JP5631522B2 - Force measurement sensor structure, combined force measurement sensor structure, load control device, motion support device, and strength training support device - Google Patents

Description

  The present disclosure relates to a force measurement sensor structure that measures force in a transient state, a combined force measurement sensor structure, a load control device, a muscle force 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, the purpose of the present disclosure is to provide a force measurement sensor that can measure not the initial force but the subsequent force when measuring a force that is not a constant force, such as human power, and that the subsequent force becomes smaller than the initial force. Is to provide.

A force measurement sensor structure according to the present disclosure includes a shaft having a first end and a second end;
An meson provided movably between the first end and the second end along the axis;
A first elastic member provided between the first end and the meson along the axis;
A 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;
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 the one-dimensional direction along the axis and measures the force applied to the meson.

  The above-described general and specific aspect may be realized as a load control device, an operation support device, and a muscular strength training support device using the force measurement sensor structure.

  According to the force measurement sensor structure according to the present disclosure, in the case of measuring a force in which the subsequent force becomes smaller than the initial value, it is possible to measure 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. FIG. 6 is a perspective view showing a configuration of a force measurement sensor structure according to a third embodiment. It is a disassembled perspective view of the force measurement sensor structure of FIG. (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 structure of FIG. 24, and (b) FIG. 6C is a front view showing the position of the meson when no force is applied to the meson, and FIG. 8C shows the position of the meson when the force in the downward (−) direction is applied to the meson and the meson moves downward. FIG. FIG. 10 is a perspective view showing a configuration of a composite force measurement sensor structure according to a fourth embodiment. It is a disassembled perspective view of the composite type force measurement sensor structure of FIG. It is sectional drawing seen from the AA direction of the composite type force measurement sensor structure of FIG. It is sectional drawing seen from the BB direction of the composite type | mold force measurement sensor structure of FIG. FIG. 28A is a perspective 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 composite force measurement sensor structure of FIG. 27; (C) is a perspective view showing the position of the meson when no force is applied to the meson, and (c) is a view of the meson when a force in the downward (−) direction is applied to the meson and the meson moves downward. It is a perspective view which shows a position. 27A is a cross-sectional view taken from the CC direction showing the position of the meson when a force in the upward (+) direction is applied to the meson and the meson moves upward in the composite force measurement sensor structure of FIG. (B) is a cross-sectional view seen from the CC direction showing the position of the meson when no force is applied to the meson, and (c) is a force in the downward (−) direction on the meson. 6 is a cross-sectional view seen from the CC direction showing the position of the meson when the meson is moved downward.

The force measurement sensor structure according to the first aspect of the present disclosure includes a shaft having a first end and a second end;
An meson provided movably between the first end and the second end along the axis;
A first elastic member provided between the first end and the meson along the axis;
A 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;
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 the one-dimensional direction along the axis and measures the force applied to the meson.

The force measurement sensor structure according to the second aspect of the present disclosure includes a measuring element having a length rotatable with respect to a fulcrum;
An meson provided at a predetermined position of the probe;
First and second elastic members that are provided at both ends of the intermediate element and support the intermediate element in a direction intersecting with the extending direction of the measuring element;
A rotation potentiometer that is connected to the meson and detects a change in the rotation angle of the meson in an arc connecting the first elastic member, the meson and the second elastic member;
With
The first and second elastic members can apply a load along the arc in opposite directions of the rotation direction around the fulcrum of the meson,
The rotation potentiometer detects a change in the rotation angle of the meson in the arc and measures the force applied to the meson.

  The force measurement sensor structure according to the third aspect of the present disclosure is the force measurement sensor structure according to the first aspect or the second aspect, wherein the first and second elastic members are springs, rubber, air (air). It may be composed of one or more members selected from a group such as

  The force measurement sensor structure according to the fourth aspect of the present disclosure is connected to the meson in the force measurement sensor structure according to the first aspect or the second aspect, in conjunction with the movement of the upper limb or the lower limb of the user, You may further provide the holding part which transmits force to the said intermediate | middle.

A load control device according to a fifth aspect of the present disclosure includes the force measurement sensor structure according to any one of the first to fourth aspects,
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 that controls the drive unit in accordance with the measured force applied to the meson;
Is provided.

  The load control device according to a sixth aspect of the present disclosure is the load control device according to the fifth aspect, in which the drive unit is configured to determine a magnitude of a load applied to the meson from the first and second elastic members, and a load. The direction may be changed.

An operation support apparatus according to a seventh aspect of the present disclosure includes the load control apparatus according to the fifth aspect or the sixth 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.

  The motion support apparatus according to the eighth aspect of the present disclosure may further include a mounting unit that mounts the load control device on a user's body in the motion support apparatus according to the seventh aspect.

A muscle strength training support device according to a ninth aspect of the present disclosure includes the load control device according to the fifth aspect or the sixth 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.

  The muscle strength training support apparatus according to the tenth aspect of the present disclosure may further include a mounting portion that mounts the load control device on a user's body in the muscle strength training support apparatus according to the ninth aspect.

  In the force measurement sensor structure according to the eleventh aspect of the present disclosure, in the fourth aspect, the grip portion may have a surface shape that a user can support in the vertical direction.

  In the force measurement sensor structure according to the twelfth aspect of the present disclosure, in the fourth aspect, the grip portion may have a surface shape that a user can support in the horizontal direction.

A combined force measurement sensor structure according to a thirteenth aspect of the present disclosure is a combined force measurement sensor structure that combines the two first and second force measurement sensor structures of the fourth aspect,
The axes of the first and second force measurement sensor structures are arranged parallel to each other;
The respective gripping portions of the first and second force measurement sensor structures are connected to form one gripping portion.

  The composite force measurement sensor structure according to the fourteenth aspect of the present disclosure is that in the thirteenth aspect, the first and second force measurement sensor structures include only one of the linear potentiometers.

  Hereinafter, a force measurement sensor structure, a combined force measurement sensor structure, a load control device, an operation support device, and a muscle force training support device according to the present disclosure 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.
<Drive unit>
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.

<Operation 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).

<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.
<Drive unit>
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 portion 12a is connected to the meson 2 of the force measurement sensor structure 10b, and transmits force to the meson 2 in conjunction with the movement of the upper or lower limbs 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.

(Embodiment 3)
FIG. 24 is a perspective view showing the configuration of the force measurement sensor structure 10c according to the third embodiment. FIG. 25 is an exploded perspective view of the force measurement sensor structure 10c of FIG.
In the force measurement sensor structure 10a of FIG. 3, the grip portion 12 has a grip shape that the user can support in the vertical direction. On the other hand, in this force measurement sensor structure 10c, as compared with the force measurement sensor structure 10a of FIG. 3, the gripping portion 12b provided on the meson 2 has an uneven support portion 19 that can be supported in the horizontal direction by the user. Is different. The user can easily apply force to the meson 2 by horizontally supporting the support portion 19 of the grip portion 12b with a hand. In addition, in FIG. 24, although the holding part 12b is made into the uneven | corrugated shape suitable for supporting with a hand, it is not restricted to this, For example, it is good also as a horizontal grip shape which can be held in a horizontal direction. Alternatively, an annular grip shape may be used. Further, a part of the ring may be linear. In FIG. 24, the support portion 19 of the grip portion 12b is provided on the upper side. However, the support portion 19 is not limited to this, and may be provided at any position in the vertical direction such as the lower side or the center. In addition, the holding part 12b should just be able to apply force to the meson 2 in conjunction with the upper limb or the lower limb.

The force measurement sensor structure 10c according to the third embodiment has a hook 13 at one end. The hook 13 can place an object to be moved. The shape of the hook 13 may be appropriately selected according to the shape and size of the object to be moved.
As shown in FIG. 24, in the force measurement sensor structure 10c, the first end 5a and the second end 5b, and the hook 13 are integrally configured. As a result, the number of parts can be reduced, and the manufacturing process can be simplified.
In FIG. 24, the hook 13 is provided on the second end portion 5b side as in FIG.

Further, in this force measurement sensor structure 10c, as shown in the exploded perspective view of FIG. 25, two grooves 34 parallel to the shaft 1 are provided on the grip 12b side, and along the grooves 34 on the hook 13 side. Two comb teeth 35 that can be moved are provided. The grip portion 12b and the hook 13 are combined so that the groove 34 and the comb teeth 35 are fitted to each other. As a result, the grip portion 12 b and the hook 13 can be relatively moved only in one axial direction along the axis 1.
Since the meson 2 is inserted through the shaft 1, it is essentially a structure that can only move in one axial direction along the shaft 1. However, when an excessive load is applied to the gripping part 12b in the horizontal direction, the meson 2 receives a force separating from the shaft 1, and as a result, the shaft 1 may be damaged. In the force measuring sensor structure 10c, the groove 34 parallel to the shaft 1 and the comb teeth 35 movable along the groove 34 are combined as described above. As a result, even if an excessive load is applied to the gripping portion 12b in the horizontal direction, the gripping portion 12b and the hook 13 are limited to one axial direction along the shaft 1 without damaging the shaft 1. Can be moved relative to each other.

FIG. 26A is a front view showing 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 structure 10c of FIG. 26 (b) is a front view showing the position of the meson 2 when no force is applied to the meson 2, and FIG. 26 (c) is a diagram showing that a force in the downward (−) direction is applied to the meson 2. FIG. 6 is a front view showing the position of the meson 2 when the meson 2 moves downward.
As shown in FIG. 26 (a), 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. 26 (c), 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 this force measurement sensor structure 10 c, the linear potentiometer 4 detects the position in the one-dimensional direction of the meson 2 along the axis 1 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.

(Embodiment 4)
FIG. 27 is a perspective view showing the configuration of the composite force measurement sensor structure 10f according to the fourth embodiment. FIG. 28 is an exploded perspective view of the composite force measurement sensor structure 10f of FIG. 29 is a cross-sectional view seen from the AA direction showing a cross-sectional structure of the composite force measurement sensor structure 10f of FIG. 27 taken along a plane passing through the center line of the pair of second elastic members 3b. FIG. 30 is a cross-sectional view of the first force measurement sensor structure 10d taken along a plane passing through the center line of the second elastic member 3b of the first force measurement sensor structure 10e of FIG. 27 and parallel to the front-rear direction. It is sectional drawing seen from the BB direction which shows a structure. The cross-sectional structure of the second force measurement sensor structure 10e shown in FIG. 27 is a plane that passes through the center line of the second elastic member 3b of the second force measurement sensor structure 10e and is parallel to the front-rear direction. 30 is substantially the same as the cross-sectional view shown in FIG.

  As shown in FIG. 27, the composite force measurement sensor structure 10f has a structure in which a first force measurement sensor structure 10d and a second force measurement sensor structure 10e are connected. Each of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e has a structure obtained by modifying the force measurement sensor structure 10c according to the third embodiment of the present disclosure.

  Differences between the first force measurement sensor structure 10d and the second force measurement sensor structure 10e with respect to the force measurement sensor structure 10c will be described. Each of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e includes a grip portion 12c obtained by deforming the grip portion 12b of the force measurement sensor structure 10c. The grip part 12c has a structure in which the grip part 12b is deformed so as to connect the respective mesons 2 of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e. Specifically, each of the grip portions 12c of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e has a structure in which the material extends in the horizontal direction and is integrated.

  The horizontal width of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e is equal to the horizontal width of the combined force measurement sensor structure 10f configured by connecting each other by the grip portion 12c. It is determined to be approximately the same width as the force measurement sensor structure 10c.

  The wires of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e are integrated as a wire 11 of the composite force measurement sensor structure 10f by being integrated above the composite force measurement sensor structure 10f. Is done.

  In the combined force measurement sensor structure 10f, only the first force measurement sensor structure 10d has the linear potentiometer 4, and the linear potentiometer 4 of the second force measurement sensor structure 10e is removed.

The composite force measurement sensor structure 10f is configured by combining two first and second force measurement sensor structures 10d and 10e. As a result, the load applied to the grip portion 12c can be distributed to the two force measurement sensor structures 10d and 10e, and therefore, the first and second springs having a smaller spring constant than those formed by one force measurement sensor structure can be provided. It can be used as the elastic members 3a and 3b. In FIG. 27, the combined force sensor structure 10f is configured by combining the two force measuring sensor structures 10d and 10e. However, the present invention is not limited to this, and the combined force measuring sensor is configured by combining two or more force measuring sensor structures. A structure may be configured.
Further, in this composite type force measurement sensor structure 10f, the first and second force measurement sensor structures 10d and 10e are arranged symmetrically, and a grip portion 12c connected to each meson 2 is provided therebetween. Stability can be improved by the symmetrical arrangement.

  In the combined force measurement sensor structure 10f, the gripping portions of the first and second force measurement sensor structures 10d and 10e are connected to form one gripping portion 12c. Since the grip portion 12c has a grip shape that allows the user to grip in the horizontal direction, it is easy to support a load applied in the vertical direction. Further, since the gripping portion 12b is connected and integrated with each of the intermediate elements 2, it is easy to transmit the load to the intermediate elements 2.

  Furthermore, in this composite force measurement sensor structure 10f, the hook 13 is connected to the end portion 5b by an attachment method (replaceable). As described above, by adopting the hook 13 as the attachment method, the shape of the hook 13 can be appropriately selected according to the shape and size of various objects.

FIG. 31A shows an example in which a force in the upward (+) direction is applied to each of the mesons 2 of the first and second force measurement sensor structures 10d and 10e in the combined force measurement sensor structure 10f of FIG. FIG. 31B is a perspective view showing the position of the meson 2 when no force is applied to the meson 2, and FIG. 31B is a perspective view showing the position of the meson 2 when no force is applied to the meson 2. (C) is a perspective view showing the position of the meson 2 when a force in the downward (−) direction is applied to the meson 2 and the meson 2 moves downward.
FIG. 32A shows an example in which an upward (+) direction force is applied to each of the mesons 2 of the first and second force measurement sensor structures 10d and 10e in the composite force measurement sensor structure 10f of FIG. FIG. 32B is a cross-sectional view seen from the CC direction showing the position of the meson 2 when 2 moves upward, and FIG. 32B shows the position of the meson 2 when no force is applied to the meson 2. FIG. 32C is a cross-sectional view as seen from the CC direction, and FIG. 32C shows the position of the meson 2 when a force in the downward (−) direction is applied to the meson 2 and the meson 2 moves downward. It is sectional drawing seen from C direction.
FIGS. 31A to 31C make it easy to see the positional relationship of the grip portion 12c. On the other hand, FIGS. 32A to 32C make it easy to see the positional relationship of the meson 2.

  As shown in FIGS. 31A and 32A, when the meson 2 is in the upward position, the first elastic member 3a is compressed and the second elastic member 3b is extended. Therefore, a downward load is applied to the meson 2 from the first and second elastic members 3a and 3b. On the other hand, as shown in FIGS. 31 (c) and 32 (c), when the meson 2 is in the downward position, the first elastic member 3a is expanded and the second elastic member 3b is compressed. Therefore, an upward load is applied to the meson 2 from the first and second elastic members 3a and 3b. In the composite force measurement sensor structure 10f, 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.

  In the composite force measurement sensor structure 10f, as described above, the linear potentiometer 4 of the first force measurement sensor structure 10d out of the first force measurement sensor structure 10d and the second force measurement sensor structure 10e. The linear potentiometer of the second force measurement sensor structure 10e is removed. This is because the intermediate elements 2 of the first and second force measurement sensor structures 10d and 10e are considered to be substantially in the same position with respect to the shaft 1, and therefore, the overlapping linear potentiometers 4 are removed. It is. Of course, the linear potentiometer 4 may be disposed in each of the first and second force measurement sensor structures 10d and 10e.

  In addition, the effect which each embodiment has can be show | played by combining suitably any embodiment of the said various embodiment.

  Although the present disclosure has been fully described in connection with embodiments with reference to the accompanying drawings, various changes and modifications will be apparent to those skilled in the art. Such changes and modifications are to be understood as included within the scope of the present disclosure as set forth in the appended claims.

  The force measurement sensor structure according to the present disclosure can measure not the initial force but the subsequent force in the case of measuring the force with which the subsequent force becomes smaller than the initial force. Therefore, this force measurement sensor structure 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 Rotating potentiometer 10, 10a, 10b, 10c, 10d, 10e Force measurement sensor structure 10f Compound type force measurement sensor structure 11 Wire 12, 12a, 12b, 12c Grip part (grip)
13 Hook 14 Base 15a, 15b Spring receiver 16 Motor (drive unit)
18 Control part 19 Support part 20, 20a Load control apparatus 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 Body mounting part 33 Power supply 34 Groove 35 Comb teeth

Claims (11)

A force measuring sensor structure,
A shaft having a first end and a second end;
An meson provided to be movable along the axis between the first end and the second end;
A first elastic member provided between the first end and the meson along the axis;
A 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;
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,
A force measuring sensor structure for detecting a position of the meson in a one-dimensional direction along the axis by the linear potentiometer and measuring a force applied to the meson;
A hook provided at the second end of the force measurement sensor structure and capable of applying a load along the axis;
The load applied along the axis from the first end is changed to change the magnitude or direction of the load applied to the meson from the first and second elastic members of the force measurement sensor structure. A drive unit
A control unit that controls the drive unit in accordance with the measured force applied to the meson;
A load control device. A force measuring sensor structure,
A probe having a length rotatable with respect to the fulcrum;
An meson provided at a predetermined position of the probe;
First and second elastic members that are provided at both ends of the intermediate element and support the intermediate element in a direction intersecting with the extending direction of the measuring element;
A rotation potentiometer that is connected to the meson and detects a change in the rotation angle of the meson in an arc connecting the first elastic member, the meson and the second elastic member;
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 first and second elastic members can apply a load along the arc in opposite directions of the rotation direction around the fulcrum of the meson,
A force measurement sensor structure for detecting a change in the rotation angle of the meson in the arc by the rotary potentiometer and measuring a force applied to the meson;
The first elastic member and the second elastic member are supported by first and second spring receivers with the intermediate element interposed therebetween, and the measuring element is rotatably supported around the fulcrum of the measuring element. And a base rotatable about a second fulcrum different from the fulcrum of the probe;
A drive unit that rotates the base about the second fulcrum to change the magnitude or direction of the load applied to the meson from the first and second elastic members of the force measurement sensor structure;
A control unit that controls the drive unit in accordance with the measured force applied to the meson;
A load control device.   3. The load control device according to claim 1, wherein the first and second elastic members are made of one or more members selected from a group of a spring, rubber, and air (air).   The load control device according to claim 1, further comprising a grip portion connected to the meson and transmitting a force to the meson in conjunction with movement of an upper limb or a lower limb of a user. An operation support apparatus comprising the load control apparatus according to claim 2 or 4 ,
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 operation support device according to claim 5, further comprising a mounting portion that mounts the load control device on a user's body. An operation support apparatus comprising the load control apparatus according to claim 2 or 4 ,
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.   The muscular strength training support device according to claim 7, further comprising a mounting portion that mounts the load control device on a user's body.   The load control device according to claim 2 or 4, wherein the grip portion has a surface shape that a user can support in a vertical direction.   The load control device according to claim 2 or 4, wherein the grip portion has a surface shape that a user can support in a horizontal direction. A combined force measurement sensor structure combining a plurality of the force measurement sensor structures,
Each of the force measurement sensor structures is further connected to the meson, and further includes a gripping portion that transmits a force to the meson in conjunction with movement of an upper limb or a lower limb of a user.
The axes of the plurality of force measurement sensor structures are arranged in parallel to each other,
2. The load control device according to claim 1, comprising a combined force measurement sensor structure in which each gripping part of the plurality of force measurement sensor structures is connected to form one gripping part.

Images