JP7277421B2 - Exoskeleton device - Google Patents

Description

Application of Patent Law Article 30, Paragraph 2 March 23, 2020 to May 11, 2020 Crowdfunding by Readyfor

The present invention relates to an exoskeleton device for encapsulating a site having an endoskeleton.

A conventional exoskeleton device has an exoskeleton structure for enclosing a part having an endoskeleton, and an exoskeleton device that is worn on the body for use is known (for example, Patent Document 1). Regarding the inclusion of the skeleton, there were problems with the attachment and detachment method and the connection method. In particular, it is improved to an exoskeleton device equipped with a control system that can store and operate time-series data of joint angles by a unified attachment/detachment mechanism and connection mechanism based on the geometrical relationship between the exoskeleton and the endoskeleton. There was room for

Also, an exoskeleton device for encasing a part of the body having an endoskeleton (for example, Patent Literature 2) also has room for improvement in terms of attachment and detachment methods and connection methods.

JP-A-2002-346960 Japanese Unexamined Patent Application Publication No. 2016-2123

Crowdfunding by READYFOR Co., Ltd., Teruhisa Onishi's project, let's make a work clothes made of resin with built-in artificial muscles, implementation period 2020.3.23-2020.5.11.

In view of the above-described drawbacks of the conventional art, the present invention provides an exoskeleton device for enclosing each part having an endoskeleton, wherein the shell-shaped structure enclosing the part having the endoskeleton is divided into halves. An artificial muscle device with a built-in microcomputer that incorporates a software damper driving program for the structure, the attachment / detachment device for attaching the exoskeleton structure to the body, and the adjacent exoskeleton structure attached to the body by the attachment / detachment device. An exoskeleton device is provided that couples with a control system capable of storing and manipulating time-series data of joint angles based on the geometrical relationship of the exoskeleton and endoskeleton.

The present invention is the exoskeleton structure 150 of FIG. 1 for enclosing each part having the endoskeleton 74, 75 of FIG. The exoskeleton device 100 , the attachment/detachment device of FIG. The main feature is that it is an exoskeleton device.

In addition to the mechanism of the attachment/detachment device, the artificial muscle device includes the plate spring 51, the direct-acting DC motor drive shaft 52, the direct-acting DC motor housing 53, the force sensor holder 59, the direct-acting DC motor, and the controller shown in FIG. Storage box 54, artificial muscle device springs 56, 57, force sensors 60, 61 installed at the tips of the springs on both sides of the direct-acting DC motor, microcomputer device 63 with built-in software damper drive program, driver 64, storage battery It is characterized by being an exoskeleton device having a detachable function and an artificial muscle function with a unified configuration by a plurality of artificial muscle devices 300 with 65 arranged.

In addition, the exoskeleton structure 150 containing each part having an endoskeleton is provided with a control system capable of storing and manipulating time-series data of joint angles based on the geometrical relationship between the exoskeleton and the endoskeleton. It is characterized by being a skeletal device.

The exoskeleton device of the present invention comprises an exoskeleton structure obtained by halving a shell-shaped structure containing a part having an endoskeleton, an attachment/detachment device for attaching the exoskeleton structure to the body, and an attachment/detachment device attached to the body. It is characterized by being an exoskeleton device that is easy to attach and connect by connecting adjacent exoskeleton structures with an artificial muscle device.

Further, the exoskeleton device is characterized by having the function of work assistance clothes, which is formed by adding an artificial muscle mechanism to the attachment/detachment mechanism, and providing an attachment/detachment device and an artificial muscle device with a unified structure.

In addition, the exoskeleton structure is equipped with a control system that can store and operate time-series data of joint angles based on the geometric relationship between the exoskeleton and the endoskeleton. It is characterized by being an exoskeleton device with.

FIG. 1 shows an exoskeleton structure in which a shell-shaped structure enclosing a part having an endoskeleton is divided into halves, an attachment/detachment device attaching portion for attaching the exoskeleton structure to the body, and an attachment portion attached to the body by the attachment/detachment device. 1 is a perspective view of an exoskeleton structure 150 with attachments for attaching an artificial muscle device to a mating exoskeleton structure. FIG. (Example 1) FIG. 2 is a perspective view of the exoskeleton device 100 showing a method of attaching the exoskeleton structure 150 of FIG. (Example 2) 3 is a front view of the exoskeleton device of FIG. 2; FIG. (Example 2) 4 is a side view of the exoskeleton device of FIG. 2; FIG. (Example 2) FIG. 5 is a perspective view (a) showing the attachment/detachment device 200, a plan view (b) of the attachment/detachment device with the attachment/detachment attachment part removed, and a side view (c) of part of the attachment/detachment device attached to the exoskeleton structure. be. (Example 3) FIG. 6 is a perspective view (a) showing the artificial muscle device 300, a perspective view (b ) with the attachment device of the artificial muscle device removed, and a lid of the storage box 54 for the DC motor and control device in FIG. 6(a). Fig. 10 is a perspective view (c ) with 55 removed; (Example 4) FIG. 7 is a front view (a ) of FIG. 6(c), a front view (b ) of the storage box 54 of the control section, and a perspective view (c) of the direct acting actuator section 600 of the artificial muscle device 300. FIG. (Example 4) FIG. 8 shows the relationship between the adjacent endoskeleton 74, 75 and the exoskeleton structures 70, 71 enclosing them in the site 69 having the endoskeleton. (Example 5) FIG. 9 shows a geometric model for approximating the relationship between the joint angles of the exoskeleton structures 70 and 71 with the joint angles α when the joint angles of the adjacent endoskeleton structures 74 and 75 are manipulated by the artificial muscle device. FIG. 4 is an explanatory diagram of the relationship; (Example 5) FIG. 10 is an explanatory diagram showing the control system 80 of the artificial muscle device 300 in block diagram form. (Example 6)

An embodiment of the present invention will be described below with reference to FIGS. 1 to 10. FIG.

FIG. 1 is a perspective view showing an exoskeleton structure 150 according to an embodiment of the present invention, in which each half of the exoskeleton structure 1a, 1b, 2 has a plurality of detachable device mounting portions 3a, 3b to 8a, 8b. are placed, and a plurality of artificial muscle device attachment parts 9a, 9b to 11a, 11b are placed around the exoskeleton structures 1a, 1b, 2. The entire endoskeleton branches from the trunk through the cervical spine into the head, and into the upper extremities with shoulder, elbow, wrist, and finger joints, and further into the hip, knee, and ankle joints. To provide an exoskeleton device having an attachable/detachable function and an artificial muscle function with a unified configuration because it branches into a lower limb having a thigh joint and a toe joint. Cut or curve the dash-dotted line. Use your fingertips closed.

FIG. 2 is a perspective view showing a shell-type exoskeleton device 100 that encloses a portion having an endoskeleton. Detachable device mounting covers 20a, 20b to 25a, 25b for attaching 1a, 1b, 2 of 1 to the body, and a plurality of artificial muscle device mounting covers 26a, 26b for attaching adjacent exoskeleton structures attached to the body by the detachable device. It is an exoskeleton device connected by ~28a and 28b.

FIG. 3 is a front view of the exoskeleton device 100, and detachable device mounting covers 20a, 20b to 25a, 25b and artificial FIG. 10 is a diagram of attaching muscle device attachment covers 26a, 26b to 28a, 28b.

FIG. 4 is a side view of the exoskeleton device 100, showing attachment and detachment devices and artificial muscle devices attached to respective attachment portions of the exoskeleton structure.

FIG. 5(a) is a perspective view of the attachment/detachment device 200. FIG. After inserting the removable device mounting cover 20a and the removable device mounting cover 20b by sliding them from both sides along the grooves of the mounting portions of the exoskeleton structures 1a, 1b, and 2, the levers 40a and 40b are operated to attach the exoskeleton device. Wear 100 on your body. FIG. 5B is a top view of the attachment/detachment device 201 with the attachment covers 20a and 20b of the attachment/detachment device 200 removed. The levers 40a, 40b, the lever closing spring 41, and the lever fulcrum 42 are housed inside the attachment/detachment device attachment cover 20a. The hook 43, the two attaching/detaching force adjustment springs 44a, and the hook base 45 are housed in the attaching /detaching device attachment cover 20b. When the lever ends are opened by operating the levers 40a and 40b and the hook 43 is inserted, the hook 43 is fixed by the lever closing spring 41.例文帳に追加The hook 43 does not come off unless the lever is operated to open. Further, the attachment/detachment device 200 can provide soft adhesion at the time of attachment by selecting the spring constant of the attachment/detachment force adjustment spring 44a. FIG. 5(c) shows a part of a side view when the attachment/detachment device 200 is attached to the attachment portion 3a of the exoskeleton structure 1a. After sliding the attachment/detachment device attachment sections 3a, 3b of the exoskeleton structures 1a, 1b , 2 to the stop positions 3c, 3d using the attachment/detachment device attachment covers 20a, 20b, the exoskeleton structure 1a is mounted using the levers 40a, 40b. ,1b,2 are concatenated. Other mounting parts are also attached and detached in the same manner.

1 to 5, an exoskeleton device for enclosing each part having an endoskeleton, which is an exoskeleton structure 1a, 1b, 2 obtained by dividing a shell-type structure enclosing a part having an endoskeleton in half. The attachment/detachment device 200 for attaching the exoskeleton structure to the body can provide a unified configuration for encapsulation of the endoskeleton by the exoskeleton. offer.

FIG. 6(a) is a perspective view of the artificial muscle device 300 , and the artificial muscle device mounting portions 9a, 9b to 11a, 11b of the exoskeleton structures 1a, 1b, 2 are connected by the artificial muscle device mounting covers 26a, 26b. After sliding to the stopper portions 9c, 9d to 11c, 11d of the artificial muscle device attachment portion , the exoskeleton structure is connected using the levers 40a, 40b.

FIG. 6(b) is a perspective view of the internal structure 400 of the artificial muscle device with the artificial muscle device mounting covers 26a and 26b removed. , the stopper 62 is moved integrally by a direct-acting DC motor. The linear DC motor housing 53 and controller are placed in the linear DC motor and controller storage box 54 and covered with a lid 55 . Therefore, the artificial muscle device attachment covers 26a and 26b and the direct acting actuator section move together as artificial muscles by the springs 56 and 57 for the artificial muscle device. The direct-acting DC motor drive shaft 52 is provided with a stopper 62. When the power supply is stopped, the direct-acting DC motor drive shaft and the housing become free, and any position between the plate spring 51 and the stopper 62 is free. Stop.

FIG. 6(c) is a perspective view of the control mechanism 450 of the artificial muscle device with the lid 55 of the internal structure 400 of the artificial muscle device of FIG. 6 (b) removed. The artificial muscle device hook 50, leaf spring 51, linear motion DC motor drive shaft 52, and stopper 62 operate as a single unit. Since the force sensors 60 and 61 installed at the tips of the springs on both sides operate integrally as a linear actuator, the linear actuator moves via the artificial muscle device springs 56 and 57, and the length of the linear actuator is determined. It can be changed with a direct-acting DC motor, so it can provide the effect of an artificial muscle.

FIG. 7(a) is a front view of the extension mechanism 500 of the artificial muscle device that constitutes the extension part of the artificial muscle device 300. The housing 53 of the DC motor and the control device are stored in the storage box 54, and the artificial muscle device can be used. Springs 56 and 57 expand and contract the artificial muscle device mounting portion. The artificial muscle device hook 50, the leaf spring 51, the direct-acting DC motor drive shaft 52, the artificial muscle device springs 56 and 57, and the force sensors 60 and 61 indicate a movement amount L66 and a movement amount X67. When the power is input, the direct-acting DC motor and the spring for the artificial muscle device move in pairs.

FIG. 7(b) is a front view of the control device storage box 550 of the artificial muscle device . Two artificial muscle device springs 56 and 57 are arranged on both sides, and force sensor holders 58 and 59 press force sensors 60 and 61 according to the length L of the leaf spring and the displacement X of the coil spring.

FIG. 7(c) is a perspective view showing the direct acting actuator section 600 of the artificial muscle device 300, in which the hook 50, leaf spring 51, and direct acting DC motor drive shaft 52 move with respect to the housing 53 of the DC motor.

According to FIG. 7, an artificial muscle device 300 for connecting adjacent exoskeleton structures 1a, 1b, 2 attached to the body includes a plate spring 51, a direct-acting DC motor drive shaft 52, a direct-acting DC motor housing 53, and a force sensor. Presser 59, linear DC motor and control device storage box 54, artificial muscle device springs 56, 57, force sensors 60, 61, microcomputer device 63 with built-in software damper drive program, driver 64, storage battery 65 To provide an exoskeleton device that is more advantageous than conventional techniques by providing a plurality of arranged artificial muscle devices and applying them to each part of the body having an endoskeleton.

8 and 9 show the geometrical joint angles of an exoskeleton device in which endoskeleton 74, 75 and adjacent exoskeleton structures 70, 71 attached to the body by attachment/detachment devices are connected by a plurality of artificial muscle devices 300. The initial state of the relationship is 0, and is represented by α. Fig. 8 shows the initial state of artificial muscle equivalents 76, 77, 78, lengths L1, L2, L3, and endoskeleton 74, 75. It shows that it changes to L2+X2 and L3+X3.

In that case, the artificial muscle mechanism is attached to each of three points on the virtual ellipses 72 and 73 of the exoskeleton structures 70 and 71 in FIGS. It will pass through the triangle. Therefore, if the joint point is A and the through points are B and C, the triangle ABC follows the joint angle α and is subordinate to the artificial muscle equivalents 76, 77, and 78. If BC = a, CA = b, and AB = c, the extension and contraction of the artificial muscle determines the triangle ABC, and the cosine law determines the joint angle α. Therefore, if the artificial muscle equivalent portion is Ln+Xn and the expansion/contraction amount is Xn (n=1, 2, 3), [Equation 1] is approximately established.

[Number 1]
a2=b2+c2-2・b・c・cos α
∴α＝cos-1 ( (b2+c2-a2)/(2bc))
=cos-1(f(a,b,c))

The elastic force with respect to the displacements X1, X2, and X3 of the artificial muscle device spring is Nn=k·Xn (n=1, 2, 3) where k is the spring constant. If the velocity Vn at the time of the output En of the direct-acting DC motor, the amount of expansion and contraction of the artificial muscle device spring is Xn, and the output Fn of the force sensor, [Equation 2] is established.

[Number 2]
Vn=dX/dt Vn: Velocity of artificial muscle device
Fn = k・∫(Vn)dt = kX

FIG. 10 is a block diagram of control system 80 in an artificial muscle device. For the input of the difference between the software damper and the force sensor input (Rn-Fn), the output of the software damper is En, but from the velocity of the linear DC motor drive shaft 52 (Vn=dx/dt) The artificial muscle length (Ln) is determined as an integral value, the spring force (Fn) for the artificial muscle device changes, and the values (Fn) of the force sensors 60 and 61 are fed back to act on the artificial muscle.・The damper (Rn-Fn) approaches 0, and the action of the artificial muscle can be obtained. Rn is a value determined when power is input to the direct-acting DC motor .

6 to 10, in addition to providing a unified encapsulation by the exoskeleton for each part having an endoskeleton, the adjacent exoskeleton structures 1a and 1b attached to the body by the attachment/detachment device 200 , 2 by using an artificial muscle device 300 based on the geometrical relationship between the exoskeleton and the endoskeleton to configure a control system 80 for manipulating and storing time-series data of joint angles. Thus, an exoskeleton device 100 is provided which is advantageous over the prior art.

An exoskeleton device can be used for necessary postural maintenance.

The artificial muscle device of the exoskeleton device can be used for the same work assistance as the muscle for the movement of the joint angle.

The storage and manipulation of joint angle time-series data can be used to store the joint angle data at the point of existence of oneself and to manipulate the joint angles of the alter ego at a remote point.

1a, 1b, 2 Exoskeleton structure with half shell structure
20a, 20b to 25a, 25b Removable device installation cover
26a, 26b to 28a, 28b Artificial muscle device attachment cover
3a, 3b to 8a, 8b Removable device mounting part
3c, 3d to 8c, 8d Stopper part of attaching/detaching device
9a,9b～11a,11b Artificial muscle device attachment part
9c,9d～11c,11d Stopper part of artificial muscle device attachment part
40a, 40b lever
41 Lever closing spring
42 Lever mount
43 Attachment/detachment hook
44a, 44b Springs for adjusting attachment/detachment force
50 hook for artificial muscle device
51 leaf spring
52 Direct-acting DC motor drive shaft
53 Linear DC motor housing
54 Enclosure for linear DC motors and controllers
55 Lid
56, 57 Springs for artificial muscle devices
58, 59 Force sensor presser
60, 61 force sensor
62 stopper
63 Microcomputer equipment
64 drivers
65 Battery
66 Travel of direct-acting DC motor
67 Elongation of springs for artificial muscle devices
69 Parts with endoskeleton
70, 71 Exoskeleton
72, 73 Artificial muscle device installation position display ellipse
74, 75 Endoskeleton
76, 77, 78 Artificial muscle devices
80 control system
100 Exoskeleton
150 Exoskeleton
200 Attachment/detachment device
201 Attachment/Removal Device with Mounting Cover Removed
300 artificial muscle device
450 Control Mechanism of Artificial Muscle Device
500 Stretching Mechanism of Artificial Muscle Device
550 Control box for artificial muscle device
600 Linear Actuator of Artificial Muscle Device

Claims (3)

An exoskeleton device for containing each part having an endoskeleton,
an exoskeleton structure obtained by halving a shell-shaped structure encapsulating a part having an endoskeleton;
an attachment/detachment device for attaching the exoskeleton structure to the body;
and three artificial muscle devices that connect adjacent exoskeleton structures attached to the body by a detachable device,
The three artificial muscle devices constitute a linear actuator that can change the length with a linear DC motor.
When the exoskeleton structure is attached to the body, the three artificial muscle devices form a triangle on a virtual ellipse at three points on one end and three points on the other end, respectively. A triangle can be made to pass through, and the joint point at which two adjacent endoskeleton come into contact is A, and the piercing points of each triangle are B and C. Allow the ABC to form,
An exoskeleton device that enables manipulation of the joint angle α by changing the lengths of three artificial muscle devices. Three artificial muscle devices are installed: leaf springs, direct-acting DC motors, storage boxes for control devices, springs for artificial muscle devices, force sensors, microcomputers with built-in software and damper drive programs, drivers, and storage batteries. The exoskeleton device of claim 1. 3. The exoskeleton device according to claim 2, further comprising a control system capable of storing and manipulating the time-series data of the joint angle α based on the geometrical relationship between the exoskeleton and the endoskeleton.

Images