WO2016136370A1 - Dispositif de détection de commande et dispositif d'aide à la marche pourvu d'un dispositif de détection de force de commande - Google Patents

Dispositif de détection de commande et dispositif d'aide à la marche pourvu d'un dispositif de détection de force de commande Download PDF

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Publication number
WO2016136370A1
WO2016136370A1 PCT/JP2016/052462 JP2016052462W WO2016136370A1 WO 2016136370 A1 WO2016136370 A1 WO 2016136370A1 JP 2016052462 W JP2016052462 W JP 2016052462W WO 2016136370 A1 WO2016136370 A1 WO 2016136370A1
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Prior art keywords
pressure
operating force
detection device
force detection
hollow shaft
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PCT/JP2016/052462
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English (en)
Japanese (ja)
Inventor
松岡　祐樹
瑛昌 沢戸
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シャープ株式会社
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Publication of WO2016136370A1 publication Critical patent/WO2016136370A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor

Definitions

  • the present disclosure relates to a technique for detecting an operation force, and more specifically, to a technique for detecting an operation force acting on a walking assist device.
  • Patent Document 1 Japanese Patent Laid-Open No. 10-118125
  • An operation device for an electric vehicle that does not require a process is disclosed.
  • the configuration of this operating device is as follows: “At the connecting portion between the movable grip 2 and the spring-loaded piston 19, the male thread portion 19 n of the spring-loaded piston 19 and the cap nut 31 connected to the movable grip 2 are screwed together. The relative position can be adjusted and fixed with the lock nut 33 "(see [Summary]).
  • Patent Document 2 discloses “a hand-held handy cart that has a simple and compact structure and can accurately detect an operation force from an operator”.
  • the hand-held handy cart disclosed in Japanese Patent Application Laid-Open No. 2014-65354 is “provided on the body frame 10, the control device 4, the battery 5, the electric motor 7, the wheel 20, and the body frame 10 disposed on the body frame 10.
  • an operating device 9 that is provided at the end of the control rod 2 and has a gripping portion 9a that is gripped by the operator H.
  • the operating device 9 is integrated with the gripping portion 9a.
  • a rotating part 9c connected to the grip part 9a and arranged so as to be rotatable around the predetermined rotation axis around the predetermined rotation axis, and a force for detecting an operating force by the extension / contraction.
  • a detector 9b (see [Summary]).
  • the sliding amount of the slidable movable grip 2 is converted into pressure by a potentiometer.
  • the structure of the handle portion becomes complicated and it is difficult to reduce the size.
  • the movable grip 2 slides, the user may feel uncomfortable during the operation. Therefore, there is a need for a technique that does not give a sense of discomfort.
  • an object in one aspect is to provide an operation force detection device that can detect an operation force without making the user feel uncomfortable.
  • An object in another aspect is to provide an operating force detection device capable of suppressing an increase in cost.
  • An object in another aspect is to provide an operating force detection device that can detect an operating force without being affected by electromagnetic waves.
  • An object in another aspect is to provide an operating force detection device in which a decrease in reliability is suppressed.
  • the purpose in other aspects is to provide a walking assistance device that does not cause a sense of incongruity in the operation force.
  • An object in another aspect is to provide a walking assist device in which an increase in cost is suppressed.
  • An object in another aspect is to provide a walking assist device that suppresses a decrease in detection accuracy of an operating force.
  • Still another object of the present invention is to provide a walking assist device in which a decrease in reliability is suppressed.
  • an operating force detection device for detecting an operating force on an instrument.
  • the operating force detection device includes a first hollow shaft member that is slidable in accordance with an operation of the instrument, a second hollow shaft member that is disposed inside the first hollow shaft member, and a first hollow shaft.
  • a pressure detector fixed to the second hollow shaft member so as to detect an operating force acting in the axial direction of the member, and an axial direction of the first hollow shaft member fixed to the first hollow shaft member
  • a pressing member arranged to face the pressure detection unit so as to transmit the force acting on the pressure detection unit to the pressure detection unit.
  • a walking assistance device includes the above-described operation force detection device, a drive unit, and a control unit for controlling the operation of the drive unit based on the operation force detected by the operation force detection device.
  • the operating force acting on the walking assist device can be easily detected.
  • FIG. 3 is a block diagram illustrating functions for realizing the walking assist device 1.
  • FIG. It is a flowchart showing a part of several calculation which CPU21 with which the walking assistance apparatus 1 is provided performs.
  • FIG. 1 is a diagram illustrating the appearance of the operation force detection device.
  • the operating force detection device is covered with the grip 2.
  • the grip 2 is attached to the outside of the handle 110.
  • FIG. 2 is a diagram illustrating an appearance of the walking assist device 1 including the operation force detection device.
  • the walking assist device 1 includes a configuration provided in a normal walking assist vehicle, such as a handle 110, and a motor 5.
  • the motor 5 drives the walking assist device 1.
  • the operating force detection device according to the present embodiment is built in the vicinity of the grip 2 of the handle 110 of the walking assist device 1.
  • operation force a force acting on the grip 2
  • the drive of the motor 5 is controlled according to the direction and the acting direction.
  • the walking assist device 1 is realized, for example, as a walking assist device, a stroller, a luggage carrier cart, or other walking assist vehicle for elderly people or care recipients, but the application target of the technical idea according to the present disclosure is Not limited.
  • the technical idea can be applied to an instrument that is driven by a motor and assists walking or transportation.
  • FIG. 3 is a diagram showing a cross section of operating force detection device 300 according to the first embodiment.
  • the operating force detection device 300 includes a fixed pipe 510, sensor holders 520 and 521, sensor contact portions 330 and 331, a pressing member 540, pressure-sensitive resistance sensors 550 and 551, a sliding pipe 560, and a packing member. 310. Outputs from the sensor holders 520 and 521 are input to the harness connector 410. The output of the harness connector 410 is input to the control unit of the walking assist device 1.
  • the sliding pipe 560 is disposed outside the fixed pipe 510.
  • the inner peripheral surface of the sliding pipe 560 is made of a material that can slide on the outer peripheral surface of the fixed pipe 510.
  • the pressure-sensitive resistance sensors 550 and 551 are elements that electrically detect pressure.
  • the pressure-sensitive resistance sensors 550 and 551 are constituted by, for example, a pressure-sensitive resistance film including an electrode layer and a pressure-sensitive resistance layer.
  • the electrode layer and the pressure-sensitive resistance layer are not in contact with each other, so that they are in an insulating state and the resistance value is increased (for example, several M ⁇ or more).
  • the electrode layer and the pressure-sensitive resistance layer are in contact with each other, and an electrical resistance corresponding to the pressure is detected. The greater the pressure, the smaller the resistance value (up to several k ⁇ ).
  • a pressing member 540 is disposed between the pressure-sensitive resistance sensor 550 and the pressure-sensitive resistance sensor 551.
  • the pressing member 540 is realized by a resin or other material having a rigidity equal to or higher than a predetermined value so as not to be deformed by an operation force.
  • Sensor contact portions 330 and 331 are formed at both end portions of the pressing member 540.
  • the pressure sensitive resistance sensor 550 is held by a sensor holder 520.
  • the surface of the pressure-sensitive resistance sensor 550 and the surface of the sensor contact portion 330 are opposed to each other.
  • the user may push the walking assist device 1 to move forward.
  • a force toward the pressure-sensitive resistance sensor 550 acts on the pressing member 540
  • the sensor contact portion 330 contacts the pressure-sensitive resistance sensor 550 a signal corresponding to the force at that time is applied to the harness connector 410. Is output.
  • the pressure-sensitive resistance sensor 551 is held by the sensor holder 521.
  • the surface of the pressure-sensitive resistance sensor 551 and the surface of the sensor contact portion 331 are opposed to each other.
  • the handle 110 of the walking assist device 1 that the user has been driving for stopping is pulled forward (toward the user).
  • a force toward the pressure-sensitive resistance sensor 551 acts on the pressing member 540
  • the sensor contact portion 331 contacts the pressure-sensitive resistance sensor 551 a signal corresponding to the force at that time is applied to the harness connector 410. Is output.
  • the packing member 310 is provided at the open end of the fixed pipe 510.
  • the packing member 310 prevents sand, dust, water and other foreign matters from entering the sliding surface between the fixed pipe 510 and the sliding pipe 560.
  • the packing member 310 is realized, for example, as a resin sealing material.
  • the packing member 310 has an outer diameter that fits on the inner peripheral surface of the sliding pipe 560, for example.
  • a thread may be formed on the outer periphery of the packing member 310. In this case, since the packing member 310 and the sliding pipe 560 can be fastened by forming a thread on the inner peripheral surface of the sliding pipe 560, the packing member 310 can be firmly held.
  • FIG. 4 is a diagram illustrating a state in which the operation force detection device 300 is enlarged. As shown in FIG. 4, the fixed pipe 510 is coupled to the walking assist device 1.
  • the fixed pipe 510 is a skeleton of a grip structure.
  • the fixed pipe 510 is realized by, for example, a hollow cylindrical metal pipe material, a resin pipe material, or the like.
  • the fixed pipe 510 is fixed to a vehicle body of the walking assist device 1, for example, a main frame.
  • pressure-sensitive resistance sensors 550 and 551 are arranged.
  • the pressure-sensitive resistance sensors 550 and 551 are attached to predetermined positions of the sensor holders 520 and 521 (for example, a central region of the sensor holders 520 and 521) with an adhesive tape.
  • the pressure-sensitive resistance sensors 550 and 551 may be fitted into a recess formed in a predetermined position of the sensor holder 520 or 521 (for example, a central region of the sensor holder 520 or 521).
  • the pressure-sensitive resistance sensor 550 is used as a sensor for detecting a forward operation force of the walking assist device 1.
  • the pressure-sensitive resistance sensor 551 is used as a sensor for detecting a backward operation force of the walking assist device 1.
  • the pressure-sensitive resistance sensor 550 and the pressure-sensitive resistance sensor 551 are attached to the sensor holders 520 and 521 so that the respective detection surfaces face each other. Note that only one of the pressure-sensitive resistance sensors 550 and 551 may be used depending on the specifications of the walking assist device 1 and other needs.
  • the sensor holders 520 and 521 to which the pressure-sensitive resistance sensors 550 and 551 are attached are inserted into the fixed pipe 510.
  • the sensor holders 520 and 521 are fixed to the fixed pipe 510 by, for example, spring pins (not shown).
  • the pressing member 540 is disposed in contact with the pressure sensitive resistance sensors 550 and 551.
  • a fixed pipe 510 is inserted into the sliding pipe 560.
  • the outer periphery of the fixed pipe 510 is in contact with the inner periphery of the sliding pipe 560. Since the inner surface of the sliding pipe 560 is slidable, the sliding pipe 560 can slide in the axial direction of the fixed pipe 510 according to a force (for example, an operating force) acting on the sliding pipe 560.
  • At least the inner peripheral surface of the sliding pipe 560 is preferably composed of self-lubricating polyacetal, nylon, or the like.
  • grease and other lubricants for improving slidability may be applied to the inner peripheral surface of the sliding pipe 560.
  • a groove for holding the lubricant may be formed on the inner peripheral surface of the sliding pipe 560.
  • the pressing member 540 and the sliding pipe 560 are fastened by a spring pin, a screw or other fastening means, and are fixed to each other.
  • Lead wires can be connected to the terminals of the pressure sensitive resistance sensors 550 and 551, respectively. Each lead wire is connected to the harness connector 410.
  • the sliding pipe 560 is press-fitted into the grip 2.
  • the grip 2 is a member directly gripped by the user.
  • the grip 2 is made of rubber, for example, but the material of the grip 2 is not limited to rubber. Any shape or material that can be gripped by the user and is not slippery may be used. For example, if the outer diameter of the sliding pipe 560 is about 22.2 mm, a rubber grip for bicycles that is widely available on the market can be directly attached to the sliding pipe 560 as the grip 2. Therefore, various designs can be realized by the grip 2 according to the user's preference.
  • the packing member 310 may be provided on the sliding surface between the sliding pipe 560 and the fixed pipe 510.
  • the packing member 310 can prevent sand and other foreign matters and water from entering from the opening end of the fixed pipe 510.
  • the control unit of the walking assist device 1 uses this electric signal to detect the force (operating force) acting on the handle, and the walking assist device according to the detection result (the magnitude of the operating force and the acting direction). 1 drive (forward, acceleration, deceleration, stop, reverse, etc.) is controlled.
  • the operation force can be detected by the existing handle configuration without increasing the sliding amount of the handle. Therefore, the user can use the walking assist device 1 without feeling uncomfortable. As a result, a decrease in operability is prevented.
  • a configuration for electrically detecting the operation force for example, a configuration such as a distortion detection circuit or an amplification circuit is not required. Therefore, the structure of the handle portion is not complicated, and a failure due to an impact load or the like is less likely to occur. As a result, the reliability of the walking assist device 1 can be improved.
  • the operating force detection apparatus is different from the first embodiment in that the contact portion of the pressing member with the pressure-sensitive resistance sensor is made of an elastic body such as rubber, elastomer, or the like.
  • FIG. 5 is a diagram illustrating a cross section of the operating force detection device 500.
  • the operating force detection device 500 includes sensor contact portions 530 and 531 instead of the sensor contact portions 330 and 331.
  • the sensor contact portions 530 and 531 are made of an elastic body such as rubber or elastomer, for example. Such a configuration prevents the pressure-sensitive resistance sensor from being damaged by an impact load or the like.
  • the operating force detection device 500 includes auxiliary projections 610, 611, 620, and 621.
  • the auxiliary protrusions 610, 611, 620, and 621 are integrally formed with the pressing member 540.
  • the auxiliary protrusions 610, 611, 620, and 621 may be disposed between the sensor holders 520 and 521 and the pressing member 540 as dedicated members.
  • the auxiliary projections 610, 611, 620, and 621 are realized as ring-shaped members, for example.
  • the auxiliary protrusions 611 and 621 can contact the sensor holder 520.
  • the ratio of the operating force acting on the pressure-sensitive resistance sensor 551 can be arbitrarily adjusted by changing the cross-sectional shape of the contact portion with the auxiliary protrusions 610, 611, 620, 621 and the pressure-sensitive resistance sensor 551, for example. It is.
  • the ratio of the force acting on the pressure-sensitive resistance sensor 551 can be adjusted, so that the drive control of the walking assist device can be made fine.
  • the force acting on the pressure-sensitive resistance sensors 550 and 551 can be reliably reduced to zero when the operating force is zero. Therefore, the accuracy of control based on the outputs from the pressure sensitive resistance sensors 550 and 551 is not easily lowered.
  • the pressing member 540 interferes with the fixed pipe 510, so that the pressing member 540 is not displaced more than a certain amount, and the operation force exceeding a certain amount is the pressure sensitive resistance sensor 550 or the pressure sensitive resistance. It differs from the above-described embodiments in that it has a structure that is not transmitted to the sensor 551.
  • a combination of the pressing member 540 and the fixed pipe 510 is illustrated as a configuration for realizing the interference, but the configuration is not limited to the illustrated mode. A configuration in which at least the sliding side member and the stationary side member interfere with each other with a constant displacement may be used.
  • FIG. 6 is a diagram illustrating a cross section of the operation force detection device 600. More specifically, FIG. 6 shows a state in which the pressing member 540 is pressing the sensor contact portion 530 and the auxiliary projection portions 610 and 620.
  • the pressing member 540 fixed to the sliding pipe 560 tends to move in the direction in which the operating force acts (the direction of the arrow in the figure).
  • a force based on the operation force acts on the auxiliary protrusions 610 and 620 provided between the pressing member 540 and the sensor holder 520.
  • the auxiliary protrusions 610 and 620 may be compressed and displaced and may contact the end of the fixed pipe 510.
  • the movement of the pressing member 540 is hindered by the fixed pipe 510, it is possible to prevent a force greater than a predetermined magnitude from acting on the pressure-sensitive resistance sensor 550.
  • damage to the pressure-sensitive resistance sensor 550 due to overload can be prevented, and the reliability of the operating force detection device 600 can be improved.
  • FIG. 7 is a diagram showing a cross section of an operating force detection device 700 according to a certain aspect.
  • FIG. 8 is a diagram illustrating a cross section of an operating force detection apparatus 800 according to the fourth embodiment.
  • the operating force detection device is different from the above-described embodiments in that the operation force detection device includes a configuration that suppresses generation of preload (pressure) that may be generated by using a bent pressure-sensitive resistance sensor.
  • the bent pressure-sensitive resistance sensor refers to, for example, a pressure-sensitive resistance sensor that is curved to such an extent that the wiring inside the pressure-sensitive resistance sensor is not broken.
  • the degree of bending can be determined according to, for example, the hardness of the material constituting the pressure-sensitive resistance sensor and the space of the part where the pressure-sensitive resistance sensor is disposed.
  • the operating force detection device 700 includes a pressure-sensitive resistance sensor 550.
  • the pressure-sensitive resistance sensor 550 includes a flexible substrate 810, a substrate 820, a spacer 830, a pressure-sensitive resistor 840, a plus electrode 850, and a minus electrode 860.
  • the plus electrode 850 and the minus electrode 860 are formed on the surface of the flexible substrate 810 opposite to the surface with which the pressing member 540 comes into contact.
  • the portion excluding the end of the pressure sensitive resistor 840 constitutes a pressure detection area 870.
  • the pressure sensitive resistor 840 is provided on the substrate 820.
  • the substrate 820 can be bonded to the sensor holder 520 by an adhesive 880.
  • the pressure-sensitive resistor 840 is isolated from the plus electrode 850 and the minus electrode 860, and is in an insulated state.
  • preload acts on the flexible substrate 810
  • internal stress due to bending is transmitted to the flexible substrate 810.
  • the flexible substrate 810 is curved, and the positive electrode 850 and the negative electrode 860 formed on the flexible substrate 810 and the pressure-sensitive resistor 840 may come into contact with each other.
  • the end of the flexible substrate 810 is bent.
  • the stress due to the repulsive force of the bent portion acts on a portion of the flexible substrate 810 that is not supported by the spacer 830 (for example, a region where the plus electrode 850 and the minus electrode 860 are formed).
  • the plus electrode 850 and the minus electrode 860 may be in contact with the pressure sensitive resistor 840.
  • the operation force detection device 700 is in a state of being preloaded, and an accurate operation force is not detected.
  • the 800 includes a bending restraining member 910 for restraining the flexible substrate 810 to the sensor holder 520.
  • the bending suppressing member 910 is realized by a material similar to that of the sensor holder 520, for example.
  • the material of the bending suppressing member 910 may not be the same as the material of the sensor holder 520.
  • At least the material of the bending suppressing member 910 may be a material having such a rigidity that it is not deformed by a repulsive force generated by bending the flexible substrate 810.
  • the bending suppressing member 910 can sandwich the flexible substrate 810 together with the sensor holder 520. Therefore, the flexible substrate 810 is held so that the stress due to the repulsive force of the bent portion formed by bending the flexible substrate 810 is not transmitted to the pressure detection area 870. As a result, unintentional contact with the pressure-sensitive resistor 840 by the plus electrode 850 and the minus electrode 860 is prevented, so that a decrease in detection accuracy of the operating force can be prevented.
  • the walking assist device 1 includes the operating force detection device according to any of the first to fourth embodiments described above.
  • FIG. 9 is a diagram illustrating the appearance of the walking assist device 1.
  • FIG. 10 is a block diagram showing functions for realizing the walking assist device 1.
  • the walking assist device 1 includes a base frame (hereinafter also simply referred to as “base”) 40, a grip 2, a brake lever 7 for manual operation, a start / stop switch 2A, A front wheel 3, a rear wheel 4, a motor 5, left and right frames (not shown), and a control unit 10 for controlling the driving of the walking assist device 1.
  • a part of the frame constituting the base body 40 constitutes a seatable seat.
  • the grip 2 is attached to the left and right frames, for example, so as to be parallel to the traveling direction of the walking assist device 1.
  • the rear wheel 4 is driven by a motor 5.
  • the grip 2 is configured to support at least a part of the body of the user of the walking assistance device 1 as a support portion.
  • the battery part 25 for supplying electric power to each part of the walking assistance apparatus 1 is arrange
  • Battery unit 25 includes, for example, a lithium ion battery or other rechargeable battery.
  • the attachment position of the control part 10 and the battery part 25 is not restricted to the position shown in figure, What is necessary is just a position which does not become obstructive at the time of walking.
  • the control unit 10 includes a CPU (Central Processing Unit) 21, a memory 22, an input unit 23, and an output unit 24.
  • the memory 22 is realized by, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory).
  • the control unit 10 is electrically connected to the operating force detection unit 900.
  • the operation force detection unit 900 is realized by the operation force detection device in the above-described embodiment.
  • the input unit 23 receives input of signals output from various sensors.
  • the output unit 24 outputs a signal to the motor 5 and other units.
  • the control unit 10 controls the operation of the walking assist device 1.
  • the control unit 10 controls the rotation of the motor 5.
  • the motor 5 is realized by, for example, a DC (Direct Current) motor.
  • the rear wheel 4 is coupled to a rotating shaft (not shown) of the motor 5 and rotates in conjunction with the rotating motion of the motor 5.
  • the motor 5 is provided on the rear wheel 4, and the walking assist device 1 is rear wheel drive.
  • the driving form of the walking assist device 1 is not limited to this, and may be front wheel driving that the front wheels 3 drive or four wheel driving that both the front wheels 3 and the rear wheels 4 drive.
  • the braking force can act on the base body 40 by using the short brake (short circuit braking) of the motor 5.
  • the short brake short circuit braking
  • the coil of the motor 5 is short-circuited by ON / OFF of a switch to obtain a braking force.
  • the brake stops the wheel rotation like a bicycle brake.
  • the CPU 21 stops the current supply to the motor 5 so that the braking force by the brake acts on the motor 5 while the current is supplied to the motor 5. This prevents the front wheel 3 and the rear wheel 4 from being locked.
  • the walking assist device 1 is used as a normal walking assist vehicle in which the assist force and the deceleration force by the motor 5 do not act. Can be done.
  • the force on the grip 2 is detected by the operation force detection device as the operation force.
  • the detected operating force is input to the CPU 21 of the control unit 10 as an electrical signal.
  • the CPU 21 sends a drive control signal to the motor 5 so as to advance the walking assist device 1 in accordance with the direction in which the operating force is applied and the magnitude of the operating force.
  • the motor 5 rotates forward according to the control signal, the walking assist device 1 moves forward.
  • the operation force applied to the grip 2 is an operation force acting in the opposite direction to the operation force acting when the grip 2 is pushed forward. Detected.
  • the CPU 21 determines that an intention to stop the walking assist device 1 is working and gradually rotates the motor 5. Slow down. The walking assist device 1 decelerates.
  • FIG. 11 is a flowchart showing a part of a plurality of calculations executed by the CPU 21 included in the walking assist device 1. Note that, in another aspect, the control shown in FIG. 11 may be realized by a circuit element or other hardware configured to execute the calculation in whole or in part.
  • step S1210 the CPU 21 turns on the power of the walking assistance device 1 based on the fact that a switch (not shown) provided in the walking assistance device 1 is set to ON.
  • step S1220 based on the signal from the operation force detection unit 900, the CPU 21 detects the acting force on the walking assist device 1 (that is, the operation force applied to the grip 2).
  • step S1230 the CPU 21 determines whether or not the acting force is equal to or greater than a predetermined threshold value.
  • the threshold value is set in advance by the manufacturer of the walking assist device 1. In another aspect, the threshold value may be changed by the user or administrator of the walking assist device 1. In this case, the threshold value can be set according to, for example, the user's age or other physical strength.
  • CPU 21 determines that the applied force is equal to or greater than a predetermined threshold (YES in step S1230)
  • CPU 21 switches control to step S1240. If not (NO in step S1230), CPU 21 returns control to step S1220.
  • step S1240 the CPU 21 transmits a signal for releasing the brake to the brake.
  • the brake receives this signal, for example, the electromagnetic lock is released.
  • step S1250 the CPU 21 transmits a signal to the motor 5 to drive the motor 5.
  • the acting force detected in step S1220 is an operation force in a direction in which the walking assist device 1 is pressed
  • the CPU 21 sends a signal for causing the motor 5 to rotate in the forward direction.
  • the motor 5 starts normal rotation
  • the walking assist device 1 starts to move forward.
  • the detected action force is an operation force in a direction of pulling the walking assist device 1 forward
  • the CPU 21 transmits a signal for inverting the motor 5 to the motor 5.
  • the motor 5 starts to reverse, the walking assist device 1 starts to move backward.
  • step S1260 the CPU 21 determines whether or not the operation switch is shut off (OFF). This determination is made based on the type of signal input to the CPU 21.
  • CPU 21 determines that the operation switch has been turned off (YES in step S1260)
  • CPU 21 switches control to step S1270. If not (NO in step S1260), CPU 21 returns control to step S1220.
  • step S1270 the CPU 21 sets the short brake to ON.
  • the walking assist device 1 gradually decelerates and stops.
  • step S1280 the CPU 21 sets the power supply to OFF. Thereby, even if a switch is inadvertently operated, the walking assist device 1 does not drive.
  • the walking assist device 1 As described above, according to the walking assist device 1 according to the present embodiment, it is possible to detect the operation force in the axial direction with a simple structure at a low cost. Moreover, since there is no stroke when the grip 2 is operated and the harness does not appear outside the frame, it cannot be visually distinguished from an existing walking vehicle without an assist function. Therefore, even users who often feel that they are not good at new types of equipment and machinery can use the walking assist device 1 without feeling resistance, so that more active going out and exercise are promoted, so that It is effective in maintaining the function and, as a result, effective in preventing future care.
  • an operating force detection device for detecting an operating force acting based on gripping.
  • the operating force detection device includes a first hollow shaft member (for example, a sliding pipe 560) that is slidable in the axial direction in accordance with gripping, and a second hollow shaft member that is disposed inside the first hollow shaft member.
  • a hollow shaft member for example, a fixed pipe 510) and a pressure detection unit (for example, fixed to the second hollow shaft member so as to detect an operating force acting in the axial direction of the second hollow shaft member) , Pressure-sensitive resistance sensors 550, 551) and the pressure detection unit fixed to the first hollow shaft member and transmitting the force acting in the axial direction of the first hollow shaft member to the pressure detection unit.
  • a pressing member for example, pressing member 540 disposed in contact with the.
  • the portion of the pressing member that contacts the pressure detection unit is an elastic body.
  • the elastic body is, for example, rubber or elastomer, but is not limited thereto.
  • the operating force detection device further includes a holding member (for example, sensor holders 520 and 521) for holding the pressure detection unit.
  • the holding member is in contact with the pressing member.
  • the operating force detection device further includes a holding member (for example, sensor holder 520, 521) for holding a pressure detection unit (for example, pressure sensitive resistance sensor 550, 551).
  • the pressure detection unit is in contact with the holding member.
  • the end of the pressure detector includes a curved portion that is bent according to the inner periphery of the second hollow shaft member.
  • the operating force detection device further includes a bending suppression member (for example, a bending suppression member 910) for sandwiching the bending portion between the holding members.
  • the pressing member when the operation force is applied, the pressing member is configured to contact an end portion of the second hollow shaft member.
  • the pressure detector is configured to detect a first pressure-sensitive resistance sensor (for example, a pressure-sensitive resistance sensor 550) for detecting a force acting in a first direction of the axial direction of the first hollow shaft member. ) And a second pressure-sensitive resistance sensor (for example, pressure-sensitive resistance sensor 551) for detecting a force acting in a second direction opposite to the first direction.
  • a first pressure-sensitive resistance sensor for example, a pressure-sensitive resistance sensor 550
  • a second pressure-sensitive resistance sensor for example, pressure-sensitive resistance sensor 551 for detecting a force acting in a second direction opposite to the first direction.
  • the pressure detection unit includes a pressure sensitive resistance detection unit.
  • the operating force detection device further includes a waterproof member (for example, a packing member) disposed between the inner periphery of the first hollow shaft member and the outer periphery of the second hollow shaft member.
  • a waterproof member for example, a packing member
  • a walking assistance device includes an operation force detection device, a drive unit (for example, a motor 5), and a control unit (for example, a control unit for controlling the operation of the drive unit based on the operation force detected by the operation force detection device). And a control unit 10).

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Abstract

L'invention concerne un dispositif de détection de force de commande et un dispositif d'aide à la marche ayant une structure simple, ce qui permet la suppression d'une diminution de précision. Un dispositif de détection de force de commande (300) utilisé dans un dispositif d'aide à la marche est muni d'un tuyau coulissant (560) capable de coulisser dans une direction axiale en réponse à la saisie de celui-ci, un tuyau fixe (510) disposé à l'intérieur du tuyau coulissant (560), des capteurs de résistance sensibles à la pression (550), (551) fixés par rapport au tuyau fixe (510) de manière à détecter une force d'actionnement agissant dans la direction axiale du tuyau coulissant (560), et un élément de pression (540) fixé sur le tuyau coulissant (560) et disposé en face des détecteurs de résistance sensibles à la pression (550), (551) de manière à transmettre une force agissant dans la direction axiale du tuyau coulissant (560) aux capteurs de résistance sensibles à la pression (550), (551).
PCT/JP2016/052462 2015-02-25 2016-01-28 Dispositif de détection de commande et dispositif d'aide à la marche pourvu d'un dispositif de détection de force de commande WO2016136370A1 (fr)

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JP2015034969A JP6053059B2 (ja) 2015-02-25 2015-02-25 操作力検出装置および当該操作力検出装置を備える歩行補助装置
JP2015-034969 2015-02-25

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EP3530254A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'aide à la marche
EP3530252A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'aide à la marche
EP3530253A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'assistance à la marche
JP2019531012A (ja) * 2016-09-08 2019-10-24 パナソニック インテレクチュアル プロパティ コーポレーション オブアメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 通信装置および通信方法
EP3590581A1 (fr) * 2018-07-04 2020-01-08 Jtekt Corporation Dispositif d'assistance à la marche
EP3622936A1 (fr) * 2018-09-12 2020-03-18 Jtekt Corporation Dispositif d'assistance à la marche

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JP6895824B2 (ja) * 2017-07-03 2021-06-30 株式会社ミツバ 操作装置、およびそれを備えた手押し移動体
DE102019213027A1 (de) * 2019-08-29 2021-03-04 Continental Teves Ag & Co. Ohg Antriebskonzept eines Systems zum Nachrüsten einer Gehhilfe
DE102019213024A1 (de) * 2019-08-29 2021-03-04 Continental Teves Ag & Co. Ohg Griffteil für ein System zum Nachrüsten einer Gehhilfe
DE102019213020A1 (de) * 2019-08-29 2021-03-04 Continental Teves Ag & Co. Ohg System zum Nachrüsten einer Gehhilfe
JP2021108986A (ja) * 2020-01-13 2021-08-02 株式会社ジェイテクト 歩行補助装置

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JPH0511037U (ja) * 1991-07-22 1993-02-12 ミツミ電機株式会社 圧力センサ加圧機構
JPH0847114A (ja) * 1994-08-04 1996-02-16 Nabco Ltd 電動車両
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JP2019531012A (ja) * 2016-09-08 2019-10-24 パナソニック インテレクチュアル プロパティ コーポレーション オブアメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 通信装置および通信方法
US11452662B2 (en) 2018-02-27 2022-09-27 Jtekt Corporation Walking assist device
EP3530252A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'aide à la marche
EP3530253A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'assistance à la marche
CN110192968A (zh) * 2018-02-27 2019-09-03 株式会社捷太格特 步行辅助装置
CN110192969A (zh) * 2018-02-27 2019-09-03 株式会社捷太格特 步行支援装置
EP3530254A1 (fr) * 2018-02-27 2019-08-28 Jtekt Corporation Dispositif d'aide à la marche
CN110192968B (zh) * 2018-02-27 2023-03-07 株式会社捷太格特 步行辅助装置
US11439566B2 (en) 2018-02-27 2022-09-13 Jtekt Corporation Walking assist device
US11554070B2 (en) 2018-02-27 2023-01-17 Jtekt Corporation Walking assist device
EP3590581A1 (fr) * 2018-07-04 2020-01-08 Jtekt Corporation Dispositif d'assistance à la marche
US11446201B2 (en) 2018-07-04 2022-09-20 Jtekt Corporation Walking assist device
EP3622936A1 (fr) * 2018-09-12 2020-03-18 Jtekt Corporation Dispositif d'assistance à la marche

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