WO2014006850A1 - Dispositif de support, dispositif de support d'opération, et dispositif de support pour l'entraînement de la force musculaire - Google Patents

Dispositif de support, dispositif de support d'opération, et dispositif de support pour l'entraînement de la force musculaire Download PDF

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Publication number
WO2014006850A1
WO2014006850A1 PCT/JP2013/003975 JP2013003975W WO2014006850A1 WO 2014006850 A1 WO2014006850 A1 WO 2014006850A1 JP 2013003975 W JP2013003975 W JP 2013003975W WO 2014006850 A1 WO2014006850 A1 WO 2014006850A1
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WO
WIPO (PCT)
Prior art keywords
meson
support device
force
user
load
Prior art date
Application number
PCT/JP2013/003975
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English (en)
Japanese (ja)
Inventor
城垣内　剛
藤本　弘道
芳彰 上田
Original Assignee
パナソニック株式会社
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Publication date
Application filed by パナソニック株式会社 filed Critical パナソニック株式会社
Priority to JP2013542285A priority Critical patent/JP5426805B1/ja
Publication of WO2014006850A1 publication Critical patent/WO2014006850A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
    • G01L1/042—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs of helical springs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4005—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the shoulder
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4017—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the upper limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4023—Interfaces with the user related to strength training; Details thereof the user operating the resistance directly, without additional interface
    • A63B21/4025—Resistance devices worn on the user's body
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4035—Handles, pedals, bars or platforms for operation by hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
    • A63B21/4043—Free movement, i.e. the only restriction coming from the resistance
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/0355—A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6823—Trunk, e.g., chest, back, abdomen, hip
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4027—Specific exercise interfaces
    • A63B21/4033—Handles, pedals, bars or platforms
    • A63B21/4034—Handles, pedals, bars or platforms for operation by feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force

Definitions

  • the present disclosure relates to a support device, a muscular strength training support device, and a motion support device that measure and support force in a transient state.
  • a method of measuring force for example, a change in electrical resistance is measured by a strain gauge, strain is calculated, a method of measuring applied force, or a piezoelectric effect due to strain is measured, There is a method for measuring the applied force.
  • a force sensor using a strain gauge or a force sensor using a piezoelectric effect detects a large initial force, and therefore detects a force in a magnitude and direction different from the subsequent force.
  • a force sensor using a strain gauge or a force sensor using a piezoelectric effect detects a large initial force, and therefore detects a force in a magnitude and direction different from the subsequent force.
  • the power supplied to support the operation becomes excessive and unexpected movement occurs.
  • the initial and subsequent force directions are different, there is a problem in that the direction of motion support is completely reversed.
  • an object of the present disclosure is to provide a support device that can measure and support not the initial force but the subsequent force when supporting human power that is not a constant force and the subsequent force becomes smaller than the initial force. That is.
  • a support device includes a force measurement sensor structure including first and second elastic members, and a meson supported between the first and second elastic members, A drive unit for changing a load applied to the meson from the first and second elastic members of the force measurement sensor structure; A control unit for controlling the driving unit; A mounting part for mounting on the user's body; A support device comprising:
  • the force measuring sensor structure is A shaft having a first end and a second end; The meson provided movably between the first end and the second end along the axis; The first elastic member provided between the first end and the meson along the axis; The second elastic member provided between the second end and the meson along the axis; A linear potentiometer connected to the meson for detecting a one-dimensional position of the meson along the axis; A gripping unit connected to the meson and transmitting force to the meson in conjunction with movement of the upper or lower limbs of a user; With The mounting part is A main frame that is hung on the shoulder of the user and that fixes the drive
  • the above-described general and specific aspect may be realized as a motion support device and a strength training support device using the support device.
  • the support device can measure and support not the initial force but the subsequent force when measuring and supporting the force with which the subsequent force becomes smaller than the initial force.
  • FIG. 1 It is a perspective view which shows the structure of the force measurement sensor structure which concerns on Embodiment 1 of this indication. It is a disassembled perspective view of the force measurement sensor structure of FIG. It is a perspective view which shows the structure of the modification of the force measurement sensor structure which concerns on Embodiment 1 of this indication.
  • A) is a front view showing the position of the meson when the force in the upward (+) direction is applied to the meson and the meson moves upward in the force measurement sensor structures 10 and 10a of FIGS. 1 and 3.
  • (B) is a front view showing the position of the meson when no force is applied to the meson
  • (c) is a diagram showing that the meson is moved downward by applying a downward ( ⁇ ) direction force to the meson.
  • FIG. 7 is a block diagram illustrating a physical configuration example of a control unit in FIG. 6. It is a block diagram which shows the functional structural example of the control part of FIG. It is a perspective view which shows the structure of the movement assistance apparatus / muscular strength training assistance apparatus which concerns on Embodiment 1 of this indication. It is a block diagram which shows the functional structure of the operation
  • movement assistance apparatus / muscular strength training assistance apparatus of FIG. 6 is a flowchart for explaining the operation of the operation support apparatus according to the first embodiment of the present disclosure.
  • FIG. 1 It is a flowchart explaining operation
  • FIG. 2 It is a perspective view which shows the structure of the force measurement sensor structure which concerns on Embodiment 2 of this indication.
  • FIG. 2 It is a disassembled perspective view of the force measurement sensor structure of FIG. (A) is a front view showing the position when the force in the clockwise (+) direction is applied to the meson and the meson moves in the clockwise (+) direction in the force measurement sensor structure of FIG.
  • (b) is a front view showing the position of the meson when no force is applied to the meson, and (c) is a counterclockwise ( ⁇ ) direction force applied to the meson, and the meson is counterclockwise ( FIG.
  • FIG. 6 is a front view showing the position of the meson when moved in the ⁇ direction. It is a perspective view which shows the structure of the load control apparatus which concerns on Embodiment 2 of this indication. It is a block diagram which shows the functional structure of the load control apparatus of FIG.
  • FIG. 18 is a block diagram illustrating a physical configuration example of a control unit in FIG. 17. It is a block diagram which shows the functional structural example of the control part of FIG. It is a perspective view which shows the structure of the movement assistance apparatus / muscular strength training assistance apparatus which concerns on Embodiment 2 of this indication. It is a block diagram which shows the functional structure of the operation
  • FIG. 10 is a flowchart for explaining the operation of the operation support apparatus according to the second embodiment of the present disclosure. It is a flowchart explaining operation
  • FIG. It is a schematic perspective view which shows the structure of the mounting part for body of another example used for the assistance apparatus which concerns on Embodiment 1.
  • FIG. It is a front view of the mounting part for bodies of another example of FIG. It is a top view of the mounting part for bodies of another example of FIG. It is a side view of the assistance apparatus using the body mounting part of another example of FIG.
  • (A) is a side view showing the position of a fulcrum of a support device using the body mounting portion of another example of FIG. 24 and the moment applied to the body
  • (b) is a side view of the fulcrum of the support device of FIG. It is a side view which shows a position and the moment concerning a body.
  • a support device includes a force measurement sensor structure including first and second elastic members, and a meson supported between the first and second elastic members, A drive unit for changing a load applied to the meson from the first and second elastic members of the force measurement sensor structure; A control unit for controlling the driving unit; A mounting part for mounting on the user's body; A support device comprising:
  • the force measuring sensor structure is A shaft having a first end and a second end; The meson provided movably between the first end and the second end along the axis; The first elastic member provided between the first end and the meson along the axis; The second elastic member provided between the second end and the meson along the axis; A linear potentiometer connected to the meson for detecting a one-dimensional position of the meson along the axis; A gripping unit connected to the meson and transmitting force to the meson in conjunction with movement of the upper or lower limbs of a user; With The mounting part is A main frame that is hung on the shoulder of the user
  • the motion support apparatus is the first aspect, wherein the drive unit changes at least one of a magnitude of a load applied to the meson from the first and second elastic members and a direction of the load. You may let them.
  • the operation support apparatus is the first aspect, wherein the main frame is composed of a back rest provided on the back side of the user and a shoulder belt for passing the user's arm, The arm may be arranged from the back side of the user toward the front side.
  • An operation support apparatus is the operation support apparatus according to the first aspect, wherein the main frame is connected to the front frame provided on the front side of the user and the back side provided on the back side of the user. Frame, and The arm may be attached to the front frame.
  • the first and second elastic members may be composed of one or more members selected from a group such as a spring, rubber, and air (air). Good.
  • the operation support apparatus includes the support apparatus according to the first aspect,
  • the control unit controls the drive unit so as to reduce the force applied to the meson measured according to the movement of the user's upper limb or lower limb, and moves the user's upper limb or lower limb. To help.
  • a muscle strength training support device includes the support device according to the first aspect, The control unit controls the driving unit so that a predetermined force is applied to the mesons according to the movement of the user's upper limb or lower limb, thereby assisting in muscular strength training of the user's upper limb or lower limb. To do.
  • FIG. 1 is a schematic perspective view showing a configuration of a force measurement sensor structure 10 according to the first embodiment.
  • FIG. 2 is an exploded perspective view of the force measurement sensor structure 10 of FIG.
  • the force measuring sensor structure 10 includes a shaft 1 having a first end 5a and a second end 5b, and a space between the first end 5a and the second end 5b along the shaft 1.
  • An intermediate element 2 movably provided, a first elastic member 3 a provided between the first end 5 a and the intermediate element 2 along the axis 1, and a second end part 5 b along the axis 1 And a second elastic member 3b provided between the intermediate element 2 and a linear potentiometer 4 connected to the intermediate element 2 and detecting the position of the intermediate element 2 along the axis 1 in the one-dimensional direction.
  • the first and second elastic members 3a and 3b are provided so as to support the meson 2 and to apply a load to the meson 2 in a direction opposite to each other in a one-dimensional direction along the axis 1.
  • the linear potentiometer 4 can detect the position of the meson 2 along the axis 1 in the one-dimensional direction and measure the force applied to the meson 2.
  • the shaft 1 supports the meson 2, and the first and second elastic members 3a and 3b, and regulates the movement of the meson 2 between its both ends 5a and 5b.
  • the meson 2 and the first and second elastic members 3a and 3b are provided so that the shaft 1 penetrates, but the present invention is not limited to this.
  • the meson 2 is provided on the side of the meson 2.
  • the shaft 1 may pass through the groove.
  • the material of the shaft 1 can be used as long as it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, bamboo, and the like.
  • the meson 2 is provided so as to be movable between both end portions 5a and 5b along the shaft 1.
  • the material of meson 2 can be used if it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, and bamboo.
  • the first elastic member 3 a is provided between the first end 5 a and the intermediate element 2 along the axis 1.
  • the second elastic member 3 b is provided between the second end 5 b and the intermediate element 2 along the axis 1. Further, since the first and second elastic members 3 a and 3 b are provided at both ends of the intermediate element 2, the intermediate element 2 is supported.
  • the first and second elastic members 3a and 3b are provided so as to support the meson 2 and to apply a load to the meson 2 in a direction opposite to each other in a one-dimensional direction along the axis 1. It has been.
  • the linear potentiometer 4 is connected to the meson 2 and detects the position in the one-dimensional direction of the meson 2 along the axis 1.
  • the linear potentiometer 4 only needs to be capable of detecting a position in a one-dimensional direction, and a commonly used linear potentiometer 4 can be used. 1 and 2, one end of the linear potentiometer 4 is fixed to the end on the first elastic member 3a side, but the present invention is not limited to this, and the second elastic member 3b side is not limited thereto. You may fix to the edge part.
  • FIG. 3 is a perspective view illustrating a configuration of a force measurement sensor structure 10a according to a modification of the first embodiment of the present disclosure.
  • the force measurement sensor structure 10a according to this modification is different from the force measurement sensor structure 10 of FIG. 1 in that a grip portion (grip) 12 is provided on the meson 2.
  • the user can easily apply a force to the meson 2 by gripping the grip portion 12 with a hand.
  • the holding part 12 is made into the grip shape suitable for holding with a hand, it is not restricted to this, For example, it is good also as a pedal shape to step on with a foot.
  • the gripping part 12 may be anything that can apply force to the meson 2 in conjunction with the upper limb or the lower limb.
  • the force measurement sensor structure 10a according to the modification of the first embodiment of the present disclosure has a hook 13 at one end. The hook 13 can suspend an object to be moved.
  • FIG. 4A shows the position of the meson 2 when a force in the upward (+) direction is applied to the meson 2 and the meson 2 moves upward in the force measurement sensor structures 10 and 10a of FIG. 1 and
  • FIG. 4 (b) is a front view showing the position of the meson 2 when no force is applied to the meson 2
  • FIG. 4 (c) is a downward ( ⁇ ) direction toward the meson 2.
  • 6 is a front view showing the position of the meson 2 when the force is applied and the meson 2 moves downward.
  • FIG. 4A when the meson 2 is in the upward position, the first elastic member 3a is compressed and the second elastic member 3b is expanded. A downward load is applied to the meson 2 from the second elastic members 3a and 3b.
  • the linear potentiometer 4 detects the position of the meson 2 along the axis 1 in the one-dimensional direction, and measures the force applied to the meson 2. For example, when the position of the meson 2 is upward, it can be seen that a downward load is applied to the meson 2. On the other hand, when the position of the meson 2 is downward, it can be seen that an upward load is applied to the meson 2.
  • FIG. 5 is a perspective view showing the configuration of the load control device 20 according to the first embodiment.
  • FIG. 6 is a block diagram showing a functional configuration of the load control device 20 of FIG.
  • the load control device 20 includes a force measurement sensor structure 10 a, a wire 11 fixed to the upper portion thereof, and a motor (drive unit) 16 that winds or releases the wire 11. And a control unit 18 that controls the motor (drive unit) 16. Since the wire 11 is fixed to the upper end of the force measurement sensor structure 10a, the motor (driving unit) 16 is driven to wind the wire 11 and pull the wire 11 upward, or reversely rotate the wire 11 to move the wire 11. By releasing and loosening, the load applied to the meson 2 from the first and second elastic members 3a and 3b can be changed.
  • the control unit 18 controls the drive unit 16 according to the measured force applied to the meson 2.
  • the drive unit 16 can use, for example, a motor that can take up the wire 11 or rotate it in the reverse direction to release the wire 11.
  • the structure of the drive part 16 is not restricted to a motor, If it can change the load applied to the intermediate
  • the motor 16 pulls the wire 11 to move the upper ends fixing the first elastic member 3a and the second elastic member 3b upward or downward, whereas the first elastic member 3a and the second elastic member 3b move upward.
  • the load applied to the meson 2 from the first elastic member 3a and the second elastic member 3b may be changed by changing the relative position of the second elastic member 3b and the meson 2 upward or downward.
  • FIG. 7 is a block diagram illustrating a physical configuration example of the control unit 18 of FIG.
  • FIG. 8 is a block diagram illustrating a functional configuration example of the control unit 18 of FIG.
  • the control unit 18 may be realized by a personal computer including a CPU 21, a memory 22, a storage unit 23, an input unit 24, an output unit 25, and the like.
  • the functional configuration of the control unit 18 includes a potentiometer reading unit 26 that reads the value of the potentiometer, an meson application force calculation unit 27 that calculates a force applied to the meson 2, and An elastic member load control unit 28 that controls the load applied to the meson 2 from the first and second elastic members 3a and 3b may be provided.
  • FIG. 9 is a schematic perspective view illustrating a configuration of the support device 29 (the motion support device 30a and the strength training support device 30b) according to the first embodiment.
  • FIG. 10 is a block diagram illustrating a functional configuration of the support device 29 (the motion support device 30a / muscle training support device 30b) in FIG.
  • the movement support device 30a and the strength training support device 30b are collectively referred to as the support device 29.
  • the support device 29 (the motion support device 30a and the strength training support device 30b) includes the load control device 20 and a body mounting portion 32a. Note that the force measurement sensor structure 10 a of the load control device 20 includes a grip portion 12.
  • the grip 12 is connected to the meson 2 of the force measurement sensor structure 10a, and transmits force to the meson 2 in conjunction with the movement of the upper or lower limb of the user.
  • the grip portion 12 is provided to make it easier to apply a force by grasping it with a hand.
  • the holding part 12 is made into the shape which can be grasped with a hand in the example of FIG. 9, it is not restricted to this, You may fix to an upper limb or a lower limb so that it may link with a motion of an upper limb or a lower limb.
  • the body mounting portion 32a is not essential for the configuration of the support device 29 (the motion support device 30a and the strength training support device 30b).
  • the body mounting portion 32a will be described with reference to FIG.
  • the body mounting portion 32a is hung on the shoulder portion of the user, and the backrest portion 41 and the shoulder belt 42 constituting the main frame 40 for fixing the driving portion 16 and the main frame 40 to the user's torso.
  • a waist belt 43 to be attached and an arm 44 that is attached to the main frame 40 and suspends the wire 11 that connects the force measurement sensor structure 10a and the drive unit 16 are provided.
  • the back pad 41 can be made of metal or resin.
  • the shoulder belt 42 and the waist belt 43 can be made of metal, resin, natural fiber, or the like.
  • the body mounting portion 32a is a so-called rucksack-type mounting portion because the user carries the shoulder belt 42 through his / her arm.
  • an apparel member can be used, it can be made inexpensive and lightweight.
  • the mounting method is intuitively easy to understand.
  • there is a heavy object such as a motor in the waist, there is an advantage that the burden during the forward tilt posture is small. Further, there is no frame on the front surface of the body, and a large movable range of the arm can be secured, so that there is an advantage that workability with the support device attached is good.
  • FIG. 24 is a schematic perspective view showing a configuration of another example of the body mounting portion 36 used for the support device 29.
  • FIG. 25 is a front view of the body mounting portion 36 of another example of FIG.
  • FIG. 26 is a plan view of the body mounting portion 36 of another example of FIG.
  • FIG. 27 is a side view of a support device 29 using the body mounting portion 36 of another example of FIG.
  • the body mounting portion 36 of the support device 29 shown in FIGS. 24 to 27 is different from the body mounting portion 32a of FIG. 9 in that it is not a rucksack-type mounting portion but a front holding type mounting portion.
  • the front frame 45 is connected to the front frame 45 provided on the front side of the user and the front frame 45, and provided on the back side of the user.
  • a rear frame 46 The front frame 45 and the back frame 46 can be made of metal or resin, and are preferably made of a material having rigidity.
  • the arm 44 is attached to the front frame 45.
  • you may provide the side belt 47 which fixes the front frame 45 and the back frame 46 aside.
  • a side belt adjustment unit 48 that adjusts the length of the side belt 47 may be provided.
  • a frame width adjustment unit 49 that adjusts the frame width between the front frame 45 and the back frame 46 may be provided.
  • a roller 50 for hanging the wire 11 may be provided on the arm 44.
  • the support device 29 using the body mounting portion 36 of this other example has the following advantages.
  • the front frame 45 and the back frame 46 play the same role as the rigid main frame 40 in FIG. It can be installed.
  • the load can be supported by the shoulder and the front of the body widely, the load can be dispersed and the feeling of pressure on the body can be greatly reduced.
  • the arm 44 is used as a fulcrum, the arm 44 is arranged on the front side from the fulcrum, and the heavy load such as a motor as the driving unit 16 is arranged on the back side from the fulcrum, so that a straight load is applied from the shoulder to the trunk.
  • the load (work) holding posture is stabilized and the moment applied to the body by the load can be reduced.
  • FIG. 28A is a side view showing the position of a fulcrum of a support device using the body mounting part 36 (front holding type mounting part) of another example of FIG. 24 and the moment applied to the body.
  • FIG. 10B is a side view showing the position of the fulcrum of the support device 29 using the body mounting portion 32a as the backpack-type mounting portion of FIG. 9 and the moment applied to the body.
  • the fulcrum that supports the support device 29 by placing the load and the heavy load in a balanced manner is used as the shoulder of the user. Can be above.
  • the fulcrum is on the back side where the backrest portion 41 is located.
  • the magnitude of the moment M2 in FIG. 28 (a) and the moment M1 in FIG. 28 (b) are different depending on the distance from the fulcrum (M2 ⁇ M1).
  • the force applied to the abdomen by the waist belt 43 is smaller in the force F2 in FIG.
  • the moments M2 and M1 are represented by the product of the magnitude of the load and the distances x2 and x1 from the fulcrum to the load, and the forces F2 and F1 applied to the body and the distances y2 and y1 from the fulcrum to the abdomen
  • the moment M2 is smaller than the moment M1, and as a result, the forces F2 and F1 applied to the abdomen have a relationship of F2 ⁇ F1. . That is, according to the support device 29 using the body mounting portion 36 as the front holding mounting portion in FIG. 24, the force F2 applied to the abdomen can be reduced by setting the fulcrum on the shoulder of the user. In addition, since it becomes a counterweight with respect to a load by arrange
  • ⁇ Operation support device> When the support device 29 (the motion support device 30a and the strength training support device 30b) functions as the motion support device 30a, it is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user.
  • the drive unit 16 can be controlled to reduce the force to support the movement of the user's upper limb or lower limb. Specifically, when the user performs the operation of lifting the meson 2 upward by grasping the grip portion 12, the meson 2 moves upward as shown in FIG. In this case, the first elastic member 3a is compressed, the second elastic member 3b is expanded, and a downward force is applied to the meson 2 from the first and second elastic members 3a and 3b.
  • the motor (driving unit) 16 is driven to wind up the wire 11 and pull it upward to lift the user upward. To do. Further, when the user performs an operation of pressing down the meson 2 by holding the grip portion 12, the meson 2 moves downward as shown in FIG. 4C. In this case, the first elastic member 3a is expanded, the second elastic member 3b is compressed, and an upward force is applied from the first and second elastic members 3a, 3b to the meson 2. Therefore, when it is detected by the linear potentiometer 4 that the position of the meson 2 is downward, the motor (driving unit) 16 is driven to rotate the wire 11 in the reverse direction to loosen the wire 11 and downward of the user. Supports the operation of pushing down.
  • FIG. 11 is a flowchart for explaining the operation of the operation support apparatus 30a according to the first embodiment of the present disclosure.
  • the value of the linear potentiometer 4 is read (S01).
  • ⁇ Muscle training support device> When the support device 29 (the motion support device 30a and the strength training support device 30b) functions as the strength training support device 30b, it is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user.
  • the driving unit 16 can be controlled so as to increase the force of the user, and the muscle strength training of the upper limb or the lower limb of the user can be supported. Specifically, when it is detected by the linear potentiometer 4 that the position of the meson 2 is upward from a predetermined value, the predetermined force applied to the upper limb or the lower limb of the user in a preset strength training is more than It can be seen that a large force is applied.
  • the motor (driving unit) 16 is driven to wind up the wire 11 and pull it upward so that the force applied to the upper limb or lower limb of the user becomes a predetermined force to support the user's muscle strength training.
  • the linear potentiometer 4 detects that the position of the meson 2 is lower than the predetermined value, a force smaller than the predetermined force applied to the upper limb or the lower limb of the user in the preset strength training is applied. It can be seen that it is applied. Therefore, the motor (driving unit) 16 is driven to rotate the wire 11 in the reverse direction to loosen the wire 11 so that the force applied to the upper limb or lower limb of the user becomes a predetermined force, and the user Support muscle strength training.
  • FIG. 12 is a flowchart for explaining the operation of the strength training support device 30b according to the first embodiment of the present disclosure.
  • the value of the linear potentiometer 4 is read (S11).
  • the support device 29 (the motion support device 30a and the strength training support device 30b) according to the first embodiment of the present disclosure uses the first and second elastic members 3a and 3b to hold the meson 2. Since it is the structure which supports, even if a user makes a sudden movement, the force measurement sensor structure 10 and 10a do not react too sensitively. Therefore, the support device 29 (the motion support device 30a and the strength training support device 30b) can be optimized within a range suitable for the user's motion. In particular, when used as the motion support device 30a, if the first and second elastic members 3a and 3b are adjusted according to the work contents, the upward and downward characteristics shown in the above description can be improved, and the user can be The applied load can be reduced.
  • the loads in the upward direction and the downward direction shown in the above description Can be optimized. That is, the optimal load for each direction can be set. Therefore, the user can simultaneously perform training with an optimal load in the upward direction and training with an optimal load in the downward direction, and the training time can be shortened.
  • FIG. 13 is a perspective view illustrating a configuration of a force measurement sensor structure 10b according to the second embodiment of the present disclosure.
  • FIG. 14 is an exploded perspective view of the force measurement sensor structure 10b of FIG. This force measurement sensor structure 10b intersects the measuring element 6 having a length rotatable with respect to the fulcrum 7, the intermediate element 2 provided at a predetermined position of the measuring element 6, and the extending direction of the measuring element 6.
  • first and second elastic members 3a and 3b that are provided at both ends of the meson 2 and support the meson 2, and are connected to the meson 2, and the first elastic member 3a, the meson 2, and the second elastic member
  • a rotation potentiometer 9 that detects a change in the rotation angle of the meson 2 in an arc connecting to 3b.
  • the first and second elastic members 3a and 3b are provided so as to be able to apply a load to the intermediate element 2 along the arc and in directions opposite to each other in the rotational direction around the fulcrum 7 of the intermediate element 2. It has been.
  • the rotation potentiometer 9 can detect a change in the rotation angle of the meson 2 in the arc and measure the force applied to the meson 2.
  • a rotating shaft serving as the fulcrum 7 of the measuring element 6 is provided on the base 14.
  • the upper end of the first elastic member 3a is received by the first spring receiver 15a, and the lower end of the second elastic member 3b is received by the second spring receiver 15b.
  • the first and second spring receivers 15 a and 15 b are provided on the base 14.
  • the fulcrum 7 provided on the base 14 is fitted with a bearing 7 a provided on the probe 6.
  • the measuring element 6 is provided so as to be rotatable with respect to a rotating shaft (fulcrum) 7.
  • the measuring element 6 is preferably made of a rigid body.
  • the material of the measuring element 6 may be a rigid body.
  • any material that can be normally used in force measurement of iron, stainless steel, aluminum, wood, bamboo, or the like can be used.
  • the intermediate element 2 is provided at a predetermined position of the measuring element 6.
  • the material of meson 2 can be used if it can be normally used in force measurement, such as iron, stainless steel, aluminum, wood, and bamboo.
  • the first elastic member 3 a and the second elastic member 3 b are provided at both ends of the meson 2 in the direction intersecting with the extending direction of the measuring element 6 and support the meson 2.
  • the first and second elastic members 3a and 3b are connected to the meson 2 along the arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b. Is provided in such a manner that a load can be applied in directions opposite to each other in the rotation direction with respect to the center.
  • the rotary potentiometer 9 is connected to the meson 2 and detects a change in the rotation angle of the meson 2 in an arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b.
  • the rotation potentiometer 9 can detect a change in the rotation angle of the meson 2 in the arc and measure the force applied to the meson 2.
  • FIG. 15A is a front view showing the position when a force in the clockwise (+) direction is applied to the meson 2 and the meson 2 moves in the clockwise (+) direction in the force measurement sensor structure 10b of FIG. 15 (b) is a front view showing the position of the meson 2 when no force is applied to the meson 2, and FIG. 15 (c) is a counterclockwise ( ⁇ ) direction with respect to the meson 2.
  • FIG. 6 is a front view showing the position of the meson 2 when the force is applied and the meson 2 moves in the counterclockwise ( ⁇ ) direction.
  • FIG. 15A when the meson 2 is located in the clockwise (+) direction, the first elastic member 3a is compressed and the second elastic member 3b is expanded.
  • a load in the counterclockwise ( ⁇ ) direction is applied to the meson 2 from the first and second elastic members 3a and 3b.
  • the first elastic member 3a is expanded and the second elastic member 3b is compressed. Therefore, a load in the clockwise (+) direction is applied to the meson 2 from the first and second elastic members 3a and 3b.
  • the rotation potentiometer 9 detects a change in the rotation angle of the meson 2 in the arc connecting the first elastic member 3a, the meson 2, and the second elastic member 3b, and is applied to the meson 2. Measure the force.
  • FIG. 16 is a perspective view illustrating a configuration of the load control device 20a according to the second embodiment of the present disclosure.
  • FIG. 17 is a block diagram showing a functional configuration of the load control device 20a of FIG.
  • the load control device 20a includes a force measurement sensor structure 10b and a motor (drive unit) 16 that rotates a base 14 provided with first and second spring receivers 15a and 15b.
  • a control unit 18 that controls the motor (drive unit) 16.
  • a grip portion 12 a that can be gripped by hand is provided at the tip of the measuring element 6.
  • the load control device 20a can be mounted on the upper arm by the upper arm mounting portions 31a and 31b. By rotating the base 14 provided with the first and second spring receivers 15a and 15b by the motor (drive unit) 16, the load applied to the intermediate element 2 from the first and second elastic members 3a and 3b is applied. Can be changed.
  • each member which comprises this load control apparatus 20a is demonstrated.
  • Drive unit for example, a motor that can rotate the base 14 provided with the first and second spring receivers 15a and 15b can be used.
  • the structure of the drive part 16 is not restricted to a motor, If it can change the load applied to the intermediate
  • the load applied to the meson 2 from the first elastic member 3a and the second elastic member 3b by changing the relative positions of the first elastic member 3a and the second elastic member 3b and the meson 2 upward or downward. May be used.
  • FIG. 18 is a block diagram illustrating a physical configuration example of the control unit 18 of FIG.
  • FIG. 19 is a block diagram illustrating a functional configuration example of the control unit 18 of FIG.
  • the control unit 18 may be realized by a personal computer including a CPU 21, a memory 22, a storage unit 23, an input unit 24, an output unit 25, and the like.
  • the functional configuration of the control unit 18 includes a potentiometer reading unit 26 that reads the value of the potentiometer, an meson application force calculation unit 27 that calculates a force applied to the meson 2, and An elastic member load control unit 28 that controls the load applied to the meson 2 from the first and second elastic members 3a and 3b may be provided.
  • FIG. 20 is a perspective view illustrating a configuration of the support device 29a (the motion support device 30c / muscle training support device 30d) according to the second embodiment of the present disclosure.
  • FIG. 21 is a block diagram showing a functional configuration of the support device 29a (motion support device 30c / muscle training support device 30d) in FIG.
  • the support device 29a (the motion support device 30c and the strength training support device 30d) includes the load control device 20a, upper arm mounting portions 31a and 31b, and a body mounting portion 32b.
  • the force measurement sensor structure 10b of the load control device 20a includes a grip portion 12a.
  • the grip 12a is connected to the meson 2 of the force measurement sensor structure 10b as shown in FIG.
  • the grip portion 12a is provided to make it easier to apply a force by grasping it with a hand.
  • the holding part 12a is made into the shape which can be grasped with a hand in the example of FIG. 20, it is not restricted to this, You may fix to an upper limb or a lower limb so that it may link with a motion of an upper limb or a lower limb.
  • the control unit 18 and the power source 33 may be mounted on the body by the body mounting unit 32b.
  • the upper arm mounting portions 31a and 31b and the body mounting portion 32b are not essential to the configuration of the support device 29a (the motion support device 30c and the strength training support device 30d).
  • the support device 29a (the motion support device 30c and the strength training support device 30d) functions as the motion support device 30c
  • the support device 29a participates in the meson 2 measured according to the movement of the upper or lower limbs of the user.
  • the drive unit 16 can be controlled to reduce the force to support the movement of the user's upper limb or lower limb. Specifically, when the user performs the operation of lifting the meson 2 in the clockwise (+) direction by grasping the grip portion 12a, the meson 2 is rotated clockwise (+) as shown in FIG. Move in the direction.
  • the first elastic member 3a is compressed
  • the second elastic member 3b is expanded
  • a force in the counterclockwise ( ⁇ ) direction is applied from the first and second elastic members 3a and 3b to the meson 2.
  • the rotation potentiometer 9 detects that the rotation angle of the meson 2 is in the clockwise (+) direction
  • the motor (drive unit) 16 is driven to rotate the base 14 in the clockwise (+) direction.
  • the user's movement in the clockwise (+) direction is supported.
  • the intermediate member 2 is counterclockwise ( ⁇ ) as shown in FIG. 15 (c). Move to.
  • the first elastic member 3a is expanded, the second elastic member 3b is compressed, and a force in the clockwise (+) direction is applied from the first and second elastic members 3a and 3b to the meson 2. Therefore, when the rotation potentiometer 9 detects that the rotation angle of the meson 2 is in the counterclockwise ( ⁇ ) direction, the motor (drive unit) 16 is driven to rotate the base 14 in the counterclockwise ( ⁇ ) direction. Rotating and assisting the user to push down in the counterclockwise (-) direction.
  • FIG. 22 is a flowchart for explaining the operation of the operation support apparatus 30c according to the second embodiment of the present disclosure.
  • the value of the rotary potentiometer 9 is read (S21).
  • the base 14 is rotated clockwise (S23). Then, it returns to said step S21 and reads the value of the rotation potentiometer 9 again. On the other hand, if the value of the rotary potentiometer 9 is not clockwise, the process moves to the next step S24.
  • ⁇ Muscle training support device> When the support device 29a (the motion support device 30c and the strength training support device 30d) functions as the strength training support device 30d, the support device 29a is added to the measured meson 2 according to the movement of the upper limb or the lower limb of the user.
  • the driving unit 16 can be controlled so as to increase the force of the user, and the muscle strength training of the upper limb or the lower limb of the user can be supported.
  • the rotary potentiometer 9 when it is detected by the rotary potentiometer 9 that the position of the meson 2 is in the clockwise (+) direction from the predetermined value, the predetermined value applied to the upper limb or the lower limb of the user set in advance in the strength training It can be seen that a force larger than the value force is applied.
  • the motor (drive unit) 16 is driven to rotate the base 14 in the clockwise (+) direction so that the force applied to the upper limb or the lower limb of the user becomes a predetermined force.
  • Support strength training When the rotary potentiometer 9 detects that the position of the meson 2 is in the counterclockwise ( ⁇ ) direction from the predetermined value, a predetermined value to be applied to the upper limb or the lower limb of the user by the preset strength training is set. It can be seen that a force smaller than the force is applied. Therefore, the motor (driving unit) 16 is driven to rotate the base 14 in the counterclockwise ( ⁇ ) direction so that the force applied to the upper limb or lower limb of the user becomes a predetermined force, and the user Support muscle strength training.
  • the rotation angle of the meson 2 is detected by the rotary potentiometer 9, and when the force applied to the user is larger than the predetermined value, it is reduced.
  • the load applied to the user can be a constant load. Thereby, in a user's muscular strength training, it can be kept constant load irrespective of a user's movement.
  • FIG. 23 is a flowchart for explaining the operation of the strength training support device 30d according to the second embodiment of the present disclosure.
  • the value of the rotary potentiometer 9 is read (S31).
  • the process moves to the next step S34.
  • the support device 29a (the motion support device 30c and the strength training support device 30d) according to the second embodiment of the present disclosure uses the first and second elastic members 3a and 3b to hold the meson 2. Since it is set as the structure which supports, even if a user performs a sudden movement, the force measurement sensor structure 10b does not react too sensitively. Therefore, the support device 29a (the motion support device 30c and the strength training support device 30d) can be optimized within a range suitable for the user's motion. In particular, when used as the motion support device 30c, if the first and second elastic members 3a and 3b are adjusted according to the work content, the characteristics of the upward direction and the downward direction shown in the above description are improved, and the user can be improved. The applied load can be reduced.
  • the loads in the upward direction and the downward direction shown in the above description will be described. Can be optimized. That is, the optimal load for each direction can be set. Therefore, the user can simultaneously perform training with an optimal load in the upward direction and training with an optimal load in the downward direction, and the training time can be shortened.
  • the support device can support not only the initial force but also the subsequent force when measuring and supporting the force with which the subsequent force becomes smaller than the initial force. Therefore, this support device can be used for a motion support device and a muscular strength training support device that support motion by human power.

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  • Health & Medical Sciences (AREA)
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  • Orthopedic Medicine & Surgery (AREA)
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Abstract

Dispositif de support comprenant : une structure de capteur de mesure de force comprenant un axe ayant des première et deuxième sections d'extrémité, un élément intermédiaire disposé de manière mobile entre les première et seconde sections d'extrémité, des premier et deuxième éléments élastiques prévus entre chacune des première et seconde sections d'extrémité et l'élément intermédiaire, un potentiomètre linéaire qui détecte la position en direction unidimensionnelle de l'élément intermédiaire, et une unité de préhension qui fonctionne en association avec le mouvement du bras supérieur ou inférieur et transmet une force à l'élément intermédiaire; une unité d'entraînement qui change la charge appliquée à l'élément intermédiaire ; une unité de commande qui commande l'unité d'entraînement; et une unité de montage comprenant un cadre principal qui est suspendu sur les épaules et fixe l'unité d'entraînement, une ceinture qui fixe le cadre principal au torse, et un bras fixé au cadre principal et qui suspend un fil qui relie la structure de capteur de mesure de force et l'unité d'entraînement. Le premier et le deuxième élément élastique peuvent appliquer une charge sur l'élément intermédiaire dans la direction unidimensionnelle, et mesurer la force appliquée à l'élément intermédiaire au moyen du potentiomètre linéaire. L'unité de commande commande l'unité d'entraînement en fonction de la force appliquée à l'élément intermédiaire.
PCT/JP2013/003975 2012-07-05 2013-06-25 Dispositif de support, dispositif de support d'opération, et dispositif de support pour l'entraînement de la force musculaire WO2014006850A1 (fr)

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CN104523400A (zh) * 2015-01-20 2015-04-22 上海电气集团股份有限公司 穿戴式康复训练器的肘部自由度实现装置及其工作原理
JP2016130159A (ja) * 2015-01-14 2016-07-21 株式会社クボタ アシストスーツ
JP2017094422A (ja) * 2015-11-20 2017-06-01 株式会社クボタ アシストスーツ
JP2018100186A (ja) * 2018-02-06 2018-06-28 株式会社クボタ アシストスーツ
CN108295418A (zh) * 2018-03-09 2018-07-20 王康瑞 一种机械式健身装置
JP2018134238A (ja) * 2017-02-22 2018-08-30 学校法人近畿大学 歩行車
WO2019098095A1 (fr) * 2017-11-20 2019-05-23 株式会社クボタ Dispositif d'assistance et unité manuelle de maintien de chargement
JP2019094144A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具又は荷物保持用のハンド部
JP2019094145A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具
JP2019093460A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具
JP2019094143A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具又は荷物保持用のハンド部
KR20220089959A (ko) * 2020-12-22 2022-06-29 국방과학연구소 착용형 운반 장치

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JP2016130159A (ja) * 2015-01-14 2016-07-21 株式会社クボタ アシストスーツ
CN104523400A (zh) * 2015-01-20 2015-04-22 上海电气集团股份有限公司 穿戴式康复训练器的肘部自由度实现装置及其工作原理
JP2017094422A (ja) * 2015-11-20 2017-06-01 株式会社クボタ アシストスーツ
JP2018134238A (ja) * 2017-02-22 2018-08-30 学校法人近畿大学 歩行車
JP2019093460A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具
WO2019098095A1 (fr) * 2017-11-20 2019-05-23 株式会社クボタ Dispositif d'assistance et unité manuelle de maintien de chargement
JP2019094144A (ja) * 2017-11-20 2019-06-20 株式会社クボタ アシスト器具又は荷物保持用のハンド部
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CN108295418A (zh) * 2018-03-09 2018-07-20 王康瑞 一种机械式健身装置
CN108295418B (zh) * 2018-03-09 2019-10-29 王康瑞 一种机械式健身装置
KR20220089959A (ko) * 2020-12-22 2022-06-29 국방과학연구소 착용형 운반 장치
KR102501720B1 (ko) * 2020-12-22 2023-02-20 국방과학연구소 착용형 운반 장치

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