JPH11164859A - Rehabilitation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rehabilitation device with which a user can be rehabilitated without feeling much pain so that the track of repeating exercise can be gradually made to be almost an instructed one. SOLUTION: The parameter of an impedance model is changed by a leg load monitoring means when the load (the load in the working space) added on a leg 101 exceeds a prescribed value. Each parameter is set sufficiently low based on a count of a repetition number counter 108 when repeating exercise is started, and the parameter changes to increase so that the number of repetition increases.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a training device for moving a human limb, and more particularly to a training device for controlling the operation of the device by repeatedly changing the control parameters according to the number of times of operation and taking into consideration the load on the limb. The present invention also relates to a training apparatus capable of performing treatment so that a trajectory during a repetitive operation gradually approaches a teaching trajectory as far as possible without causing a user to feel pain or the like.

[0002]

2. Description of the Related Art Devices for moving human limbs include continuous passive exercise devices (CPMs) used in the medical field.
training equipment such as assive motion equipment), rehabilitation equipment and sports training equipment used in the field of rehabilitation. An example of such a training device is shown in FIG.
Shown in The figure shows the configuration of the impedance element in the training apparatus. As the impedance element, inertia (mass) m, viscosity (damper) b, and rigidity (spring) k
It has. As described above, in order to perform the teaching operation or the training operation by directly moving the arm while the arm is attached to the limb, the force control has conventionally been used. For example, JP-A-7-3
In the “continuous passive motion device” disclosed in Japanese Patent No. 23048, a diseased joint is driven by a rotation mechanism or a linear motion drive mechanism having at least three degrees of freedom parallel to at least one rotation axis of the diseased joint. In addition, by driving the affected joint with a drive mechanism having one or more degrees of freedom that is not parallel to the rotation axis of the affected joint, and driving the affected joint ahead of the drive mechanism, By generating a twisting force, the therapeutic effect and the training effect are enhanced. In this conventional example, a force is controlled by setting a target impedance at the tip of the device. In addition, a method in which a target impedance is set for each joint to control the force has been proposed.
Further, in the "limb driving device" disclosed in Japanese Patent Application Laid-Open No. 9-140753, the arm is directly moved in a state in which a force-controllable arm is mounted on the limb, and force information and arm position information at that time are stored in a storage device. It moves the limb by memorizing and reproducing the stored data under force control,
Cut off or reduce the arm drive command at the time of direct teaching,
It is equipped with a switching means for returning to the original state at the time of reproduction, whereby direct teaching can be performed by using only one force sensor and applying force to any part of the arm, and power consumption of teaching is reduced. is there. Further, Japanese Patent Application Laid-Open No. Hei 9-141580
In the “operating range limiting device for a direct teaching robot” disclosed in Japanese Patent Application Laid-Open Publication No. H11-260, the teacher teaches a force under force control for controlling each joint of the robot based on information from a force sensor attached to the tip of the robot arm. This is to teach the intended operation directly to the robot arm by applying the teaching force to the sensor.The information from the force sensor is broken down into the direction approaching the object and the direction perpendicular thereto, and the force in the approaching direction is correct. Only at the time of, the limit coefficient that changes monotonously and continuously from 1 to 0 according to the distance between the object position stored in the apparatus and the hand position calculated from each joint angle is calculated and approached. The output is obtained by integrating the force in the direction and recombining it with other component forces to prevent interference between the hand and the obstacle. A certain distance from The if have operation and continue, it is to smoothly realized without performing a special mode change.

[0003]

By the way, when the apparatus is repeatedly operated, at the start of the repeated operation, since the user is not used to the operation, the movable range is small and pain is easily felt. However, as the number of repetitions increases, the user becomes accustomed to the operation, so that the movable range is generally increased and pain is generally less likely to be felt. However, in the above-mentioned conventional training apparatus, the impedance parameter is fixed and the impedance control is always performed during the repetitive operation. Therefore, if the impedance parameter is set small so that the user does not feel pain at the start of the operation, the deviation between the teaching trajectory and the actual operation trajectory becomes large, and the desired treatment can be performed even when the number of repetitive operations increases. There was a situation that it became difficult to perform the operation. Conversely, if the impedance parameter is set to a large value in order to reduce the deviation between the teaching trajectory and the actual motion trajectory and perform the desired treatment operation, a large load will be applied to the user at the start of repeated operation. It is a danger. Therefore, in practice, at the start of the operation, the impedance parameter is set within a range where the user does not feel pain, the impedance parameter is changed according to the number of repetitions, and the trajectory approaches the teaching trajectory as the number of operations increases Is desirable because the desired treatment can be performed.

[0004] The present invention has been made in view of the above-mentioned conventional problems, and a treatment is performed so that the trajectory during repetitive operation gradually approaches the teaching trajectory as long as the user does not feel pain. It is intended to provide a training device that can be performed.

[0005]

In order to solve the above-mentioned problems, a training apparatus according to a first aspect of the present invention provides a training apparatus that repeats along a trajectory previously taught by the operation of a supporting means mounted on the limb. For the purpose of moving, in a training device that controls the operation of the support means based on the force information detected by the force detection means attached to the support means and the position information detected by the position detection means, at the time of repetitive operation, The load applied to the limb is converted into a load in the work space and monitored, and when the load exceeds a predetermined value, the limb load monitoring means for changing a parameter of the impedance model and the force detection means detect the load. Force conversion means for converting the force information into force information in the work space, and position conversion means for converting the position information from the position detection means into position information in the work space, The serial impedance model in which includes an impedance control means for performing power control according to the position information of the force information and the position conversion means of said force converting means to the original. The training device according to claim 2 is:
For the purpose of repeatedly moving the limb along a trajectory previously taught by the operation of the supporting means attached to the limb, force information detected by the force detecting means attached to the supporting means and detected by the position detecting means In a training device that controls the operation of the support means based on position information,
A limb load monitoring unit that monitors a load applied to the support unit during a repetitive operation and changes a parameter of an impedance model when the load exceeds a predetermined value; and the force detection unit based on the impedance model. And impedance control means for performing force control in accordance with the force information detected by the position detection means and the position information detected by the position detection means. Further, the training device according to claim 3 is detected by force detecting means attached to the support means for the purpose of repeatedly moving the limb along a trajectory previously taught by the operation of the support means mounted on the limb. In the training device that controls the operation of the support means based on the force information and the position information detected by the position detection means, during repetitive operation, monitoring the load applied to the limb joints attached to the support means, When the load exceeds a predetermined value, a limb load monitoring unit that changes a parameter of the impedance model, and a force conversion unit that converts force information detected by the force detection unit into force information for the limb joint. Position conversion means for converting the position information from the position detection means into angle information of the limb joint,
And impedance control means for performing force control for each limb joint in accordance with the force information of the force conversion means and the angle information of the position conversion means based on the impedance model. The training device according to claim 4 is the training device according to claims 1 to 3, further comprising a repetition number counting unit that counts the number of repetition operations, wherein the limb load monitoring unit is configured to count the repetition number. At the start of the repetitive operation, the parameter is set sufficiently low based on the count value by the means, and the parameter is increased as the number of repetitions increases. According to a fifth aspect of the present invention, in the training apparatus according to the first to fourth aspects, the limb load monitoring unit determines a change amount of a load applied to the limb during a repetitive operation by using a load variation in a work space. The change in the amount of change is monitored, the amount of change in the load applied to the supporting means is monitored, or the amount of change in the load applied to the limb joint attached to the supporting means is monitored,
When the change amount of the load exceeds a predetermined value, the parameter of the impedance model is changed. Also,
The training device according to claim 6, in the training device according to claims 1 to 5, further comprising a repetition number counting unit that counts the number of repetition operations, wherein the limb load monitoring unit includes:
Based on the count value by the repetition number counting means, at the start of the repetition operation, the teaching trajectory of the teacher is set as the target trajectory for force control, and the number of repetitions increases and the target trajectory is corrected based on the deviation amount from the past target trajectory. Is what you do.

In the training apparatus according to the first and fourth aspects of the present invention, the limb load monitoring means converts the load applied to the limb into a load in the work space during repetitive operation and monitors the load. Is exceeded, the parameters of the impedance model are changed, and the impedance control means performs force control according to the force information of the force conversion means and the position information of the position conversion means based on the impedance model. . In particular, in the training device according to claim 4, the parameter is set sufficiently low at the start of the repetitive operation by the limb load monitoring means based on the count value of the repetition number counting means, and the parameter increases with the number of repetitions. I'm going to let you.
Accordingly, the target teaching trajectory can be made to follow the range in which the load is not applied to the user, that is, the range in which the user does not feel pain or the like, and the treatment operation can be performed more safely. In the training device according to claims 2 and 4, the load applied to the support means is monitored by the limb load monitoring means during the repetitive operation, and when the load exceeds a predetermined value,
The parameters of the impedance model are changed, and the impedance control means performs force control according to the force information detected by the force detection means and the position information detected by the position detection means based on the impedance model. . Particularly in the training device according to claim 4,
At the start of the repetitive operation, the parameter is set sufficiently low by the limb load monitoring means based on the count value of the repetition number counting means, and the parameter is increased as the number of repetitions increases. Accordingly, the target teaching trajectory can be made to follow the range in which the load is not applied to the user, that is, the range in which the user does not feel pain or the like, and the treatment operation can be performed more safely. Further, in the training device according to claims 3 and 4, the limb load monitoring means monitors the load applied to the limb joint attached to the support means at the time of repetitive operation, and when the load exceeds a predetermined value. , The parameters of the impedance model are changed, and the impedance control means performs force control for each limb joint in accordance with the force information of the force conversion means and the angle information of the position conversion means based on the impedance model. . In particular, in the training device according to claim 4, the parameter is set sufficiently low at the start of the repetitive operation by the limb load monitoring means based on the count value of the repetition number counting means, and the parameter increases with the number of repetitions. I'm going to let you. Accordingly, the target teaching trajectory can be made to follow the range in which the load is not applied to the user, that is, the range in which the user does not feel pain or the like, and the treatment operation can be performed more safely. Further, in the training apparatus according to claims 1 and 5, the limb load monitoring means converts a change in the load applied to the limb into a change in the load in the work space during the repetitive operation, and monitors the load. When the change amount exceeds a predetermined value, the parameter of the impedance model is changed, and in the training device according to claims 2 and 5, the change amount of the load applied to the support means during the repetitive operation by the limb load monitoring means. , And when the amount of change in the load exceeds a predetermined value, the parameter of the impedance model is changed. Furthermore, in the training device according to claims 3 and 5, the limb load monitoring means performs The amount of change in the load applied to the joint of the limb attached to the support means is monitored, and when the amount of change in the load exceeds a predetermined value, the parameter of the impedance model is changed. It is as to cause. This allows the user to follow the target teaching trajectory gently within a range in which no load is applied to the user, and a safer treatment operation can be performed. Further, in the training apparatus according to claim 6, the limb load monitoring means sets the teaching trajectory of the instructor as the target trajectory of the force control at the start of the repetitive operation based on the count value of the repetition number counting means, and the number of repetitions increases. The target trajectory is corrected based on the amount of deviation from the past target trajectory. As a result, the treatment can be performed so that the trajectory at the time of the repetitive operation gradually approaches the teaching trajectory as much as possible within a range where the load is not applied to the user, that is, a range where the user does not feel pain or the like, and the treatment can be performed more safely. Actions can be taken.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a training apparatus according to the present invention will be described with reference to [first embodiment], [second embodiment], [third embodiment], [fourth embodiment]. ] And [Fifth Embodiment] will be described in detail with reference to the drawings. [First Embodiment] FIG. 1 is a configuration diagram of a training apparatus according to a first embodiment of the present invention. The training device of the present embodiment includes:
An arm (supporting means) which corresponds to the training device according to claims 1 and 4 of the present invention and is attached to the limb 101
By the operation of 102, in order to move the limb repeatedly along the taught trajectory, force information by a force sensor (force detecting means) 105 attached to the device and position information by a rotation angle detector (position detecting means) 104 are attached. The operation of the arm 102 is controlled based on this. In the figure,
The training device of the present embodiment includes an arm 102 mounted on a limb 101, a motor 103 driving the arm 102,
Rotation angle detector 104 for detecting the rotation angle of motor 103
And a force sensor 105 for detecting a force applied from the limb 101
An external force 106 detected by the force sensor 105, a limb load monitoring unit 107 that constantly monitors the external force 106 applied to the limb 101, a repetition number counter (repetition number counting unit) 108 for counting the number of repetition operations, and force information To a displacement of the arm 102,
A switch 110 for controlling a parameter change of the displacement calculator 109; an adding device 111; a storage device 112 for storing a position command of the arm 102; a switch 113 for controlling input / output of the storage device 112; Inverse kinematics calculation unit 114 that calculates the angle command of the motor 103 from the above, a forward kinematics unit 115 that calculates the position of the arm tip from the angle information detected by the rotation angle detector 104, and controls the motor 103 based on the angle command. And a servo controller (impedance control means) 116. The switches 110 and 11 in FIG.
The setting of 3 is for the repetitive operation. Further, at the time of repetitive operation, the load applied to the limb 101 is converted into a load in the work space and monitored, and when the load exceeds a predetermined value, the limb load monitoring means for changing the parameter of the impedance model is provided. Load monitoring unit 10
7. Implemented by the displacement calculation unit 109 and the switch 110, the force conversion unit is realized by the displacement calculation unit 109, the adder 111, and the inverse kinematics calculation unit 114, and the position conversion unit is realized by the forward kinematics unit 115. In the training apparatus of the present embodiment, the parameters of the impedance model are changed by the limb load monitoring means when the load applied to the limb 101 (load in the work space) exceeds a predetermined value. At the start of the repetition operation, each parameter is set sufficiently low based on the count value of 108, and changes as the number of repetitions increases.

Next, the operation of the training apparatus according to the present embodiment will be described. First, at the time of direct teaching, switch 1
10 is opened, and each parameter of the displacement calculation unit 109 is fixed to the value at the time of teaching. And the force sensor 1 by the instructor
05 according to the external force 106 applied to the
At 9, the displacement of the arm 102 is calculated. This displacement is converted into an angle command for the motor 103 by the inverse kinematics calculation unit 114 and input to the servo controller 116. The servo controller 116 controls the motor 1 based on the motor angle command and the angle information detected by the rotation angle detector 104.
03 is controlled. At this time, the switch 113 enters the lower side (forward kinematics calculation unit 115), and the tip trajectory of the arm 102 calculated by the forward kinematics calculation unit 115 is stored in the storage device 112. Next, during the repetitive operation, the force sensor 105 detects the external force 106 applied from the limb 101, and the detection result is input to the displacement calculation unit 109. The displacement calculator 109 calculates the displacement of the arm tip from the position at the time of direct teaching based on a dynamic characteristic model including inertia, viscosity, and rigidity (parameters of the impedance model). The displacement and the tip position of the arm 102 stored in the storage device 112 are added by the adding device 111, and a new tip position command of the arm 102 is obtained. In addition, the inverse kinematics calculation unit 114 calculates the motor 103 based on the tip position command.
Is calculated and input to the servo controller 116. The servo controller 116 controls the motor 103 based on the motor angle command and the angle information detected by the rotation angle detector 104. Next, the parameters (inertia, viscosity, rigidity) of the impedance model in the displacement calculator 109 during the repetitive operation will be described. FIG. 2 is an explanatory diagram for explaining parameter adjustment by the limb load monitoring unit 107, and shows the relationship between the limb load and the impedance parameter load coefficient. In FIG. 2, F represents the external force 106 measured by the force sensor 105, and αload represents a coefficient to be multiplied by each impedance parameter. Also, Fes
Represents the magnitude of the maximum load on the limb, and αes represents the impedance parameter coefficient when the device performs the avoidance operation. That is, as shown in FIG. 2, in the training device of the present embodiment, the limb 10
The magnitude of the external force applied in a certain direction to 1 is a predetermined maximum load F
If es is exceeded, the impedance parameter coefficient α
By multiplying es to lower the parameter and causing the device to perform the avoidance operation, the external force acting on the limb 101 is reduced, thereby preventing a load of a certain value or more from acting on the user. FIG. 3 is an explanatory diagram for explaining parameter adjustment by the limb load monitoring unit 107. FIG. 3 shows the relationship between the parameter coefficient of the displacement calculation unit 109 and the number of repetition operations when the load on the limb 101 does not exceed the set value Fes. Show. FIG.
Where αturn represents an impedance parameter coefficient corresponding to the number of repetition operations, αlow represents an impedance parameter coefficient at the start of the repetition operation, nnol represents the number of repetitions for matching the impedance parameter to the set value, and nmax represents the set number of repetition operations. Show. That is, as shown in FIG. 3, the impedance parameter coefficient αturn is set to a sufficiently low αlow at the start of the repetition operation according to the number n of repetition operations by the repetition number counter 108, and the parameter increases as the number of repetitions increases. After the number of repetitive operations reaches n nol, until the set number of repetitive operations reaches n max,
αturn = 1. Here, it is assumed that the repetition operation start impedance parameter coefficient αlow is set to be sufficiently small so that the user does not feel pain, and the impedance parameter coefficient αturn is set for all elements in all directions according to the number of repetition operations. (Inertia / viscosity / rigidity) or some elements. It is assumed that the impedance parameters (inertia, viscosity, and rigidity) themselves are set to be sufficiently large so that a large deviation from the teaching trajectory does not occur even when an external force is applied. As described above, in the training device of the present embodiment, by changing the impedance parameter, the device gently imitates so as not to apply a load to the limb at the start of an operation in which pain is easily felt. Is gradually operated so as to coincide with the teaching trajectory. Therefore, within a range in which a force equal to or more than a certain value does not act on the user, it is possible to follow the treatment teaching trajectory as much as possible, thereby realizing a safer treatment operation. In the above description, the impedance parameter coefficient αturn corresponding to the number of repetition operations is changed by a linear expression (see FIG. 3). However, the impedance parameter coefficient αturn corresponding to the number n of repetition operations depends on the treatment operation and the state of the user. By changing the change of the coefficient αturn into a quadratic curve or the like, it is possible to perform more flexible correspondence.

[Second Embodiment] FIG. 4 is a block diagram of a training apparatus according to a second embodiment of the present invention. In the figure, the same reference numerals are given to the same parts as those in FIG. 1 (first embodiment), and the description is omitted. The difference from the first embodiment is that torque sensors 401 a to 401 a to 4 measure the torque applied to each joint of the device instead of the force sensor 105.
01c is attached, and the inverse kinematics calculation unit 114 and the forward kinematics calculation unit 115 are deleted. The training device according to the present embodiment corresponds to the training device according to claims 2 and 4 of the present invention. In the figure, the training apparatus of this embodiment includes an arm (supporting means) 102, a motor 103, a rotation angle detector (position detecting means) 104, and a torque sensor (force detecting means) for measuring torque applied to each joint of the arm 102. ) 401a to 401c, a limb load monitoring unit 407 that constantly monitors an external force 406 based on torque to each joint, a repetition number counter (repetition number counting unit) 108, a displacement calculation unit 109, a switch 110, an adding device 111, and a storage device 112. , A switch 113, and a servo controller (impedance control means) 416 for controlling the motor 103 based on the position command of the arm 102 and the angle information detected by the rotation angle detector 104. Note that the settings of the switches 110 and 113 in FIG. 4 are those at the time of repetitive operation. Also, at the time of repetitive operation, the load applied to the arm 102 is monitored, and when the load exceeds a predetermined value,
The limb load monitoring unit that changes the parameters of the impedance model includes a limb load monitoring unit 407 and a displacement calculation unit 10.
9 and the switch 110. Further, in the training device of the present embodiment, the parameters of the impedance model
In addition to changing when the load applied to 2 exceeds a predetermined value, each parameter is set sufficiently low at the start of the repetition operation based on the count value of the repetition number counter 108, and the parameter increases as the number of repetitions increases. It changes as you go. That is, in the training device of the present embodiment,
Impedance control is performed for each joint of the arm 102. In this case, the external force 406 monitored by the limb load monitoring unit 407, the displacement of the displacement calculation unit 109, and the position command stored in the storage device 112 are all stored in the arm 102. And the impedance control is also performed on the arm 102.
Will be applied to each joint. Therefore, the load on the limb 101 is indirectly monitored from the torque information applied to each joint of the arm 102, and the change in the impedance parameter load coefficient αload similar to that in the first embodiment (see FIG. 2) is monitored in accordance with the torque. And changing the impedance parameter coefficient αturn in the same manner as in the first embodiment (see FIG. 3) according to the number of repetition operations n to realize a change in the parameter of the joint impedance control according to the torque and the number of repetitions. Become. Thus, as in the first embodiment, by changing the impedance parameter, the limb is gently imitated so as not to apply a load to the limb at the start of an operation in which pain is likely to be felt, and the motion trajectory gradually increases as the number n of repeated operations increases. It is possible to operate in accordance with the teaching trajectory and follow the target therapeutic teaching trajectory within a range in which a force of a certain value or more does not act on the user, thereby realizing a safer treatment operation. Become.

[Third Embodiment] Next, FIG. 5 is a block diagram of a training apparatus according to a third embodiment of the present invention. In the figure, the same reference numerals are given to the same parts as those in FIG. 1 (first embodiment), and the description is omitted. The difference from the first embodiment is that the limb joint load conversion unit 50 converts the external force 106 measured by the force sensor 105 into a load on the limb joint.
1 and input to the limb load monitoring unit 507 through
The inverse kinematics calculation unit 114 that calculates the angle command of the motor 103 from the position command of the arm 102 is replaced with a conversion unit 502 that calculates the device angle from the limb joint angle, and the arm tip is calculated based on the angle information detected by the rotation angle detector 104. The point is that the forward kinematics unit 115 for calculating the position of is replaced by a conversion unit 503 for calculating the limb joint angle from the device angle. The training device according to the present embodiment corresponds to the training device according to claims 3 and 4 of the present invention. In the same figure, the training device of the present embodiment includes an arm (supporting means) 10
2. Motor 103, rotation angle detector (position detector) 10
4. Force sensor 105, external force 1 measured by force sensor 105
A limb joint load conversion unit 501 that converts 06 into a load on the limb joint, a limb load monitoring unit 507 that constantly monitors the load (external force 106) applied to the limb joint, a repetition number counter (repetition number counting unit) 108, a displacement Calculation unit 10
9, switch 110, addition device 111, storage device 11
2. Switch 113, limb joint angle to device angle conversion unit 502 for calculating device angle from limb joint angle, device angle to limb joint angle conversion unit 503 for calculating limb joint angle from device angle, and limb joint angle to device Angle converter 50
And a servo controller (impedance control means) 516 for controlling the motor 103 based on the device angle calculated in 2 and the angle information detected by the rotation angle detector 104. The switches 110 and 113 in FIG. 5 are set at the time of the repetitive operation. The limb load monitoring unit 507 monitors the load (external force 106) applied to the limb joint during the repetitive operation and changes the impedance model parameter when the load exceeds a predetermined value. , The displacement conversion unit 109 and the switch 110, the force conversion unit is realized by the displacement calculation unit 109, the adding device 111, and the limb joint angle to device angle conversion unit 502, and the position conversion unit is the device angle to the limb joint angle conversion unit. 503. In the training apparatus of the present embodiment, the impedance model parameters are changed by the limb load monitoring means when the load (external force 106) applied to the limb joints exceeds a predetermined value.
At the start of the repetition operation, each parameter is set to a sufficiently low value, and the parameter changes so as to increase as the number of repetitions increases. That is,
The training device of the present embodiment performs impedance control based on the joint of the limb 101. In this case,
The limb load monitoring unit 507 monitors the load applied to the limb joint, and the displacement calculation unit 109 calculates the angle at which the limb should move from the load applied to the limb joint. Also, the storage device 112
Is a position command of the limb joint.
Therefore, the load applied to the limb joint is constantly monitored, and a change in the impedance parameter load coefficient αload similar to that in the first embodiment (see FIG. 2) according to this load, and a second change according to the number n of repetitive operations are performed. The impedance parameter coefficient αturn is changed in the same manner as in the first embodiment (see FIG. 3), and the parameter change of the limb joint impedance control according to the load and the number of repetitions is realized. Thus, by changing the impedance parameter in the same manner as in the first embodiment, at the start of an operation in which pain is easily felt, the limb is gently imitated so as not to apply a load to the limb. Operate to match the teaching trajectory,
In a range in which a force equal to or more than a certain value does not act on the user, the user can follow the target therapeutic teaching trajectory, and realize a safer therapeutic operation.

[Fourth Embodiment] FIG. 6 is a block diagram of a training apparatus according to a fourth embodiment of the present invention. In the figure, the same reference numerals are given to the same parts as those in FIG. 1 (first embodiment), and the description is omitted. The difference from the first embodiment is that the external force 106 measured by the force sensor 105 is input to the limb load monitoring unit 607 through the differentiator 601. The training device according to the present embodiment corresponds to the training device according to claims 1 and 5 of the present invention. In the drawing, the training apparatus of the present embodiment is measured by an arm 102 mounted on a limb 101, a motor 103, a rotation angle detector (position detecting means) 104, a force sensor (force detecting means) 105, and a force sensor 105. A differentiator 601 for differentiating the external force 106, a limb load monitoring unit 607 for constantly monitoring a change in the external force 106 based on the differentiation result, a repetition number counter (repetition number counting unit) 108, a displacement calculation unit 1
09, switch 110, adder 111, storage device 11
2. Switch 113, inverse kinematics calculation section 114, forward kinematics section 115, and servo controller (impedance control means) for controlling motor 103 based on an angle command
116 is provided. Note that the settings of the switches 110 and 113 in FIG. 6 are those at the time of repetitive operation. Further, at the time of the repetitive operation, the change in the load applied to the limb 101 is converted into a change in the load in the work space and monitored, and when the change in the load exceeds a predetermined value, the parameter of the impedance model is changed. The load monitoring means includes a differentiator 601, a limb load monitoring unit 10
7. This is realized by the displacement calculation unit 109 and the switch 110. Further, in the training device of the present embodiment, the parameters of the impedance model are the load applied to the limb 101 (the load in the work space) by the limb load monitoring means.
Changes when the change exceeds a predetermined value, and based on the count value of the repetition number counter 108, each parameter is set sufficiently low at the start of the repetition operation, and the parameter increases as the number of repetitions increases. Changes to The training apparatus according to the present embodiment detects a change in the external force 106 by the differentiator 601 and changes a parameter according to the change. In this case, in the first embodiment, the explanatory diagram illustrated in FIG. The horizontal axis indicates the change amount of the limb action load, and the impedance parameter load coefficient αload changes according to the change amount of the limb action load. Therefore, it is possible to flexibly cope with a user who has no muscular strength and cannot exert a great force. Note that the modification of the first embodiment as in the present embodiment can be similarly applied to the second and third embodiments.

[Fifth Embodiment] FIG. 7 is a block diagram of a training apparatus according to a fifth embodiment of the present invention. In the figure, the same reference numerals are given to the same parts as those in FIG. 1 (first embodiment), and the description is omitted. Here, the difference from the first embodiment is that what is corrected according to the number of repetitions is not the impedance parameter of the displacement calculation unit 109 but the teaching trajectory from the storage device 112 that stores the teaching position. It is. In addition, the training device of this embodiment is:
This corresponds to a training device according to claims 1 and 6 of the present invention. In FIG. 1, a training apparatus according to the present embodiment includes an arm 102 mounted on a limb 101, a motor 10
3. Rotation angle detector (position detecting means) 104, force sensor (force detecting means) 105, limb load monitoring section 107 for constantly monitoring external force 106, repetition number counter (repetition number counting means) 108, displacement calculating section 109, Switch 11
0, a teaching trajectory correction unit 701 for correcting the teaching trajectory by the number of times of movement and displacement, a switch 702 for controlling the operation of the teaching trajectory correction unit 701, an adding device 703, an adding device 111, a storage device 112, a switch 113, and inverse kinematics. It comprises a calculation unit 114, a forward kinematics unit 115, and a servo controller (impedance control unit) 116 for controlling the motor 103 based on an angle command.
Note that the settings of the switches 110 and 113 in FIG. 7 are those at the time of repetitive operation. Also,
At the time of the repetitive operation, the load applied to the limb 101 is converted into a load in the work space and monitored, and when the load exceeds a predetermined value, the function of the limb load monitoring means for changing the parameter of the impedance model is realized. The parts are a limb load monitoring unit 107, a displacement calculation unit 109, and a switch 110.
Has been realized. In the training apparatus of the present embodiment, the limb load monitoring means changes the impedance model parameter when the load applied to the limb 101 (load in the work space) exceeds a predetermined value. Based on the number of repetitive operations, the teaching trajectory of the instructor is used as the target trajectory for force control at the start of the repetitive operation, and the function of correcting the target trajectory based on the amount of deviation from the past target trajectory as the number of repetitions increases The function is provided by a teaching trajectory correction unit 701, a switch 702,
And an adder 703. That is, in the training device of the present embodiment, the teaching trajectory correction coefficient β is the first
Similarly to the change in the impedance parameter coefficient αturn according to the number of repetition operations in the embodiment (see FIG. 3), βlow is set to a sufficiently low value at the start of the repetition operation according to the number n of repetition operations, and the number of repetitions increases. The parameter increases, and after the number of repetitions reaches nnol, the set number of repetitions nmax
Until it reaches .beta. = 1. When the teaching trajectory correction coefficient β becomes 1, the operation trajectory of the device becomes coincident with the teaching trajectory. Therefore, even in the control method according to the present embodiment, the operation trajectory gradually approaches the target teaching trajectory. Become. As a result, the range that does not put a load on the user,
That is, the treatment can be performed so that the trajectory at the time of the repetitive operation gradually approaches the teaching trajectory as far as the user does not feel pain or the like, and the treatment operation can be performed more safely. Note that the modification of the first embodiment as in the present embodiment can be similarly applied to the second and third embodiments.

[0013]

As described above, according to the training apparatus of the present invention, the load applied to the limb at the time of repetitive movement is converted into a load in the work space and monitored by the limb load monitoring means, and the load is monitored. Is larger than a predetermined value, the parameter of the impedance model is changed, and the impedance control means performs force control according to the force information of the force conversion means and the position information of the position conversion means based on the impedance model. In particular, the parameter is set sufficiently low at the start of the repetition operation based on the count value by the repetition number counting means, and the parameter is increased as the number of repetitions increases. It is possible to follow the target teaching trajectory in a range that is not applied, that is, a range where the user does not feel pain,
It is possible to provide a training device that can perform a treatment operation more safely. According to the training apparatus of the present invention, the limb load monitoring means monitors the load applied to the support means at the time of repetitive operation, and when the load exceeds a predetermined value, changes the parameter of the impedance model, The impedance control means performs force control in accordance with the force information detected by the force detection means and the position information detected by the position detection means based on the impedance model. Based on the numerical values, at the start of the repetitive operation, the parameter was set sufficiently low, and the parameter was increased as the number of repetitions increased. A training device that can follow the target teaching trajectory in a range where it can not be felt and can perform treatment operation more safely It can be provided. Further, according to the training apparatus of the present invention, the limb load monitoring means monitors the load applied to the limb joint attached to the support means during the repetitive operation, and when the load exceeds a predetermined value, the impedance is monitored. Change the parameters of the model,
The impedance control means performs force control for each limb joint in accordance with the force information of the force conversion means and the angle information of the position conversion means based on the impedance model. Based on
At the start of the repetition operation, the parameter is set sufficiently low, and the parameter is increased as the number of repetitions increases, so that the user does not experience a load, that is, the user does not feel pain or the like. It is possible to provide a training apparatus that can follow a target teaching trajectory and can perform a treatment operation more safely. further,
According to the training device of the present invention, by the limb load monitoring means,
At the time of the repetitive operation, the amount of change in the load applied to the limb is converted into the amount of change in the load in the work space and monitored, and when the amount of change in the load exceeds a predetermined value, the parameter of the impedance model is changed. In addition, the amount of change in the load applied to the support means is monitored, and when the amount of change in the load exceeds a predetermined value, the parameter of the impedance model is changed. The amount of change in the applied load is monitored, and when the amount of change in the load exceeds a predetermined value, the parameters of the impedance model are changed. Can be provided, and a training apparatus capable of performing a safer treatment operation can be provided. According to the training device of the present invention, the limb load monitoring means sets the teaching trajectory of the instructor as the target trajectory of the force control at the start of the repetitive operation based on the count value of the repetition number counting means, and the number of repetitions increases. Since the target trajectory was corrected based on the amount of deviation from the past target trajectory, the trajectory during repetitive operation was gradually increased within a range that did not put a load on the user, that is, a range where the user did not feel pain. It is possible to provide a training apparatus capable of performing treatment so as to approach the teaching trajectory as much as possible and performing the treatment operation more safely.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a training device according to a first embodiment of the present invention.

FIG. 2 shows parameter adjustment by a limb load monitor,
It is explanatory drawing explaining the relationship of the impedance parameter load coefficient with respect to a limb action load.

FIG. 3 shows parameter adjustment by a limb load monitor,
FIG. 9 is an explanatory diagram illustrating a relationship between a parameter coefficient of a displacement calculation unit and the number of repetition operations when a load on a limb does not exceed a set value.

FIG. 4 is a configuration diagram of a training device according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram of a training device according to a third embodiment of the present invention.

FIG. 6 is a configuration diagram of a training device according to a fourth embodiment of the present invention.

FIG. 7 is a configuration diagram of a training device according to a fifth embodiment of the present invention.

FIG. 8 is a configuration diagram illustrating a conventional training device.

[Explanation of symbols]

101 limb 102 arm (supporting means) 103 motor 104 rotation angle detector (position detecting means) 105 force sensor (force detecting means) 106, 406 external force 107, 407, 507, 607 limb load monitoring unit 108 repetition counter (repetition count Means) 109 Displacement calculation unit 110 Switch 111 Addition device 112 Storage device 113 Switch 114 Inverse kinematics calculation unit 115 Forward kinematics unit 116, 416, 516 Servo controller (impedance control means) 401a to 401c Torque sensor 501 Limb joint load conversion unit 502 Limb joint angle to device angle conversion unit 503 Device angle to limb joint angle conversion unit 601 Differentiator 701 Teaching trajectory correction unit 702 Switch 703 Addition device

Claims (6)

[Claims] 1. Force information and position detection detected by force detection means attached to said support means for the purpose of repeatedly moving the limb along a trajectory previously taught by the operation of the support means attached to the limb. In a training apparatus for controlling the operation of the support means based on the position information detected by the means, a load applied to the limb is converted into a load in a work space and monitored during a repetitive operation, and the load is a predetermined value. Limb load monitoring means for changing the parameters of the impedance model, force conversion means for converting the force information detected by the force detection means into force information in the work space, Position conversion means for converting position information into position information in a work space; force information of the force conversion means and the position conversion based on the impedance model Training apparatus, comprising: the impedance control means for performing power control according to the position information of the stage, the. 2. Force information and position detection detected by force detecting means attached to the supporting means for the purpose of repeatedly moving the limb along a trajectory taught in advance by the operation of the supporting means mounted on the limb. In a training apparatus for controlling the operation of the support means based on the position information detected by the means, a load applied to the support means is monitored during a repetitive operation, and when the load exceeds a predetermined value, an impedance model A limb load monitoring unit that changes the parameters of: and an impedance control unit that performs force control in accordance with the force information detected by the force detection unit and the position information detected by the position detection unit based on the impedance model. A training device comprising: 3. Force information and position detection detected by force detecting means attached to the supporting means for the purpose of repeatedly moving the limb along a trajectory previously taught by the operation of the supporting means mounted on the limb. In a training device for controlling the operation of the support means based on the position information detected by the means, during a repetitive operation, a load applied to a limb joint attached to the support means is monitored, and the load becomes a predetermined value. When exceeding, a limb load monitoring unit that changes a parameter of the impedance model, a force conversion unit that converts force information detected by the force detection unit into force information for the limb joint, and the position detection unit. Position converting means for converting the position information of the limb joint into angle information of the limb joint, and the force information of the force converting means and the And impedance control means for performing force control of each of the limb joint in accordance with the angle information of the position conversion means,
A training device comprising: 4. A repetition number counting means for counting the number of repetition operations, wherein the limb load monitoring means sets the parameter sufficiently low at the start of repetition operation based on a count value by the repetition number counting means. The training device according to any one of claims 1 to 3, wherein the parameter is increased as the number of repetitions increases. 5. The limb load monitoring means converts and converts a change in load applied to the limb into a load change in a work space during repetitive operation, and monitors a change in load applied to the support means. Alternatively, the amount of change in the load applied to the limb joint attached to the supporting means is monitored, and when the amount of change in the load exceeds a predetermined value, the parameter of the impedance model is changed. Claims 1-4
The training device according to any one of claims 1 to 4. 6. A repetition number counting means for counting the number of repetition movements, wherein the limb load monitoring means based on a count value of the repetition number counting means, based on the count value by the repetition number counting means, when starting the repetition movement, the teaching trajectory of the teacher. The training device according to any one of claims 1 to 5, wherein the target trajectory is used as a control target trajectory, and the number of repetitions increases and the target trajectory is corrected based on a deviation amount from a past target trajectory.