KR20060039970A - Tendon-driven power assisting orthosis and control method its - Google Patents

Abstract

According to the present invention, by employing a separate caster worker including a power generator and an operation mechanism using wires, the volume and weight of the walking aids can be reduced, thereby minimizing the weight and discomfort felt by the wearer. In particular, it has a behavior profile for the operation of walking aids to assist the elderly and disabled people with disabilities as well as to help them to strengthen their strength. And a control method thereof.

The present invention provides an intelligent caster worker and a walking aid device having a simple and powerful muscle strengthening function for the elderly who lack external activities due to the weakening of the lower extremity muscle strength caused by senile disease and aging, thereby gradually supporting walking and lowering at the same time. It has a function of rehabilitation that prevents the decline of strength and improves the quality of life of old age by inducing active activities, while providing a control method including a behavior profile related to the operation of walking aids. By understanding behaviors, we can support muscle strength, thereby making it easier for the general public through strength building, and making it easier for elderly and disabled people to freely walk, sit and stand. Provided is a walking aid and a control method thereof.

Walking aid, tendon drive, muscle augmentation device, caster walker

Description

Walking aid for muscle strength and its control method {Tendon-driven power assisting orthosis and control method its}             

Figure 1a, 1b is a side view and a perspective view showing the overall configuration of the walking aid device according to the present invention

Figure 2 is a front view showing a walking aid mechanism of the walking aid device according to the present invention

3 is a side view of FIG. 2

Figure 4 is a perspective view showing the structure of the waist operation and knee operation unit in the walking aid device according to the present invention

5a, 5b is a front view and a perspective view showing the mounting state of the power transmission mechanism in the walking aid according to the invention

Figure 6 is a perspective view showing the mounting state of the goniometer for angle measurement in the walking aid according to the present invention

Figure 7 is a side view showing the waist operation state of the walking aid device according to the present invention

8 is a side view showing the operation state of the knee portion of the walking aid according to the present invention

9 is a block diagram showing a control method of a walking aid according to the present invention.

10 is a block diagram showing a feedback control method in a control method of a walking aid according to the present invention.

11 is a block diagram showing a feed control method in the control method of the walking aid according to the present invention.

<Explanation of symbols for main parts of drawing>

10: Cast Walker 11: Walking aids

12: power transmission mechanism 13: board

14 monitor 15 body

16: waist support 17: thigh support

18: Calf Zone 19: Shoes

20a, 20b, 20c: frame 21: waist action pulley device

22: knee motion pulley device 23: rotating shaft

24: dual power shaft 25: waist power pulley

26: fixed shaft 27: waist pulley

28: waist belt 29: knee power pulley

30: middle pulley for knee 31: working pulley for knee

32a, 32b: knee belt 33: belt stopper

34: hole 35: cover

36: handle 37: goniometer

38: belt support rod 39: electric pulley

40: electric belt 41: ankle joint

The present invention relates to a walking aid device for strengthening muscle strength and a method of controlling the same, which perform a role of strengthening the strength of the general public or assisting the elderly, and more particularly, a separate caster worker and a wire including a power generator. By adopting the operating mechanism used, it is possible to reduce the volume and weight of the walking aids, thereby minimizing the weight and discomfort felt by the wearer, and in particular, by providing an action profile for the operation of the walking aids, The present invention relates to a walking aid for strengthening muscle strength and a control method thereof, which can faithfully perform the role of assisting the elderly or the disabled as well as supporting the strength of the general public or patients.

In general, pedestrian aids are an active area of research and development in some developed countries in preparation for an aging society.

In connection with silver engineering, which has recently been prominent, it is moving from simply assisting elderly activities to combining intelligent computers and ergonomic mechanisms to lead a comfortable and stable life.

Although universities and national research institutes in some developed countries are conducting these studies, they have not yet reached a level that can be used directly by the elderly.

Existing pedestrian aids have the disadvantages that the power generator is directly transmitted to the wearer and is very inconvenient to wear because it is bulky and heavy.It is a simple mechanism that operates according to the wearer's movement. There is a limit that can only play the role of supporting the behavior of

Accordingly, the present invention provides an intelligent caster worker and a walking aid device having a simple and powerful muscle strengthening function for the elderly who lack external activities due to the weakening of lower extremity muscle strength caused by senile disease and aging, and progressively assist walking. At the same time, it aims to improve the quality of life of old age by inducing active activity while having the function of rehabilitation to prevent the decline of muscle strength.

In addition, the present invention by providing a control method including a behavior profile associated with the operation of the walking aid mechanism, it is possible to assist the muscle strength by grasping the behavior of the wearer, thereby making it easier for the general public through the strengthening of muscle strength There are other objectives to make it easier for elderly and disabled people with less muscle strength to walk, sit and stand freely.

Walking aid device of the present invention for achieving the above object is a caster walker with a computer with a built-in behavior profile and a power generator, a walking aid mechanism that the user can wear on the body, the caster walker and walking aids It is characterized in that it is made to include a power transmission mechanism that is connected between the assembly to transmit power.

In addition, the caster walker is characterized in that the mobile body consisting of a main body having a wheel and a handle having a plurality of input buttons and a monitor and a wheel to view the control situation on the screen.

In addition, the walking aid mechanism is made of one waist support and a pair of left and right thigh support, calf support and shoes, the waist support frame is mounted on the inside of the waist movement pulley device at the same time the knee movement outside The pulley device is mounted, and the thigh support frame is connected to the waist action pulley device at the upper end thereof so that the pulley device can be rotated at an angle with respect to the shaft. At the same time as being connected to the pulley device is supported by a structure that is rotatable through the rotating shaft to the lower end of the frame of the thigh support is characterized in that the pulley device is made of a structure that is rotatable at an angle.

In addition, the waist action pulley device is a waist power pulley integrally coupled to the upper double-powered shaft supported through the frame of the waist support, and the lower fixed shaft is supported through the frame of the waist support Is coupled to the rotatable structure at the same time and the waist operation pulley is integrally connected with the frame of the calf zone, and characterized in that it comprises a waist belt for connecting between the power pulley for the waist and the operation pulley for the waist.

In addition, the knee motion pulley device is a knee power pulley integrally coupled to the upper double-powered shaft that is supported through the frame of the waist support, and the lower fixed shaft is supported through the frame of the waist support Double pulley-type intermediate pulley for the knee coupled to the rotatable structure, the operation pulley for the knee integrally coupled to the rotating shaft that is supported through the frame of the calf and shoe, the power pulley for the knee and the middle for the knee It characterized in that it comprises a knee belt for connecting between the pulley and between the knee intermediate pulley and the knee operation pulley respectively.

In addition, the waist action pulley device and knee action pulley device is characterized in that it comprises a belt stopper that can hold the tension of the belt.

In addition, the waist support, thigh support, calf support and each frame of the shoe is characterized in that a plurality of holes for adjusting the length is formed at a predetermined interval.

Further, the power transmission mechanism is mounted on the power generator side of the caster worker and the dual power shaft side of the walking aid mechanism, respectively, and connects two sets of electric pulleys for transmitting power, respectively connecting the two sets of electric pulleys. It characterized in that it comprises a transmission belt and a cover which is covered on the two lines of the transmission belt.

In addition, the belt is characterized in that the replacement of any one of a wire, a timing belt, a chain.

On the other hand, the control method of the walking aid device for achieving the above object is a preparatory step of determining whether the foot is in contact with the ground using the angle sensor read from the angle measuring device mounted on each joint and the pressure sensor mounted on the shoe, When the preparation is completed in the preparation step, the selection step of determining one of the sitting, standing, walking using a computer mounted on the caster walker, and if the action is determined in the selection step of the action profile already stored in the computer It characterized in that it comprises an operating step of controlling the operation of the walking aid mechanism by executing a profile.

In addition, the operation step compares the current information read from the behavior profile with the sensor and executes the motor output value determined in the behavior profile without the feedback control scheme for compensating the motor output value from the controller or the information read from the sensor. Characterized in that it comprises a front feed control method.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a side view showing the overall configuration of the walking aid device according to the present invention.

As shown in FIG. 1, the walk assistance device includes a walk assistance device 10 and a walk assistance device 11 and a caster worker 10 which are directly worn by a user. It consists of a power transmission mechanism 12 which transmits to (11) side.

As the power generator, which is very bulky and heavy, felt the burden of the wearer is installed on the caster walker 10 side separately from the walking aid mechanism 11, the wearer may use the walking aid 11 more easily.

In the case of the elderly, patients, disabled people, and the like with weak muscle strength can be provided with power from the caster walker 10 using the power transmission mechanism (12).

The cast walker 10 is a board 13 and a handle 36 having a plurality of input buttons, a pedestal 14 to place a monitor, etc. to view the control situation on the screen, the board 13, the handle ( 36) and the base 14 is adjustable in height and consists of a main body 15 having a wheel for movement, the user can walk or push while walking or sitting in place, standing and standing.

In addition, the power generator provided in the caster walker 10 may be applied to a motor, a linear motor, a solenoid, a pneumatic, a hydraulic, and the like, the gear used to increase the torque may be applied to harmonic gears, gearboxes and the like. .

The cast worker 10 is equipped with a computer (not shown) with a built-in behavior profile to control the function of the wearer's motion analysis, motor output value control, walking aids operation, etc. This will be described in detail later. do.

2 to 4 is a front view, a side view and a perspective view showing the structure of the walking aid mechanism and the waist operation unit and the knee operation unit of the walking aid device according to the present invention.

As shown in Figures 2 to 4, the walking aid 11 is one waist support 16 to wear on the waist, a pair of thigh support 17 to wear on the thigh, wearable while wearing on the calf It consists of a pair of calf zones 18 and shoes 19, a waist action pulley device 21 and a knee action pulley device 22 to allow each joint to be bent.

The supports can be tightened in the form of a belt so that they can be worn snugly at the waist and can be adjusted to the thickness of the legs, while having rod-shaped frames 20a, 20b, and 20c, which have a pulley device side and It can be assembled into a structure that is connected or supported between each other.

In particular, each of the frame 20a, 20b, 20c is provided with a plurality of holes 34 are arranged at regular intervals along the length direction can be used to adjust to fit the body of various users.

At this time, the support and the frame may be coupled in a bolting manner or the like.

In addition, between the shoe 19 and the frame 20c is attached to the ankle joint portion 41 of the pin / bearing combination structure that can be freely rotated operation, the user can bend the ankle without inconvenience.

The walking aid 11 has a pressure sensor (not shown) attached to the sole portion and the knee portion for observing the wearer's movement state, and a goniometer 37 for measuring the angle of the waist, knee and ankle portion is provided. 6, it is attached to the frame using a bracket or the like.

In this case, a potentiometer, a goniometer, an encoder, etc. may be applied, and in the case of a pressure sensor, one foot may be installed at the front of the sole and at the heel.

The goniometer and the pressure sensor are electrically connected to the computer side of the caster worker, so that each measurement signal can be provided to the computer side.

The pulley device is responsible for transmitting power for the operation of each joint, in the present invention is provided with a waist action pulley device 21 and a knee action pulley device 22.

These pulleys are configured to receive the power generated by the power generator in the caster walker 10 through the power transmission mechanism 12 to move the respective frames.

The waist action pulley device 21 is composed of a waist power pulley 25 for transmitting power and a waist operation pulley 26 that moves the frame 20b substantially while rotating, and between the pulleys for the waist. Belt 28 is connected.

The waist power pulley 25 is coupled to the upper dual power shaft 24 which is coupled through the rotatable structure to the frame 20a of the waist support 16 to be rotatable together, the operation pulley for the waist (26) is coupled to the lower fixed shaft 26, which is penetrated to the frame 20a (substantially a belt stopper bracket integrally fixed to the frame) of the waist support 16 to be rotatable about this axis. do.

At this time, as the upper end of the frame 20b having the thigh support 17 is integrally fused and fixed to one side of the waist working pulley 26, the thigh support 17 and the frame are rotated when the waist working pulley 26 is rotated. (20b) The whole can be rotated by a certain angle with the pulley at this time as an axis.

At this time, since the waist requires a large amount of torque, it is preferable to use the waist operation pulley 26 having a large diameter.

Here, the dual power shaft 24 is rotatably mounted on the frame (20a) using a bearing or the like, and consists of a structure in which two shafts of different diameters are assembled concentrically, the inner shaft of a long length The waist power pulley 25 is assembled to the key structure at 24a, and the knee power pulley 29 to be described later is assembled to the key structure at the outer shaft 24b having a short length.

Accordingly, the waist power pulley 25 and the knee power pulley 29 can be independently operated by the respective shafts 24a and 24b.

In addition, the waist action pulley device 21 is provided with a belt stopper 33 that can hold the tension of the belt, the belt stopper 33 is supported by using a bracket fixed on the frame 20a By using two rollers arranged in contact with the outer surface of the belt it is possible to maintain the tension of the belt.

The knee motion pulley device 22 includes three pulleys, that is, a power pulley 29 for knees, an intermediate pulley 30 for knees, and an operation pulley 31 for knees and two knee belts connecting the pulleys ( 32a) and 32b.

The knee power pulley 29 is assembled to a key structure on the outer shaft 24b of the dual power shaft 24 in the frame 20a of the waist support 16 is rotated with the shaft to transmit power. .

For example, in the center of the frame 20b, the inner power pulley 25 for the waist is assembled to the inner shaft 24a, while the outer power pulley 29 for the knee is assembled to the outer shaft 24b. Each power can be transferred.

The intermediate pulley 30 for the knee consists of a double pulley shape in which two rows of teeth are formed side by side, and is assembled to a fixed shaft 26 installed on the frame 20a of the waist support 16 to the central axis thereof. To be rotatable.

The knee pulley 32 extending from the knee power pulley 25 and the knee pulley 32b extending from the knee operation pulley 31 are connected to the intermediate pulley 30 for knees at the same time. It is to convey.

The operation pulley 31 for the knee is mounted on a rotating shaft 23 mounted in a rotatable structure through a bearing or the like on a frame 20b (substantially a bracket of a belt stopper fixed integrally to the frame) of the thigh support 17. It is assembled integrally and serves to turn the rotary shaft 23 by receiving power from the belt.

At this time, the upper end of the frame 20c having the shoe 19 and the calf support 18 is integrally coupled to the rotary shaft 23 rotatably integrally with the knee operation pulley 31, the knee operation pulley 31 is When rotated, the entire frame 20c having the shoes 19 and the calf zone 18 by the rotation shaft 23 can also be folded while rotating at an angle about the rotation shaft 23 at this time.

In addition, the knee motion pulley device 22 is also provided with a belt stopper 33 having the same structure and role as the above waist motion pulley device 21.

5a and 5b is a front view and a perspective view showing a mounting state of the power transmission mechanism in the walking aid according to the present invention.

5A and 5B, the power transmission mechanism 12 is a portion connecting to the waist side to receive power from the caster walker 10, a flexible cable (for example, a belt or wire) It uses power to transmit power.

The power transmission mechanism 12 is connected to the power generator side of the caster walker 10 and the dual power shaft 24 side of the walking aid mechanism 11, respectively, and a total of three sets of six electric pulleys for transmitting power ( 39), each of the electric belts 40 connecting the three sets of electric pulleys 39, and a cover 35 that wraps each electric belt 40 one set.

In addition, each set of two transmission pulleys 39 are assembled in such a way that they can be rotated independently while being closely coupled together with a space ring in the middle.

In addition, out of one set of two transmission pulleys 39 assembled on the walking aid mechanism 11 side has a large inner diameter, while the inward one has a small diameter, and has a large inner diameter. The electric pulley 39 on the side is assembled in a key structure to the outer shaft 24b of the double power shaft 24, the length of which is partially extended, and the inner power pulley 39 with a small inner diameter is a double power. A key structure is assembled to the inner shaft 24a of the shaft 24.

In this way, each power pulley 39 of the power transmission mechanism 12 and the power pulley 29 for the knee through the outer pulley (25) and the outer pulley (24b) through the inner shaft (24a) and Can be rotated together.

Here, reference numeral 38 denotes a rod supporting the belt or the wire.

Figure 7 is a side view showing the waist operation state of the walking aid device according to the present invention.

As shown in FIG. 7, power provided from the caster walker 10 side is transmitted to the power transmission mechanism 12 through an inner transmission pulley 39 of two pulleys.

Rotation of the inner electric pulley (39) is connected to the inner shaft (24a) → waist power pulley (25) → waist operation pulley (27) of the double power shaft 24, and the waist operation pulley (27) The thigh support 16 and the frame 20b which are integrally operable are rotated about the fixed shaft 26 as in the direction of the arrow so that the pelvic side joint can be bent.

At this time, the entire operation of the frame 20c including the calf support 18 and the shoe 19 supported on the thigh support 16 and the frame 20b can be made.

This bent pelvic joint can be returned to its original position by reverse driving.

8 is a side view showing an operation state of the knee portion of the walking aid according to the present invention.

As shown in FIG. 8, power provided from the caster walker 10 side is transmitted to the power transmission mechanism 12 through an outer transmission pulley 39 of two pulleys.

Rotation of the outer transmission pulley 39 is performed by the outer shaft 24b of the dual power shaft 24 → the power pulley 29 for the knee → the middle pulley 30 for the knee → the operation pulley 31 for the knee. Then, the frame 20c including the calf support 18 and the shoe 19 is rotated about the rotation axis 23 as a center point by the rotation axis 23 which is rotatable integrally with the waist operation pulley 27. As a result, the knee joint can be bent.

The bent knee joint can then be returned to its original position by reverse driving.

Operation of the pelvic and knee joints as described above can be made by the user's switch operation on the board and the handle 13 and the control by the caster worker (10) side computer.

9 to 11 is a block diagram showing a control method (back feed control method / front feed control method) of the walking aid device according to the present invention.

As shown in Figures 9 to 11, the control of the walking aid is performed by analyzing the wearer's motion and selecting an appropriate motor output value according to the method to control the operation range of each operating element.

First, the wearer's behavior is measured by determining whether the foot is in contact with the ground by using the angle information read from the goniometer mounted on each joint and the pressure sensor mounted on the shoe.

Next, the computer mounted on the caster walker determines that the user performs one of sitting, standing, and walking.

When the action is determined by the computer, it supports muscle strength by selecting and applying the appropriate one among the stored action profiles.

At this time, the behavior profile includes both the profile for the torque and the profile for the angle as the average value of the angle and torque for the normal human behavior.

There are two methods of controlling the motor by the behavior profile: the feedback control method and the front feedback control method.

The feedback control method compares the behavior profile with the current information read from the sensor and compensates the difference by the controller.

In this case, the control method used may be a PID control method, a disturbance observer method, a sliding mode control method, or the like.

The front feed control method is the output of the front feed controller that sends out the motor output value to make the state determined in the behavior profile without the information read from the sensor.

As described above, the present invention is a walking aid device for assisting the elderly or the disabled, which is insufficient to use the existing walking device, such as lack of muscle strength or a mobility aid such as an electric bicycle, that is, a bulky and heavy driving device. By providing a walking aid removed from the elderly, the lower limb muscle strength caused by senile disease and aging is progressively assisted to the elderly who lack external activities, and also has the function of rehabilitation to prevent the decline of lower extremity muscle strength. It is effective to induce activities to improve the quality of life of old age. Furthermore, by adopting behavior profile related to the operation of walking aids, the general public can make hard work easier through muscle strength. Elderly, disabled and free to walk, sit and stand It is effective to make the flag easier.

Claims (11)

A caster walker 10 having a computer and a power generator with a built-in behavior profile, a walking aid mechanism 11 that can be worn by a user, and between the caster worker 10 and the walking aid mechanism 11. Walking aids for strength buildup, characterized in that the connection is made to include a power transmission mechanism for transmitting power (12). According to claim 1, The caster walker 10 is a mobile chain consisting of a board and knob 13 having a plurality of input buttons and a monitor 14 and a main body 15 having wheels for viewing the control situation on the screen Gait aid for muscle strength, characterized in that. The method according to claim 1, wherein the walking aid 11 is made of one waist support 16 and a pair of thigh support 17, a calf support 18 and shoes 19, the waist support 16 In the frame 20a of the), the waist action pulley device 21 is mounted on the inside, and the knee action pulley device 22 is mounted on the outside, and the frame 20b of the thigh support 17 has an upper end thereof. Is connected to the waist action pulley device 21 is rotatable at an angle about the pulley device 21, the frame 20c of the calf support 18 and the shoe 19, the upper end of the knee sinus It is connected to the working pulley device 22 and is supported by a structure rotatable through the rotating shaft 23 at the lower end of the frame 20b of the thigh support 17 so that the pulley device 22 can be rotated at an angle about the axis. Gait aid for muscle strength, characterized in that made of a structure. The waist pulley according to claim 3, wherein the waist action pulley device 21 is integrally coupled to an upper double power shaft 24 which is penetrated and supported on the frame 20a of the waist support 16. 25 and a waist coupled to the lower fixed shaft 26, which is penetrated and supported on the frame 20a of the waist support 16, and at the same time integrally connected to the frame 20b of the calf zone 18. Walking assistance device for muscle augmentation, characterized in that it comprises a waist pulley 28 for connecting between the working pulley 27, the waist power pulley 25 and the waist working pulley 27. . The knee power pulley according to claim 3, wherein the knee motion pulley device 22 is integrally coupled to an upper double power shaft 24 that is supported through and penetrated on the frame 20a of the waist support 16. 29, a double pulley-type intermediate pulley 30 for the knee, which is rotatably coupled to the lower fixed shaft 26 supported through the frame 20a of the waist support 16, and the calf supporter ( 18) and the knee operating pulley 31 integrally coupled to the rotating shaft 23 supported through the frame 20c of the shoe 19, the power pulley 29 for knees and the intermediate pulley for knees ( 30) Walking aid for muscle strength, characterized in that it comprises a knee belt 32a, 32b for connecting between the intermediate pulley 30 and the knee operation pulley 31 for the knee respectively; device. The method of claim 3, wherein the waist action pulley device 21 and the knee action pulley device 22 is characterized in that it comprises a belt stopper 33 that can hold the tension of the belt Gait aids for strength building. According to claim 3, The waist support 16, thigh support 17, calf support 18 and each of the frame 20a, 20b, 20c of the shoe 19, a plurality of holes for adjusting the length Walking aids for muscle strength, characterized in that the 34 is formed at a predetermined interval. The power transmission mechanism (12) according to claim 1, wherein the power transmission mechanism (12) is mounted on the power generating device side of the caster worker (10) and the dual power shaft (24) side of the walking assistance mechanism (11), respectively, to transmit two sets of transmissions. A pulley 39, a respective transmission belt 40 connecting the two sets of transmission pulleys 39, and a cover 35 covered by the two rows of transmission belts 39. Gait aid for muscle strength, characterized in that configured to. The method according to any one of claims 3 to 5 and 8, wherein the belts 28, 32a, 32b, and 40 can be replaced with any one of a wire, a timing belt, and a chain. Walking aid for Preparatory step of determining whether the foot is in contact with the ground by using the angle information read from the goniometer mounted on each joint and the pressure sensor mounted on the shoe, and when the preparation step is completed, the computer mounted on the caster worker A selection step of determining one operation of sitting, standing, and walking, and an operation step of controlling the operation of the walking aid by executing a corresponding profile among the behavior profiles already stored in the computer when the operation is determined in the selection step. Walking aid control method for muscle strength, characterized in that it comprises a. The method according to claim 10, wherein the operation step is compared with the current information read from the behavior profile and the feedback value of the feedback control method for compensating the motor output value in the controller or the motor output value determined in the behavior profile without information read from the sensor Walking aid device control method for muscle strength, characterized in that it comprises a front feed control method that executes as it is.

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