JP6990324B2 - Exercise assist device - Google Patents

Description

The present invention relates to a device that assists a person's movement such as walking.

It is configured so that it can be attached to an assisted person such as an elderly person, a long-term care assisted person, or a worker, and an assisting force for assisting a predetermined exercise such as walking of the assisted person can be given to the assisted person from an actuator. Various exercise assisting devices have been conventionally known. For example, Patent Document 1 describes an assist that assists the movement of each hip joint of the assisted person (swinging motion of the thigh of each leg with respect to the upper body of the assisted person in the pitch direction) when the assisted person walks. An exercise assist device configured so that force can be applied to an assisted person from an electric motor arranged on the side of each hip joint has been proposed.

Further, in Patent Document 1, when the main body actuator control unit that controls the operation of the electric motor becomes a high temperature of a predetermined temperature or higher, the main body actuator control unit is stopped or restricted to generate an assisting force. It is described to avoid the occurrence of malfunction and thermal runaway.

Japanese Unexamined Patent Publication No. 2018-61663

By the way, in the exercise assisting device worn on the assisted person, the actuator is made smaller and lighter, but such an actuator tends to increase in temperature due to heat generation during operation. Then, when the actuator is arranged at a position away from the surface of the assisted subject, the actuator tends to hinder the movement of the assisted subject. Therefore, the actuator is usually arranged in a state of being close to or substantially in contact with the surface of the assisted person.

Therefore, it is desired that the temperature of the actuator does not become too high. In this case, it is conceivable to configure the actuator so that the maximum output (rated output) that the actuator can generate is set to a low output. However, since the actuator cannot generate a sufficient assisting force, the assisting force generating ability of the exercise assisting device is impaired.

The present invention has been made in view of this background, and an object of the present invention is to provide an exercise assisting device capable of appropriately suppressing the temperature rise of an actuator while preventing the ability to generate an assisting force from being impaired as much as possible. And.

The exercise assisting device of the present invention includes an actuator capable of generating an assisting force for assisting a predetermined exercise of the assisted subject in order to achieve the above object, and the assisted subject performing the predetermined exercise is provided with the actuator. An exercise assisting device mounted so as to be able to transmit an assisting force from the actuator.
During the execution of the predetermined exercise of the assisted subject, the observed value of the heat generation temperature of the actuator or the heat source side temperature which is the temperature transmitted from the actuator to the assisted subject is acquired, and the observation of the heat source side temperature is obtained. A temperature observing unit that detects that the value has risen above a predetermined temperature or that the observed value of the heat source side temperature is expected to rise above a predetermined temperature.
It is provided with an actuator control unit that controls the operation of the actuator so as to continuously or intermittently generate the assisting force.
When the temperature observing unit makes the detection, the actuator control unit detects the assisting force actually generated in the actuator during at least a part of the period in which the assisting force should be generated. The basic configuration is configured to control the operation of the actuator so as to limit the assist force to a smaller magnitude than when it is not done.

In the present invention, the "temperature transmitted from the actuator to the assisted subject" specifically means the temperature of the object whose temperature rises as the heat is transferred from the actuator to the assisted subject.

Further, the "observed value" of the heat source side temperature (heat generation temperature of the actuator or the temperature transmitted from the actuator to the assisted person) is the detected value of the heat source side temperature by an appropriate temperature sensor, or the said. It means an estimated value of the heat source side temperature estimated from each detected value of one or more state quantities having a certain correlation with the heat source side temperature.

According to the present invention having the above basic configuration, it is predicted that the observed value of the heat source side temperature rises above the predetermined temperature, or the observed value of the heat source side temperature rises above the predetermined temperature. When the temperature observing unit detects that the state has been reached, the actuator control unit actually controls the operation of the actuator to actually generate the auxiliary force in the actuator during at least a part of the period in which the auxiliary force should be generated. The assisting force to be caused is limited to an assisting force having a smaller magnitude than the case where the detection is not made. As a result, the temperature rise is suppressed if the temperature on the heat source side is further increased.

Further, when the temperature observing unit does not detect the temperature on the heat source side, the limitation on the magnitude of the auxiliary force generated in the actuator is not applied.

Therefore, according to the present invention having the above basic configuration, it is possible to appropriately suppress the temperature rise of the actuator while preventing the ability to generate the assisting force from being impaired as much as possible.

In the present invention having the above basic configuration, the partial period is the magnitude of the assisting force when it is assumed that the assisting force is generated without the limitation in the period during which the assisting force should be generated. Is a period exceeding a predetermined limit value, and when the period in which the assisting force should be generated includes the partial period, the actuator control unit actually performs the actuator in the actuator at least in the partial period. It is possible to adopt an embodiment in which the magnitude of the assisting force to be generated is limited to a magnitude equal to or less than the limit value (Invention A ).

According to this, when the detection is made by the temperature observing unit, the magnitude of the auxiliary force actually generated by the actuator is limited to a magnitude equal to or less than the predetermined limit value. Therefore, it is possible to effectively suppress the further increase in the heat source side temperature due to the heat generation of the actuator.

In the above-mentioned invention A , the actuator control unit determines the magnitude of the assisting force actually generated in the actuator in a period other than the part of the period in which the assisting force should be generated. It is preferable that the operation of the actuator is controlled so as to be smaller than the auxiliary force actually generated in the actuator during the period of (Invention B ) .
Then, as a more specific aspect of the B invention, the actuator control unit attaches the actuator to the actuator at least in the partial period when the period in which the assisting force should be generated includes the partial period. It is configured to limit the size of the assisting force to be actually generated to a constant value smaller than the limit value, and the period in which the assisting force should be generated is other than a part of the period. In the period, the magnitude of the assisting force actually generated in the actuator becomes smaller than the magnitude of the constant value actually generated in the actuator in the part of the period, and the period other than the part of the period. The waveform of the assisting force actually generated in the actuator is similar to the waveform of the assisting force generated in a period other than the partial period, assuming that the assisting force is generated without the limitation. It is possible to adopt an embodiment in which the operation of the actuator is controlled so as to have a waveform (first invention).

According to this, when the detection is made by the temperature observing unit, the magnitude of the auxiliary force actually generated in the period in which the auxiliary force should be generated is the magnitude in the partial period and the magnitude in the other period. It is possible to prevent the magnitude relationship with the size from being opposite to the original magnitude relationship realized when it is assumed that the assisting force is generated without the limitation. As a result, it is possible to appropriately change the magnitude of the assisting force that is actually generated during the period in which the assisting force should be generated.

In the present invention having the above basic configuration, the partial period is the magnitude of the assisting force when it is assumed that the assisting force is generated without the limitation in the period during which the assisting force should be generated. Is a period exceeding a predetermined limit value, and when the period in which the assisting force should be generated includes a part of the period, the actuator control unit applies the assisting force to the actuator in the period in which the assisting force should be generated. The maximum value of the magnitude of the assisting force actually generated is limited to a predetermined limit value or less, and the limited waveform which is the waveform of the change over time of the assisting force actually generated is assisted without the limitation. An aspect is adopted in which the operation of the actuator is controlled so as to have a waveform similar to an unlimited waveform which is a waveform of the change with time of the assisting force obtained when a force is generated. It can also be done ( second invention).

In the present invention, the fact that the restricted waveform resembles the unrestricted waveform means that f (t) is a function representing the time course of the assisting force during the generation period of the assisting force of the restricted waveform. When the function representing the change with time of the auxiliary force of the unrestricted waveform in the generation period is expressed as g (t), it means that the relationship of f (t) ≈k · g (t) is established.

According to the second invention, the maximum value of the magnitude of the assisting force actually generated by the actuator is limited to a predetermined limit value or less during the period when the assisting force should be generated, so that the same as the second invention. In addition, it is possible to effectively suppress the further increase in the heat source side temperature due to the heat generation of the actuator.

In addition, since the actuator operation control is performed so that the restricted waveform becomes a waveform similar to the unrestricted waveform, the actual assisting force with the limitation is the assisting force without the limitation. It changes with a change pattern similar to the original change pattern over time that is realized when it is assumed to occur. Therefore, the assisting force that is actually generated during the period in which the assisting force should be generated can be changed over time in a suitable change pattern for assisting a predetermined exercise of the assisted person.

In the present invention having the above basic configuration, the actuator has a first-direction assisting force for assisting the movement of a specific limb of the assisted person in a predetermined direction and movement in a direction opposite to the predetermined direction. In the case of an actuator capable of selectively generating a second-direction assisting force for assisting, the actuator control unit may use the first-direction assisting force when the detection is made by the temperature observing unit. It is possible to adopt an embodiment configured to independently limit the magnitude of the second direction assisting force and the magnitude of the second direction assisting force (Invention C ) .
Then, as a more specific embodiment of the invention C, when the predetermined movement of the assisted subject is the walking motion of the assisted subject, the actuator moves in the bending direction of the leg of the assisted subject. The actuator is an actuator capable of alternately generating a first-direction assisting force for assisting the movement of the leg and a second-direction assisting force for assisting the movement of the leg in the extension direction, and the actuator control unit is the actuator. When the detection is made by the temperature observing unit, the first direction assisting force or the first of the period during which the actuator generates the first direction assisting force and the period during which the second direction assisting force is generated. Only during the period when the magnitude of the two-way assisting force exceeds the predetermined limit value, the magnitude of the first-direction assisting force or the second-direction assisting force actually generated in the actuator is equal to or less than the limit value. It is possible to adopt an embodiment configured to control the operation of the actuator so as to limit the operation to.

According to this, it is possible to independently limit the first-direction assisting force and the second-direction assisting force generated by the actuator in opposite directions. Therefore, when the detection is made by the temperature observing unit, it is possible to appropriately limit each of the first-direction assisting force and the second-direction assisting force while preventing them from being restricted more than necessary.

In the present invention having the above basic configuration , the exercise assisting device includes the pair of actuators that generate assisting forces for assisting the movement of the pair of left and right limbs of the assisted person at the same joints with each other. In this case, the temperature observing unit is configured to detect the heat source side temperature corresponding to each of the pair of actuators, and the actuator control unit is configured to perform the detection with respect to the heat source side temperature corresponding to each of the pair of actuators. When the detection is made by the temperature observing unit with respect to the heat source side temperature corresponding to the actuator, the limitation regarding the magnitude of the auxiliary force actually generated in one actuator and the actual generation in the other actuator are made. It may be configured to perform both of the limitations with respect to the magnitude of the assistive force ( D ).

According to this, when the detection is made by the temperature observing unit with respect to the heat source side temperature corresponding to one of the actuators of the pair of actuators, the said regarding the magnitude of the auxiliary force with respect to both actuators. Since the restriction is applied, the assisting force acting on the assisted subject when exercising on the left limb joint of the assisted subject and the assisting force acting on the assisted subject when exercising on the right limb joint. It is possible to prevent the mutual balance from being impaired.

The figure which shows the exercise assist device of embodiment of this invention, and an external terminal. The figure which shows the structure about operation control of the exercise assist device of embodiment. The flowchart which shows the processing of the control apparatus 12 shown in FIG. FIG. 4A is a graph showing a first example of the change over time of the assisting force without restriction, and FIG. 4B is a graph showing the first example of the change with time of the assisting force with limitation. FIG. 5A is a graph showing a second example of the change over time of the assisting force when the assisting force is not restricted, and FIG. 5B is a graph showing the second example of the time-dependent change of the assisting force when the assisting force is restricted. The graph which shows the 3rd example of the time-dependent change of the assisting force at the time of limitation.

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5B. With reference to FIG. 1, the exercise assisting device 1 of the present embodiment is a device that assists a walking exercise as an example of a predetermined exercise of the assisted person P. In the following description, "left" and "right" mean the left side and the right side of the person to be assisted P, respectively, unless otherwise specified. Then, among the components of the exercise assist device 1, "L" is added to the reference code of the component on the left side of the assisted person P, and "R" is added to the reference code of the component on the right side. However, when it is not necessary to distinguish between left and right, the additions of "L" and "R" are omitted.

In the present embodiment, the exercise assisting device 1 provides, for example, an assisting force to assist the flexion motion or extension motion of at least one leg of the left and right legs in the walking motion of the assisted person P at the thigh portion of the leg. It is a device configured to be attached to. In the present embodiment, the leg of the assisted person P corresponds to the limb in the present invention.

Here, in the flexion motion of each leg of the assisted subject P at the hip joint, the thigh of the leg becomes the trunk axis of the upper body (torso) of the assisted subject P due to the displacement motion of the hip joint of the leg. On the other hand, the pitch direction (left-right direction of the assisted person P) with respect to the upper body so as to be tilted forward (for example, the tilted state of the thigh of the left leg of the assisted person P in FIG. 1). It is an operation of rotational displacement (in the direction around the axis). Further, in the extension motion of each leg, the thigh portion of the leg is tilted backward with respect to the trunk axis of the upper body of the assisted subject P due to the displacement motion of the hip joint of the leg (for example, FIG. 1). This is an operation of rotationally shifting in the pitch direction with respect to the upper body so as to be in the tilted state of the thigh of the leg on the right side of the assisted person P.

As shown in FIG. 1, the exercise assisting device 1 is a device attached to the assisted person P. The exercise assist device 1 has a waist support member 3 attached to the waist portion via an appropriate attachment member 2 such as a belt in a state of being in contact with the back surface of the waist portion of the assist target person P, and the waist support member 3. A pair of left and right upper body side frames extending from the left and right hip joints of the assisted person P to the lateral positions (specifically, the left side position of the left hip joint part and the right side position of the right hip joint part). It is in contact with the 4L, 4R, the actuators 5L, 5R attached to the tips of the left and right upper body side frames 4L, 4R, respectively, and the front part near the lower part of the thigh of each leg of the assisted person P. In this state, the leg rest members 7L and 7R mounted on the thigh via appropriate mounting members 6L and 6R such as a belt, and the left and right actuators 5L and 5R and the leg rest members 7L and 7R are attached. It is equipped with leg-side frames 8L and 8R to be connected.

In FIG. 1, the upper body side frame 4R and the actuator 5R on the right side of the assisted person P are not shown because they are hidden behind the assisted person P.

Each actuator 5 is a rotary type actuator, and is composed of, for example, an electric motor. Each actuator 5 is arranged in a state of being close to (or substantially in contact with) the side surface of the hip joint portion of the leg on the same side (left side or right side) as itself. Then, in each actuator 5, the leg side frame 8 can rotate in the pitch direction with respect to the upper body side frame 4 on the same side as the flexion motion or extension motion of the leg on the same side as itself occurs, and the actuator 5 can rotate the leg side frame 8 in the pitch direction. It is connected to the leg-side frame 8 so that the rotational driving force in the pitch direction can be appropriately output to the leg-side frame 8. The power transmission path between each actuator 5 and the leg-side frame 8 may include a power transmission element such as a speed reducer or a clutch mechanism.

Further, the lower end portion of the leg side frame 8 is fixed to the leg support member 7. Therefore, by outputting the rotational driving force from each actuator 5 to the leg-side frame 8, the rotational driving force is the same as that of the actuator 5 via the leg-side frame 8 and the leg rest member 7 or the mounting member 6. It is designed to be transmitted to the thigh of the side leg. As a result, it becomes possible to apply an assisting force for assisting the flexion or extension motion of each leg of the assisted person P to the thigh of the leg from the actuator 5 on the same side as the leg. There is.

As shown in FIG. 2, the exercise assist device 1 further indicates the amount of rotational displacement of the left and right hip joints of the assisted person P (specifically, the rotation angle of the thighs of each leg with respect to the upper body in the pitch direction. Hereinafter, the hip joints. Angle detectors 10L, 10R for detecting the angle of rotation), temperature sensors 11L, 11R for detecting the heat generation temperature of the actuators 5L, 5R, and a control device having a function of controlling the operation of the actuators 5L, 5R. It is equipped with twelve.

Each angle detector 10 detects the rotation angle of the leg side frame 8 with respect to the left and right upper body side frames 4 as the hip joint rotation angle of each of the left and right legs of the assisted person P, and each actuator 5 (See Figure 1). The angle detector 10 may be configured by, for example, a rotary encoder, a resolver, a potentiometer, or the like.

Each temperature sensor 11 is composed of, for example, a thermistor or the like, and is built in each actuator 5. In the present embodiment, the heat generation temperature of each actuator 5 detected by each temperature sensor 11 corresponds to the heat source side temperature in the present invention, and the temperature detected value of each temperature sensor 11 corresponds to the observed value of the heat source side temperature.

The control device 12 is composed of an electronic circuit unit including, for example, a microcomputer, a memory, an interface circuit, a communication circuit, and the like, and is mounted on a suitable place of the exercise assisting device 1, for example, the waist support member 3. The detection signals of each angle detector 10 and each temperature sensor 11 are input to the control device 12. Further, the control device 12 can perform wireless communication with the external terminal 20.

Then, the control device 12 has a temperature detection value (detection value of the heat generation temperature of each actuator 5) of each temperature sensor 11 as a function realized by both or one of the mounted hardware configuration and program (software configuration). It includes a function as a temperature observing unit 12a for detecting that the temperature has risen above a predetermined temperature, and a function as an actuator control unit 12b for controlling the operation of each actuator 5.

The power source power of the control device 12 and each actuator 5 is supplied from an appropriate place of the exercise assist device 1, for example, a capacitor (not shown) such as a battery mounted on the waist support member 3.

The external terminal 20 is for setting the operation of the exercise assist device 1, and is composed of a mobile terminal such as a smartphone, a tablet terminal, or a mobile personal computer. The external terminal 20 is not limited to the mobile terminal, and may be, for example, a stationary personal computer, a notebook personal computer, or the like.

An application for the exercise assist device 1 is installed in the external terminal 20 in advance, and the external terminal 20 can communicate with the control device 12 while the application (hereinafter referred to as an auxiliary application) is activated. Will be. Further, the external terminal 20 sets the magnitude (strength / weakness) of the auxiliary force generated by the left and right actuators 5 of the exercise assist device 1 with respect to the control device 12 while the auxiliary application is activated, or the control device. It is possible to output various information received from the external terminal 20 as visual notification information to be displayed on the display 21 provided in the external terminal 20, or auditory notification information by voice or the like.

Here, the change pattern (waveform pattern) of the assisting force output from the left and right actuators 5L and 5R in order to assist the walking motion of the assisted person P by the exercise assisting device 1 of the present embodiment will be described.

In the present embodiment, the control device 12 of the exercise assisting device 1 periodically applies the assisting force generated by each of the left and right actuators 5 during the walking motion of the assisted person P in a waveform pattern as exemplified in FIG. 4A or FIG. 5A. It is possible to control each actuator 5 so as to change (at a cycle synchronized with the walking motion of the assisted person P).

More specifically, each actuator 5 is driven to rotate in a direction that assists the flexion motion of the hip joint of the leg of the assisted person P (the leg on the same side as each actuator 5) under the control of the actuator control unit 12b of the control device 12. It is possible to selectively generate an auxiliary force on the flexion side as a force and an auxiliary force on the extension side as a rotational driving force in a direction assisting the extension movement of the hip joint of each leg (direction opposite to the flexion side). The auxiliary force on the bending side and the auxiliary force on the extension side correspond to the first-direction assisting force and the second-direction assisting force in the present invention, respectively.

Then, each actuator 5 is controlled by the actuator control unit 12b of the control device 12, and each of the auxiliary force on the bending side and the auxiliary force on the extension side is controlled by the assisted person P as illustrated in FIG. 4A or FIG. 5A, for example. It can occur alternately in a cycle synchronized with the walking motion (in other words, each of the flexion side assist force and the extension side assist force can be generated intermittently), and the flexion side assist force and the extension side assist force can be generated intermittently. The assisting force is generated so as to increase or decrease the magnitude of the assisting force in a sinusoidal waveform pattern (or a waveform pattern similar thereto) in each generation period of the force. In addition, in FIGS. 4A and 5A, the waveform of the change with time of the auxiliary force on the bending side and the auxiliary force on the extension side is described, with the auxiliary force on the bending side as a positive auxiliary force and the auxiliary force on the extension side as a negative auxiliary force. Has been done.

In this case, the actuator control unit 12b of the control device 12 sets, for example, the generation start timing and the time width (or generation end timing) of the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5. , It is determined according to the detection value of each of the left and right hip joint rotation angles of the assisted subject P by each angle detector 10, the change pattern thereof, and the like.

Further, in the present embodiment, for each actuator 5, the magnitude of the peak value (maximum value) of the auxiliary force in each generation period of the auxiliary force on the bending side and the auxiliary force on the extension side (hereinafter, simply, the auxiliary force). The required value (referred to as “strength”) can be variably set in advance by operating the external terminal 20 that has activated the auxiliary application for each of the flexion side and the extension side.

For example, as illustrated in FIG. 2, the display 21 (here, the touch panel type display) of the external terminal 20 has the respective strengths of the auxiliary force on the bending side and the auxiliary force on the extension side of each of the left and right actuators 5. A screen for setting the required value of the external terminal 20 may be displayed according to a predetermined operation or the like of the external terminal 20. On this screen, each actuator is operated by sliding the touch operation unit 21a for adjusting the required value of the strength of each auxiliary force for each of the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5. The required values of the respective strengths of the auxiliary force on the bending side and the auxiliary force on the extension side of 5 are variably set. Further, the required value of the set intensity is commanded from the external terminal 20 to the control device 12 of the exercise assist device 1.

Then, the control device 12 basically increases or decreases the auxiliary force in the waveform pattern of the set intensity during each generation period of the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5. Each actuator 5 is controlled. For example, in FIG. 4A, when the strength (required value) of the auxiliary force on the bending side is set to Ta1 and the strength (required value) of the auxiliary force on the extension side is set to Tb1, it is generated in the actuator 5 according to the set strength. The waveform of the change with time of the assisting force to be applied is shown, and in FIG. 5A, it is set when the strength of the assisting force on the bending side (required value) is set to Ta3 and the strength of the assisting force on the extension side is set to Tb3. The waveform of the change with time of the assisting force generated in the actuator 5 according to the increased strength is shown.

However, as will be described later, the control device 12 sets the respective strengths of the auxiliary force on the bending side and the auxiliary force on the extension side actually generated in each actuator 5 as the strength set by the external terminal 20 (hereinafter referred to as the set strength). It is also possible to forcibly limit the intensity to less than (may).

The setting of the strength (required value) of the auxiliary force on the bending side and the extending side of each actuator 5 is not limited to the operation on the touch panel type display 21 of the external terminal 20, but is provided on the external terminal 20. It may be possible to execute the operation by operating an operation unit such as an operation button or by operating an operation unit provided in the exercise assist device 1.

Further, in FIGS. 4A and 5A, the waveforms of the auxiliary force when both the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5 are alternately generated are illustrated. For example, the bending side of each actuator 5 is illustrated. And by setting the strength of one of the assisting forces on the extension side to the minimum value (zero), only the other assisting force is periodically applied to the actuator 5 without generating the assisting force of the other. It can also be generated (intermittently). Alternatively, by setting the strength of both the auxiliary force on the bending side and the auxiliary force on the extension side of the actuator 5L or 5R on either the left or right side to the minimum value (zero), the actuator 5L or 5R on one side can be set. , It is also possible to periodically generate both or one of the bending side assisting force and the extending side assisting force only in the actuator 5R or 5L on the other side without generating both the bending side assisting force and the extension side assisting force. It is possible.

Further, in the waveforms of the auxiliary force illustrated in FIGS. 4A and 5A, the timing of starting the generation of the auxiliary force on the bending side coincides with the timing of the end of the generation of the auxiliary force on the extension side, and the generation of the auxiliary force on the bending side ends. An example is shown in which the timing coincides with the timing at which the auxiliary force on the extension side starts to be generated. However, the timing at which the generation start timing of the auxiliary force on the bending side and the timing at the end of the generation of the auxiliary force on the extension side may have a time difference. Similarly, the timing at which the generation end timing of the auxiliary force on the bending side and the timing at which the generation start timing of the auxiliary force on the extension side have a time difference may be set.

Next, the control process executed by the control device 12 of the exercise assist device 1 according to the temperature detection values of the temperature sensors 11R and 11L (detection values of the heat generation temperature of each actuator 5) will be described with reference to FIG. ..

During the walking exercise of the assisted person P equipped with the exercise assisting device 1, each actuator 5 (or one of the actuators 5) periodically generates both or one of the assisting force on the bending side and the assisting force on the extension side. The control device 12 sequentially executes the processes shown in the flowchart of FIG. 3 in a predetermined control process cycle while controlling the operation of the actuator 5 so as to cause the actuator 5.

In STEPs 1 and 2, the control device 12 executes the processing of the temperature observing unit 12a. In STEP 1, the temperature observation unit 12a of the control device 12 acquires the temperature detection value Ts of each temperature sensor 11. Further, in STEP 2, the temperature observation unit 12a determines (detects) whether or not the temperature detection value Ts acquired in STEP 1 has risen to a temperature higher than the predetermined predetermined temperature Tth.

In the present embodiment, in this STEP 2, the temperature observing unit 12a determines that both the temperature detection value Ts of the temperature sensor 11L on the left side and the temperature detection value Ts of the temperature sensor 11R on the right side are equal to or less than the predetermined temperature Tth. When it is determined that the determination result of STEP2 is negative, and either one of the temperature detection value Ts of the temperature sensor 11L on the left side and the temperature detection value Ts of the temperature sensor 11R on the right side is higher than the predetermined temperature Tth. In addition, it is determined that the determination result of STEP2 is positive (it is detected that the temperature detection value Ts has risen to a temperature higher than the predetermined temperature Tth).

If the determination result of STEP 2 is negative, the control device 12 then executes the process from STEP 3 by the actuator control unit 12b. In this STEP 3, the actuator control unit 12b of the control device 12 is set by the external terminal 20 as the strength of the auxiliary force on the bending side and the extension side (hereinafter referred to as the control strength) actually generated by each actuator 5. Set the strength (set strength).

Next, in STEP 4, the actuator control unit 12b executes control to generate an auxiliary force of the control strength set in STEP 3 for each actuator 5. In this case, specifically, the actuator control unit 12b has a control processing cycle based on, for example, the auxiliary force of the control strength set for each actuator 5 and the elapsed time from the start timing of the auxiliary force. The target instantaneous value of the assisting force for each is sequentially determined. Then, the actuator control unit 12b controls the output torque of each actuator 5 according to the target instantaneous value.

As a result, the auxiliary force on the bending side and the auxiliary force on the extension side generated by each actuator 5 have a period of the waveform pattern of the intensity set by the external terminal 20 (for example, in the waveform pattern as exemplified in FIG. 4A or FIG. 5A). It is controlled to change in a positive manner. Then, the assisting force generated by each actuator 5 is applied to the assisted person P in this way. In this case, each actuator 5 generates the auxiliary force for the auxiliary force whose strength required value is set to the minimum value (zero) among the auxiliary force on the bending side and the auxiliary force on the extension side. Works without.

On the other hand, when the determination result of STEP 2 is affirmative, the control device 12 prevents the heat generation temperature of each actuator 5 (and thus the temperature transmitted from each actuator 5 to the assisted person P) to be further increased. Therefore, the actuator control unit 12b executes a process (process from STEP 5) of setting the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5 so as to appropriately limit the respective control strengths.

Specifically, the actuator control unit 12b executes the processing of STEPs 5 and 6 or the processing of STEPs 5 and 8 for each of the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5. In STEP 5, the actuator control unit 12b has a required value (set strength) of the strength set by the external terminal 20 for each of the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5, and the predetermined limiting strength. Determine if it exceeds Trim.

The limiting strength Slim corresponds to the limiting value in the present invention. Then, the limiting strength Slim can prevent the heat generation temperature of each actuator 5 from further rising when an auxiliary force on the bending side or the extension side is generated in each actuator 5 with a strength lower than that. It is a value determined in advance based on experiments and the like. The limiting intensity Slim may be set variably according to, for example, the temperature of the exercise environment of the assisted person P (for example, the lower the temperature, the larger the limiting intensity Slim is set).

When the determination result of STEP 5 is positive with respect to the auxiliary force on the bending side of each actuator 5 (when the set strength regarding the auxiliary force on the bending side exceeds the above-mentioned limiting strength Slim), the actuator control unit 12b Sets the limit strength Slim as the control strength of the auxiliary force on the bending side of the actuator 5 in STEP6.

Similarly, when the determination result of STEP 5 is positive with respect to the auxiliary force on the extension side of each actuator 5 (when the set strength regarding the auxiliary force on the extension side exceeds the above-mentioned limiting strength Slim), the actuator control unit In STEP 6, the limit strength Slim is set as the control strength of the auxiliary force on the extension side of the actuator 5.

In STEP 6, for example, a strength slightly smaller than the limiting strength Slim may be set as the strength for controlling the auxiliary force on the bending side or the extension side.

Then, as described above, the actuator control unit 12b sets the limiting strength Slim (or a strength slightly lower than this) as the strength for controlling the auxiliary force of one or both of the bending side and the extending side of each actuator 5. In this case, STEP 7 notifies the external terminal 20 of information to the effect that the strength for controlling the assisting force is limited. At this time, the external terminal 20 outputs the notification information as visual notification information by the display 21 or auditory notification information by voice or the like.

Further, when the determination result of STEP 5 is negative with respect to the auxiliary force on the bending side of each actuator 5 (when the set strength regarding the auxiliary force on the bending side is equal to or less than the limiting strength Slim), the actuator control unit 12b is subjected to the actuator control unit 12b. In STEP 8, the set strength is set as the strength for controlling the auxiliary force on the bending side of the actuator 5.

Similarly, when the determination result of STEP 5 is negative with respect to the auxiliary force on the extension side of each actuator 5 (when the set strength regarding the auxiliary force on the extension side is equal to or less than the limiting strength Slim), the actuator control unit 12b , STEP8, the set strength is set as the strength for controlling the auxiliary force on the extension side of the actuator 5.

As described above, when the determination result of STEP2 regarding the temperature detection value Ts of the temperature sensors 11L and 11R is affirmative, the actuator control unit 12b has the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5. Of these, for those whose set strength exceeds the predetermined limiting strength Slim, the limiting strength Slim (or a strength slightly lower than this) is set as the control strength of the auxiliary force of the actuator 5 in STEP6.

For example, as shown in FIG. 4B, when the set strength Ta1 of the auxiliary force on the bending side exceeds the limit strength Tri, the limit strength Tri is lower than the set strength Ta1 as the control strength Ta2 of the auxiliary force on the bending side. Is set.

Further, for example, as shown in FIG. 5B, when both the set strength Ta3 of the auxiliary force on the bending side and the set strength Tb3 of the auxiliary force on the extension side exceed the limiting strength Slim, the flexion side and the extension side, respectively. As the control strengths Ta4 and Tb4 of the auxiliary force of, the limit strength Slim lower than the set strengths Ta3 and Tb3 is set, respectively.

Further, the actuator control unit 12b has the auxiliary force of the actuator 5 in STEP 8 for the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5 whose set strength is within the limit strength Slim. Set the set strength as the control strength of. For example, as shown in FIG. 4B, when the set strength Tb1 of the auxiliary force on the extension side is smaller than the limiting strength Slim, the set strength Tb1 is set as the control strength Tb2 of the auxiliary force on the extension side.

When the set strength is within the limit strength Slim or less with respect to the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5, for example, the set strength (or the current setting strength) is used as the control strength in STEP8. The strength may be set to be lower than the control strength) by a predetermined amount or a predetermined ratio.

After setting the control strength in STEP 6 or 8 as described above, the actuator control unit 12b executes control in STEP 4 to generate an auxiliary force of the control strength set in STEP 6 or STEP 8 in each actuator 5. The control is performed in the same manner as when the control strength is set in STEP3. As a result, the auxiliary force on the bending side and the auxiliary force on the extension side generated by each actuator 5 have a waveform pattern of the control strength set in STEP 6 or 8 within the range of the limiting strength or less (for example, FIG. 4B or FIG. It is controlled to change periodically (with a waveform pattern as illustrated in 5B).

In the present embodiment, the processing from STEP 5 is executed at a temperature (= Tth−ΔT) or less in which both the temperature detection values of the temperature sensors 11L and 11R are lower than the predetermined temperature Tth by a predetermined value ΔT. It will be terminated when it becomes. After that, the process from STEP 3 or the process from STEP 5 is executed according to the determination result of STEP 2.

Further, in the present embodiment, if the determination result of STEP 2 becomes affirmative during the generation of the auxiliary force on the bending side or the extending side of each actuator 5, the actuator control unit 12b controls to set in STEP 6 or 8. The strength is the strength for control at the time of generation of the assisting force after the generation of the current assisting force on the bending side or the extension side is completed. Then, the strength for controlling the auxiliary force on the bending side or the extending side during generation of each actuator 5 is maintained at the current strength.

Supplementally, in the present embodiment, when the determination result of STEP 2 becomes affirmative and the set strength regarding the auxiliary force on the bending side or the extending side of each actuator 5 is larger than the predetermined limiting strength Slim, the actuator is used. The control strength corresponding to the peak value (maximum value) of the auxiliary force actually generated in 5 (the auxiliary force of the sinusoidal waveform pattern in this embodiment) is limited to the limiting strength Slim (or lower strength). Will be done. At this time, the waveform of the change with time of the assisting force after the limitation (the waveform with limitation) is the waveform of the assisting force in the situation assuming that the judgment result of STEP2 is negative (the situation where the restriction processing from STEP5 is not executed). It is similar to the unrestricted waveform (waveform of the auxiliary force with time when the control intensity is matched with the set intensity), which is the waveform of the change with time.

More specifically, in the present embodiment, the assisting force (instantaneous value) at each time point (at each time point within the generation period of the assisting force) of the restricted waveform of the assisting force on the bending side or the extending side of each actuator 5 is determined. It is proportional to the auxiliary force (instantaneous value) at the same time point in the unrestricted waveform of the auxiliary force at a constant ratio (= limiting intensity Slim / set intensity). Therefore, if the function representing the restricted waveform (trigonometric function in this case) is expressed as f1 (t) and the function representing the unrestricted waveform (trigonometric function) is expressed as g1 (t), f1 (t) = k · g1 ( The relationship t) (k = restriction strength Slim / set strength) is established.

In FIG. 4B, the waveform shown by the solid line of the auxiliary force generation period Δt1 on the bending side corresponds to the above-mentioned restricted waveform, and the waveform shown by the two-dot chain line corresponds to the above-mentioned unrestricted waveform. Further, in FIG. 5B, the waveform shown by the solid line of the auxiliary force generation period Δt2 on the bending side or the waveform shown by the solid line of the auxiliary force generation period Δt3 on the extension side corresponds to the above-mentioned restricted waveform, and the generation period Δt2. The waveform indicated by the two-dot chain line of No. 1 or the waveform indicated by the two-dot chain line of the generation period Δt3 corresponds to the above-mentioned unrestricted waveform.

Further, in the present embodiment, when the determination result of STEP 2 becomes affirmative and the set strength regarding the auxiliary force on the bending side or the extending side of each actuator 5 is larger than the predetermined limiting strength Slim, the actuator 5 The control strength corresponding to the peak value of the assisting force actually generated is limited to the limiting strength Slim (or a strength lower than this). Therefore, as a result, in a part of the period during which the assisting force of the restricted waveform exceeds the limiting strength Slim, the assisting force of the restricted waveform becomes. In addition to being limited to the limiting intensity Slim or less, the assisting force of the restricted waveform is controlled to a smaller assisting force than the assisting force in the partial period in the period other than the partial period.

According to the embodiment described above, when the temperature detection value Ts of any of the temperature sensors 11L and 11R is raised to a temperature higher than the predetermined temperature Tth (when the determination result of STEP 2 becomes affirmative). For each actuator 5, the process from STEP 5 is executed. Therefore, the strength (peak value) of the auxiliary force on the bending side and the extending side generated by each actuator 5 is limited to the limiting strength or less. As a result, further increase in the heat generation temperature of each actuator 5 can be prevented, and by extension, the temperature increase transmitted from the actuator 5 to the assisted person P by the heat generation of each actuator 5 can be suppressed.

Further, in the present embodiment, when the control strength regarding the auxiliary force on the bending side or the extension side of each actuator 5 is limited to the limiting strength Slim (or the strength lower than this) lower than the set strength, after the limitation. As described above, the waveform of the auxiliary force (waveform with limitation) is similar to the waveform of the auxiliary force (waveform with limitation) when the control strength is matched with the set strength. Therefore, the assisting force after the restriction changes in the same change pattern as the assisting force when the restriction is not performed. Therefore, the assisting force after the restriction can be changed in a change pattern suitable for the walking movement of the assisted person P. Further, by limiting the assisting power, it is possible to prevent the assisted person P from feeling uncomfortable.

Further, in the present embodiment, when the temperature detection value Ts of any one of the temperature sensors 11L and 11R is raised to a temperature higher than the predetermined temperature Tth, the other temperature detection value Ts is within the predetermined temperature Tth. Also, the processing from STEP 5 is executed for both the left and right actuators 5L and 5R.

Therefore, for example, when the set strength of the auxiliary force on the bending side or the set strength of the auxiliary force on the extension side is set to the same strength in the left and right actuators 5L and 5R, the actuator 5L or 5R on one side is set. It is possible to prevent only the control strength of the assisting force of the above from being limited to the limit strength Slim lower than the set strength. Therefore, it is possible to maintain a mutual balance between the strengths of the auxiliary forces (auxiliary forces on the bending side or the extension side) generated by the left and right actuators 5L and 5R.

Further, in the present embodiment, when the determination result of STEP 2 becomes positive, the auxiliary force on the bending side and the auxiliary force on the extension side of each actuator 5 are independently limited to each other. Therefore, it is possible to prevent the auxiliary force on the bending side and the auxiliary force on the extension side from being unnecessarily limited.

The present invention is not limited to the embodiments described above, and other embodiments may be adopted. Some other embodiments will be described below.

When the temperature detection value Ts of any of the temperature sensors 11L and 11R exceeds the predetermined temperature Tth (when the judgment result of STEP2 becomes affirmative), the method of limiting the auxiliary force on the bending side or the extension side is as follows. It is not limited to the embodiment described in the above embodiment. For example, the auxiliary force on the flexion side or the extension side may be limited in the manner illustrated in FIG.

In the example shown in FIG. 6, in the solid line during the period Δt4 in which the auxiliary force (the auxiliary force of the two-dot chain line waveform) when the control strength on the bending side or the extension side matches the set strength Tab exceeds the limiting strength Slim. As shown, the assisting force actually generated in the actuator 5 (the assisting force after the limitation) is controlled so as to be maintained at a constant value by the limiting strength Slim. Then, in a period other than the period Δt4, the auxiliary force actually generated in the actuator 5 is controlled to change with the same waveform as the waveform (unlimited waveform) when the control strength is matched with the set strength Tab. ..

In the period Δt4, the assisting force actually generated in the actuator 5 (the assisting force after the limitation) may be controlled so as to be maintained at a constant value at a strength lower than the limiting strength Slim. In this case, in a period other than the period Δt4, the auxiliary force actually generated in the actuator 5 is, for example, a smaller auxiliary force than the period Δt4, and the waveform when the control strength is matched with the set strength Tab. It is preferable that the change is controlled so as to change in the same change pattern as (unrestricted waveform) (for example, a waveform pattern similar to the unrestricted waveform).

Further, in the above embodiment, when the temperature detection value Ts of any one of the temperature sensors 11L and 11R is raised to a temperature higher than the predetermined temperature Tth, the other temperature detection value Ts is within the predetermined temperature Tth. Also, the processing from STEP 5 is executed for both the left and right actuators 5L and 5R. However, the processing from STEP 5 is executed only for the actuator 5L or 5R on the same side as the temperature sensor 11L or 11R corresponding to one of the temperature detection values Ts (the assisting force on the bending side or the extension side is appropriately limited). You may.

Further, in a situation where the determination result of STEP 2 is positive, when the set strength of at least one of the auxiliary forces on the bending side and the extension side of each actuator 5 exceeds the limiting strength, for example, in each actuator 5. The ratio of the control strength of the auxiliary force on the flexion side and the control strength of the auxiliary force on the extension side matches the ratio of the set strength of the auxiliary force on the flexion side and the set strength of the auxiliary force on the extension side. The operation control of each actuator 5 may be performed by setting the respective control strengths so as to be performed.

Further, in a situation where the determination result of STEP 2 is positive, when both the set strength of the auxiliary force on the bending side and the set strength of the auxiliary force on the extension side of each actuator 5 exceed the limiting strength, for example, the said Of the auxiliary force on the flexion side and the auxiliary force on the extension side, the degree of limitation of the auxiliary force that is relatively less necessary to generate is larger than the degree of limitation of the auxiliary force that is relatively more necessary. You may try to do it.

Further, the waveforms of the auxiliary forces on the bending side and the extending side generated in each actuator 5 are not limited to the sinusoidal waveforms, and various waveforms may be adopted. As the waveform, for example, a triangular wavy waveform, a trapezoidal waveform, a normally distributed waveform, or a waveform similar thereto may be adopted. Further, the waveform may be any waveform such as a waveform having irregularities. Further, the waveform may be, for example, a waveform variably determined according to a change in the angle detection value (detection value of the hip joint rotation angle) of each of the angle detectors 10L and 10R.

Further, in the embodiment, whether or not the temperature detection value (detection value of the exothermic temperature of each actuator 5) of each temperature sensor 11 has risen to a temperature higher than the predetermined temperature Tth in the STEP2. It was judged (detected). However, for example, based on the time series of the temperature detection value of each temperature sensor 11, the future change of the temperature detection value is predicted, and the temperature detection value will soon be higher than the predetermined temperature (at the timing after a predetermined time). STEP 2 may be used to determine whether or not the temperature is expected to rise to a high temperature. Then, when the determination result of the prediction becomes affirmative, the process from STEP 5 may be executed.

Further, in the above-described embodiment, the temperature observing unit 12a observes the detected value of the heat generation temperature of each actuator 5, which is the temperature detection value of each temperature sensor 11, but instead of the heat generation temperature, each actuator 5 assists. The temperature on the heat transfer path to the person P (for example, the temperature of the side surface portion of each actuator 5 on the assisted person P side) may be detected or estimated. Then, STEP 2 determines whether or not the detected value or the estimated value of the temperature has been raised to a temperature higher than the predetermined temperature, or whether or not it is predicted that the temperature will be raised to a temperature higher than the predetermined temperature. You may try to do it.

Further, in the above-described embodiment, as the exercise assist device 1, a device that assists the flexion motion or the extension motion of each leg of the assisted subject P at the hip joint is exemplified. However, the exercise assisting device of the present invention continuously or intermittently assists the movement of one or both of the knee joint and the ankle joint in place of or in addition to the exercise at the hip joint of each leg. It may occur in. Alternatively, the exercise assist device is, for example, a device that continuously or intermittently generates an assisting force that assists the movement of the arm of the assisted subject, or, for example, a direction in which the upper body of the assisted subject is raised (stretches the back). It may be one that continuously generates an auxiliary force in the direction).

Claims (3)

An exercise assisting device that includes an actuator that can generate an assisting force to assist a predetermined exercise of the assisted subject, and is attached to the assisted subject performing the predetermined exercise so that the assisted force can be transmitted from the actuator. And,
During the execution of the predetermined exercise of the assisted subject, the observed value of the heat generation temperature of the actuator or the heat source side temperature which is the temperature transmitted from the actuator to the assisted subject is acquired, and the observation of the heat source side temperature is obtained. A temperature observing unit that detects that the value has risen above a predetermined temperature or that the observed value of the heat source side temperature is expected to rise above a predetermined temperature.
It is an actuator control unit that controls the operation of the actuator so as to continuously or intermittently generate the assisting force, and when the temperature observing unit detects the assisting force, the assisting force should be generated during the period. An actuator configured to control the operation of the actuator so as to limit the assisting force actually generated in the actuator to a smaller amount of assisting force than in the case where the detection is not performed. Equipped with a control unit,
The partial period is a period in which the magnitude of the assisting force exceeds a predetermined limit value in the period in which the assisting force should be generated, assuming that the assisting force is generated without the limitation. And
When the period in which the assisting force should be generated includes the part of the period, the actuator control unit sets the magnitude of the assisting force actually generated in the actuator from the limit value at least in the part of the period. Is configured to be limited to a small constant value, and the magnitude of the assisting force actually generated by the actuator is large in the period other than the partial period during which the assisting force should be generated. However, the waveform of the auxiliary force actually generated in the actuator in a period other than the part of the period is smaller than the magnitude of the constant value actually generated in the actuator in the part of the period. Assuming that the assisting force is generated without the limitation, the operation of the actuator is controlled so as to have a waveform similar to the waveform of the assisting force generated in a period other than the partial period. An exercise assist device characterized by being configured in . An exercise assisting device that includes an actuator that can generate an assisting force to assist a predetermined exercise of the assisted subject, and is attached to the assisted subject performing the predetermined exercise so that the assisted force can be transmitted from the actuator. And,
During the execution of the predetermined exercise of the assisted subject, the observed value of the heat generation temperature of the actuator or the heat source side temperature which is the temperature transmitted from the actuator to the assisted subject is acquired, and the observation of the heat source side temperature is obtained. A temperature observing unit that detects that the value has risen above a predetermined temperature or that the observed value of the heat source side temperature is expected to rise above a predetermined temperature.
It is an actuator control unit that controls the operation of the actuator so as to continuously or intermittently generate the assisting force, and when the temperature observing unit detects the assisting force, the assisting force should be generated during the period. An actuator configured to control the operation of the actuator so as to limit the assisting force actually generated in the actuator to a smaller amount of assisting force than in the case where the detection is not performed. Equipped with a control unit,
The partial period is a period in which the magnitude of the assisting force exceeds a predetermined limit value in the period in which the assisting force should be generated, assuming that the assisting force is generated without the limitation. And
When the period in which the assisting force should be generated includes a part of the period, the actuator control unit is the maximum value of the magnitude of the assisting force actually generated in the actuator in the period in which the assisting force should be generated. Is limited to a predetermined limit value or less, and the limited waveform, which is a waveform of the change over time of the assisting force actually generated, is obtained when it is assumed that the assisting force is generated without the limitation. An exercise assisting device characterized in that it is configured to control the operation of the actuator so as to have a waveform similar to an unrestricted waveform which is a waveform of a change over time of an assisting force . It is an exercise assisting device that includes an actuator that can generate an assisting force to assist the walking movement of the assisted subject, and is attached to the assisted subject performing the walking exercise so that the assisting force can be transmitted from the actuator. hand,
During the walking movement of the assisted subject, the observed value of the heat generation temperature of the actuator or the heat source side temperature which is the temperature transmitted from the actuator to the assisted subject is acquired, and the observed value of the heat source side temperature is obtained. A temperature observing unit that detects that the temperature has risen above a predetermined temperature, or that the observed value of the heat source side temperature is expected to rise above a predetermined temperature.
It is an actuator control unit that controls the operation of the actuator so as to continuously or intermittently generate the assisting force, and when the temperature observing unit detects the assisting force, the assisting force should be generated during the period. An actuator configured to control the operation of the actuator so as to limit the assisting force actually generated in the actuator to a smaller amount of assisting force than in the case where the detection is not performed. Equipped with a control unit,
The actuator alternately alternates between a first-direction assisting force for assisting the movement of the assisted person's leg in the flexion direction and a second-direction assisting force for assisting the movement of the leg in the extension direction. It is an actuator that can be generated,
The actuator control unit is the first of a period in which the actuator generates the first-direction assisting force and a period in which the second-direction assisting force is generated when the detection is made by the temperature observation unit. The magnitude of the first-direction assisting force or the second-direction assisting force actually generated in the actuator only during the period including the state in which the magnitude of the one-way assisting force or the second-direction assisting force exceeds a predetermined limit value. An exercise assisting device characterized in that it is configured to control the operation of the actuator so as to limit the size to a size equal to or less than the limit value .

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