JP5751135B2 - Walking support device and initial setting method thereof - Google Patents

Description

  The present invention relates to a walking support device and an initial setting method thereof, and more particularly to a walking support device including an incremental type angle detection sensor at a joint and an initial setting method thereof.

  2. Description of the Related Art In recent years, various walking support devices that are attached to a user's thigh and assist the user's walking have been developed (see Patent Document 1). Such a walking support device includes an angle detection sensor in order to detect the angle of the joint.

  Here, the angle detection sensor includes an absolute type and an incremental type. Once the absolute type angle detection sensor is initialized, it is not necessary to perform the initial setting again. However, absolute type angle detection sensors are large, heavy, and expensive.

  On the other hand, the incremental type angle detection sensor needs to be initialized every time the user uses the walking support device, but is small, light and inexpensive. Therefore, it is preferable to use an incremental type angle detection sensor.

JP 2002-301124 A

  The initial setting of the angle detection sensor is performed in a state in which the user wears the walking support device, and it is preferable that the angle detection sensor be performed in a state in which the user is stable.

  An object of the present invention is to solve such a problem, and provides a walking support apparatus and an initial setting method thereof that allow a user to perform an initial setting of an angle detection sensor in a stable state. That is.

  A walking support device according to an aspect of the present invention is a walking support device that is mounted on a user's thigh and has an incremental type angle detection sensor at a joint portion between an upper link and a lower link, First detection means for detecting the extension state of the joint part, and initial setting means for performing initial setting of the angle detection sensor based on the extension state of the joint part detected by the first detection means. Prepare.

  In the walking support device, the joint portion includes a four-link mechanism, and the four-link mechanism includes a first link, a second link, a third link, and a fourth link. The one end of the first link and the one end of the second link are rotatably connected, and the other end of the first link and one end of the third link And the other end of the third link and one end of the fourth link are rotatably connected, and the other end of the second link and the end The other end of the fourth link is rotatably connected, the upper link is connected to the first link, the lower link is connected to the second link, and the first link is connected to the first link. The connecting part between the link and the second link is a joint axis of the joint part, and the initial setting means includes: Based on rotation of the serial third link and the fourth link, detecting extended state of the joint portion, it is preferred.

  In the walking support device, the four-joint link mechanism includes a stopper that restrains the rotation of the third link and the fourth link after being turned back, and the first detection unit includes the third link. So as to detect the extension state of the joint part within a region from the turning point of the third link and the fourth link to the restraint by the stopper. The initial setting means until the rotation of the third link and the fourth link is restrained by the stopper from the turning point of the third link and the fourth link. If it is within the region, it is preferable to determine that the joint portion is in the extended state, and to perform initial setting of the angle detection sensor.

  In the above walking support device, the sum of the length of the first link and the length of the second link is longer than the sum of the length of the third link and the length of the fourth link, and The length of the second link is longer than the length of the third link, the driving force is transmitted from the driving means to the connecting portion between the first link and the third link, and the first detecting means is It is preferable that the first link and the third link are arranged at a connecting portion.

  In the walking support device, a second detection unit configured to detect whether or not a rotation angle of the joint unit has entered the extension support region of the joint unit, and the joint unit based on a detection result of the second detection unit. It is preferable to further comprise extension support means for executing the extension support operation.

  In the walking support apparatus, the first detection unit is disposed on the extension direction side of the joint unit with respect to the second detection unit at a connection portion between the first link and the third link. It is preferable.

  An initial setting method of a walking support device according to an aspect of the present invention is a walking support device that is attached to a user's thigh and has an incremental type angle detection sensor at a joint portion between an upper link and a lower link. An initial setting method, comprising: a step of detecting an extension state of the joint portion; and a step of performing an initial setting of the angle detection sensor based on the detected extension state of the joint portion.

  In the initial setting method of the walking support device, the walking support device includes a four-joint link mechanism at the joint, and the four-joint link mechanism includes a first link, a second link, and a third link. And a fourth link, wherein one end of the first link and one end of the second link are rotatably connected, and the other end of the first link And one end of the third link are rotatably connected, and the other end of the third link and one end of the fourth link are rotatably connected, The other end of the second link and the other end of the fourth link are rotatably connected, the upper link is connected to the first link, and the lower link is connected to the second link. The link part of the first link and the second link is connected to the joint part. It is the joint axis, on the basis of the rotation of said fourth link and the third link, detecting extended state of the joint portion, is preferred.

  In the initial setting method of the walking support device, the rotation of the third link and the fourth link is caused by the stopper of the four-link mechanism from the turning point of the third link and the fourth link. It is preferable to detect the extension state of the joint within a region until restrained.

  In the initial setting method of the walking support apparatus, the four-link mechanism is configured such that the sum of the length of the first link and the length of the second link is the length of the third link and the length of the fourth link. And the length of the second link is longer than the length of the third link, and the driving force is applied from the driving means to the connecting portion between the first link and the third link. Preferably, the extension state of the joint portion is detected at the connecting portion between the first link and the third link.

  In the initial setting method of the walking support device, the step of detecting whether or not the rotation angle of the joint portion has entered the extension support region of the joint portion, and the extension support operation of the joint portion is executed based on the detected result It is preferable to further include the step of:

  As described above, according to the present invention, it is possible to provide a walking support device and an initial setting method thereof that can perform an initial setting of the angle detection sensor in a stable state.

It is a perspective view which shows roughly the usage type of the walking assistance apparatus which concerns on embodiment of this invention. It is a front view which shows roughly the usage pattern of the walking assistance apparatus which concerns on embodiment of this invention. It is a side view which shows roughly the usage pattern of the walk assistance apparatus which concerns on embodiment of this invention. FIG. 3 is a configuration block diagram of a control system in the walking support apparatus according to Embodiment 1 of the present invention. It is a side view which shows the walking assistance apparatus which concerns on Embodiment 1 of this invention. It is a figure for demonstrating a 4-joint link mechanism. It is a figure which shows the angle area | region of the lower link with respect to an upper link where the initialization of an angle detection sensor is performed. It is a figure which shows the relationship between the speed ratio of a drive motor, and a knee-axis angle. It is a perspective view which expands and shows the surroundings of the 4-joint link mechanism in the state where the knee was bent. It is a perspective view which expands and shows the surroundings of the 4-joint link mechanism in the state where the knee extended. It is a flowchart figure which shows the initial setting method of the walk assistance apparatus which concerns on Embodiment 1 of this invention. It is a block diagram of the configuration of the control system in the walking support apparatus according to Embodiment 2 of the present invention. It is a figure which shows the angle area | region of the lower link with respect to the upper link where extension support is performed, and the angle area | region of the lower link with respect to the upper link where the initialization of an angle detection sensor is performed. It is a flowchart figure which shows the initial setting method of the walk assistance apparatus which concerns on Embodiment 2 of this invention.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
First, a basic configuration of the walking support device according to the present embodiment will be described. As shown in FIGS. 1 to 3, the walking support device is attached to, for example, a user's thigh and is preferably used to support the user's walking. As shown in FIGS. 1 to 4, the walking support device 1 includes an upper link 2, a lower link 3, a foot placement unit 4, a knee mounting unit 5, a drive unit 6, an angle detection sensor 7, and a control. Part 8 and waist mounting part 9.

  The upper link 2 is disposed on the side of the user's upper thigh. The upper links 2 of the present embodiment are respectively disposed on the left and right sides of the user's upper thigh and extend toward the front of the user. The upper end portion of the upper link 2 is connected to the side portion of the upper leg holding portion 10. A lower end portion of the upper link 2 is rotatably connected to the lower link 3.

  Here, the upper thigh holding part 10 is a plate-like member and has a curved shape so as to follow the outer peripheral shape of the user's upper thigh. The inner surface of the curved surface is brought into contact with the user's upper leg. Here, it is preferable that a buffer member such as a sponge is provided on the inner surface.

  The lower link 3 is disposed on the side of the shin portion of the user's lower leg. The lower links 3 of the present embodiment are respectively arranged on the left and right sides of the user's shin part. The upper end portion of the lower link 3 is rotatably connected to the lower end portion of the upper link 2. A lower end portion of the lower link 3 is rotatably connected to the sole mounting portion 4.

  The sole placement unit 4 supports the user's foot. The sole mounting part 4 of the present embodiment includes a mounting part 4a and an arm 4b. The placement portion 4a is a plate-like member on which a user's sole is placed. The arm 4b connects the placement portion 4a to the lower link 3. That is, the arms 4b are arranged on both the left and right sides of the ankle portion of the user's lower leg.

  The upper end portion of the arm 4b is rotatably connected to the lower end portion of the lower link 3. The lower end part of the arm 4b is connected to the side part of the mounting part 4a. Thereby, the user's weight can be supported by the walking support apparatus 1.

  The knee mounting part 5 includes an arch 5a and a binding not shown. The arch 5a connects the connecting portions of the left and right upper links 2 and the lower links 3 to each other. The binding is provided on the arch 5a. The binding fixes the arch 5a to the user's knee. The binding is not particularly limited as long as the arch 5a can be fixed to the user's knee. For example, the binding includes a band that can be attached to and detached from the user's knee.

  The driving unit 6 transmits a driving force to a connecting portion between the upper link 2 and the lower link 3. The drive unit 6 includes a drive motor 6a and a speed reducer 6b. The drive motor 6 a is driven based on a control signal from the control unit 8. The driving force of the drive motor 6a is input to the speed reducer 6b.

  The speed reducer 6b amplifies the driving force input from the driving motor 6a and transmits the amplified driving force to the rotating shaft of the connecting portion between the upper link 2 and the lower link 3. As a result, the lower link 3 is rotationally driven with respect to the upper link 2 in the front-rear direction of the user.

  The angle detection sensor 7 is provided at a connecting portion between the upper link 2 and the lower link 3, and detects a rotation angle of the lower link 3 with respect to the upper link 2. The angle detection sensor 7 outputs a detection signal to the control unit 8.

  Incidentally, the walking support device 1 of the present embodiment also includes a sensor that detects a user's gait, a sensor that detects a load that acts on the sole of the user, and the like, similar to a general walking support device. These detection signals are output to the control unit 8.

  The control unit 8 generates a control signal for controlling the drive motor 6a of the drive unit 6 based on the detection signal of each sensor, and controls the drive motor 6a to support the user's walking based on the control signal. To do. In the present embodiment, since the control of the drive motor 6a of the control unit 8 is not an essential part, the description is omitted, but it can be performed in the same manner as a general walking support device.

  The waist mounting portion 9 includes a belt 9a and a storage box 9b. The belt 9a is configured to be detachable from the user's waist. The storage box 9b is provided on the belt 9a. The storage box 9b stores a battery as a power source for the drive unit 6 and the like, a control board on which the control unit 8 is mounted, and the like. The battery and the control board stored in the storage box 9b are connected to the drive motor 6a, the angle detection sensor 7 and the like via the wiring 11.

  Based on the above-described configuration, the walking support device 1 of the present embodiment includes a four-bar linkage mechanism 12, a first detection unit 13, and an initial setting unit 14, as shown in FIGS. However, the walking support device 1 shown in FIG. 5 is different from the configuration shown in FIG.

  The four-joint link mechanism 12 is disposed at a connection portion (joint portion) between the upper link 2 and the lower link 3. As shown in FIG. 6, the four-link mechanism 12 includes a first link 121, a second link 122, a third link 123, a fourth link 124, and a stopper 125.

  The first link 121 is connected to the upper link 2. The first link 121 of the present embodiment includes a protruding piece 121a to which the lower end portion of the upper link 2 is connected, and the lower end portion of the upper link 2 is connected to the protruding piece 121a.

  One end of the first link 121 is rotatably connected to one end of the second link 122. In the present embodiment, the rotation shaft 126 of the connecting portion is the knee axis (joint axis) of the walking support device 1.

  The other end of the first link 121 is rotatably connected to one end of the third link 123. In the present embodiment, the driving force from the driving unit 6 is transmitted to one end of the third link 123.

  The second link 122 is connected to the lower link 3. As shown in FIG. 5, the second link 122 of the present embodiment is formed integrally with the lower link 3. Further, the second link 122 is connected to the arch 5 a of the knee mounting portion 5. The second link 122 of the present embodiment includes a protruding piece 122a to which the side portion of the arch 5a is connected, and the side portion of the arch 5a is connected to the protruding piece 122a.

The other end of the second link 122 is rotatably connected to one end of the fourth link 124.
The other end of the third link 123 is rotatably connected to the other end of the fourth link 124.

  That is, the first link 121 and the second link 122 constitute a knee joint, and the third link 123 and the fourth link 124 constitute an auxiliary link.

  Here, each link satisfies the following relationship. The sum of the length L1 of the first link 121 and the length L2 of the second link 122 is longer than the sum of the length L3 of the third link 123 and the length L4 of the fourth link 124, and The length L2 of the second link 122 is longer than the length L3 of the third link 123.

  By satisfying such a relationship, the third link 123 and the fourth link 124 forming the auxiliary link are in a straight line, that is, the third link 123 and the fourth link 124, with the user's knee extended. Is set at the turning point, the four-joint link mechanism 12 is in a self-locking state with the user's knee extended.

  Therefore, when the third link 123 and the fourth link 124 are arranged in a straight line, it is determined that the user's knee is in the extended state, and the angle detection sensor 7 is initially set in this state. Since the four-joint link mechanism 12 is in a self-locking state, the knee of the user is not unstable, and the angle detection sensor 7 can be initialized while the user is stable.

  As shown in FIG. 6, the stopper 125 restrains the rotation of the third link 123 and the fourth link 124 after the folding operation of the third link 123 and the fourth link 124. In the stopper 125 of the present embodiment, after the third link 123 and the fourth link 124 are arranged in a straight line, the angle θ1 formed by the third link 123 and the fourth link 124 is further increased. On the direction side, when the third link 123 and the fourth link 124 rotate by a predetermined angle, they are arranged so as to restrain the subsequent rotation.

  That is, in the arrangement state in which the third link 123 and the fourth link 124 exceed the arrangement state in which the third link 123 is in a straight line, and the angle θ1 formed by the third link 123 and the fourth link 124 exceeds 180 °, When an external force is generated on the bending direction side of the knee, the third link 123 and the fourth link 124 rotate in the direction in which the angle θ1 formed by the third link 123 and the fourth link 124 increases. Therefore, the stopper 125 is disposed on the rotation region side of the third link 123 and the fourth link 124.

  Therefore, if the third link 123 and the fourth link 124 exceed the arrangement state in which they are in a straight line, it is determined that the extension state of the user's knee is a stable state, and as illustrated in FIG. In the angle region θ2 until the rotation of the third link 123 and the fourth link 124 is restrained by the stopper 125, exceeding the arrangement state in which the third link 123 and the fourth link 124 are in a straight line. It is preferable to perform initial setting of the angle detection sensor 7. As described above, even when an external force is generated on the bending direction side of the knee, the rotation of the third link 123 and the fourth link 124 is restrained by the stopper 125, so that the user's knee may become unstable. In addition, the angle detection sensor 7 can be initialized while the user is in a stable state.

  Incidentally, the stopper 125 is provided in the second link 122, for example. However, the installation position of the stopper 125 is not particularly limited.

  The first detection unit 13 is an origin sensor. If the first detection unit 13 can detect that the positional relationship between the third link 123 and the fourth link 124 as described above is established in order to perform the initial setting of the angle detection sensor 7, The setting location is not particularly limited.

  In general, when initial setting of an incremental sensor is performed, the initial setting of the sensor is repeatedly performed based on the detection signal of the first detection unit 13 in order to increase the accuracy of the initial setting. For example, the drive motor 6 a is driven, the first detection unit 13 repeatedly detects a predetermined position of the movable unit, and the predetermined position is set as the origin position of the angle detection sensor 7. At this time, when the movable part is operated by driving the drive motor 6a, if the joint part of the walking support apparatus 1 moves greatly, the user becomes unstable.

  Here, by satisfying the relationship of each link described above, the four-joint link mechanism 12 is almost at the knee axis even if the drive motor 6a is driven in the vicinity of the turning point between the third link 123 and the fourth link 124. Can create a state that does not rotate. That is, as shown in FIG. 8, it is possible to create a state in which the knee axis angle hardly changes even when the drive motor 6a is driven in a predetermined knee axis angle region.

  For this reason, the present embodiment has the following configuration. Here, FIGS. 9 and 10 are perspective views so that the operations of the links and the first detection unit 13 can be easily understood.

  The first detection unit 13 includes a contact member 13a and a contact sensor 13b. The contact member 13 a is provided on the outer peripheral portion of the drive shaft 6 c of the drive unit 6. Here, after the contact member 13 a exceeds the arrangement state in which the third link 123 and the fourth link 124 are in a straight line, the rotation of the third link 123 and the fourth link 124 is caused by the stopper 125. When the third link 123 and the fourth link 124 are arranged in the angle region θ2 until being restrained, they are arranged so as to contact the contact sensor 13b. The contact sensor 13 b is provided on the support member 15 that supports the drive unit 6. The contact sensor 13b outputs an ON signal to the initial setting unit 14 when being in contact with the contact member 13a. Incidentally, the support member 15 is provided in the upper link 2.

  One end of the first link 121 is rotatably connected to the drive shaft 6 c of the drive unit 6. That is, the driving force of the driving unit 6 is not directly transmitted from one end of the first link 121. A connecting portion between the other end portion of the first link 121 and one end portion of the second link 122 is connected to, for example, a support member 15 that supports the driving portion 6.

  Incidentally, the third link 123 corresponds to a straight line portion connecting the connection portion between the center of the drive shaft 6 c of the drive portion 6 and one end portion of the fourth link 124. A connecting portion between the third link 123 and the fourth link 124 is connected to the contact member 13a.

  That is, when the user's knee is bent as shown in FIG. 9 and the user's knee is extended as shown in FIG. 10, the drive shaft 6c of the drive unit 6 rotates in the arrow A direction. The rotation of the third link 123 and the fourth link 124 after the contact member 13a moves to the contact sensor 13b side and exceeds the arrangement state where the third link 123 and the fourth link 124 are in a straight line. When the third link 123 and the fourth link 124 are disposed in the angle region θ2 until the second contact member 13a is restrained by the stopper 125, the end surface of the contact member 13a contacts the contact sensor 13b, and the contact sensor 13b An ON signal is output to the initial setting unit 14.

  The initial setting unit 14 starts the initial setting of the angle detection sensor 7 when an ON signal is input from the contact sensor 13b. Specifically, as shown in FIG. 11, the walking support device 1 executes initial setting of the angle detection sensor 7.

  First, for example, when the walking assist device 1 enters a standby state by turning on the power switch, for example, it is assumed that the current angular position is at the bending side limit, and the current value is set to the angle value of the bending limit (S1). ). Next, the control unit 8 sets a target angle of the lower link 3 with respect to the upper link 2 (S2). For example, the control unit 8 sets the angle θ3 (FIG. 7) of the lower link 3 with respect to the upper link 2 to 2 °.

  Next, the angle detection sensor 7 detects the angle θ3 of the lower link 3 with respect to the current upper link 2, and outputs a detection signal to the control unit 8 (S3). The control unit 8 calculates the angle θ3 of the lower link 3 with respect to the upper link 2 based on the detection signal input from the angle detection sensor 7, and based on the calculated angle θ3 and the target angle, the drive unit 6 is generated (S4).

  Next, the drive motor 6a is driven based on a control signal input from the control unit 8 so that the user's knee extends (S5). At this time, the initial setting unit 14 determines whether or not an ON signal is input from the contact sensor 13b (S6).

  If the end surface of the contact member 13a is not in contact with the contact sensor 13b and the ON signal is not yet input from the contact sensor 13b to the initial setting unit 14 (NO in S6), the control unit 8 detects from the angle detection sensor 7. It returns to the process (S3) which acquires a signal.

  On the other hand, when the end surface of the contact member 13a comes into contact with the contact sensor 13b and an ON signal is input from the contact sensor 13b to the initial setting unit 14 (YES in S6), the initial setting unit 14 connects the third link 123 and the first link. An instruction signal is output to the control unit 8 so that the third link 123 and the fourth link 124 are slightly rotated and stopped in a direction in which the angle θ1 formed by the fourth link 124 becomes larger. When the instruction signal is input from the initial setting unit 14, the control unit 8 generates a control signal and outputs the control signal to the drive motor 6 a of the drive unit 6. The drive motor 6a operates based on a control signal input from the control unit 8 (S7).

  Next, the initial setting unit 14 performs control so that the third link 123 and the fourth link 124 rotate in a direction in which the angle θ1 formed by the third link 123 and the fourth link 124 decreases. An instruction signal is output to the unit 8. When the instruction signal is input from the initial setting unit 14, the control unit 8 generates a control signal and outputs the control signal to the drive motor 6 a of the drive unit 6. The drive motor 6a operates based on a control signal input from the control unit 8 (S8).

  Next, the angle detection sensor 7 detects the angle θ3 of the lower link 3 with respect to the current upper link 2, and outputs a detection signal to the initial setting unit 14 (S9). At this time, the initial setting unit 14 determines whether or not the ON signal input from the contact sensor 13b has been interrupted (S10).

  When the end surface of the contact member 13a is still in contact with the contact sensor 13b and the ON signal is intermittently input from the contact sensor 13b (NO in S10), the initial setting unit 14 is connected to the third link 123 and the third link 123. The process returns to the step (S8) of rotating the third link 123 and the fourth link 124 in the direction in which the angle θ1 formed by the fourth link 124 decreases.

  On the other hand, when the contact sensor 13b and the end face of the contact member 13a are in a non-contact state and the input of the ON signal from the contact sensor 13b is interrupted (YES in S10), the initial setting unit 14 The operation of rotating the third link 123 and the fourth link 124 in a direction in which the angle θ1 formed by the four links 124 becomes smaller is stopped, and the initial setting (origin reset processing) of the angle detection sensor 7 is executed. (S11).

  In other words, the origin of the angle detection sensor 7 set in the past is reset, and the angle θ3 of the lower link 3 with respect to the upper link 2 when the contact member 13a contacts the contact sensor 13b, the contact sensor 13b, and the contact member The average value of the angle θ3 of the lower link 3 with respect to the upper link 2 when the end face of 13a is in a non-contact state is calculated, and the lower link with respect to the upper link 2 at the calculated average value 3 is reset as the origin of the angle detection sensor 7.

  In the present embodiment, even if the drive shaft 6c of the drive unit 6 is repeatedly rotated in different directions, the first link 121 and the second link are in the vicinity of the turning point between the third link 123 and the fourth link 124. The third link 123 and the fourth link 124 are arranged so that the rotation axis 126 of the connecting portion with the link 122, that is, the knee axis, takes advantage of the fact that the rotation hardly occurs and the movement of the rotation axis 6c can be detected. Since the 1st detection part 13 has been arrange | positioned in the connection part, a user can perform the initial setting of the angle detection sensor 7 with almost no sense of incongruity.

<Embodiment 2>
Here, it is preferable that the initial setting of the angle detection sensor 7 is configured to support the extension of the user's knee. That is, as shown in FIG. 12, the walking support device preferably further includes a second detection unit 16 and an extension support unit 17 in addition to the above-described elements.

  As shown in FIGS. 9 and 10, the second detection unit 16 includes a contact member 16a and a contact sensor 16b. The contact member 16a of the present embodiment is a common member with the contact member 13a of the first detection unit 13. The contact member 16a is provided on the drive shaft 6c of the drive unit 6. For example, when the user is seated, the contact support device 16a is attached to the walking support device to extend the knee, and the drive shaft 6c of the drive unit 6 moves in the direction of arrow A. When it rotates by a predetermined angle, it contacts the contact sensor 16b. The contact sensor 16 b outputs an ON signal to the extension support unit 17. Here, the contact member 16a has such a shape that the contact with the contact sensor 16b is continued until at least the third link 123 and the fourth link 124 are arranged in a straight line.

  When an ON signal is input from the contact sensor 16b, the extension support unit 17 supports the extension of the user's knee by controlling the drive motor 6a of the drive unit 6. That is, when the input of the ON signal is started from the contact sensor 16b, for example, it can be estimated that the user is going to shift from the sitting state to the standing state. Therefore, as shown in FIG. 13, when the angle θ3 of the lower link 3 with respect to the upper link 2 becomes smaller than a predetermined angle (for example, θ3 = 20 °), the extension support unit 17 extends the knee of the user. Support. Specifically, as shown in FIG. 14, the walking assistance device supports extension of the user's knee.

  First, when the power switch of the walking support device is turned on and enters a standby state (S11), the extension support unit 17 determines whether an ON signal is input from the contact sensor 16b (S12). If the ON signal is not input from the contact sensor 16b (NO in S12), it can be estimated that the user is not willing to extend the knee, so the process returns to the standby state (S11) of the walking support device.

  When the ON signal is input from the contact sensor 16b (YES in S12), the extension support unit 17 proceeds to steps S13 to S22. Here, steps S13 to S22 are the same as the steps S2 to S11 of the initial setting of the angle detection sensor 7 of the first embodiment, and thus redundant description is omitted. When the initial setting of the angle detection sensor 7 is completed, the initial setting unit 14 outputs a signal to that effect to the extension support unit 17.

  When the extension support unit 17 receives a signal indicating that the initial setting of the angle detection sensor 7 has been completed from the initial setting unit 14, the extension support unit 17 again sets the target angle (for example, 2 °) of the lower link 3 with respect to the upper link 2. The controller 8 is set (S23).

  Next, the angle detection sensor 7 detects the angle θ3 of the lower link 3 with respect to the current upper link 2, and outputs a detection signal to the control unit 8 (S24). The control unit 8 calculates the angle θ3 of the lower link 3 with respect to the upper link 2 based on the detection signal input from the angle detection sensor 7, and calculates the angle of the lower link 3 with respect to the calculated upper link 2 Based on θ3 and the target angle, a control signal for the drive motor 6a of the drive unit 6 is generated (S25).

  The drive motor 6a operates based on a control signal input from the control unit 8 (S26). At this time, the extension support unit 17 determines whether the absolute value of the difference between the angle θ3 of the lower link 3 relative to the current upper link 2 input from the angle detection sensor 7 and the target angle is smaller than a preset threshold value. It is determined whether or not (S27).

  If the absolute value of the difference between the angle θ3 of the lower link 3 relative to the current upper link 2 and the target angle is equal to or greater than a preset threshold value (NO in S27), the extension support unit 17 In order to continue the control of the drive motor 6a of the drive unit 6, the process returns to the step of causing the control unit 8 to acquire a detection signal from the angle detection sensor 7 (S24).

  On the other hand, when the absolute value of the difference between the angle θ3 of the lower link 3 with respect to the current upper link 2 and the target angle is smaller than a preset threshold value (YES in S27), the extension support unit 17 controls the control unit 8. The control of the drive motor 6a of the drive unit 6 is terminated.

  Such a walking support device and an initial setting method support the initial setting of the angle detection sensor 7 until the knee in the bent state is in the extended state. Therefore, the angle detection sensor 7 is in a stable state. Can be initialized. For example, the user's knee is not bent carelessly during the initial setting of the angle detection sensor 7, and the user does not lose his posture.

  In addition, after the initial setting of the angle detection sensor 7, the angle θ3 of the lower link 3 with respect to the upper link 2 is readjusted, so that the knee extension control of the user is started from an accurate position. Can do.

  As mentioned above, although the embodiment of the walking support device and the initial setting method according to the present invention has been described, the present invention is not limited to the above and can be changed without departing from the technical idea of the present invention.

DESCRIPTION OF SYMBOLS 1 Walking assistance apparatus 2 Upper link 3 Lower link 4 Foot placement part, 4a Placement part, 4b Arm 5 Knee mounting part, 5a Arch 6 Drive part, 6a Drive motor, 6b Reduction gear, 6c Drive shaft 7 Angle detection sensor 8 Control part 9 Waist wearing part, 9a Belt, 9b Storage box 10 Upper thigh holding part 11 Wiring 12 Four-bar link mechanism 13 First detection part, 13a Contact member, 13b Contact sensor 14 Initial setting part 15 Support member 16 Second detection unit, 16a Contact member, 16b Contact sensor 17 Extension support unit 121 First link, 121a Projection piece 122 Second link, 122a Projection piece 123 Third link 124 Fourth link 125 Stopper 126 Rotation axis

Claims (9)

A walking support device mounted on a user's thigh and having an incremental type angle detection sensor at a joint disposed between an upper link and a lower link,
Drive means provided at the lower end of the upper link, the upper end of the lower link being connected to a drive shaft, and rotating the lower link relative to the upper link;
First detecting means for detecting an extension state of the joint part;
Initial setting means for starting the initial setting of the angle detection sensor based on the extension state of the joint part detected by the first detection means;
Equipped with a,
The joint has a four-bar linkage mechanism,
The four-joint link mechanism includes a first link, a second link, a third link, and a fourth link,
One end of the first link and one end of the second link are rotatably connected,
The other end of the first link is rotatably connected to the drive shaft,
One end of the third link is coupled to the drive shaft so as to be able to transmit a driving force from the drive shaft,
The other end of the third link and one end of the fourth link are rotatably connected,
The other end of the second link and the other end of the fourth link are rotatably connected,
A lower end of the upper link is connected to the first link;
The upper end of the lower link is connected to the second link,
The first link and the second link constitute a main link of the joint portion, and a connecting portion between one end portion of the first link and one end portion of the second link is It is a joint axis of the joint part,
When the third link and the fourth link constitute an auxiliary link of the joint portion, and the third link and the fourth link are arranged in a straight line, the knee of the user When the four-link mechanism is in a self-locking state with
The first detection means includes a first contact member and a first contact sensor, and the first contact member and the first contact sensor include the third link and the fourth contact sensor. When the link is rotated in a direction in which the internal angle (θ1) of the four-joint link mechanism formed by the third link and the fourth link exceeds the state where the links are arranged in a straight line, the first contact A member is disposed to contact the first contact sensor;
Said initial setting means, when the ON signal from the first touch sensor is input, start the initial setting of the angle detection sensor, the walking assistance device. In the four-link mechanism, the third link and the fourth link are arranged in a direction in which an internal angle (θ1) of the four-link mechanism formed by the third link and the fourth link increases. A stopper that constrains further rotation of the third link and the fourth link when rotated by a preset angle beyond the state arranged on a straight line;
The first detection means, the third link and the fourth link and said third link and the fourth rotation before Symbol stopper link from beyond the state of being arranged in a straight line until restrained by, said first contact member is in contact with the first contact sensor, the walking assistance device of claim 1. When the third link and the fourth link are arranged on a straight line, the first link is set so that the four-joint link mechanism is in a self-locking state with the user's knee extended. And the length of the second link is longer than the sum of the length of the third link and the length of the fourth link, and the length of the second link is the third length of the third link. The walking support device according to claim 1 or 2 , wherein the walking support device is longer than a length of the link. A second detection means having a second contact member and a second contact sensor;
When an ON signal is input from the second contact sensor, extension support means for controlling the drive means to support extension of the knee of the user ;
Further comprising a,
The second contact member and the second contact sensor are configured such that when the user rotates the knee at a preset angle in order to extend the knee from the seated state, the second contact member is that is placed in contact with the second contact sensor, the walking assist apparatus according to any one of claims 1 to 3. The first contact member is provided on the drive shaft, and is a common member with the second contact member,
Wherein the first contact sensor and the second touch sensor, said provided at the lower end of the upper link, the first contact sensor, before Symbol extension of the joint than the second contact sensor The walking support device according to claim 4 , which is disposed on the direction side. The upper link,
A lower link connected to the upper link via a joint between the upper link and the upper link;
An incremental type angle detection sensor provided in the joint;
Drive means provided at the lower end of the upper link, the upper end of the lower link being connected to a drive shaft, and rotating the lower link relative to the upper link;
First detecting means for detecting an extension state of the joint part;
Initial setting means for starting the initial setting of the angle detection sensor based on the extension state of the joint part detected by the first detection means;
With
The joint has a four-bar linkage mechanism,
The four-joint link mechanism includes a first link, a second link, a third link, and a fourth link,
One end of the first link and one end of the second link are rotatably connected,
The other end of the first link is rotatably connected to the drive shaft,
One end of the third link is coupled to the drive shaft so as to be able to transmit a driving force from the drive shaft,
The other end of the third link and one end of the fourth link are rotatably connected,
The other end of the second link and the other end of the fourth link are rotatably connected,
A lower end of the upper link is connected to the first link;
The upper end of the lower link is connected to the second link,
The first link and the second link constitute a main link of the joint portion, and a connecting portion between one end portion of the first link and one end portion of the second link is It is a joint axis of the joint part,
When the third link and the fourth link constitute an auxiliary link of the joint, and the third link and the fourth link are arranged in a straight line, the user's knee is In the extended state, the four-bar linkage becomes self-locking,
The first detection means includes a first contact member and a first contact sensor, and the first contact member and the first contact sensor include the third link and the fourth contact sensor. The third link and the link in a direction in which the internal angle (θ1) of the four-bar linkage mechanism formed by the third link and the fourth link increases beyond the state where the link is arranged on a straight line. When the fourth link is rotated, the first contact member is disposed so as to contact the first contact sensor.
The user wears the walking support device on the thigh,
The third link and the fourth link are rotated in a direction in which the inner angle of the four-bar linkage mechanism formed by the third link and the fourth link is larger than the state where the third link and the fourth link are arranged in a straight line. When the first contact member comes into contact with the first contact sensor and an ON signal is input from the first contact sensor, the initial setting unit starts initial setting of the angle detection sensor . Initial setting method of walking support device. A state in which the third link and the fourth link are arranged in a straight line in a direction in which an internal angle (θ1) of the four-bar linkage mechanism formed by the third link and the fourth link increases. and angular rotation previously set beyond, until the rotation of said fourth link and the third link by the stopper is binding on, the first contact member comes into contact with the first contact sensor An initial setting method for the walking support device according to claim 6 . When the third link and the fourth link are arranged on a straight line, the first link is set so that the four-joint link mechanism is in a self-locking state with the user's knee extended. And the length of the second link is longer than the sum of the length of the third link and the length of the fourth link, and the length of the second link is the third length of the third link. The initial setting method of the walking assistance device according to claim 6 or 7 , wherein the initial setting method is longer than a link length. When the user rotates the knee from a seated state by a predetermined angle, the second detection member is configured to serve as the second detection unit so that the second contact member contacts the second contact sensor. Two contact members and the second contact sensor,
In order for the user to extend the knee from the seated state, the knee is rotated by a preset angle, the second contact member comes into contact with the second contact sensor, and the second contact sensor is turned on. The method for initial setting of a walking support device according to any one of claims 6 to 8 , wherein when a signal is input, the extension support means controls the drive means so as to support extension of the knee of the user. .

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