WO2011049171A1 - 運動補助装置およびその制御方法ならびにリハビリテーション方法 - Google Patents
運動補助装置およびその制御方法ならびにリハビリテーション方法 Download PDFInfo
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- WO2011049171A1 WO2011049171A1 PCT/JP2010/068604 JP2010068604W WO2011049171A1 WO 2011049171 A1 WO2011049171 A1 WO 2011049171A1 JP 2010068604 W JP2010068604 W JP 2010068604W WO 2011049171 A1 WO2011049171 A1 WO 2011049171A1
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Classifications
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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Definitions
- the present invention relates to a device configured to assist the movement of a human limb.
- Patent Document 1 A method for teaching rehabilitation training techniques using a human body model indicating the movement of a joint such as a shoulder joint of the upper limb or a hip joint of the lower limb has been proposed (see Patent Document 1).
- an object of the present invention is to provide an exercise assisting device or the like that can correct the imbalance of the exercise mode of the pair of left and right limbs.
- the present invention includes a pair of appliances mounted symmetrically with respect to each of the left and right limbs of a human, and an actuator connected to each of the pair of appliances, from the actuator to the pair of appliances.
- Exercise assistance device configured to control the change mode of the assist force transmitted to each of the left and right limbs through each of the limbs, its control method, and rehabilitation of the motor function of the human limb using the exercise assistance device Regarding the method.
- the control method of the exercise assisting device of the present invention for solving the above-described problem is a mode of changing the values of a pair of posture variables that change according to the posture of each of the left and right limbs on which the orthosis is mounted. And a second step of evaluating the degree of asymmetry of the movement modes of the left and right limbs as a control basis for the operation of the actuator based on the change modes of the values of the pair of posture variables. (First invention).
- a deviation of at least one of a maximum value and a minimum value of the pair of posture variables is set as the asymmetry degree.
- the degree of asymmetry may be evaluated so that the value increases continuously or stepwise as the deviation of the local minimum value increases (second invention).
- the method of the second invention may comprise a third step of discriminating the human gait form according to the evaluation result of the degree of asymmetry (third invention).
- a first left asymmetry degree that is a deviation of a maximum value of the posture variable of the left limb body or an average value thereof from a maximum value of the posture variable of the right limb body or an average value thereof;
- a first right asymmetry that is a deviation of the maximum value or the average value of the posture variable of the right limb relative to the maximum value or the average value of the posture variable of the left limb and the minimum value of the posture variable of the right limb or
- the second left asymmetry which is the minimum value of the posture variable of the left limb body relative to the average value or the deviation of the average value, and the minimum value of the posture variable of the left limb body or the minimum value of the posture variable of the right limb body relative to the average value
- the second right asymmetry which is a deviation of the average value, is calculated as the asymmetry, and in the third step, the first right symmetry condition that the first right asymmetry is not more than a first threshold value.
- a determination result that the first left symmetry condition and the second left symmetry condition among the four symmetry conditions are not satisfied, or the first The human gait form may be determined to be the first gait form according to a determination result that the right symmetry condition and the second right symmetry condition are not satisfied (fifth invention).
- a determination result that the first left symmetry condition and the second right symmetry condition among the four symmetry conditions are not satisfied, or the first The human gait form may be determined to be the second gait form according to a determination result that the right symmetry condition and the second left symmetry condition are not satisfied (sixth invention).
- the human gait form in the third step, is a third gait form according to a determination result that one symmetry condition among the four symmetry conditions is not satisfied. It may be determined that there is (seventh invention).
- the method of the fourth invention may comprise a fourth step of controlling the operation of the actuator so that each of the four symmetry conditions is satisfied (eighth invention).
- the time variation mode of the swing angle with respect to the front-rear direction of the joint at the base of each of the left and right limbs is detected as the time variation mode of the value of the posture variable.
- the control device has a pair of posture variable values that change in accordance with the posture of each of the left and right limbs on which the orthosis is mounted. It is configured to detect a change mode and to evaluate an asymmetry degree of the motion mode of the left and right limbs as a control basis of the operation of the actuator based on a change mode of the values of the pair of posture variables.
- the exercise assisting device is a walking assisting device that assists the periodic movement of the thigh in the left and right legs as the left and right limbs during the human walking exercise, and the control device is configured to reduce the degree of asymmetry. You may be comprised so that operation
- movement of an actuator may be controlled (11th invention).
- a walking assist device as an exercise assisting device for solving the above-described problems is provided with a pair of braces mounted symmetrically with respect to each of the left and right thighs of a human, and each of the pair of braces And an actuator connected to each other, and controlling the movement of the actuator to control a change mode of the assisting force transmitted to each of the left and right thighs through each of the pair of orthoses.
- the control device is a negative value when the thigh is behind the basic frontal plane, and the thigh is forward of the basic frontal plane.
- a hip angle that is defined to be positive in a certain state is detected, a flexion state in which the hip joint angle increases within a range below a positive reference value, and an extension state in which the hip joint angle decreases.
- the actuator is configured to control the operation of the actuator so that the difference in amplitude between the left and right hip joint angles decreases according to the swinging state in which the hip joint angle increases within the reference value or more.
- the assist for the leg having a high motor function on the basis of the absence of the difference.
- the actuator is such that the force increases in the extended state and decreases in the bent state and the oscillating state, while the auxiliary force on the leg having a low motor function decreases in the extended state and increases in the bent state and the oscillating state. It may be configured to control the operation of (No. 13th invention).
- the assist for the leg having a high motor function on the basis of the absence of the difference.
- the actuator is such that the force decreases in the extended state and the bent state, and increases in the raised state, while the auxiliary force on the leg having a low motor function increases in the extended state and the bent state and decreases in the raised state.
- the control device adjusts the assisting force according to a map, a table or a relational expression representing a relationship between the hip joint angle and the assisting force, based on the left and right hip joint angles of the human.
- the operation of the actuator may be controlled (15th invention).
- the rehabilitation method of the present invention for solving the above-described problem is to detect a change mode of a pair of posture variable values that change in accordance with the posture of each of the left and right limbs on which the orthosis is mounted.
- a first step a second step for evaluating the degree of asymmetry of the movement mode of the left and right limbs as a control basis for the operation of the actuator based on a change mode of the value of the pair of posture variables, and an evaluation of the degree of asymmetry
- the degree of asymmetry of the motion mode of the left and right limbs based on the change mode of the value of the pair of posture variables that change according to the posture of each of the left and right limbs of the human. Is evaluated.
- the evaluation result of the degree of asymmetry can be used as a basis for controlling the operation of the actuator of the exercise assisting device.
- the symbols “L” and “R” are used to distinguish left and right of the limbs, etc., but are omitted when it is not necessary to distinguish left and right or when a vector having left and right components is expressed.
- symbols “+” and “ ⁇ ” are used to distinguish between a flexion motion (forward motion) and an extension motion (backward motion) of the lower limb (specifically, the thigh) with respect to the human upper body.
- the exercise assisting device 1 shown in FIG. 1 is a walking assist device, and includes a first orthosis 11, a second orthosis 12, an actuator 14, and an audio output device 16. As shown in FIG. 2, the exercise assisting device 1 includes an attitude sensor 202 and a control device 20.
- the first brace 11 is provided with a waist pad 111 pressed against the back side of the waist of the agent (human being an actor) and a band 112 wound around the abdomen to fix the waist pad to the waist.
- the waistband 111 is made of, for example, a flexible and moderately hard resin.
- Actuators 14 are attached to the lower ends of the left and right sides of the waistband 111 with a degree of freedom of rotation about the roll axis.
- the second brace 12 has a band that is wound around the thigh of the leg of the agent.
- a link member 13 for transmitting the output of the actuator 14 to the second brace 12 is attached to the front side of the second brace 12 with a degree of freedom of rotation about the roll axis.
- the link member 13 is made of a hard resin and has a shape curved from the left and right sides of the waist of the agent toward the front side of the left and right thighs.
- the configurations of the second layer device 12 and the link member 13 may be arbitrarily changed as long as the output of the actuator 14 can be transmitted to the thigh through the second device 12 and the link member 13, for example, a Japanese patent.
- the configuration described in Japanese Patent No. 4008464 may be employed.
- the control device 20 is configured by a computer (configured by a CPU, ROM, RAM, I / O circuit, A / D conversion circuit, etc.) built in the waistband 111 of the first brace 11. Based on the output signal from the attitude sensor 202, the control device 20 controls the operation of the actuator 14 by executing arithmetic processing according to software read from the memory as appropriate.
- the control device 20 is configured or programmed to control the operation of the actuator 14 such that each of the maximum value ⁇ max and the minimum value ⁇ min of the posture variable ⁇ matches the target maximum value ⁇ max_des and the target minimum value ⁇ min_des. ing. From this point of view, the configuration of the control device 20 is described in Japanese Patent No. 4008464 or No. 4008465 owned by the present applicant, in addition to the configuration that executes feedback control using the attitude variable ⁇ as the control variable. A configuration may be adopted.
- Each of the target maximum value ⁇ max_des and the target minimum value ⁇ min_des of the posture variable ⁇ is set so as not to deviate from the allowable range in consideration of the normal motion state of the agent.
- the actuator 14 includes a motor 141 and a speed reduction mechanism 142.
- the operation of the motor 141 and the reduction ratio of the reduction mechanism 142 are controlled by the control device 20.
- the output of the motor 141 after passing through the speed reduction mechanism 142 corresponds to the output of the actuator 14.
- the output of the actuator 14 is transmitted to the agent's lower back via the first brace 11 and to the agent's leg (directly the thigh) via the link member 13 and the second brace 12.
- the posture sensor 202 is configured to output a signal corresponding to the value of a pair of posture variables that change according to the postures of the same positions of the left and right lower limbs or thighs to which the second brace 12 of the agent is attached.
- the relative angle (hereinafter referred to as “hip joint angle”) ⁇ between the waist of the agent and the left and right thighs is employed as a pair of left and right posture variables.
- the hip joint angle ⁇ is the front side of the basic frontal plane (the surface that divides the upper body in the front-rear direction; tilts according to the front-rear tilt of the upper body). When it is on the bending side, it becomes a positive value, while when the thigh is on the rear side (extension side) from the basic frontal plane as shown in FIG. Defined.
- a rotary encoder that outputs a signal corresponding to the swing angle in the front-rear direction of the link member 13 or a Hall element that outputs a signal corresponding to the rotor angle of the motor constituting the actuator 14 can be employed as the attitude sensor 202.
- the posture variable may be measured by analyzing an image obtained through an imaging device that images a human motion in time series, and the posture variable may be measured through an optical motion capture system.
- a “first step” for detecting a change mode of the value of a pair of posture variables that change in accordance with the postures of the same positions of the left and right lower limbs is executed. Specifically, in a state where the agent is walking or running, a change mode of the left and right hip joint angles ⁇ L and ⁇ R is detected based on the output signal of the posture sensor 202 (FIG. 4 / STEP010).
- FIG. 6A, FIG. 6B, or FIG. 6C changes in the left and right hip joint angles ⁇ L and ⁇ R as shown in FIG. 6A, FIG. 6B, or FIG. 6C are detected.
- 6 (a), 6 (b) and 6 (c) respectively show hip joint angles ⁇ L and ⁇ R in the respective gait forms of “left turn”, “left alignment” and “right extension insufficient” which will be described later.
- a periodic change mode is shown.
- a “second step” for evaluating the degree of asymmetry of the motion mode of the left and right lower limbs as a control basis of the operation of the actuator 14 is executed based on the change mode of the value of the pair of posture variables.
- the deviation of the first left index value ⁇ L + from the first right index value ⁇ R + is calculated as the “first left asymmetry degree”.
- the deviation of the first right index value ⁇ R + from the first left index value ⁇ L + is calculated as the “first right asymmetry”.
- the “first right index value ⁇ R +” means the maximum value ⁇ Rmax (k) in the latest one walking cycle of the right hip joint angle ⁇ R when a series of procedures is executed every one walking cycle.
- it means an average value ⁇ Rmax (i) / n of local maximum values ⁇ Rmax (i) in the latest n walking cycles (k ⁇ n + 1 to kth walking cycle).
- the “first left index value ⁇ L +” is an average value ⁇ Lmax of the maximum value ⁇ Lmax (k) in the most recent one walking cycle (kth walking cycle) of the left hip joint angle ⁇ L or the maximum value ⁇ Lmax (i) in the most recent n walking cycle. (i) means / n.
- the deviation of the second left index value ⁇ L ⁇ from the second right index value ⁇ R ⁇ is calculated as “second left asymmetry”.
- the deviation of the second right index value ⁇ R ⁇ from the second left index value ⁇ L ⁇ is calculated as the “second right asymmetry”.
- the “left leg extension index value ⁇ L ⁇ ” means the minimum value ⁇ Lmin (k) in the latest one walking cycle of the left hip joint angle ⁇ L when a series of procedures is executed every one walking cycle. When the above procedure is executed every n walking cycles, it means the average value ⁇ Lmin (i) / n of the minimum value ⁇ Lmin (i) in the latest n walking cycles.
- “Right leg extension index value ⁇ R-” is the average value ⁇ Rmin (i) / n of the minimum value ⁇ Rmin (k) of the right hip joint angle ⁇ R in the latest one walking cycle or the minimum value ⁇ Rmin (i) in the latest n walking cycle. Means.
- the satisfaction of the first left symmetry condition that the first left asymmetry degree ⁇ L + ⁇ R + is equal to or less than the first threshold value ⁇ 1 (> 0) is determined (FIG. 4 / STEP021).
- the first left asymmetric flag FR + is set to “1” (FIG. 4 / STEP022). Then, the satisfaction of the first right symmetry condition that the first right asymmetry degree ⁇ R + ⁇ L + is equal to or less than the first threshold value ⁇ 1 is determined (FIG. 4 / STEP 023). On the other hand, when it is determined that the first left symmetry condition is satisfied (FIG. 4 / STEP021... YES), the satisfaction of the first right symmetry condition is determined as it is (FIG. 4 / STEP023).
- the first left asymmetric flag FL + is set to “1” (FIG. 4 / STEP024). Then, the satisfaction of the second left symmetry condition that the second left asymmetry ⁇ L ⁇ R ⁇ is equal to or less than the second threshold ⁇ 2 (0 ⁇ 2 ⁇ 1) is determined (FIG. 4 / STEP025). On the other hand, when it is determined that the first right symmetry condition is satisfied (FIG. 4 / STEP023... YES), the satisfaction of the second left symmetry condition is determined as it is (FIG. 4 / STEP025).
- the second right asymmetric flag FR ⁇ is set to “1” (FIG. 4 / STEP026). Then, the satisfaction of the second right symmetry condition that the second right asymmetry degree ⁇ R ⁇ L ⁇ is equal to or smaller than the second threshold value ⁇ 2 is determined (FIG. 4 / STEP027). On the other hand, when it is determined that the second left symmetry condition is satisfied (FIG. 4 / STEP025... YES), the satisfaction of the second right symmetry condition is determined as it is (FIG. 4 / STEP027).
- the second left asymmetric flag FL ⁇ is set to “1” (FIG. 4 / STEP028).
- the second left asymmetric flag FL ⁇ remains “0”.
- a “third step” is performed for discriminating the human gait form according to the evaluation result of the asymmetry degree.
- Gait forms are broadly divided into two types: “strongly asymmetric” and “weakly asymmetric”. “Strong asymmetry” is classified into four “right rotation” and “left rotation” corresponding to “first gait” and “right alignment” and “left alignment” corresponding to “second gait”. Further classified. “Weak asymmetry” is further classified into four gait forms corresponding to “third gait form”: “right bending insufficient”, “left bending insufficient”, “right extension insufficient” and “left extension insufficient”.
- turn right means that a human steps on the left foot forward, and then turns the right foot forward by turning counterclockwise when viewing the upper body from above.
- the amount of bending (forward movement) and the amount of extension (backward movement) of the right leg are smaller than the amount of bending and extension of the left leg, respectively.
- of the maximum value of the right hip joint angle ⁇ R is smaller than the absolute value
- of the minimum value of the right hip joint angle ⁇ R is smaller than the absolute value
- “Rotating left” means a gait that moves forward by moving the left foot forward by turning the upper body clockwise when the person steps on the right foot forward (not shown) To do.
- "Right alignment” means that after a human stepped on his left foot forward, he stepped forward to align his right foot sideways with his left foot and moved forward to stop at each step. It means the gait form. This gait form is caused by human consciousness trying to avoid supporting the entire body weight with the right leg due to, for example, a decrease in the motor function of the right leg.
- the amount of extension of the right leg and the amount of flexion of the left leg are less than usual.
- the maximum value ⁇ Rmax of the right hip joint angle ⁇ R remains only slightly over 0, and the minimum value ⁇ Lmin of the left hip joint angle ⁇ L does not become negative.
- Left alignment means a gait form that is not shown, but a person steps forward with his / her left foot stepped forward so that his / her left foot is aligned with his / her right foot.
- the maximum value ⁇ Rmax of the right hip joint angle ⁇ R is smaller than the maximum value ⁇ Lmax of the left hip joint angle ⁇ L. That is, the amount of bending of the right leg and the left leg is asymmetric to the extent that the first right asymmetry degree ⁇ R ⁇ L ⁇ exceeds the second threshold value ⁇ 2.
- “Weak left flexion” means a gait pattern in which a human is moving forward while alternately stepping forward on his left and right feet, but the amount of left leg flexion and thus the amount of left foot stepping is relatively small.
- “Weak right extension” compares the amount of forward movement of the upper body with the right leg extended and the right leg landing while humans are moving forward while alternately stepping their left and right feet forward This means less gait form.
- “Weak left extension” compares the amount of extension of the left leg and the amount of forward movement of the upper body while the left foot is landing while humans are moving forward by alternately stepping their left and right feet forward. This means less gait form.
- the first left asymmetric flag FL + and the second left asymmetric flag FL- are both “1”, while the first right asymmetric flag FR + and the second right asymmetric flag FR ⁇ are both “0”. Then, it is determined whether or not the agent's gait form is counterclockwise (FIG. 5 / STEP031).
- the agent's gait form is not left-turned (FIG. 5 / STEP031... NO)
- the first left asymmetric flag FL + and the second left asymmetric flag FL ⁇ are both “0”, while the first right It is determined whether or not the gait form is a right turn depending on whether or not both the asymmetric flag FR + and the second right asymmetric flag FR ⁇ are “1” (FIG. 5 / STEP032).
- the first left asymmetric flag FL + and the second right asymmetric flag FR ⁇ are both “0”, while the first right Whether or not the gait form is left-aligned is determined according to whether or not both the asymmetric flag FR + and the second left asymmetric flag FL- are “1” (FIG. 5 / STEP033).
- the first left asymmetric flag FL + and the second right asymmetric flag FR ⁇ are both “1”, while the first right asymmetric Whether or not the gait form is left-aligned is determined according to whether or not both the flag FR + and the second left asymmetric flag FL- are “0” (FIG. 5 / STEP034).
- the operation mode of the actuator 14 according to the human gait form is determined, and the “fourth step” for controlling the operation of the actuator 14 according to the mode is executed. Specifically, part of the target maximum value ⁇ max_des and the target minimum value ⁇ min_des is corrected as appropriate according to the gait form of the agent. After that, as described above, the controller 20 operates the actuator 14 so that the maximum value ⁇ max and the minimum value ⁇ min of the attitude variable ⁇ coincide with the target maximum value ⁇ max_des and the target minimum value ⁇ min_des, respectively. Be controlled.
- each of the target maximum value ⁇ Lmax_des and the target minimum value ⁇ Lmin_des of the left hip joint angle is corrected so that its absolute value increases.
- each of the target maximum value ⁇ Rmax_des and the target minimum value ⁇ Rmin_des of the right hip joint angle is maintained as it is, or is corrected so that the absolute value thereof decreases (FIG. 5 / STEP041).
- the amount of increase in the target maximum value ⁇ Lmax_des of the left hip joint angle may be adjusted according to the amount of excess of the first left asymmetry ⁇ L + ⁇ R + with respect to the first threshold ⁇ 1.
- the amount of increase of the target minimum value ⁇ Lmin_des of the left hip joint angle may be adjusted according to the amount of excess of the second left asymmetry ⁇ L ⁇ R ⁇ with respect to the second threshold ⁇ 2.
- the walking motion of the agent is assisted so that the bending amount deviation and the extension amount deviation of the left and right legs of the agent are reduced or eliminated.
- the amount of clockwise rotation of the upper body of the agent is reduced.
- the target maximum value ⁇ Rmax_des and the target minimum value ⁇ Rmin_des of the right hip joint angle are corrected so that their absolute values increase.
- each of the target maximum value ⁇ Lmax_des and the target minimum value ⁇ Lmin_des of the left hip joint angle is maintained as it is, or is corrected so that the absolute value thereof decreases (FIG. 5 / STEP042).
- the amount of increase in the target maximum value ⁇ Rmax_des of the right hip joint angle may be adjusted according to the amount of excess of the first right asymmetry ⁇ R + ⁇ L + with respect to the first threshold ⁇ 1.
- the amount of increase of the target minimum value ⁇ Rmin_des of the right hip joint angle may be adjusted according to the amount of excess of the second right asymmetry ⁇ R ⁇ L ⁇ with respect to the second threshold ⁇ 2.
- the agent's walking motion is assisted so that the bending amount deviation and extension amount deviation of the left and right legs of the agent are reduced or eliminated.
- the amount of counterclockwise turning of the upper body of the agent is reduced (see FIG. 7A).
- the agent's right leg flexion and left leg extension are increased to assist the agent's walking movement so that the left and right leg flexion deviations and extension deviations are reduced or eliminated. Is done.
- the agent can translate the upper body sufficiently forward while stepping the right foot forward while the left foot is landing (see FIG. 7B).
- each of the target maximum value ⁇ Lmax_des of the left hip joint angle and the target minimum value ⁇ Rmin_des of the right hip joint angle increases.
- each of the target minimum value ⁇ Lmin_des of the left hip joint angle and the target maximum value ⁇ Rmax_des of the right hip joint angle is maintained as it is, or is corrected so that the absolute value thereof decreases (FIG. 5 / STEP044). ).
- the agent's left leg flexion and right leg extension are increased to assist the agent's walking movement so that the left and right leg flexion deviations and extension deviations are reduced or eliminated. Is done.
- the agent can translate the upper body sufficiently forward while stepping forward the left foot sufficiently while the right foot is landing.
- the target maximum value of the right hip joint angle Only ⁇ Rmax_des, left hip joint angle target maximum value ⁇ Lmax_des, right hip joint angle target minimum value ⁇ Rmin_des or left hip joint angle target minimum value ⁇ Lmin_des are corrected so that their absolute values increase, while the remaining target values remain unchanged Alternatively, the absolute value is corrected so as to decrease (FIG. 5 / STEP045).
- the deviation of the flexion amount and the extension amount deviation of the left and right legs of the agent is determined.
- the agent's walking movement is assisted to reduce or eliminate the problem.
- the movement of the left and right lower limbs (legs) with respect to the upper body is assisted, but as an alternative embodiment, the movement of the left and right upper limbs (arms) with respect to the upper body is assisted. Also good.
- the first brace is worn on the upper back of the upper body (near the scapula etc.), and each of the pair of second braces is worn on each of the left and right arms (upper arms).
- the arrangement of the actuator and the shape of the link member may be appropriately designed from the viewpoint of assisting the swinging motion of the arm in the front-rear direction.
- a shoulder joint angle representing the swing angle of the front and rear of the arm is measured.
- the shoulder joint angle may be defined as positive or negative with respect to the basic front face.
- each of the pair of left and right first braces is mounted on each thigh, and each of the pair of left and right second braces is mounted on each leg.
- the arrangement of the actuator and the shape of the link member may be appropriately designed from the viewpoint of assisting bending and stretching movements in the knee joint of the leg. Knee joint angle is measured as a leg posture variable.
- the bending / extending movement at the elbow joint or the wrist joint of the arm may be assisted similarly to the bending / extending movement at the knee joint of the leg.
- all of the first to fourth steps are executed as arithmetic processing by the control device 20.
- a part of the first to fourth steps for example, determination of the gait form of the agent is performed.
- (Third step) and determination of the operation mode of the exercise assisting apparatus 1 according to the gait form (fourth step) may be executed by a person engaged in rehabilitation such as a physical therapist.
- the physical therapist evaluates the asymmetry of the agent evaluated on the computer and displayed on the display, and follows the gait form determination method shown on the display or described in a separate document.
- the gait form can be determined.
- the physiotherapist visually recognizes the gait form of the agent determined by the computer and displayed on the display, and then follows the control mode determination method displayed on the display or described in a separate document.
- the control mode can be determined.
- the operation mode of the exercise assisting apparatus 1 may be controlled by manually operating a switch or button attached to the control apparatus 20.
- the control device 20 controls the operation of the actuator 14 so that the degree of asymmetry, and thus the difference in amplitude between the left and right hip joint angles, is reduced according to the flexion state, the extension state, and the swing-up state divided by the hip joint angle ⁇ . It may be configured as follows.
- “Bending state” means a state in which the hip joint angle ⁇ increases within a range of less than the target maximum value ⁇ max_des and less than the positive reference value ⁇ c. “Extension state” means a state in which the hip joint angle ⁇ is decreasing. The “swinging state” means a state in which the hip joint angle ⁇ increases within a range of the reference value ⁇ c or more.
- the reference is based on the absence of the difference.
- the operation of the actuator 14 is controlled so that the auxiliary force is adjusted. That is, the output of the actuator 14 is adjusted so that the assist force F for the leg having a high motor function increases (+) in the extended state and decreases ( ⁇ ) in the bent state and the swing-up state with reference to the reference assist force Fc. Is done.
- the output of the actuator 14 is adjusted so that the assist force F for the leg with low motor function decreases ( ⁇ ) in the extended state and increases (+) in the bent state and the swing-up state with reference to the reference assist force Fc. Is done.
- the auxiliary force is adjusted according to a map, table or relational expression representing the relationship between the agent's hip joint angle ⁇ and auxiliary force F.
- FIG. 8 shows a curve representing the relationship.
- the reference assisting force Fc changes according to the hip joint angle ⁇ , but is normalized and represented by a broken line in FIG.
- Curves 1 to 6 in FIG. 8 correspond to reference numerals 1 to 6 in Table 1.
- the amount of change in the assist force F with respect to the reference assist force Fc increases as the absolute value
- of the hip joint angle with respect to the reference assisting force Fc is as follows: (5) When a leg with a low motor function is in an extended state, (1) A leg with a high motor function When the body is in a bent state, (6) the legs are higher in the order in which the legs with low motor function are in the raised state.
- of the hip joint angle with respect to the reference assisting force Fc is as follows: (2) When the leg having a high motor function is in the extended state, (4) The motor function is When the lower leg is in the bent state, (3) the leg is higher in the order in which the leg with the higher motor function is in the raised state.
- the output of the actuator 14 is adjusted so that the assist force F for the leg with a low motor function increases (+) in the extended state and the bent state with respect to the reference assist force Fc (+) and decreases ( ⁇ ) in the swing-up state. Is done.
- auxiliary force is adjusted according to a map, table or relational expression representing the relationship between the agent's hip joint angle ⁇ and auxiliary force F.
- FIG. 9 shows a curve representing the relationship.
- the reference assisting force Fc changes according to the hip joint angle ⁇ , but is normalized in FIG. 9 and represented by a broken line.
- Curves 1 to 6 in FIG. 9 correspond to reference numerals 1 to 6 in Table 2.
- of the hip joint angle with respect to the reference assisting force Fc is as follows.
- the leg with high function is in the extended state
- the leg with high motor function is in the bent state
- (5) In the order when the leg with low motor function is in the raised state Yes.
- the walking speed and the number of steps are improved by using the walking assist device 1 for all other agents except the agent B, and thus the imbalance between the motor functions of the left and right legs is improved. I understand.
- FIG. 11 shows changes in the walking distance and the number of steps before and after using the exercise assisting device 1 of a certain agent. From FIG. 11, it can be seen that the use of the exercise assisting device 1 improves the ratio of the walking distance to the number of steps, that is, the average stride, and thus improves the imbalance of the exercise functions of the left and right legs.
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Abstract
Description
図1に示されている運動補助装置1は、歩行補助装置であり、第1装具11と、第2装具12と、アクチュエータ14と、音声出力装置16とを備えている。図2に示されているように運動補助装置1は、姿勢センサ202と、制御装置20とを備えている。
運動補助装置1の動作開始直後において、後述する非対称度を表わすフラグのすべてが「0」に初期化されている。以下説明する一連の手順はエージェントの1歩行周期ごとに実行されてもよく、複数周期ごとに実行されてもよい。
前記実施形態では上体に対する左右の下肢(脚体)の運動が補助されたが、他の実施形態として代替的にまたは付加的に上体に対する左右の上肢(腕体)の運動が補助されてもよい。この場合、第1装具は上体背面上部(肩甲骨付近など)に装着され、一対の第2装具のそれぞれは左右の腕(上腕)のそれぞれに装着される。アクチュエータの配置およびリンク部材の形状は、腕の前後の揺動運動を補助する観点から適当に設計されればよい。また、腕の姿勢変数として、腕の前後の揺動角度を表わす肩関節角度が測定される。肩関節角度は、股関節角度と同様に基本前額面を基準として正負が定義されてもよい。
制御装置20が、股関節角度Φによって区分される屈曲状態、伸展状態および振上状態の別に応じて、非対称度、ひいては左右の股関節角度の振幅の差が低下するようにアクチュエータ14の動作を制御するように構成されていてもよい。
制御装置20が、左右の脚体の運動機能の高低の差がある場合、当該差がない場合を基準として、表2に示されているように補助力Fが加減されるようにアクチュエータ14の動作を制御する。すなわち、運動機能が高い脚体に対する補助力Fが、基準補助力Fcを基準として伸展状態および屈曲状態では減少し(-)、振上状態では増加する(+)ようにアクチュエータ14の出力が調節される。一方、運動機能が低い脚体に対する補助力Fが、基準補助力Fcを基準として伸展状態および屈曲状態では増加し(+)、振上状態では減少する(-)ようにアクチュエータ14の出力が調節される。
図10には、4人のエージェントA~Dのそれぞれについて、歩行補助装置1の使用前を基準として、歩行補助装置1を使用開始してから1月が経過した際における歩行速度および歩数のそれぞれの変化率が示されている。最大歩行距離は10mに制限された。
Claims (16)
- 人間の左右の肢体のそれぞれに対して左右対称に装着される一対の装具と、前記一対の装具のそれぞれに対して連結されているアクチュエータとを備え、前記アクチュエータから前記一対の装具のそれぞれを通じて前記左右の肢体のそれぞれに対して伝えられる補助力の変化態様を制御するように構成されている運動補助装置の制御方法であって、
前記装具が装着されている前記左右の肢体のそれぞれの同一箇所の姿勢に応じて変化する一対の姿勢変数の値の変化態様を検出する第1ステップと、
前記一対の姿勢変数の値の変化態様に基づき、前記アクチュエータの動作の制御基礎としての、前記左右の肢体の運動態様の非対称度を評価する第2ステップとを備えていることを特徴とする方法。 - 請求項1記載の運動補助装置の制御方法において、
前記第2ステップにおいて、前記一対の姿勢変数の値の変化態様に基づき、前記一対の姿勢変数のそれぞれの極大値および極小値のうち少なくとも一方の偏差を前記非対称度として算出する、または、前記極小値の偏差が大きい値をとるほど値が連続的または段階的に高くなるように前記非対称度を評価することを特徴とする方法。 - 請求項2記載の運動補助装置の制御方法において、
前記非対称度の評価結果に応じて、前記人間の歩容形態を判別する第3ステップを備えていることを特徴とする方法。 - 請求項3記載の運動補助装置の制御方法において、
前記第2ステップにおいて、右肢体の前記姿勢変数の極大値またはその平均値に対する左肢体の前記姿勢変数の極大値またはその平均値の偏差である第1左非対称度と、左肢体の前記姿勢変数の極大値またはその平均値に対する右肢体の前記姿勢変数の極大値またはその平均値の偏差である第1右非対称度と、右肢体の前記姿勢変数の極小値またはその平均値に対する左肢体の前記姿勢変数の極小値またはその平均値の偏差である第2左非対称度と、左肢体の前記姿勢変数の極小値またはその平均値に対する右肢体の前記姿勢変数の極小値またはその平均値の偏差である第2右非対称度とを前記非対称度として算出し、
前記第3ステップにおいて、前記第1右非対称度が第1閾値以下であるという第1右対称性条件の充足性と、前記第1左非対称度が第1閾値以下であるという第1左対称性条件の充足性と、前記第2右非対称度が第2閾値以下であるという第2右対称性条件の充足性と、前記第2左非対称度が第2閾値以下であるという第2左対称性条件の充足性とのそれぞれを判定し、当該判定結果の相違に応じて前記人間の歩容形態を判別することを特徴とする方法。 - 請求項4記載の運動補助装置の制御方法において、
前記第3ステップにおいて、前記4つの対称性条件のうち前記第1左対称性条件および前記第2左対称性条件が満たされていないという判定結果、または、前記第1右対称性条件および前記第2右対称性条件が満たされていないという判定結果に応じて前記人間の歩容形態が第1歩容形態であると判定することを特徴とする方法。 - 請求項4記載の運動補助装置の制御方法において、
前記第3ステップにおいて、前記4つの対称性条件のうち前記第1左対称性条件および前記第2右対称性条件が満たされていないという判定結果、または、前記第1右対称性条件および前記第2左対称性条件が満たされていないという判定結果に応じて前記人間の歩容形態が第2歩容形態であると判定することを特徴とする方法。 - 請求項4記載の運動補助装置の制御方法において、
前記第3ステップにおいて、前記4つの対称性条件のうち1つの対称性条件が満たされていないという判定結果に応じて前記人間の歩容形態が第3歩容形態であると判定することを特徴とする方法。 - 請求項4記載の運動補助装置の制御方法において、
前記4つの対称性条件のそれぞれが満足されるように、前記アクチュエータの動作を制御する第4ステップを備えていることを特徴とする方法。 - 請求項1記載の運動補助装置の制御方法において、
前記第1ステップにおいて、前記左右の肢体のそれぞれの胴体に対する付け根にある関節の前後方向に対する振れ角度の時間変化態様を前記姿勢変数の値の時間変化態様として検出するように構成されていることを特徴とする方法。 - 人間の左右の肢体のそれぞれに対して左右対称に装着される一対の装具と、前記一対の装具のそれぞれに対して連結されているアクチュエータと、前記アクチュエータの動作を制御することにより、前記一対の装具のそれぞれを通じて前記左右の肢体のそれぞれに対して伝えられる補助力の変化態様を制御するように構成されている制御装置とを備えている運動補助装置であって、
前記制御装置が、前記装具が装着されている前記左右の肢体のそれぞれの同一箇所の姿勢に応じて変化する一対の姿勢変数の値の変化態様を検出し、前記一対の姿勢変数の値の変化態様に基づき、前記アクチュエータの動作の制御基礎としての、前記左右の肢体の運動態様の非対称度を評価するように構成されていることを特徴とする運動補助装置。 - 請求項10記載の運動補助装置において、
前記運動補助装置が、前記人間の歩行運動に際して前記左右の肢体としての左右の脚体における大腿の周期運動を補助する歩行補助装置であり、
前記制御装置が、前記非対称度が低下するように前記アクチュエータの動作を制御するように構成されていることを特徴とする運動補助装置。 - 人間の左右の大腿部のそれぞれに対して左右対称に装着される一対の装具と、前記一対の装具のそれぞれに対して連結されているアクチュエータと、前記アクチュエータの動作を制御することにより、前記一対の装具のそれぞれを通じて前記左右の大腿部のそれぞれに対して伝えられる補助力の変化態様を制御するように構成されている制御装置とを備えている歩行補助装置であって、
前記制御装置が、大腿部が基本前額面より後方にある状態では負値であり、大腿部が基本前額面より前方にある状態では正値であるように定義されている股関節角度を検出し、
股関節角度が正の基準値未満の範囲で増加している屈曲状態と、股関節角度が減少している伸展状態と、股関節角度が前記基準値以上の範囲で増加している振上状態との別に応じて、左右の股関節角度の振幅の差が低下するように前記アクチュエータの動作を制御するように構成されていることを特徴とする歩行補助装置。 - 請求項12記載の歩行補助装置において、
前記制御装置が、前記人間の左右の脚体の運動機能の高低の差がある場合、当該差がない場合を基準として、運動機能が高い脚体に対する前記補助力が、伸展状態では増加し、屈曲状態および振上状態では減少する一方、運動機能が低い脚体に対する前記補助力が伸展状態では減少し、屈曲状態および振上状態では増加するように前記アクチュエータの動作を制御するように構成されていることを特徴とする運動補助装置。 - 請求項12記載の歩行補助装置において、
前記制御装置が、前記人間の左右の脚体の運動機能の高低の差がある場合、当該差がない場合を基準として、運動機能が高い脚体に対する前記補助力が、伸展状態および屈曲状態では減少し、振上状態では増加する一方、運動機能が低い脚体に対する前記補助力が伸展状態および屈曲状態では増加し、振上状態では減少するように前記アクチュエータの動作を制御するように構成されていることを特徴とする運動補助装置。 - 請求項13または14記載の運動補助装置において、
前記制御装置が、前記人間の左右の股関節角度に基づき、股関節角度および補助力の関係を表わすマップ、テーブルまたは関係式にしたがって前記補助力が調節されるように前記アクチュエータの動作を制御するように構成されていることを特徴とする運動補助装置。 - 人間の左右の肢体のそれぞれに対して左右対称に装着される一対の装具と、前記一対の装具のそれぞれに対して連結されているアクチュエータと、前記アクチュエータの動作を制御することにより、前記一対の装具のそれぞれを通じて前記左右の肢体のそれぞれに対して伝えられる補助力の変化態様を制御するように構成されている制御装置とを備えている運動補助装置を用いて前記人間の前記左右の肢体の運動機能のリハビリテーションを行う方法であって、
前記装具が装着されている前記左右の肢体のそれぞれの同一箇所の姿勢に応じて変化する一対の姿勢変数の値の変化態様を検出する第1ステップと、
前記一対の姿勢変数の値の変化態様に基づき、前記アクチュエータの動作の制御基礎としての、前記左右の肢体の運動態様の非対称度を評価する第2ステップと、
前記非対称度の評価結果に応じて前記人間の歩容形態を判別する第3ステップと、
前記人間の歩容形態に応じて前記アクチュエータの動作の制御態様を決定する第4ステップとを備えていることを特徴とする方法。
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