JPWO2016006432A1 - 脚相移行タイミング判定方法、脚相移行タイミング判定装置、歩行支援制御方法及び歩行支援装置 - Google Patents
脚相移行タイミング判定方法、脚相移行タイミング判定装置、歩行支援制御方法及び歩行支援装置 Download PDFInfo
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Abstract
Description
Vx=L・cos(q1)・Vq1−L・cos(q2)・Vq2 ・・・(式1)
として周期的に求める。但し、式1では、腰P0を基準に歩行方向(前方)位置を正、また、腰P0の速度を基準に歩行方向の速度を正としている。
Vx=L1・cos(q1)・Vq1−L2・cos(q2)・Vq2 ・・・(式2)
に基づいて算出することが好ましい。但し、式2において、Vxは、人体の腰を基準にした足先の相対速度、q1,Vq1は、前記大腿部の傾斜角及び角速度、q2,Vq2は、前記小腿部の傾斜角及び角速度、及びL1,L2は、人体の大腿部及び小腿部の寸法である。
10 上側リンク(大腿側リンク)
11,21 姿勢センサ(センサ)
20 下側リンク(小腿側リンク)
30 回動部材
4 可変剛性機構
42 モータ(駆動源)
43 ボールネジ
44 ナット(支点部材)
441 支点
46 線形バネ(弾性部材)
5 制御部
53 足先動き算出部(歩行情報取得手段)
54 脚状態判断部(脚状態判断手段)
55 モータ駆動制御部(剛性制御手段)
Claims (16)
- 脚の動きを検出するセンサの出力を受け付けて人体の基準部位に対する足先の相対速度を連続的に算出する歩行情報取得手段と、
前記足先の相対速度に基づいて遊脚期と立脚期との間の移行タイミングを判断する脚状態判断手段とを備えた脚相移行タイミング判定装置。 - 前記脚状態判断手段は、前記足先の相対速度及びその正負の極性に基づいて遊脚期と立脚期との間の移行タイミングを判断する請求項1に記載の脚相移行タイミング判定装置。
- 前記歩行情報取得手段は、さらに、前記センサの出力を受け付けて、前記人体の基準部位に対する足先の相対位置を連続的に算出するもので、
前記脚状態判断手段は、さらに、前記足先の相対位置が正か負かに基づいて前記遊脚期から前記立脚期への移行タイミングか、前記立脚期から前記遊脚期への移行タイミングかを判断する請求項1又は2に記載の脚相移行タイミング判定装置。 - 前記センサは、前記人体の大腿部及び小腿部の動きを前記脚の動きとして検出するものである請求項1〜3のいずれかに記載の脚相移行タイミング判定装置。
- 前記足先の相対速度Vxは、
Vx=L1・cos(q1)・Vq1−L2・cos(q2)・Vq2
であることを特徴とする請求項4に記載の脚相移行タイミング判定装置。
但し、Vxは、人体の腰を基準にした足先の相対速度、q1,Vq1は、前記大腿部の傾斜角及び角速度、q2,Vq2は、前記小腿部の傾斜角及び角速度、及びL1,L2は、人体の大腿部及び小腿部の寸法である。 - 前記センサは、加速度センサ、磁気センサ及びジャイロセンサのうちの少なくとも1種類であることを特徴とする請求項1〜5のいずれかに記載の脚相移行タイミング判定装置。
- 人体の脚に装着され、膝を屈伸する方向に対する剛性が変更可能な可変剛性機構を備えた歩行支援装具と、
請求項1〜6のいずれかに記載の脚相移行タイミング判定装置と、
前記遊脚期から立脚期への移行タイミングでは前記可変剛性機構の剛性を高め、前記立脚期から遊脚期への移行タイミングでは前記可変剛性機構の剛性を下げる剛性制御手段とを備えた歩行支援装置。 - 前記剛性制御手段は、次の前記剛性の変更開始時まで、設定された剛性を維持するものである請求項7記載の歩行支援装置。
- 前記剛性制御手段は、前記可変剛性機構の剛性を過渡的に変更することを特徴とする請求項7又は8に記載の歩行支援装置。
- 前記剛性制御手段は、前記可変剛性機構の剛性を高めるときは、前記足先の相対位置が前記基準部位に比して前側にあると判定したことを条件とし、前記可変剛性機構の剛性を下げるときは、前記足先の相対位置が前記基準部位に比して後ろ側にあると判定したことを条件とする請求項7〜9いずれかに記載の歩行支援装置。
- 前記歩行支援装具は、膝位置に対応する回動部材を介して連結された大腿側リンクと小腿側リンクとを備え、
前記可変剛性機構は、前記大腿側リンクと小腿側リンクの一方のリンクに取付けられた駆動源と、前記駆動源の駆動によって前記回動部材に近い位置と離れた位置との間で移動する支点部材と、前記大腿側リンクと小腿側リンクとの間に張設され、かつ、その間で前記支点部材を迂回して掛け渡された弾性部材とを備え、
前記剛性制御手段は、前記駆動源を駆動制御することによって、前記遊脚期から立脚期への移行タイミングでは前記支点部材を前記回動部材から離れた位置に移動させ、前記立脚期から遊脚期への移行タイミングでは前記支点部材を前記回動部材に近い位置に移動させる請求項7〜10のいずれかに記載の歩行支援装置。 - 前記センサは、前記大腿側リンクに取付けられ、前記大腿側リンクの鉛直面内の動きを検出するための第1の姿勢センサと、前記小腿側リンクに取付けられ、前記小腿側リンクの鉛直面内の動きを検出するための第2の姿勢センサとを含む請求項11に記載の歩行支援装置。
- 脚の動きを検出するセンサの出力を受け付けて人体の基準部位に対する足先の相対速度を連続的に算出する歩行情報取得ステップと、
前記歩行情報取得ステップで算出された前記足先の相対速度に基づいて遊脚期と立脚期との間の移行タイミングを判断する脚状態判断ステップとを備えた脚相移行タイミング判定方法。 - 前記脚状態判断ステップは、前記足先の相対速度及びその正負の極性に基づいて遊脚期と立脚期との間の移行タイミングを判断する請求項1に記載の脚相移行タイミング判定方法。
- 前記歩行情報取得ステップは、さらに、前記センサの出力を受け付けて、前記人体の基準部位に対する足先の相対位置を連続的に算出し、
前記脚状態判断ステップは、さらに、前記足先の相対位置が正か負かに基づいて前記遊脚期から前記期立脚期への移行タイミングか、前記立脚期から前記遊脚期への移行タイミングかを判断する請求項13又は14に記載の脚相移行タイミング判定方法。 - 人体の脚に装着され、膝を屈伸する方向に対する剛性が変更可能な可変剛性機構を備えた歩行支援装具に対する歩行支援制御方法において、
前記脚の動きを検出するセンサの出力を受け付けて人体の基準部位に対する足先の相対速度を連続的に算出する歩行情報取得ステップと、
前記歩行情報取得ステップで算出された前記足先の相対速度に基づいて遊脚期と立脚期との間の移行タイミングを判断する脚状態判断ステップと、
前記遊脚期から立脚期への移行タイミングでは前記可変剛性機構の剛性を高め、前記立脚期から遊脚期への移行タイミングでは前記可変剛性機構の剛性を下げる剛性制御ステップとを備えた歩行支援制御方法。
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