WO2018124222A1

WO2018124222A1 - Muscle-power assistance device

Info

Publication number: WO2018124222A1
Application number: PCT/JP2017/047064
Authority: WO
Inventors: 佐々木　大輔; 論平大町; 功菊谷; 和也横山
Original assignee: 国立大学法人香川大学; ナブテスコ株式会社
Priority date: 2016-12-28
Filing date: 2017-12-27
Publication date: 2018-07-05
Also published as: JPWO2018124222A1

Abstract

A muscle-power assistance device (10) that has: a first mounting fixture (20); a second mounting fixture that can rotate relative to the first mounting fixture (20) around an assist shaft line (d1); a sensor (80); and a control unit (13). When the rotation of the second mounting fixture relative to the first mounting fixture in one direction is restricted, if it is determined that an indicator that is related to the rotation of the second mounting fixture relative to the first mounting fixture in another direction that is opposite the one direction and/or an indicator that is related to force that would make the second mounting fixture rotate relative to the first mounting fixture in the other direction satisfies prescribed release conditions, the control unit controls an assist mechanism such that the restriction of the rotation of the second mounting fixture relative to the first mounting fixture in the one direction is released.

Description

Strength assist device

The present invention relates to a muscle strength assisting device that is worn by a wearer and assists the muscle strength of the wearer.

For example, as disclosed in Patent Document 1 (JP2014-33780A), a muscle force assisting device has attracted attention for the purpose of reducing the muscular burden on workers engaged in agriculture, construction industry, nursing care, etc. Yes. The muscular strength assisting device has a pair of attachments that are respectively attached to two parts of a human body with a joint positioned therebetween, and can hold the pair of attachments in a predetermined relative position. In particular, the muscle force assisting device of Patent Document 1 uses a ratchet mechanism to assist in maintaining the upper arm in a lifted state. Moreover, the upper arm holding | maintenance by a ratchet mechanism can be cancelled | released by operating a solenoid with a switch. The switch can be pushed by bending the forearm with respect to the upper arm receiving the strength assisting force.

However, the wearer of the muscle strength assisting device performs a predetermined work using the forearm while receiving the strength assisting force on the upper arm. Therefore, if the force assisting force is released not by the upper arm receiving the strength assisting force but by the forearm connected to the upper arm, the forearm in operation will unintentionally release the release switch. It is also assumed that you will press.

The present invention has been made in consideration of such points, and an object thereof is to effectively prevent unintentional release of muscle force assist in a muscle force assist device.

A first muscle strength assisting device according to the present invention includes:
A first wearing tool attached to one of the two parts of the human body;
A second wearing tool that is rotatable relative to the first wearing tool about an assist axis, and is attached to the other of the two parts;
An assist mechanism capable of restricting relative rotation in at least one direction around the assist axis of the second wearing tool with respect to the first wearing tool;
An index related to relative rotation of the first wearing tool and the second wearing tool about the assist axis, and an index related to a force for relatively rotating the first wearing tool and the second wearing tool. A sensor for obtaining at least one of
A control unit for controlling the assist mechanism,
The control unit is opposite to the one direction of the second mounting tool relative to the first mounting tool in a state where relative rotation of the second mounting tool relative to the first mounting tool in the one direction is restricted. At least one of an index related to relative rotation in the other direction as a direction and an index related to a force for relatively rotating the second mounting tool in the other direction with respect to the first mounting tool is predetermined release When it is determined that the condition is satisfied, the assist mechanism is controlled so as to release the restriction on the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool.

The second muscle force assisting device according to the present invention comprises:
A first wearing tool attached to one of the two parts of the human body;
A second wearing tool that is rotatable relative to the first wearing tool about an assist axis, and is attached to the other of the two parts;
An assist mechanism capable of restricting relative rotation in at least one direction around the assist axis of the second wearing tool with respect to the first wearing tool;
A sensor for obtaining an index related to a force to relatively rotate the first wearing tool and the second wearing tool;
A control unit for controlling the assist mechanism,
The controller is configured to move the second wearing tool in the one direction relative to the first wearing tool in a state where relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is restricted. When it is determined that the index related to the force to be relatively rotated satisfies a predetermined release condition, the restriction on the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is released. Control the assist mechanism.

In the first or second muscular strength assisting device according to the present invention, the control unit may be configured such that the relative rotation of the second wearing tool relative to the first wearing tool in the one direction is restricted. An index related to relative rotation of the second mounting tool relative to the tool in the other direction opposite to the one direction, and a force to rotate the second mounting tool relative to the first mounting tool. If it is determined that at least one of the related indices satisfies a predetermined release condition, the assist mechanism is controlled so as to release the restriction on the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool. You may do it.

In the first or second muscular strength assisting device according to the present invention, the predetermined release condition is that a force for rotating the second wearing tool relative to the first wearing tool in the one direction is the first. It may be greater than the force that restricts relative rotation of the second mounting tool in the one direction with respect to the mounting tool.

In the first or second muscle force assisting device according to the present invention, the indicator is a relative displacement between the first wearing tool and the second wearing tool, a relative speed between the first wearing tool and the second wearing tool, and the first. It may be configured to include one or more of the relative acceleration of the first wearing tool and the second wearing tool, the relative jerk of the first wearing tool and the second wearing tool, the myoelectric potential of the wearer, and the degree of bulging of the wearer's muscle. Good.

The first or second muscle force assisting device according to the present invention comprises:
A posture sensor for detecting the posture of the muscle force assisting device;
The control unit may adjust the predetermined release condition according to a detection result of the attitude sensor.

The first or second muscle force assisting device according to the present invention comprises:
It further includes an abnormality detection sensor for detecting an abnormality,
When the abnormality detection sensor detects an abnormality in a state where relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit detects the abnormality with respect to the first wearing tool. You may control the said assist mechanism so that the restriction | limiting of the relative rotation to the said one direction of a 2nd mounting tool may be cancelled | released.

The first or second muscle force assisting device according to the present invention comprises:
It further includes an abnormality detection sensor for detecting an abnormality,
In the state where the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit determines that the release condition is satisfied when the abnormality detecting sensor detects an abnormality. Even if it judges, you may make it control the said assist mechanism so that the restriction | limiting of the relative rotation to the said one direction of the said 2nd mounting tool with respect to the said 1st mounting tool may be maintained.

In the first or second muscle force assisting device according to the present invention, the abnormality detection sensor includes an electromyograph that detects a wearer's myoelectric potential, a photoreflector that detects the degree of the wearer's muscle bump, and a brightness detection One or more of an optical sensor that detects heat, a thermal sensor that detects heat, an attitude sensor that detects an attitude, and a distance sensor that detects a distance to a surrounding object may be included.

A third muscle strength assisting device according to the present invention comprises:
A first wearing tool attached to one of the two parts of the human body;
A second mounting tool operable relative to the first mounting tool and attached to the other of the two parts;
An assist mechanism capable of restricting the relative movement of the second wearing tool in at least one direction with respect to the first wearing tool;
To obtain at least one of an index related to the relative motion of the first mounting tool and the second mounting tool, and an index related to a force for causing the first mounting tool and the second mounting tool to move relative to each other. With sensors,
A control unit for controlling the assist mechanism,
In the state where the relative movement of the second wearing tool relative to the first wearing tool in the one direction is restricted, the control unit is configured to change the one direction of the second wearing tool relative to the first wearing tool. Is at least one of an indicator related to relative movement in another direction that is opposite and an index related to a force that causes the second wearing device to move relative to the first wearing device relative to the other direction. Is determined to satisfy a predetermined release condition, the assist mechanism is controlled so as to release the restriction of the relative movement of the second wearing tool in the one direction with respect to the first wearing tool.

A fourth muscle strength assisting device according to the present invention is as follows.
A first wearing tool attached to one of the two parts of the human body;
A second mounting tool operable relative to the first mounting tool and attached to the other of the two parts;
An assist mechanism capable of restricting the relative movement of the second wearing tool in at least one direction with respect to the first wearing tool;
A sensor for obtaining a force to relatively move the first wearing tool and the second wearing tool;
A control unit for controlling the assist mechanism,
In the state where the relative movement of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit moves the second wearing tool with respect to the first wearing tool. When it is determined that the index related to the force to be moved relative to the direction satisfies a predetermined release condition, the restriction on the relative movement of the second wearing tool relative to the first wearing tool with respect to the first wearing tool is released. The assist mechanism is controlled.

In the third or fourth muscle force assisting device according to the present invention, the control unit may be configured such that the relative movement of the second wearing tool relative to the first wearing tool in the one direction is restricted. An attempt is made to move the second wearing tool relative to the first wearing tool and an index related to the relative movement of the second wearing tool relative to the other direction opposite to the one direction with respect to the wearing tool. The assist so as to release the restriction of the relative movement of the second wearing tool in the one direction with respect to the first wearing tool when it is determined that at least one of the indices related to the force to be applied satisfies a predetermined release condition. The mechanism may be controlled.

In the third or fourth muscle force assisting device according to the present invention, the predetermined release condition is that the force for moving the second wearing tool relative to the first wearing tool in the one direction is the first. It may be greater than the force that regulates the relative movement of the second wearing tool in the one direction with respect to the one wearing tool.

In the third or fourth muscle force assisting device according to the present invention, the indicator is a relative displacement of the first wearing tool and the second wearing tool, a relative speed of the first wearing tool and the second wearing tool, the first It may be configured to include one or more of the relative acceleration of the first wearing tool and the second wearing tool, the relative jerk of the first wearing tool and the second wearing tool, the myoelectric potential of the wearer, and the degree of bulging of the wearer's muscle. Good.

The third or fourth muscle strength assisting device according to the present invention is:
A posture sensor for detecting the posture of the muscle force assisting device;
The control unit may adjust the predetermined release condition according to a detection result of the attitude sensor.

The third or fourth muscle strength assisting device according to the present invention is:
It further includes an abnormality detection sensor for detecting an abnormality,
When the abnormality detection sensor detects an abnormality in a state in which the relative movement of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit applies to the first wearing tool. The assist mechanism may be controlled so as to cancel the restriction of the relative movement of the second wearing tool in the one direction.

The third or fourth muscle strength assisting device according to the present invention is:
In the state where the relative movement of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit satisfies the release condition when the abnormality detecting sensor detects an abnormality. The assist mechanism may be controlled so as to maintain the restriction of the relative movement of the second wearing tool in the one direction with respect to the first wearing tool.

In the third or fourth muscle force assisting device according to the present invention, the abnormality detection sensor includes an electromyograph that detects a wearer's myoelectric potential, a photoreflector that detects the degree of the wearer's muscle bump, and a brightness detection One or more of an optical sensor that detects heat, a thermal sensor that detects heat, an attitude sensor that detects an attitude, and a distance sensor that detects a distance to a surrounding object may be included.

According to the present invention, in the muscle force assisting device, it is possible to effectively prevent the muscle force assisting force from being released unintentionally.

FIG. 1 is a perspective view for explaining an embodiment of the present invention and showing a muscle strength assisting device together with a wearer. FIG. 2 is a perspective view showing the muscular strength assisting device of FIG. FIG. 3 is a diagram showing a part of the muscle strength assisting device of FIG. 1 from the front. FIG. 4 is a view showing a part of the muscle strength assisting device of FIG. 1 from the outside. FIG. 5 is a view showing a part of the muscle strength assisting device of FIG. 1 from the rear. FIG. 6 is a view for explaining a power transmission mechanism of the muscle force assisting apparatus in FIG. 1. FIG. 7 is a diagram illustrating a main part of the position control device of the muscle force assisting device. FIG. 8 is a diagram illustrating a main part of the position control device of the muscle force assisting device in a state different from the state illustrated in FIG. 7. FIG. 9 is a diagram illustrating a main part of the position control device of the muscle force assisting device in a state different from the state illustrated in FIGS. 7 and 8. FIG. 10 is a block diagram for explaining a functional configuration of the control unit. FIG. 11 is a diagram illustrating an example of a control processing flow. FIG. 12 is a view showing a modification of the muscle strength assisting device, and is a perspective view showing the muscle strength assisting device together with the wearer. FIG. 13 is a diagram showing a part of the muscle strength assisting device of FIG. 12 from the front. FIG. 14 is a diagram showing a part of the muscle strength assisting device of FIG. 12 from the outside.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 to 11 are diagrams for explaining an embodiment of the present invention and a modification thereof. Among these, FIG.1 and FIG.2 is a perspective view which shows the whole muscular strength assistance apparatus 10, and especially FIG. 1 has shown the muscular strength assistance apparatus 10 in the state with which the human body was mounted | worn.

The muscle force assisting apparatus 10 includes a first mounting tool 20 and a second mounting tool 25 that are connected so as to be relatively movable, and an assist mechanism (position control device) that controls a relative position between the first mounting tool 20 and the second mounting tool 25. 15. The muscle force assisting apparatus 10 includes an index related to the relative movement of the first mounting tool 20 and the second mounting tool 25, and an index related to a force for relatively rotating the first mounting tool 20 and the second mounting tool 25. The sensor 80 for obtaining at least one of the above and the control unit 13 for controlling the assist mechanism 15 based on information from the sensor 80 are further provided. The assist mechanism 15 can be controlled by the control unit 13 to restrict the relative movement of the second mounting tool 25 relative to the first mounting tool 20 in at least one direction.

In the example described below, the first mounting tool 20 and the second mounting tool 25 are capable of relative rotation about the first rotation axis d1 serving as an assist axis, and the assist mechanism 15 is configured to be the second mounting tool 25. The rotational position around the assist axis (first rotation axis d1) with respect to the first wearing tool 20 is controlled. That is, the assist axis refers to the rotation axis of the first wearing tool 20 and the second wearing tool 25 whose relative rotation is controlled by the assist force output from the muscle force assisting device 10 for assisting muscle strength. Yes. In particular, in the illustrated example, the assist mechanism 15 includes an output unit 30 held by the first mounting tool 20 and a transmission unit 35 that transmits the force output from the output unit 30 to the second mounting tool 25. is doing. The control unit 13 controls the operations of the output unit 30 and the transmission unit 35. The assist mechanism 15 can be controlled by the control unit 13 to restrict relative rotation of the second wearing tool 25 relative to the first wearing tool 20 in at least one direction around the assist axis d1.

As shown in FIG. 1, the first wearing tool 20 and the second wearing tool 25 are respectively attached to two parts of a human body connected by joints. The assist mechanism 15 controls the relative positions of the first wearing tool 20 and the second wearing tool 25 based on an instruction from the control unit 13 and assists the muscle strength of the two parts via the joint. In particular, the muscle strength assisting device 10 described here includes a device for effectively preventing muscle strength assistance at an unintended position so as to receive muscle strength assistance at a desired posture, and A device has been devised to effectively prevent unintentional release of muscle strength assistance.

In the illustrated example, the first mounting tool 20 is attached to the trunk via the mounting belt 11 (FIGS. 3 to 5), and the second mounting tool 25 is attached to the upper arm via a mounting part 26 described later. . The muscle force assisting device 10 assists the movement of the shoulder. Here, one joint enables multiple types of relative rotational movements about different axes. As shown in FIG. 1, the shoulder joint is bent and extended by rotating the upper arm relative to the trunk about the bending axis da, and the adduction and outer rotation rotating the upper arm relative to the trunk about the inner and outer rotation axis db. It is possible to perform a rolling motion and an internal / external rotational motion in which the upper arm rotates relative to the trunk about the internal / external rotational axis dc. The illustrated muscle strength assisting device 10 assists in holding the upper arm in a predetermined position so that the upper arm is not lowered, as will be described later.

In the illustrated example, the assist mechanism 15 has an output shaft 76 as an output unit for muscle assisting force (assist force). The output shaft 76 is rotatable relative to the first wearing tool 20 around the first rotation axis (assist axis) d1. The output shaft 76 is connected to the second mounting tool 25. The first rotation axis d1 that is the rotation axis of the output shaft 76 is provided corresponding to the shoulder bending axis da. When the second mounting tool 25 rotates relative to the first mounting tool 20 about the first rotation axis d1, the upper arm can bend and extend about the shoulder joint.

The muscle force assisting device according to the present invention is not limited to the illustrated example, and assists at least one of bending motion, extension motion, adduction motion, abduction motion, internal rotation motion, and external rotation motion. Also good. Further, the muscle force assisting device according to the present invention is not limited to the illustrated example, and may assist the movement of the human body in the elbow, neck, waist, crotch, wrist and the like.

Hereinafter, each component will be described in order with reference to the illustrated example. 1 to 14 referred to below, the components shown in one drawing may be omitted in the other drawings for easy understanding.

First, the first wearing tool 20 will be described. As shown in FIGS. 1 and 2, the first wearing tool 20 has a center frame 21 and side frames 22. The central frame 21 is provided with a belt holding portion 21a to which the mounting belt 11 (FIGS. 3 to 5) is attached. The central frame 21 is attached to the wearer's torso, particularly at a position facing the back, via the mounting belt 11. The side frame 22 extends laterally outward from the central frame 21. The side frame 22 includes a rear frame portion 22a connected to the central frame 21, and a front extension frame portion 22b extending forward from the laterally outer end of the rear frame portion 22a. The rear frame portion 22a is disposed at a position facing the shoulder from the rear. The front extension frame portion 22b is disposed at a position facing the shoulder from the outside in the lateral direction. The side frame 22 is connected to the center frame 21 so as to be relatively rotatable about the third rotation axis d3. The third rotation axis d3 is provided corresponding to the inner / outer rotation axis dc of the shoulder. When the side frame 22 rotates relative to the center frame 21 around the third rotation axis d3, it is possible to perform the internal and external rotations of the upper arm around the shoulder joint.

The illustrated muscle strength assisting device 10 that assists the movement of the shoulder is configured to act on both shoulders. Specifically, side frames 22 are provided on both sides of the central frame 21. Each side frame 22 supports the transmission means 35 of the assist mechanism 15 and the like. A second mounting tool 25 is provided corresponding to each side frame 22. The pair of components provided on both sides with respect to the central frame 21 have symmetry but may be configured identically in the other. Therefore, in the following description and FIGS. 3 to 9, the structure acting on the right shoulder will be described.

In addition, terms such as “front”, “back”, “up”, “down”, and “lateral direction” used in this specification are “front”, “ It means “back”, “up”, “down” and “lateral direction”.

Next, the second wearing tool 25 will be described. FIG. 3 shows the second mounting tool 25 from the front (front). The second mounting tool 25 is connected to an output shaft 76 of the transmission means 35 described later in detail. As the output shaft 76 rotates, the second mounting tool 25 rotates about the first rotation axis d 1 that is the rotation axis of the output shaft 76. The second mounting tool 25 includes a mounting portion 26 attached to the human body, an action portion 28 fixed to the output shaft 76, and a connecting portion 27 that connects the mounting portion 26 and the action portion 28. The action unit 28 receives the force generated by the output unit 30 from the output shaft 76 which is the most downstream side (most output side) of the transmission unit 35. The connecting part 27 connects the action part 28 and the mounting part 26 so that the mounting part 26 rotates with respect to the first mounting tool 20 as the output shaft 76 rotates with respect to the first mounting tool 20.

In the illustrated example, the mounting portion 26 is attached to the upper arm of the human body. In order to efficiently transmit the force supplied from the assist mechanism 15 to the upper arm, the mounting portion 26 is preferably restricted from relative movement with the upper arm in the movement direction accompanying rotation around the first rotation axis d1. . In particular, when the muscle strength assisting device 10 assists the lifting of the upper arm, it is preferable to effectively restrict the relative movement of the upper arm relative to the mounting portion 26 in the rearward direction. As shown in FIG. 3, the illustrated mounting portion 26 includes a belt holding portion 26 a and an arm belt 26 b that form a cylindrical portion into which the upper arm is inserted, a bracket 26 c that is connected to the connecting portion 27, and have. The belt holding part 26a and the bracket 26c are made of, for example, a highly rigid resin molded product. In the illustrated example, the belt holding portion 26a and the bracket 26c are integrally formed. As shown in FIGS. 4 and 5, the belt holding portion 26a is disposed at a position facing the upper arm from the rear. On the other hand, the arm belt 26b is made of a belt material having flexibility, and is disposed at a position facing the upper arm mainly from the front. By adjusting the length of the arm belt 26b, the mounting portion 26 can stably hold the upper arm.

Since the connecting portion 27 transmits the force supplied from the assist mechanism 15 to the mounting portion 26, the mounting portion 26 and the operation portion 26 and the operation portion are prevented from rotating relative to each other about the first rotation axis d1. The part 28 is connected. That is, since the second mounting tool 25 receives a rotational force about the first rotational axis d1 from the assist mechanism 15, the rotational force is input from the assist mechanism 15 except for play and elastic deformation of the component itself. The acting portion 28 and the mounting portion 26 that outputs an assisting force to the human body are prevented from relatively moving in the direction of the force input from the assist mechanism 15, that is, in the circumferential direction around the first rotation axis d1. ing.

In the illustrated example, the connecting portion 27 is connected to the action portion 28 so as to be relatively rotatable with respect to the action portion 28 about a second rotation axis d2 perpendicular to the first rotation axis d1. The second rotation axis d2 is provided corresponding to the inner / outer rotation axis db of the shoulder. When the connecting portion 27 rotates relative to the action portion 28 around the second rotation axis d2, the upper arm can perform an adduction and abduction motion around the shoulder joint.

For the purpose of reducing the sense of restraint of the wearer, the connecting portion 27 is designed so that the distance between the first rotation axis d1 and the mounting portion 26 changes in the projection onto the plane orthogonal to the first rotation axis d1. The mounting part 26 and the action part 28 are preferably connected. Furthermore, for the purpose of reducing the wearer's sense of restraint, the connecting portion 27 is configured so that the second mounting tool 25 forms a mechanism having three degrees of freedom between the operating portion 28 and the mounting portion 26. And the mounting portion 26 are preferably connected. As well shown in FIG. 3, in the illustrated example, the connecting portion 27 is operatively connected to the first link 27a, a first link 27a operably connected to the working portion 28, and And a second link 27b operably connected to the mounting portion 26. According to the connecting portion 27, the operation from the action portion 28 to the mounting portion 26 can be performed with three degrees of freedom. In other words, the mounting portion 26 can perform a relative motion with three degrees of freedom with respect to the action portion 28.

In the example shown in FIGS. 3 to 5, the first link 27a and the second link 27b are connected so as to be rotatable relative to each other about the first connecting rotation axis d2a. The first connection rotation axis d2a is perpendicular to the first rotation axis d1 and is parallel to the second rotation axis d2. The second link 27b and the mounting portion 26 are connected so as to be relatively rotatable about the second coupling rotation axis d2b. The second connection rotation axis d2b is perpendicular to the first rotation axis d1 and is parallel to the second rotation axis d2.

Further, as shown in FIG. 3, in the plane orthogonal to the second rotation axis d2, the connection position of the first link 27a and the second link 27b of the connecting portion 27 (hereinafter also referred to as “intermediate connection position”) mj Is a connection position (hereinafter also referred to as “base end side connection position”) pj between the connecting portion 27 and the action portion 28 and a connection position (hereinafter referred to as “tip side connection position”) between the connecting portion 27 and the mounting portion 26. Is also always located on one side with respect to the virtual straight line vsl passing through dj. In particular, in the illustrated example, structurally, the intermediate connection position mj is always positioned on one side of the virtual straight line vsl that passes through the proximal end side connection position pj and the distal end side connection position dj. In other words, even when both ends of the connecting portion 27 are extended so as to be separated from each other, the intermediate connection position mj is not located on the virtual straight line vsl. In the illustrated example, the intermediate connection position mj is located on the same side as the output shaft 76 with respect to the virtual straight line vsl. As shown in FIG. 3, the intermediate connection position mj is located on the opposite side of the human body with the output shaft 76 across the virtual straight line vsl. According to this structure, when the connection part 27 shortens, it can avoid effectively that the intermediate part of the connection part 27 contacts a human body.

In addition, in the example shown by FIG. 3, the connection part 27 has the biasing material 27c which functions as a biasing member. The urging member 27c is disposed across the first link 27a and the second link 27b. The biasing member 27c slightly lifts the second link 27b and the mounting part 26 against the weight of the second link 27b and the mounting part 26, and as a result, as shown in FIG. 3, the first link 27a and the second link 27b is kept bent. From the state shown in FIG. 3, the connecting portion 27 can both bend so as to increase the distance between both ends and bend so as to shorten it.

However, unlike the example shown in the figure, the connecting portion 27 may be positioned on the virtual straight line vsl when it is most extended, and the intermediate connection positions mj are positioned on both sides of the virtual straight line vsl. May be possible. In such a muscle force assisting device 10, the intermediate connection position mj is the same as that on one side of the virtual straight line vsl, in particular, the output shaft 76 under the condition that the connecting portion 27 is most extended during actual use attached to the human body. It is preferable to be located on the side opposite to the human body. In this case, it is possible to effectively avoid the intermediate portion of the connecting portion 27 from coming into contact with the human body during use of the muscle force assisting device 10.

Next, the assist mechanism 15 will be described. As described above, the assist mechanism 15 includes the output unit 30 held by the first mounting tool 20 and the transmission unit 35 that transmits the force output from the output unit 30 to the second mounting tool 25. Yes. The assist mechanism 15 can control the relative positions of the first wearing tool 20 and the second wearing tool 25. In particular, in the illustrated example, the assist mechanism 15 is coupled to the first mounting tool 20 and the second mounting tool 25 so as to be relatively rotatable about a first rotation axis (assist axis), and an instruction from the control unit 13. Thus, the assist mechanism 15 restricts relative rotation in at least one direction around the assist axis d1 of the second mounting tool 25 with respect to the first mounting tool 20.

First, the output means 30 will be described. The output unit 30 includes a so-called actuator, and outputs to the transmission unit 35 a force that is used as auxiliary muscle power for controlling the relative positions of the first mounting tool 20 and the second mounting tool 25. In the illustrated example, the assist mechanism 15 includes a retractable actuator, in other words, a linear motion type actuator 31 that changes the length in the longitudinal direction. As shown in FIG. 5, the actuator 31 is connected to the transmission means 35 at one end. The actuator 31 is connected to the side frame 22 (rear frame portion 22a) of the first wearing tool 20 at the other end. A plurality of actuators 31 can be provided according to the muscular strength required for the output means 30.

A member that can be expanded and contracted by fluid pressure can be used as the actuator 31. As a specific example, McKibben artificial muscle known as a hydraulic actuator can be used as the actuator 31. The actuator 31 composed of the McKibben artificial muscle is expanded and shortened by supplying a fluid (typically gas) to the inside. The actuator 31 generates a contracting force along with the shortening. In the illustrated example, the output unit 30 includes a fluid source (fluid pressure source) 32 that can supply a fluid to the actuator 31. As shown in FIG. 5, a fluid source 32 configured as, for example, a compressor is supported by the central frame 21 of the first wearing tool 20.

Next, the transmission means 35 will be described. The transmission unit 35 transmits the muscle force assisting force output from the output unit 30 to the second wearing tool 25. As shown in FIG. 6, the transmission means 35 described here includes a switching means 40 that switches between transmission and interruption of the force output from the output means 30 to the second mounting tool 25. FIG. 6 is a perspective view showing the configuration of the transmission means 35 together with the actuator 31 and the second mounting tool 25. In FIG. 6, the first wearing tool 20 and the like are omitted for easy understanding.

The switching means 40 has a first member 41 and a second member 46, and functions as a drum brake mechanism or a band brake mechanism 39 as will be described in detail later. The first member 41 is supported by the side frame 22 of the first mounting tool 20, particularly the rear frame portion 22a, so as to be rotatable about the first intermediate rotation axis d1a. The second member 46 is connected to one end of the actuator 31 that moves linearly. The first member 41 and the second member 46 are capable of relative contact and separation. That is, the first member 41 and the second member 46 can perform an operation of separating from each other and an operation of approaching each other. In particular, in the illustrated example, the first member 41 and the second member 46 can take a relative position separated from each other and a relative position in contact with each other. The first member 41 can rotate without being restrained by the second member 46 at a position separated from the second member 46. The second member 46 holds the rotational position of the first member 41 in a state where the second member 46 is in contact with the first member 41. In other words, the second member 46 restricts the relative operation, particularly the relative rotation, between the second member 46 and the first member 41 in a state where the second member 46 is in contact with the first member 41. In the illustrated example, the first member 41 is connected to the second mounting tool 25, and in particular, the first member 41 is interlocked with the second mounting tool 25, and more specifically according to the operation of the first member 41. The second mounting tool 25 operates. Therefore, by adjusting the relative positions of the first member 41 and the second member 46, the upper arm of the wearer can be maintained at a predetermined position via the second wearing tool 25.

As a specific configuration of the switching unit 40 will be described later, the configuration of the transmission unit 35 other than the switching unit 40 will be described first with reference mainly to FIG. In the example shown in FIG. 6, in addition to the switching means 40, the transmission means 35 includes a first relay shaft member 71 connected to the first member 41 of the switching means 40 and a first relay shaft member 71 that is linked to the first relay shaft member 71. The second relay shaft member 73 and the output shaft 76 interlocking with the second relay shaft member 73 are provided.

The first relay shaft member 71 is held by the rear frame portion 22a that forms the side frame 22 of the first mounting tool 20. The first relay shaft member 71 is held rotatably about the first intermediate rotation axis d1a. The first member 41 is fixed to the first relay shaft member 71. Thus, the first member 41 is supported by the rear frame portion 22a of the side frame 22 and rotates around the first intermediate rotation axis d1a in synchronization with the first relay shaft member 71. A first transmission gear 72 is fixed to the first relay shaft member 71. The first transmission gear 72 is configured as a spur gear, for example.

The second relay shaft member 73 is held by the front extending frame portion 22b that forms the side frame 22 of the first mounting tool 20. The second relay shaft member 73 is held rotatably about the second intermediate rotation axis d1b. A second transmission gear 74 is fixed to the second relay shaft member 73. The second transmission gear 74 is disposed in the vicinity of one end (rear end) of the second relay shaft member 73. The second transmission gear 74 is screwed with the first transmission gear 72. Therefore, the second relay shaft member 73 is interlocked with the first relay shaft member 71. The second transmission gear 74 has a configuration corresponding to the first transmission gear 72, and is configured as a spur gear, for example. In the illustrated example, the second intermediate rotation axis d1b that is the rotation axis of the second relay shaft member 73 is parallel to the first intermediate rotation axis d1a that is the rotation axis of the first relay shaft member 71. A third transmission gear 75 is fixed near the other end (front end) of the first relay shaft member 71. The third transmission gear 75 is configured as a helical gear, for example.

The output shaft 76 is held by the front extension frame portion 22b, similarly to the second relay shaft member 73. As already described, the output shaft 76 is held rotatably about the first rotation axis (assist axis) d1. A fourth transmission gear 77 is fixed to the output shaft 76. The fourth transmission gear 77 is disposed in the vicinity of one end (outer end) of the output shaft 76. The fourth transmission gear 77 is screwed with the third transmission gear 75. As a result, the output shaft 76 is interlocked with the second relay shaft member 73, the first relay shaft member 71, and the first member 41 of the switching means 40. To do. The fourth transmission gear 77 has a configuration corresponding to the third transmission gear 75, and is configured as a helical gear, for example. In the illustrated example, the first rotation axis d1 that is the rotation axis of the output shaft 76 is perpendicular to the second intermediate rotation axis d1b that is the rotation axis of the second relay shaft member 73 and is shifted in the height direction. . The other end portion (inward end portion) of the output shaft 76 is fixed to the action portion 28 of the second wearing tool 25.

Next, details of the switching means 40 will be described mainly with reference to FIGS. First, the first member 41 will be described. As shown in FIG. 7, the first member 41 has a rotating drum 42 fixed to the first relay shaft member 71. The rotating drum 42 has a disc-shaped outer diameter, and the central axis of the rotating drum 42 is located on the first intermediate rotation axis d1a that is the rotation axis of the first relay shaft member 71. The rotating drum 42 is held by the rear frame portion 22 a of the side frame 22 via the first relay shaft member 71. The plate surface of the rotating drum 42 is aligned in the plane direction of the rear frame portion 22a. Therefore, the rotating drum 42 can be effectively prevented from greatly protruding from the wearer's body. The rotating drum 42 has a friction layer 42a on its surface layer. The friction layer 42a is a part that comes into contact with a second member 46 described later. The friction layer 42 a may be formed of rubber or the like that generates a larger frictional force with the second member 46.

Next, the configuration related to the second member 46 and the second member 46 will be described. As shown in FIGS. 7 to 9, the second member 46 includes a first swing member 47a and a second swing member 47b. Of these, the first swing member 47a is connected to the actuator 31 via the bracket 48b. Moreover, the switching means 40 has a pair of support body 50 formed in plate shape. The second member 46 (

swing members

47a and 47b) is held by a pair of support bodies 50 so as to be operable, particularly swingable. As shown in FIG. 4, the pair of supports 50 are arranged in a direction parallel to the first intermediate rotation axis d1a, and the rotary drum 42 and the pair of

swing members

47a and 47b are disposed between the pair of supports 50. positioned. The rotary drum 42 can rotate relative to the support 50 about the first intermediate rotation axis d1a. That is, the rotating drum 42 is rotatable with respect to the support body 50 between the pair of support bodies 50. 7 to 9, the support 50 on the labor side is omitted.

As shown in FIGS. 7 to 9, each of the swinging

members

47a and 47b has an arcuate outer shape. Each

swing member

47a, 47b is swingable with respect to the support 50 around one end portion. The swing axes of the

swing members

47a and 47b are parallel to the first intermediate rotation axis d1a. In the space between the pair of supports 50, the rotating drum 42 is disposed between the pair of

swing members

47a and 47b. Each swinging

member

47a, 47b faces the rotating drum 42 of the first member 41 from the outside in the radial direction around the first intermediate rotation axis d1a. Many portions of the outer peripheral surface of the rotating drum 42 are covered by the pair of swinging

members

47a and 47b. The swinging

members

47a and 47b can come into contact with the rotating drum 42 from the outside in the radial direction around the first intermediate rotation axis d1a by swinging with respect to the support 50. That is, the first member 41 and the second member 46 form a band brake mechanism 39. Each of the swinging

members

47 a and 47 b forming the second member 46 includes an arc-shaped main body 48 and a friction body 49 that forms a second contact surface 46 a that contacts the first member 41. The friction body 49 comes into contact with the friction layer 42a of the rotary drum 42 and generates a frictional force with the friction layer 42a. The friction layer 42a is formed of a material that generates a sufficient frictional force, such as rubber.

In the illustrated example, the switching unit 40 further includes a biasing member 52 as a biasing unit that biases the swinging

members

47 a and 47 b away from the rotary drum 42. The urging member 52 is disposed between the support base 51 fixed to the support body 50 and the brackets 48c of the

swing members

47a and 47b. In the illustrated example, the urging member 52 is formed by a tension spring.

Furthermore, the main body 48 forming each of the swinging

members

47a and 47b has a synchronous gear 48a. The synchronizing gear 48a adjusts the swinging motion of the pair of swinging

members

47a and 47b. Specifically, due to the meshing of the synchronous gear 48a between the pair of

swing members

47a and 47b, the pair of

swing members

47a and 47b operate synchronously and symmetrically with respect to the rotating drum 42. Therefore, when the first swing member 47 a is in contact with the rotating drum 42 due to the action from the actuator 31, the second swing member 47 b is also in contact with the rotating drum 42. Further, when the first swing member 47 a is separated from the rotary drum 42 by the action of the actuator 31, the second swing member 47 b is also separated from the rotary drum 42.

In the illustrated assist mechanism 15, when the actuator 31 contracts from the state shown in FIG. 7, the actuator 31 pulls the first swing member 47 a forming the second member 46 as shown in FIG. 8. As a result, the pair of swinging

members

47 a and 47 b abut on the rotating drum 42 forming the first member 41. In the state shown in FIG. 8, the second member 46 holds the first member 41, and relative rotation between the second member 46 and the first member 41 is restricted. At this time, the rotation of the first relay shaft member 71, the second relay shaft member 73, and the output shaft member 76 that operate in conjunction with the first member 41 is also restricted. Accordingly, the first rotation axis (assist axis) d1 which is the rotation axis of the output shaft member 76 between the first mounting tool 20 holding the output shaft member 76 and the second mounting tool 25 connected to the output shaft member 76. Relative rotation around is restricted. For example, the upper arm to which the second wearing tool 25 is worn is assisted by holding the muscles in a predetermined position, for example, a position lifted from the shoulder, with the assistance of the muscle force from the assist mechanism 15.

By the way, in the illustrated example, the support body 50 is supported by the rear frame portion 22a that forms the side frame 22 of the first wearing tool 20. However, the support 50 is rotatable with respect to the rear frame portion 22a. Specifically, the support body 50 is rotatably held with respect to the first relay shaft member 71, and as a result, is rotatable with respect to the rear frame portion 22a. Therefore, the second member 46 supported by the support body 50, the support base 51 fixed to the support body 50, and the like are not fixed to the first mounting tool 20 and are second to the first mounting tool 20. A relative rotation is possible about one intermediate rotation axis d1a.

On the other hand, the switching means 40 further includes an adjusting means 37 for restricting free rotation of the support 50 and the second member 46. The state of the first member 41, the second member 46, and the support 50 is controlled by the balance between the force supplied from the adjusting unit 37 and the force supplied from the output unit 30. In the illustrated example, the adjusting means 37 is formed as a biasing member 38 that biases the support 50 and the second member 46 in one direction. One end of the urging member 38 is attached to the rear frame portion 22a of the side frame 22, and the other end is attached to the bracket 48c of the second swing member 47b. In the illustrated example, the urging member 38 is formed by a tension spring that forms urging means.

In the state shown in FIG. 8, that is, in a state where the second member 46 holds the first member 41 and the relative rotation between the second member 46 and the first member 41 is restricted, the force applied from the actuator 31 Is smaller than the urging force from the urging member 38 constituting the adjusting means 37. That is, the force required to swing the swinging

members

47 a and 47 b forming the second member 46 with respect to the support 50 is greater than the force required to rotate the support 50 with respect to the first wearing tool 20. It is getting smaller. Therefore, before the support body 50 rotates with respect to the first mounting tool 20, the

swing members

47 a and 47 b forming the second member 46 swing with respect to the support body 50. Thereby, the relative rotation of the first member 41 and the second member 46 is restricted, and the free relative movement of the first mounting tool 20 and the second mounting tool 25 is restricted.

However, when the actuator 31 is a McKibben artificial muscle or the like, the support body 50 is attached to the first wearing tool 20 by inputting a force against the urging force from the urging member 38 constituting the adjusting means 37. It can be rotated counterclockwise from the state shown in FIG. 8 to the state shown in FIG. On the other hand, even if the actuator 31 is a McKibben artificial muscle, the support 50 cannot be rotated clockwise from the state of FIG. That is, in the muscular strength assisting apparatus 10 shown in FIG. 8, the first member 41 interlocked with the second mounting tool 25 is unidirectional with respect to the first mounting tool 20 around the first intermediate rotation axis d1a (FIG. 8). In the other direction (counterclockwise direction in FIG. 8) around the first intermediate rotation axis d1a while being restricted from rotating in the clockwise direction). Yes. At this time, the second mounting tool 25 that is interlocked with the first member 41 is restricted from rotating in one direction (the clockwise direction in FIG. 4) around the first rotation axis d 1 with respect to the first mounting tool 20. However, it is permitted to rotate in the other direction (counterclockwise direction in FIG. 8) about the first rotation axis d1 with respect to the first wearing tool 20.

From the state shown in FIG. 8, the first member 41 interlocked with the second mounting tool 25 is moved in one direction (counterclockwise direction) with respect to the first mounting tool 20 around the first intermediate rotation axis d1a. The rotation can be realized by the operation of raising the upper arm of the wearer of the muscle strength assisting apparatus 10. On the other hand, in the illustrated example, by allowing the actuator 31 to further shrink from the state shown in FIG. 8, the second mounting tool 25 is moved from the state of FIG. 8 to the state of FIG. It can also be rotated relative to the mounting tool 20. Such an operation of the muscle force assisting device 10 means assisting the muscle force in the operation of lifting the upper arm.

Next, the operation of the muscle force assisting apparatus 10 having the above configuration will be described.

As shown in FIG. 1, first, the center frame 21 of the first mounting tool 20 is attached to the trunk using the mounting belt 11. Further, the mounting portion 26 of the second mounting tool 25 is attached to the upper arm.

The illustrated muscle force assisting device 10 can be maintained in either the free rotation mode shown in FIG. 7 or the rotation braking mode shown in FIG.

First, in the free rotation mode shown in FIG. 7, the fluid in the actuator 31 is exhausted, and the actuator 31 extends. Therefore, the swinging

members

47 a and 47 b of the second member 46 do not receive a force from the actuator 31 toward the rotating drum 42 that forms the first member 41. On the other hand, the swinging

members

47 a and 47 b forming the second member 46 are urged by the urging member 52 in a direction away from the rotating drum 42 forming the first member 41. Therefore, in the free rotation mode, the first member 41 freely rotates around the first intermediate rotation axis d1a without being restricted by the second member 46 from rotating around the first intermediate rotation axis d1a. be able to.

The second member 46 and the support member 50 that supports the second member 46 receive a force that rotates clockwise in FIG. 7 due to the biasing force (pulling force) from the biasing member 38 that forms the adjusting means 37. ing. However, the force from the adjusting means 37 mainly affects the rotation of the second member 46 and the support body 50 with respect to the first wearing tool 20, and affects the swing of the second member 46 with respect to the support body 50. It is a force that is difficult to give. Therefore, in the free rotation mode, the first member 41 and the second member 46 are separated from each other.

In this free rotation mode, the second mounting tool 25 interlocked with the first member 41 can freely rotate with respect to the first mounting tool 20. Therefore, the wearer of the muscle strength assisting apparatus 10 can freely rotate the upper arm, to which the mounting portion 26 of the second mounting tool 25 is mounted, with respect to the trunk around the first rotation axis (assist axis) d1. it can. That is, the wearer can perform a bending exercise and an extension exercise without being restrained by the muscle force assisting device 10.

Next, in the rotational braking mode shown in FIG. 8, the fluid is supplied from the fluid source 32 into the actuator 31, and the actuator 31 is shortened. When the actuator 31 is shortened, the output means 30 acts on the first swing member 47a so as to attract the first swing member 47a. As shown in FIG. 8, the force applied from the actuator 31 to the first swing member 47 a operates the first swing member 47 a toward the rotary drum 42 that forms the first member 41. As shown in FIG. 8, the second contact surface 46a formed by the friction body 49 of the swinging

members

47a and 47b is in contact with the first contact surface 41a formed by the friction layer 42a forming the outer peripheral surface of the rotating drum 42. Touch. The second member 46 holds the first member 41 by the frictional force between the friction body 49 and the friction layer 42a. As a result, the relative rotation between the second member 46 and the first member 41 is restricted, and as a result, the rotation of the rotating drum 42 and the output shaft 76 is restricted.

In this rotational braking mode, the second wearing tool 25 is restricted from rotating with respect to the first wearing tool 20 in one direction (clockwise direction in FIG. 4) about the first rotation axis (assist axis) d1. . For example, the muscular strength assisting device 10 can assist in maintaining the lifted upper arm at the position, and can effectively suppress the upper arm from being lowered.

The second member 46 is supported by the support body 50, and the support body 50 is rotatable with respect to the first wearing tool 20 by resisting the urging force from the adjusting means 37. Therefore, the wearer can further lift the upper arm by rotating the support body 50 against the urging force of the adjusting means 37 from the state shown in FIG. That is, the support body 50 rotates together with the first member 41 and the second member 46 about the first intermediate rotation axis d1a from the state of FIG. 8 to the state of FIG. The first mounting tool 20 can rotate in the other direction (counterclockwise direction in FIG. 4) about the first rotation axis (assist axis) d1. That is, in the rotational braking mode, the second wearing tool 25 is restricted from rotating in one direction (counterclockwise direction in FIG. 4) around the first rotation axis (assist axis) d1 with respect to the first wearing tool 20. However, the second mounting tool 25 is allowed to rotate in the other direction (counterclockwise direction in FIG. 4) about the first rotation axis (assist axis) d1 with respect to the first mounting tool 20.

In addition to the free rotation mode and the rotation braking mode, a rotation drive mode may be further added. In the rotational drive mode, the actuator 31 is further shortened from the state of the rotational braking mode. Thereby, the support body 50 is rotated around the first intermediate rotation axis d1a together with the first member 41 and the second member 46 against the biasing force of the adjusting means 37. With this operation, the second mounting tool 25 can be rotated in the other direction around the first rotation axis d1 with respect to the first mounting tool 20. That is, in the rotational drive mode, it is possible to assist the lifting of the upper arm by moving the second mounting tool 25 relative to the first mounting tool 20, for example.

The operation of the output means 30 is controlled by the control unit 13. In the example shown in FIG. 1, the control unit 13 is supported by the central frame 21 of the first wearing tool 20 together with the fluid source 32. The control unit 13 controls the operation of the actuator 31 by controlling the supply of fluid (for example, air) from the fluid source 32 to the actuator 31 and the exhaust of the fluid from the actuator 31.

FIG. 10 is a block diagram for explaining a functional configuration of the control unit 13. The control unit 13 is electrically connected to a sensor 80 provided in the muscle force assisting apparatus 10, and controls the assist mechanism 15, particularly the output means 30 of the assist mechanism 15 based on a signal from the sensor 80. . In the muscle force assisting apparatus 10 described here, the control unit 13 operates the output unit 30 based on the detection result of the sensor 80 to start the regulation of the relative movement between the first wearing tool 20 and the second wearing tool 25. . That is, the control unit 13 starts assisting muscle strength based on the detection result of the sensor 80. Further, the control unit 13 operates the output unit 30 based on the detection result of the sensor 80 to release the restriction on the relative operation of the first wearing tool 20 and the second wearing tool 25. That is, the control unit 13 stops assisting muscle strength based on the detection result of the sensor 80.

The sensor 80 can obtain an index related to the relative movement of the first wearing tool 20 and the second wearing tool 25. In particular, the illustrated sensor 80 can obtain an index related to the relative rotation of the first wearing tool 20 and the second wearing tool 25 around the assist axis d1. Specifically, the sensor 80 includes a relative displacement between the first wearing tool 20 and the second wearing tool 25, a relative speed between the first wearing tool 20 and the second wearing tool 25, and the first wearing tool 20 and the second wearing tool 25. And at least one of the relative jerk of the first wearing tool 20 and the second wearing tool 25 is detected. Here, “jerk” is obtained by differentiating acceleration with respect to time.

As an example of the sensor 80 for obtaining such an index, a displacement sensor, a speed sensor, and an acceleration sensor can be used. Further, by calculating one or more detection results of any one of the displacement sensor, the speed sensor, the acceleration sensor, and the gyro sensor, the relative displacement of the first mounting tool 20 and the second mounting tool 25, the first mounting tool 20 and the second mounting tool. The relative speed of the mounting tool 25, the relative acceleration of the first mounting tool 20 and the second mounting tool 25, and the relative jerk of the first mounting tool 20 and the second mounting tool 25 can also be specified.

3 to 5, the sensor 80 is supported by the front extension frame portion 22b of the side frame 22 of the first wearing tool 20. In the example shown in FIGS. The sensor 80 is disposed at a position facing the output shaft member 76 from the outside along the first rotation axis d1. The sensor 80 can monitor the rotation operation of the output shaft member 76 and measure an index related to the rotation operation of the output shaft member 76.

As a specific example of a sensor other than the sensor 80 shown in FIGS. 3 to 5, a potentiometer can be used. By using a potentiometer, a resistance value that varies with the rotation of the output shaft member 76 can be measured, and the rotational position (rotation angle) of the output shaft member 76 can be calculated from the voltage value. That is, this potentiometer can be used as a displacement sensor. As an example of application of the potentiometer to the illustrated muscle force assisting apparatus 10, the potentiometer is provided between the output shaft member 76 and a bearing fixing portion for receiving the output shaft member 76 provided on the front extension frame portion 22b. Can be arranged. It is also possible to specify the relative acceleration of the first wearing tool 20 and the second wearing tool 25 by measuring and calculating the amount of change and the change time of the voltage value acquired from the potentiometer. In this case, the potentiometer is used as an acceleration sensor.

Furthermore, as a specific example of another sensor, a speed sensor and an acceleration sensor may be provided in the first wearing tool 20 and the second wearing tool 25, respectively. By comparing the measurement values of the sensors provided on the first wearing tool 20 and the second wearing tool 25, the relative speed and the speed acceleration of the first wearing tool 20 and the second wearing tool 25 can be specified. Further, from this example, the sensor installed in either the first wearing tool 20 or the second wearing tool 25 may be omitted. In this case, one sensor provided in the first wearing tool 20 and the second wearing tool 25 can specify the relative speed and relative acceleration between the wearing tool provided with the sensor and the ground.

In addition, the sensor 80 is an index related to a force for moving the second wearing tool 25 relative to the first wearing tool 20, particularly in the illustrated example, the second with respect to the first wearing tool 20. It is also possible to detect an index related to a force for relatively rotating the mounting tool 25 around the first rotation axis d1. Examples of the force monitored by the sensor 80 include a translational force and a rotational force such as a moment and a torque. The index related to the force for relative movement may be the magnitude of the force such as translational force or rotational force itself, or may be the myoelectric potential of the wearer or the degree of bulging of the wearer's muscle. Good. According to these indexes, the magnitude of the force for causing the first wearing tool 20 and the second wearing tool 25 to relatively move can be evaluated directly or indirectly.

Examples of the sensor 80 that can detect such an index include a sensor for detecting force such as a torque sensor, a displacement sensor, a speed sensor, an acceleration sensor, an electromyograph, a photo reflector, and the like. By using a sensor for detecting a force such as a torque sensor as the sensor 80, the magnitude of the translational force and the rotational force for causing the first wearing tool 20 and the second wearing tool 25 to move relative to each other is directly evaluated. be able to. By calculating outputs from the displacement sensor, the speed sensor, and the acceleration sensor, it is possible to evaluate the magnitude of a force such as a translational force or a rotational force for causing the first mounting tool 20 and the second mounting tool 25 to move relative to each other. it can. Further, the electromyograph can detect the myoelectric potential of the wearer, and the photoreflector can evaluate the degree of the muscular bulge of the wearer. Therefore, according to the electromyograph or the photoreflector, the magnitude of the translational force or the rotational force for causing the first mounting tool 20 and the second mounting tool 25 to move relative to each other can be indirectly evaluated.

The illustrated muscle force assisting device 10 further includes a posture sensor 81 that detects the posture of the force assisting device 10 and an abnormality detection sensor 82 that detects an abnormality. The control unit 13 is electrically connected to the attitude sensor 81 and the abnormality detection sensor 82, and controls the assist mechanism 15 based on signals from the attitude sensor 81 and the abnormality detection sensor 82, particularly the output means 30 of the assist mechanism 15. Control. In the illustrated muscular strength assisting apparatus 10, the control unit 13 is based on the detection result of the posture sensor 81, and the time for starting the muscular strength assist and the condition for starting the muscular strength assist supply should be satisfied. It is possible to change the length, conditions for stopping the assistance of muscle strength, and the like. Further, in the illustrated muscle strength assisting apparatus 10, the control unit 13 can stop assisting muscle strength based on the detection result of the abnormality detection sensor 82.

The posture sensor 81 is a sensor for directly or indirectly detecting the posture of the muscle force assisting apparatus 10. By detecting the posture of the muscle force assisting device 10, the posture of the wearer wearing the muscle force assisting device 10 can be grasped. As the attitude sensor 81, an attitude sensor or a gyro sensor can be used. The gyro sensor can also be used as the sensor 80 described above. As shown in FIGS. 1 and 2, the attitude sensor 81 is attached to the central frame 21 of the side frame 22. The posture sensor 81 is positioned substantially at the center of the first wearing tool 20 and detects the posture of the muscle force assisting apparatus 10.

The abnormality detection sensor 82 is a sensor that detects the presence or absence of an abnormality in the vicinity of the muscle force assisting device 10, the wearer of the muscle force assisting device 10, and the muscle force assisting device 10. As the abnormality detection sensor 82, an electromyograph for detecting the wearer's myoelectric potential, a photo reflector for detecting the degree of the wearer's muscle elevation, a light sensor for detecting brightness, a heat sensor for detecting heat, and a posture detection A posture sensor that detects a distance from a surrounding object, a voltmeter or an ammeter that monitors a power supply state of the muscle force assisting apparatus 10, a pressure gauge that monitors a pressure state of the fluid source 32, and the like Can do. Moreover, the abnormality detection sensor 82 may include two or more types of sensors. According to the abnormality detection sensor 82 including an electromyograph or a photo reflector, the wearer's abnormality can be detected. According to the abnormality detection sensor 82 including an optical sensor and a thermal sensor, it is possible to detect an abnormality in the surrounding environment, for example, the presence of a flame. Moreover, according to the abnormality detection sensor 82 which consists of an attitude | position sensor, abnormality, such as a wearer's fall of the muscle force auxiliary | assistance apparatus 10, can be detected. According to the abnormality detection sensor 82 composed of a distance sensor, it is possible to detect a state in which the wearer is too close to the surrounding object. According to the abnormality detection sensor 82 including a voltmeter, an ammeter, or a pressure gauge, it is possible to detect an abnormal state of the muscle strength assisting apparatus 10 itself.

Next, control processing performed by the control unit 13 will be described. FIG. 11 shows an example of a control processing flow by the control unit 13 related to the supply of muscle strength assisting force. Hereinafter, description will be made based on the control processing flow shown in FIG.

The control unit 13 first determines whether or not the relative position of the second mounting tool 25 with respect to the first mounting tool 20 is within a predetermined range (step S11 in FIG. 11). The relative position of the second mounting tool 25 with respect to the first mounting tool 20 can be detected by the sensor 80. Therefore, the control unit 13 makes the first determination based on the detection result of the sensor 80.

The sensor 80 can specify the relative position of the second wearing tool 25 with respect to the first wearing tool 20 by an angle as follows, for example. As shown in FIG. 4, the relative position of the second wearing tool 25 with respect to the first wearing tool 20 in a state where the arm is lowered along the body is set to 0 °. The angle moved forward from this state is specified as a positive value. For example, a state in which the arm is extended from the body in the horizontal direction while standing is specified as 90 °. Therefore, an angle obtained by rotating the second mounting tool 25 in the other direction (clockwise direction in FIG. 4) around the first rotation axis d1 with respect to the first mounting tool 20 from the state of FIG. 4 as a positive value. And expressed as a relative position of the second mounting tool 25 to the first mounting tool 20.

The predetermined range of the relative position of the second wearing tool 25 to the first wearing tool 20 that should be satisfied when the supply of the muscle force assisting force is started is determined based on the posture of the wearer who is considered to be required to supply the muscle force assisting force. Can be done. That is, the predetermined range is determined so as to include the relative position of the second wearing tool 25 with respect to the first wearing tool 20 when the wearer takes various postures that require the supply of muscle strength assisting force. On the other hand, the predetermined range is determined so as not to include the relative position of the second wearing device 25 with respect to the first wearing device 20 when the wearer takes a posture that is considered unnecessary to supply the muscle force assisting force. obtain. By making the relative position within the predetermined range as a requirement for assisting muscle strength in this way, it is possible to effectively prevent assistance of muscle strength at an unintended position.

Although not shown in FIG. 11, the control unit 13 may change the predetermined range determined in step S 11 based on the detection result of the attitude sensor 81. According to the detection result from the posture sensor 81, the posture of the wearer wearing the muscular strength assisting device 10 can be specified. The posture in which the supply of the muscle force assisting force is required, and in the illustrated example, the position of the upper arm that is required to supply the muscle force assisting force can be changed based on the posture of the wearer wearing the muscle force assisting device 10. For example, the position of the upper arm where a bendable wearer wants to receive strength support is almost the same as the position of the upper arm where a wearer who stands up with his back stretched wants to receive strength support. Therefore, it is considered to be higher than the horizontal direction. On the other hand, the angle of the wearer's back and the direction of the first wearing tool 20 attached to the back change between the forward bent state and the state where the standing muscle is extended. For this reason, the predetermined range of the relative position of the second mounting tool 25 to the first mounting tool 20 determined by the control unit 13 is a change in the orientation of the first mounting tool 20 between the forward bent state and the standing state. It can be said that it is preferable to apply only correction. For example, based on the above-described angle setting, the predetermined range in a state where the back is stretched may be set to 100 ° to 130 °, and the predetermined range in the forward bent state may be set to 110 ° to 140 °. As described above, the control unit 13 can more effectively prevent the muscle force assisting force from being supplied at an unintended position by adjusting the predetermined range according to the detection result of the posture sensor 81.

When it is determined that the relative position of the second mounting tool 25 with respect to the first mounting tool 20 is outside the predetermined range (“No” in step S11 in FIG. 11), for example, after a predetermined time has elapsed, the process S11 is performed again. It is implemented and it is judged whether the relative position with respect to the 1st mounting tool 20 of the 2nd mounting tool 25 is in a predetermined range (process S11 of FIG. 11).

If it is determined that the relative position of the second wearing tool 25 with respect to the first wearing tool 20 is outside the predetermined range (“Yes” in step S11 in FIG. 11), then the control unit 13 is detected by the sensor 80. The index related to the relative rotation around the assist axis (first rotation axis) d1 of the first wearing tool 20 and the second wearing tool 25 satisfies a predetermined condition (“start condition”) over a certain period. Is determined (step S12 in FIG. 11).

The start condition may be determined according to a work that the wearer intends to perform while wearing the muscle strength assisting device 10. It is preferable that the start condition is a condition reflecting an operation representing an intention display in which the wearer of the muscle strength assisting device 10 requests the muscle strength assisting force. Moreover, it is preferable that the operation | movement showing this intention display is distinguished from the other operation | movement which a wearer can take, and it is especially distinguished from the operation | movement in the operation | work which a wearer wears the muscular strength assistance apparatus 10 and implements. preferable. Furthermore, it is preferable to set the start condition so that the wearer's action at the time of abnormality does not satisfy the start condition. For example, the wearer's movement at the time of a fall or emergency is distinguished from the movement of the start condition, and at the time of a fall or emergency, the muscle strength assisting device 10 is maintained in the free rotation mode, and the wearer's motion is restrained by the muscle strength assisting device 10. It is preferable not to do so.

As the start condition, for example, an indicator related to the relative rotation may indicate that the relative rotation is stopped or the relative rotation is stopped. Specifically, the relative displacement between the first wearing tool 20 and the second wearing tool 25 is a predetermined value or less or less than a predetermined value, and the relative speed between the first wearing tool 20 and the second wearing tool 25 is less than a predetermined value or It is less than a predetermined value, the relative acceleration of the first wearing tool 20 and the second wearing tool 25 is less than or less than a predetermined value, and the relative jerk of the first wearing tool 20 and the second wearing tool 25 is a predetermined value The start condition may be the following or less than a predetermined value, a combination of these conditions, or a combination of these conditions and other conditions. According to such a condition setting, it is possible to detect that the wearer of the muscle strength assisting apparatus 10 is about to receive the assisting force that stops the movement of the upper arm and holds the position of the upper arm at that position. it can. In addition, this condition is an act of waiting for the supply of the muscle strength assisting force for the wearer, and can also be said to be a direct action to receive the muscle strength assisting. Accordingly, it is facilitated to start supplying the muscle force assisting force at the intended position.

Also, the control unit 13 determines whether or not the start condition is continuously satisfied over a certain period. This certain period can be set to a time sufficient to prevent the start condition from being unintentionally satisfied. Therefore, the wearer of the muscular strength assisting device 10 may be set according to the contents of the work to be performed while wearing the muscular strength assisting device 10. By satisfying the start condition for a certain period of time as a requirement for starting the supply of the muscular strength assisting force, it is possible to effectively prevent the muscular strength from being received at an unintended position.

Although not shown in FIG. 11, the control unit 13 may change the start condition determined in step S 12 and the length of a certain period based on the detection result of the attitude sensor 81. The ease of operation of the wearer wearing the muscular strength assisting device 10 changes according to the posture. In particular, it is conceivable that the ease of movement of the wearer in a posture to receive muscular strength assistance changes depending on the general posture of the wearer. For example, maintaining the arm in the raised position while standing is easier than maintaining the arm in the squatting position. Therefore, when it is determined from the detection result of the posture sensor 81 that the wearer is crouching, the length of a certain period in which the start condition should be satisfied may be changed. In this case, it is possible to smoothly receive the supply of the muscle force assisting force with the intended posture while effectively suppressing the possibility of starting the supply of the muscle force assisting force at an unintended position.

When it is determined that the index related to the relative rotation around the assist axis (first rotation axis) d1 of the first wearing tool 20 and the second wearing tool 25 does not satisfy the start condition for a certain period ( For example, after a predetermined time has elapsed, it is determined again whether the relative position of the second mounting tool 25 with respect to the first mounting tool 20 is within a predetermined range (FIG. 11). Step S11). On the other hand, it is determined that the index related to the relative rotation around the assist axis (first rotation axis) d1 of the first wearing tool 20 and the second wearing tool 25 satisfies the start condition over a certain period. If it is performed (“Yes” in step S12 in FIG. 11), the supply of the muscle strength assisting force is started (step S13 in FIG. 11). As a specific operation, the actuator 31 is shortened, and the muscle force assisting apparatus 10 is switched from the free rotation mode (FIG. 7) to the rotation braking mode (FIG. 8). As a result, the rotation of the second wearing tool 25 in one direction around the first rotation axis (assist axis) d1 with respect to the first wearing tool 20 is restricted, and the wearer can prevent the upper arm from dropping. A muscle strength assisting force that supports the muscle strength is received from the muscle strength assisting device 10.

In the example shown in FIG. 11, muscle strength assistance by the muscle strength assisting device 10 is started when the release condition is satisfied. However, in addition to the sensor 80 that provides an index for determining whether or not the start condition is satisfied, if the posture sensor 81 and the abnormality detection sensor 82 are provided in the muscle force assisting device 10, even if the start condition is satisfied Further, when an abnormality or the like is detected by the posture sensor 81 or the abnormality detection sensor 82, the muscle strength assistance may not be started. That is, when an abnormality is predicted from the detection results of the posture sensor 81 or the abnormality detection sensor 82, the muscle force assisting device 10 may be maintained in the free rotation mode so as not to restrain the wearer's movement. .

When an electromyograph or a photo reflector is used as the abnormality detection sensor 82, for example, it is possible to detect an abnormality such as a wearer of the muscle strength assisting device 10 continuously applying force to resist some force. . Further, when an optical sensor or a heat sensor is used as the abnormality detection sensor 82, it is possible to detect an abnormality in the surrounding environment, for example, the presence of a flame. In addition, when a posture sensor or a gyro sensor is used as the abnormality detection sensor 82, it is possible to detect an abnormality such as the wearer's fall of the muscle force assisting apparatus 10. When the distance sensor is used as the abnormality detection sensor 82, it is possible to detect a state in which the wearer is too close to the surrounding object. When a voltmeter or an ammeter is used as the abnormality detection sensor 82, it can be detected that there is a problem in the power supply state of the muscle strength assisting apparatus 10. When a pressure gauge is used as the abnormality detection sensor 82, it can be detected that there is a problem with the fluid source 32 of the muscle force assisting apparatus 10.

When the supply of the muscle force assisting force is started, the control unit 13 next determines whether or not the muscle force assisting force should be released based on the information output from the sensor 80 (step S14 in FIG. 11). The release condition may be determined according to the work that the wearer intends to perform while wearing the muscular strength assisting device 10. The release condition is preferably a condition that reflects an action representing an intention display in which the wearer of the muscle strength assisting device 10 requests to cancel the strength assisting force. Moreover, it is preferable that the operation | movement showing this intention display is distinguished from the other operation | movement which a wearer can take, and it is especially distinguished from the operation | movement in the operation | work which a wearer wears the muscular strength assistance apparatus 10 and implements. preferable.

As a first example, in a state where the relative movement of the second mounting tool 25 in one direction with respect to the first mounting tool 20 is restricted, the control unit 13 is not limited to the second mounting tool 25 with respect to the first mounting tool 20. It may be determined whether or not an indicator related to the relative movement in the direction satisfies the release condition. Specifically, the relative displacement between the first wearing tool 20 and the second wearing tool 25 is greater than or equal to a predetermined value, or the relative speed between the first wearing tool 20 and the second wearing tool 25 is greater than or equal to a predetermined value. Or exceeding a predetermined value, the relative acceleration of the first mounting tool 20 and the second mounting tool 25 being greater than or equal to a predetermined value, or the relative jerk of the first mounting tool 20 and the second mounting tool 25 Is greater than or equal to a predetermined value or exceeds a predetermined value, a combination of these conditions, or a combination of these conditions with other conditions can be used as the release condition.

In the illustrated muscle force assisting device 10, as described above, in the rotational braking mode shown in FIG. 8, the second wearing tool 25 is unidirectionally centered on the first rotation axis d 1 with respect to the first wearing tool 20 (see FIG. 4 is restricted relative to the first mounting tool 20 in the other direction (counterclockwise direction in FIG. 4) around the first rotation axis d1 with respect to the first mounting tool 20. Relative rotation is allowed. Therefore, the wearer can perform an operation of lifting the upper arm against the urging force of the adjusting means 37 as an intention display for canceling the strength assisting force. Then, the release condition is satisfied unintentionally by setting the relative displacement detected by the sensor 80 to be a predetermined value or more or exceeding a predetermined value, thereby unintentionally canceling the muscle force assisting force. Can be effectively prevented.

As a second example, the controller 13 controls the second mounting tool 25 relative to the first mounting tool 20 in a state where relative movement of the second mounting tool 25 relative to the first mounting tool 20 in one direction is restricted. It may be determined whether or not an index related to a force that is intended to cause the relative movement in the other direction satisfies the release condition. Specifically, a translational force, a rotational force or the like that causes the second mounting tool 25 to move relative to the first mounting tool 20 in the other direction is greater than or equal to a predetermined value or exceeds the predetermined value. The myoelectric potential for moving the second mounting tool 25 relative to the tool 20 in the other direction is greater than or equal to a predetermined value or exceeds the predetermined value. An index indicating the degree of bulging of the muscle to be relatively moved in the direction is a predetermined value or more or exceeds a predetermined value, a combination of these conditions, or a combination of these conditions and other conditions as a release condition can do.

In the illustrated muscle force assisting device 10, in the rotational braking mode shown in FIG. 8, relative rotation of the second mounting tool 25 relative to the first mounting tool 20 in one direction around the first rotation axis d 1 is restricted. However, relative rotation of the second mounting tool 25 in the other direction around the first rotation axis d1 with respect to the first mounting tool 20 is allowed. Therefore, the wearer can perform an operation of actually lifting the upper arm by applying a force against the urging force of the adjusting means 37 as an intention display to release the muscular strength assisting force. By setting such an intentional movement as a release condition, that is, by setting a release condition that an index related to the force to be relatively moved is a predetermined value or more or exceeding a predetermined value, the release condition is unintentionally set. It is satisfied, thereby effectively preventing the assistance of the muscular strength from being released unintentionally.

It should be noted that both the satisfaction of the index related to the relative motion in the first example and the satisfaction of the index related to the force for the relative motion in the second example may be set as the release condition. That is, the control unit 13 is configured such that the relative movement of the second mounting tool 25 relative to the first mounting tool 20 in the other direction is restricted in a state where the relative movement of the second mounting tool 25 relative to the first mounting tool 20 is restricted. When it is determined that both the index related to the movement and the index related to the force to move the second mounting tool 25 relative to the first mounting tool 20 in the other direction satisfy the predetermined release condition The restriction of the relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20 may be released. According to such an example, it is possible to more effectively prevent an unintentional release of muscle strength assistance by unintentionally satisfying a release condition.

Next, as a third example, the control unit 13 performs the second mounting on the first mounting tool 20 in a state where the relative movement of the second mounting tool 25 in one direction with respect to the first mounting tool 20 is restricted. You may make it judge whether the parameter | index relevant to the force which is going to carry out the relative operation | movement of the tool 25 to one direction satisfy | fills cancellation | release conditions. Specifically, a translational force, a rotational force, or the like that attempts to move the second wearing tool 25 relative to the first wearing tool 20 in one direction is greater than or equal to a predetermined value, When the myoelectric potential to move the second mounting tool 25 relative to the tool 20 in one direction is greater than or equal to a predetermined value or exceeds the predetermined value, the second mounting tool 25 is When the index indicating the degree of bulging of the muscle to be relatively moved in the direction is equal to or greater than a predetermined value or exceeds the predetermined value, the second wearing tool 25 is caused to move relative to the first wearing tool 20 in one direction. The force to be larger than the force that restricts the relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20, a combination of these conditions, or a combination of these conditions and other conditions. It can be a release condition.

The release of the muscular strength assist enables the second wearing tool 25 to move relative to the first wearing tool 20 in one direction. The wearer of the muscle strength assisting device 10 needs to release the muscle strength assist when moving the second wearing tool 25 in the other direction with respect to the first wearing tool 20 and lowering the upper arm. Therefore, applying a force for causing the second wearing tool 25 to move relative to the first wearing tool 20 in one direction is an action directly linked to the intention of releasing the muscle strength assistance. Therefore, by setting such an intentional movement as a release condition, that is, an index related to a force for moving the second wearing tool 25 relative to the first wearing tool 20 in one direction is a predetermined value or more. By setting the condition that exceeds a predetermined value as the cancellation condition, it is possible to effectively prevent the cancellation condition from being unintentionally satisfied. Accordingly, it is possible to effectively prevent unintentional release of muscle strength assistance, and to accurately cancel muscle strength assistance when intended.

Although not shown in FIG. 11, the control unit 13 may change the cancellation condition determined in step S 14 based on the detection result of the attitude sensor 81. The ease of operation of the wearer wearing the muscular strength assisting device 10 changes according to the posture. For example, moving an arm while standing is easier than moving an arm while squatting. Therefore, when it is determined from the detection result of the posture sensor 81 that the wearer is crouching, the release condition may be changed, specifically, the exemplified predetermined value may be reduced. In this case, it is possible to smoothly cancel the supply of the muscle force assisting force with the intended posture while effectively suppressing the possibility that the supply of the muscle force assisting force is released at an unintended position.

If it is determined that the index output from the sensor 80 does not satisfy the release condition (“No” in step S14 in FIG. 11), for example, the index output from the sensor 80 after the fixed time has elapsed It is determined again whether or not the condition is satisfied (step S14 in FIG. 11). On the other hand, when it is determined that the index output from the sensor 80 satisfies the release condition (“Yes” in step S14 in FIG. 11), the supply of muscle strength assisting force is stopped (step S15 in FIG. 11). . As a specific operation, the actuator 31 is extended, and the muscle force assisting apparatus 10 is switched from the rotation braking mode (FIG. 8) to the free rotation mode (FIG. 7). Thereby, the rotation restriction | limiting to the one direction centering on the 1st rotation axis (assist axis) d1 with respect to the 1st mounting tool 20 of the 2nd mounting tool 25 is cancelled | released, and a wearer can move an upper arm freely. It becomes.

Although not shown in FIG. 11, the control unit 13 detects an abnormality in the abnormality detection sensor 82 in a state where the relative movement of the first wearing tool 20 in one direction with respect to the second wearing tool 25 is restricted. In this case, the restriction on the relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20 may be released. When an electromyograph or a photo reflector is used as the abnormality detection sensor 82, for example, it is possible to detect an abnormality such as a wearer of the muscle strength assisting device 10 continuously applying force to resist some force. . Further, when an optical sensor or a heat sensor is used as the abnormality detection sensor 82, it is possible to detect an abnormality in the surrounding environment, for example, the presence of a flame. In addition, when a posture sensor or a gyro sensor is used as the abnormality detection sensor 82, it is possible to detect an abnormality such as the wearer's fall of the muscle force assisting apparatus 10. When the distance sensor is used as the abnormality detection sensor 82, it is possible to detect a state in which the wearer is too close to the surrounding object. For example, when the abnormality detection sensor 82 generates these abnormalities, the control unit 13 stops supplying the muscle force assisting force. Thereby, the wearer of the muscular strength assisting device 10 can deal with the abnormality in a state where the restraint from the muscular strength assisting device 10 is released.

On the other hand, if an abnormality is discovered in the muscle force assisting device 10 and it is predicted from the detection result of the abnormality detecting sensor 82 that stable operation of the muscle force assisting device 10 cannot be expected, the supply of the muscle force assisting force is maintained. It may be preferable to do so. For example, when it is predicted from the detection result of the abnormality detection sensor 82 including a voltmeter, an ammeter, a pressure gauge, or the like that a sufficient power source or fluid pressure for driving the assist mechanism 15 of the muscle force assisting device 10 cannot be secured. It is. When the abnormality detection sensor 82 detects such an abnormality, even if the release condition is satisfied, the restriction on the relative movement of the second wearing tool 25 with respect to the first wearing tool 20 may be maintained. That is, even if the release condition is satisfied, if the abnormality detection sensor 82 detects an abnormality, the muscle strength assistance from the assist mechanism 15 may be maintained.

In one embodiment as described above, when the control unit 13 determines that the index detected by the sensor 80 satisfies a predetermined condition over a certain period, one of the second mounting tools 25 with respect to the first mounting tool 20. The assist mechanism 15 is controlled so as to regulate the relative movement in the direction. That is, according to the present embodiment, in order to supply the muscle force assisting force from the assist mechanism 15, it is necessary to satisfy a predetermined condition over a certain period. Therefore, by setting the predetermined period to a sufficient length, it is possible to effectively prevent the supply of the muscle force assisting force from being started at an unintended position. Moreover, the desired posture which should receive a muscular strength assistance force can be taken in the state which has not received the restriction | limiting of operation | movement. As a result, according to the present embodiment, it is possible to effectively prevent the supply of the muscle force assisting force from being started at an unintended position and stably receive the muscle force assisting force at a desired posture. can do.

In the present embodiment, the sensor 80 includes the relative displacement between the first wearing tool 20 and the second wearing tool 25, the relative speed between the first wearing tool 20 and the second wearing tool 25, the first wearing tool 20 and the second wearing tool 25. The relative acceleration of the mounting tool 25 and one or more of the relative jerk of the first mounting tool 20 and the second mounting tool 25 are detected. The wearer can easily change the relative displacement, the relative speed, the relative acceleration, the relative jerk, and the like of the second wearing tool 25 with respect to the first wearing tool 20. Therefore, when a wearer wants to receive assistance of muscular strength, the intention display for starting muscular strength assistance can be performed easily. Thereby, supply of a muscular strength auxiliary force can be started with high accuracy at an intended position.

Further, in the present embodiment, the sensor determines that the relative position of the second wearing tool 25 with respect to the first wearing tool 20 is within a predetermined range, and the index detected by the sensor 80 is predetermined over a predetermined period. When it is determined that the condition is satisfied, the relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20 is restricted. The muscular strength assistance is usually required when the relative position of the second wearing tool 25 with respect to the first wearing tool 20 is within a predetermined range. Accordingly, by setting the relative position of the second wearing tool 25 relative to the first wearing tool 20 within a predetermined range as a condition for starting muscle strength assistance, muscle strength assistance is started at an unintended position. Can be prevented more effectively.

Furthermore, in the present embodiment, the muscle force assisting apparatus 10 further includes a posture sensor 81 that detects the posture of the muscle force assisting device 10. Then, the control unit 13 adjusts the predetermined range according to the detection result of the attitude sensor 81. The posture of the wearer who needs the muscular strength assist changes depending on the overall posture of the wearer. That is, the relative positions of the first wearing tool 20 and the second wearing tool 25 that require muscle strength assistance change according to the posture of the muscle strength assisting apparatus 10. Therefore, the predetermined range in which the second wearing tool 25 should be positioned with respect to the first wearing tool 20 as a condition for starting muscle strength assistance is determined in consideration of the posture of the muscle force assisting device 10 detected by the posture sensor 81. As a result, it is possible to more effectively prevent muscular power assistance from being started at an unintended position, and more reliably start the supply of muscular power assistance when intended.

Furthermore, in the present embodiment, the muscle force assisting device 10 further includes a posture sensor that detects the posture of the muscle force assisting device 10. And the control part 13 adjusts at least one of the length of the period when the start condition and the start condition are satisfy | filled according to the detection result of the attitude | position sensor 81. FIG. The ease of movement of the wearer in a posture requiring muscular strength assistance varies depending on the overall posture of the wearer. That is, the ease of relative movement of the first wearing tool 20 and the second wearing tool 25 in a state where muscle strength assistance is required varies depending on the posture of the muscle strength assisting apparatus 10. Therefore, the condition of the relative strength of the first wearing tool 20 and the second wearing tool 25 as a condition for starting muscle strength assistance and the length of the period in which the condition should be satisfied are detected by the posture sensor 81. By determining the position in consideration of the posture, it is possible to more effectively prevent the start of the muscle strength assistance at an unintended position, and it is possible to more reliably start the muscle strength assistance when intended. . In addition, when the wearer of the muscle strength assisting apparatus 10 falls or the like, the supply of the muscle strength assisting force can be prevented from being started.

In the embodiment as described above, the control unit 13 performs the second operation on the first wearing device 20 in a state where the relative movement of the second wearing device 25 in one direction with respect to the first wearing device 20 is restricted. The second mounting tool 25 tries to move in the other direction relative to the first mounting tool 20 and the index related to the relative movement in the other direction which is opposite to the one direction of the mounting tool 25. When it is determined that at least one of the indices related to the force satisfies a predetermined release condition, the restriction on the relative movement of the first wearing tool 20 in one direction with respect to the first wearing tool 20 is released. That is, according to the present embodiment, the index is related to the movement in the direction opposite to the direction in which the movement is restricted by the muscle force assist, and the direction in which the movement is regulated in the opposite direction from the direction in which the movement is restricted by the muscle strength assistance. When at least one of the indices related to the force satisfies the predetermined release condition, the muscle strength assistance is released. In the state of receiving the strength assisting force, an operation opposite to the direction in which the operation is restricted by the strength assisting force or a force for performing the operation is normally generated unless the wearer of the strength assisting device intends. Absent. Therefore, by canceling the muscular power assist based on such an operation or a force for performing the operation, it is possible to effectively prevent the muscular power assist from being released unintentionally.

In one embodiment as described above, the control unit 13 controls the first wearing tool 20 with respect to the first wearing tool 20 in a state where relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20 is restricted. When it is determined that the index related to the force to move the second wearing tool 25 relative to one direction satisfies the predetermined release condition, the second wearing tool 25 moves toward one direction with respect to the first wearing tool 20. Release the restriction of relative movement. That is, according to the present embodiment, it is related to an index related to a force for performing an operation regulated by muscle strength assistance, in other words, related to a force for performing an operation that can be performed by releasing the regulation by the muscle strength assistance force. The muscle strength assistance is released when the index that has been fulfilled the predetermined release condition. Therefore, the release condition is a condition related to the force for performing the operation to be performed after releasing the restriction by the muscle force assist, and in other words, for performing a very direct operation for releasing the muscle force assist. It can be said that it is a condition regarding power. Therefore, by canceling the muscular power assistance based on the force for performing such an operation, it is possible to effectively prevent the muscular power assistance from being released unintentionally.

Further, in the present embodiment, the predetermined release condition is that a force to move the second mounting tool 25 relative to the first mounting tool 20 in one direction is a second mounting tool with respect to the first mounting tool 20. It is assumed that the force is greater than the force that restricts the relative movement in one direction. That is, when a force larger than the force that holds the second wearing tool 25 in a fixed position with respect to the first wearing tool 20 is detected, the muscle strength assistance is released. In order to satisfy such a condition, a large force that intentionally resists the strength assisting force is applied. Therefore, it is possible to more effectively prevent the muscle strength assistance from being released unintentionally.

Further, in the present embodiment, the sensor 80 includes the relative displacement of the first mounting tool 20 and the second mounting tool 25, the relative speed of the first mounting tool 20 and the second mounting tool 25, the first mounting tool 20 and the second mounting tool 25. One or more of the relative acceleration of the wearing tool 25, the relative jerk of the first wearing tool 20 and the second wearing tool 25, the myoelectric potential of the wearer, and the degree of bulging of the wearer's muscle are detected. The wearer can easily change the relative displacement, the relative speed, the relative acceleration, the relative jerk, the myoelectric potential, the degree of bulging, and the like of the second wearing tool 25 with respect to the first wearing tool 20. Therefore, when a wearer wants to stop supply of muscular strength assistance, the intention display for canceling muscular strength assistance can be performed easily. Thereby, when intended, muscular strength assistance can be canceled more reliably.

Furthermore, in the present embodiment, the muscle force assisting apparatus 10 further includes a posture sensor 81 that detects the posture of the muscle force assisting device 10. Then, the control unit 13 adjusts a predetermined release condition according to the detection result of the attitude sensor 81. The ease of operation of the wearer of the muscle force assisting device 10 and the ease of applying a force for performing the operation vary depending on the overall posture of the wearer. Therefore, the condition of the relative strength of the first mounting tool 20 and the second mounting tool 25 and the condition of the force for performing the relative motion as the conditions for releasing the muscle strength assist of the muscle strength assisting apparatus 10 detected by the posture sensor 81 are described. By determining in consideration of the posture, it is possible to more effectively prevent unintentional release of muscle strength assistance, and more reliably release muscle strength assistance when intended. In addition, when the wearer of the muscle strength assisting apparatus 10 falls or the like, the muscle strength assist can be released.

Furthermore, in the present embodiment, the muscle force assisting apparatus 10 further includes an abnormality detection sensor 82 for detecting an abnormality. When the abnormality detection sensor 82 detects an abnormality in a state where the relative movement of the second wearing tool 25 in one direction with respect to the first wearing tool 20 is restricted, the control unit 13 detects the first wearing tool 20. The restriction | limiting of the relative operation | movement to the one direction of the 2nd mounting tool 25 with respect to is cancelled | released. According to such a strength assisting device 10, for example, when an abnormality occurs in the strength assisting device 10, when an abnormality occurs in the wearer of the strength assisting device 10, or when an abnormality occurs around the strength assisting device 10 For example, the supply of muscle strength assistance can be canceled. That is, it is possible to effectively avoid the restriction of the free movement of the wearer with the assistance of the muscular strength at the time of abnormality.

Furthermore, in the present embodiment, the abnormality detection sensor 82 includes an electromyograph that detects the wearer's myoelectric potential, a photo reflector that detects the degree of the wearer's muscle elevation, a light sensor that detects brightness, and heat. It includes one or more of a thermal sensor for detecting, a posture sensor for detecting posture, and a distance sensor for detecting a distance from surrounding objects. An abnormality of the wearer can be detected with an electromyograph or a photo reflector, and an abnormality of the surrounding environment can be detected with an optical sensor or a thermal sensor. Further, according to the posture sensor and the distance sensor, it is possible to detect an abnormality related to the posture of the wearer, the position of the wearer, and the like. According to such an abnormality detection sensor 82, it is possible to detect an abnormal state in which a wearer's free movement should not be restricted by assisting muscle strength.

As mentioned above, although this invention was demonstrated based on one embodiment which illustrates, this invention is not limited to these embodiment, In addition, it can implement in a various aspect. Hereinafter, an example of modification will be described. In the following description, for parts that can be configured in the same manner as in the above-described embodiment, the same reference numerals as those used for the corresponding parts in the above-described embodiment are used, and redundant description is omitted.

In the embodiment described above, a specific example of the configuration of the muscle force assisting apparatus 10 has been described, but the configuration is not limited thereto. Even when the control unit 13 controls a muscle force assisting device having a configuration different from that of the above-described muscle force assisting device, the same function and effect as those described above can be enjoyed. 12 to 14 show a modified example of the muscle strength assisting apparatus 10. In the examples shown in FIGS. 12 to 14, the switching means 40 is disposed on the outer side of the output shaft member 76 and the shoulder joint. In the muscular strength assisting apparatus 10 shown in FIGS. 12 to 14, the assist mechanism 15 is not capable of rotating relative to the switching means 40 having the first member 41 and the second member 46 and the first member 41 of the switching means 40. And an output shaft member 76 connected to the. The first member 41 is rotatable about a first rotation axis (assist axis) d1. Further, the second member 46 can swing about a swing axis parallel to the first rotation axis d1. Further, the actuator 31 and the adjusting unit 37 connected to the second member 46 are disposed together with the switching unit 40 on a plane orthogonal to the first rotation axis d1.

In the above-described embodiment, the specific configuration of the switching unit 40 has been described. However, the above-described configuration is merely an example. In the above-described embodiment, the second member 46 constitutes the band brake mechanism 39 together with the first member 41, and the swinging

members

47 a and 47 b of the second member 46 are arranged in the radial direction with respect to the rotary drum 42 constituting the first member 41. Although the example which contact | abuts from the outer side was shown, it is not restricted to this example, The rotating drum 42 is formed in a cylinder shape, The 1st member 41 arrange | positioned inside the rotating drum 42 is the radial direction inner side to the rotating drum 42. The relative rotation between the first member 41 and the second member 46 may be restricted by abutting.

Further, the switching means 40 may be configured as a disc brake mechanism. Specifically, the second member 46 may abut on the first member 41 formed in a disc shape from a direction parallel to the rotation axis of the first member 41. In this example, when the second member 46 abuts on the first member 41, the relative movement of the second mounting tool 25 with respect to the first mounting tool 20 is restricted.

Furthermore, the switching means 40 may be configured as a ratchet mechanism. As a specific example, ratchet teeth may be formed on the outer peripheral surface of the first member 41, and a claw member forming the second member 46 may come into contact with or separate from the first member from the outside in the radial direction. In this example, when the second member 46 approaches the first member 41, the claw engages with the ratchet teeth, the relative rotation of the first member 41 and the second member 46 in one direction is restricted, and the first You may make it the relative rotation to the other direction of the member 41 and the 2nd member 46 is accept | permitted. At this time, as a rotational braking mode, the relative movement of the second mounting tool 25 in one direction with respect to the first mounting tool 20 is restricted, and the relative movement of the second mounting tool 25 in the other direction with respect to the first mounting tool 20 is allowed. Is done. On the other hand, when the second member 46 is separated from the first member 41, free relative rotation of the first member 41 and the second member 46 is ensured. At this time, as a free rotation mode, free relative movement of the second mounting tool 25 with respect to the first mounting tool 20 is allowed.

Furthermore, in the above-described embodiment, the example in which the first wearing tool 20 and the second wearing tool 25 are configured to be rotatable relative to each other about the assist axis d1 is shown, but the present invention is not limited to this example. The relative motion of the first mounting tool 20 and the second mounting tool 25 is not particularly limited, and may be a linear motion, for example.

In addition, although the some modification with respect to one Embodiment mentioned above has been demonstrated above, naturally, it is also possible to apply combining several modifications suitably.

Claims

A first wearing tool attached to one of the two parts of the human body;
A second wearing tool that is rotatable relative to the first wearing tool about an assist axis, and is attached to the other of the two parts;
An assist mechanism capable of restricting relative rotation in at least one direction around the assist axis of the second wearing tool with respect to the first wearing tool;
Indices related to relative rotation of the first wearing tool and the second wearing tool around the assist axis, and a force related to relative rotation of the first wearing tool and the second wearing tool A sensor for obtaining at least one of the indicators;
A control unit for controlling the assist mechanism,
The control unit is opposite to the one direction of the second mounting tool relative to the first mounting tool in a state where relative rotation of the second mounting tool relative to the first mounting tool in the one direction is restricted. When at least one of an index related to relative rotation in the other direction that is a direction and an index related to a force for relatively rotating the second mounting tool relative to the first mounting tool satisfies a predetermined release condition A muscle force assisting device that controls the assist mechanism so as to release the restriction on the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool when the determination is made.
The predetermined release condition is that a force to rotate the second mounting tool relative to the first mounting tool in the one direction is applied to the one direction of the second mounting tool relative to the first mounting tool. The muscular strength assisting device according to claim 1, wherein the muscular strength assisting device is greater than a force that regulates relative rotation.
The indicator includes a relative displacement of the first wearing tool and the second wearing tool, a relative speed of the first wearing tool and the second wearing tool, a relative acceleration of the first wearing tool and the second wearing tool, The muscle force assisting device according to claim 1, comprising one or more of a relative jerk of the first wearing device and the second wearing device, a myoelectric potential of the wearer, and a degree of bulging of the wearer's muscle.
A posture sensor for detecting the posture of the muscle force assisting device;
The muscle force assisting apparatus according to any one of claims 1 to 3, wherein the control unit adjusts the predetermined release condition according to a detection result of the posture sensor.
It further includes an abnormality detection sensor for detecting an abnormality,
When the abnormality detection sensor detects an abnormality in a state where relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit detects the abnormality with respect to the first wearing tool. The muscle force assisting apparatus according to any one of claims 1 to 4, wherein the assist mechanism is controlled so as to cancel the restriction on the relative rotation of the second wearing tool in the one direction.
It further includes an abnormality detection sensor for detecting an abnormality,
In the state where the relative rotation of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit determines that the release condition is satisfied when the abnormality detecting sensor detects an abnormality. The assist mechanism is controlled so as to maintain regulation of relative rotation of the second wearing tool in the one direction with respect to the first wearing tool even if the determination is made. Muscle strength assist device.
The abnormality detection sensor is an electromyograph that detects the myoelectric potential of the wearer, a photo reflector that detects the degree of the muscles of the wearer, a light sensor that detects brightness, a heat sensor that detects heat, and a posture detection The muscular strength assisting device according to claim 5 or 6, comprising at least one of a posture sensor for detecting a distance to the surrounding object and a distance sensor for detecting a distance to a surrounding object.
A first wearing tool attached to one of the two parts of the human body;
A second mounting tool operable relative to the first mounting tool and attached to the other of the two parts;
An assist mechanism capable of restricting the relative movement of the second wearing tool in at least one direction with respect to the first wearing tool;
To obtain at least one of an index related to the relative motion of the first mounting tool and the second mounting tool, and an index related to a force for causing the first mounting tool and the second mounting tool to move relative to each other. With sensors,
A control unit for controlling the assist mechanism,
In the state where the relative movement of the second wearing tool relative to the first wearing tool in the one direction is restricted, the control unit is configured to change the one direction of the second wearing tool relative to the first wearing tool. Is a predetermined release condition when at least one of the index related to the relative movement in the opposite direction and the index related to the force to move the second mounting tool relative to the first mounting tool is a predetermined release condition A muscle force assisting device that controls the assist mechanism so as to release the restriction of the relative movement of the second wearing tool in the one direction with respect to the first wearing tool when it is determined that the condition is satisfied.
The predetermined release condition is that the direction of the second mounting tool relative to the first mounting tool is a force that causes the second mounting tool to move relative to the first mounting tool in the one direction. The muscular strength assisting device according to claim 8, wherein the muscular strength assisting device is greater than a force that regulates a relative movement to the muscular body.
The indicator includes a relative displacement of the first wearing tool and the second wearing tool, a relative speed of the first wearing tool and the second wearing tool, a relative acceleration of the first wearing tool and the second wearing tool, 10. The muscle force assisting device according to claim 8, comprising one or more of a relative jerk of the first wearing device and the second wearing device, a myoelectric potential of the wearer, and a degree of bulging of the wearer's muscle.
A posture sensor for detecting the posture of the muscle force assisting device;
The muscle force assisting apparatus according to any one of claims 8 to 10, wherein the control unit adjusts the predetermined release condition according to a detection result of the posture sensor.
It further includes an abnormality detection sensor for detecting an abnormality,
When the abnormality detection sensor detects an abnormality in a state in which the relative movement of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit applies to the first wearing tool. The muscle force assisting apparatus according to any one of claims 8 to 11, wherein the assist mechanism is controlled so as to cancel the restriction of the relative movement of the second wearing tool in the one direction.
It further includes an abnormality detection sensor for detecting an abnormality,
In the state where the relative movement of the second wearing tool in the one direction with respect to the first wearing tool is restricted, the control unit satisfies the release condition when the abnormality detecting sensor detects an abnormality. The assist mechanism is controlled so as to maintain the restriction of the relative movement of the second wearing tool in the one direction with respect to the first wearing tool even if it is determined that the second wearing tool is not. The muscular strength assisting device according to 1.
The abnormality detection sensor is an electromyograph that detects the myoelectric potential of the wearer, a photo reflector that detects the degree of the muscles of the wearer, a light sensor that detects brightness, a heat sensor that detects heat, and a posture detection The muscle force assisting device according to claim 12 or 13, comprising at least one of a posture sensor for detecting a distance and a distance sensor for detecting a distance to a surrounding object.