the sole sensors 28L and 28R, and receives various monitoring signals when receiving a monitoring result indicating that the user H has started walking. (A knee joint control signal, a hip joint control signal, or a hip control signal) may be output.

  By configuring as described above, rehabilitation based on the intention of the user H can be executed.

1L 1st link 1R 1st link 2L 2nd link 2R 2nd link 3L Knee joint connection mechanism 3R Knee joint connection mechanism 4L Hip joint connection mechanism 4R Hip joint connection mechanism 5L Foot attachment part 5R Foot attachment part 6 Control part 7L 1st link 7R 1st link 8L 1st link 8R 1st link 9L Dial 9R Dial 10L Cuff 10R Cuff 11L 2nd link 11R 2nd link 12L 2nd link 12R 2nd link 13L Dial 13R Dial 14L Cuff 14R Cuff 15L Cuff 15R Cuff 16L Electric motor 16R Electric motor 17L Knee joint angle sensor 17R Knee joint angle sensor 18L Pneumatic actuator 18R Pneumatic actuator 19L Hip joint angle sensor 19R Hip joint angle sensor 20L Axis 20R Axis 21 Air cylinder 22 Regulator 23 Electromagnetic for hip joint operation 25L Fixed shaft 25R Fixed shaft 26 Fixed belt 27L Link ball 27R Link ball 28L Foot sensor 28R Foot sensor 29L Pneumatic actuator 29R Pneumatic actuator 30L Rod 30R Rod 31 Rechargeable battery 32 Power supply unit 33 Saddle operation solenoid valve H User S Walking assist device

Claims (3)

One end of the first link attached to the user's thigh and one end of the second link attached to the user's lower leg are connected to the side of the user's knee joint. Knee joint connecting means for connecting to be rotatable by power generated by an electric motor at a position corresponding to
A hip joint that connects the other end of the first link so as to be rotatable in the walking direction of the user by power generated by a pneumatic actuator at a position corresponding to the side of the hip joint of the user. Connection means;
Control means for controlling the power output from the electric motor and the pneumatic actuator;
A power generation means for a buttock connected to the user's buttock, provided with a pneumatic actuator, and outputting the power generated by the pneumatic actuator in the direction of the user's waist;
Equipped with a,
It said control means further walking assist device characterized that you control the power output from the power generating means for the heel portion. One end of the first link attached to the user's thigh and one end of the second link attached to the user's lower leg are connected to the side of the user's knee joint. Knee joint connecting means for connecting to be rotatable by power generated by an electric motor at a position corresponding to
A hip joint that connects the other end of the first link so as to be rotatable in the walking direction of the user by power generated by a pneumatic actuator at a position corresponding to the side of the hip joint of the user. Connection means;
Walking assistance in a walking assistance device comprising a pneumatic actuator connected to the user's buttocks, and including power generation means for the buttocks that outputs power generated by the pneumatic actuator in the direction of the waist of the user A method,
A control step of controlling the power output from the electric motor , the pneumatic actuator , and the heel power generation means ;
A walking assistance method characterized by comprising: One end of the first link attached to the user's thigh and one end of the second link attached to the user's lower leg are connected to the side of the user's knee joint. Knee joint connecting means for connecting to be rotatable by power generated by an electric motor at a position corresponding to
A hip joint that connects the other end of the first link so as to be rotatable in the walking direction of the user by power generated by a pneumatic actuator at a position corresponding to the side of the hip joint of the user. Connection means;
Included in a walking assistance device comprising a pneumatic actuator connected to the user's buttocks, and including power for the buttocks that outputs power generated by the pneumatic actuator toward the waist of the user. Computer
A walking assistance program that functions as a control unit that controls power output from the electric motor , the pneumatic actuator , and the heel power generation unit .

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