WO2024095577A1 - Dispositif et procédé pour améliorer une fonction de mouvement - Google Patents

Dispositif et procédé pour améliorer une fonction de mouvement Download PDF

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Publication number
WO2024095577A1
WO2024095577A1 PCT/JP2023/030629 JP2023030629W WO2024095577A1 WO 2024095577 A1 WO2024095577 A1 WO 2024095577A1 JP 2023030629 W JP2023030629 W JP 2023030629W WO 2024095577 A1 WO2024095577 A1 WO 2024095577A1
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subject
movement
unit
control
joint
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PCT/JP2023/030629
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English (en)
Japanese (ja)
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嘉之 山海
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Cyberdyne株式会社
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2/72—Bioelectric control, e.g. myoelectric
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a device and method for improving movement function, and is particularly suitable for use in the treatment and rehabilitation of subjects with functional disorders of the nervous system and physical system.
  • Such wearable motion-assist devices can not only assist the subject in moving according to their will, but can also be used, for example, in medical treatments and rehabilitation aimed at restoring motor function.
  • wearable motion-assist devices like those described above.
  • the wearable motion-assist device functions based on signals from the subject's nervous system and moves the body, which has impaired motor function, the subject ends up moving their musculoskeletal system of their own volition, and information from the sensory system flows to the nervous system through both inside and outside the body, creating a two-way biofeedback loop between the nervous system and the musculoskeletal system.
  • Non-Patent Document 1 the synaptic connections of the brain, nervous system, and muscle systems are strengthened, relearning and functional regeneration are promoted, and the physical functions of subjects with brain, nervous system, or muscle diseases are improved.
  • connectome a comprehensive map of connections within the nervous system
  • connectomics analysis research
  • the present invention has been made in consideration of the above points, and proposes a movement function improvement device and movement function improvement method that can improve the motor functions of the brain, nerves, and muscles by having the subject repeat voluntary movements.
  • the present invention includes an operating mechanism unit that is used to be integrated with a subject and has a drive unit that actively or passively operates in conjunction with the subject's physical movements, a signal detection unit that detects changes in ionic current transmitted from the subject's nervous system to the muscular system as bioelectric potential signals that appear on the skin surface, a joint surroundings detection unit that detects physical quantities around the joints associated with the subject's physical movements based on the output signal from the drive unit, an optional control unit that controls the drive unit so that a movement phenomenon reflects the subject's intention to move based on the bioelectric potential signals and the physical quantities around the joints, and a data storage unit that stores reference parameters for each of the phases, which are a series of smallest units of movement that make up the subject's movement pattern classified as a task, and that determines the phase of the subject's task by comparing the physical quantities around the joints with the reference parameters stored in the data storage unit.
  • the device is equipped with an autonomous control unit that estimates the torque and controls the drive unit to generate power according to the phase, and a synthesis control unit that stores the control ratios of the voluntary control unit and the autonomous control unit set for each phase of each task in a data storage unit and synthesizes the control states by the voluntary control unit and the autonomous control unit to achieve a control ratio according to the phase.
  • the synthesis control unit compensates for the physical impedance of the entire system consisting of the entire device and the subject, based on the physical quantities around the joints, in accordance with the physical characteristics of the entire system including the subject's body characteristics and gravity, and feedback-adjusts the synthesized control state while correcting the difference by the motion command from the brain and nervous system based on the bioautonomic control loop interactively promoted between the subject's body and the motion mechanism unit so that the difference between the subject's motion intention and the motion phenomenon is minimized.
  • the motor function of the subject's brain, nerves, and muscles can be improved by correcting the difference between the movement commands from the brain and nervous system and the actual movement phenomenon.
  • the present invention also includes a center of gravity detection unit that detects the center of gravity of the subject based on changes in load on the soles of the feet of the subject, and a walking state recognition unit that recognizes the walking state of the subject based on the control state by the synthesis control unit and the center of gravity position by the center of gravity detection unit, and the optional control unit controls the drive unit to produce a movement phenomenon that reflects the subject's intention to move based on the bioelectric potential signal, physical quantities around the joints, and the walking state recognized by the walking state recognition unit.
  • the movement function improvement device enables the subject to walk safely even when the subject has difficulty moving the lower limbs on his or her own, and at the same time, when the voluntary control unit controls the drive unit, the accuracy of the movement phenomenon that reflects the subject's movement intention can be improved.
  • the smallest motor control unit for realizing voluntary movements caused by the will of the subject is set as a minimum voluntary motor control unit consisting of the brain nervous system, synaptic connections, and muscular system, and a bioautoregulation loop is established for each minimum voluntary motor control unit that forms bodily movements that are linked to realize a motor phenomenon using a movement mechanism.
  • the minimum voluntary movement control unit is explicitly incorporated into the process of function improvement and treatment based on the basic theory of the biological self-regulation loop by the movement mechanism, which is influenced by the diseased area and disease cause. This has an effect on the other minimum voluntary movement control units, which work in sync with the movement of the movement mechanism, and the functions of each minimum voluntary movement control unit are strengthened and adjusted in sync with the movement of the movement mechanism to achieve the target movement, improving the function of the brain, nerves, and muscles.
  • the joint detection unit detects the absolute angle between the rotor frame and the stator frame of the drive unit in the motion assist device, the rotation angle, the angular velocity, the angular acceleration, and the drive torque as physical quantities around the joint.
  • the operating mechanism unit when an operating mechanism unit having a drive unit that is driven actively or passively in conjunction with the subject's physical movements is used as one with the subject, the operating mechanism unit includes an optional control step of controlling the drive unit so as to produce a movement phenomenon that reflects the subject's intention to move, based on a bioelectric potential signal that appears on the skin surface representing a change in ionic current transmitted from the subject's nervous system to the muscular system, and on physical quantities around the joints associated with the subject's physical movements that are detected based on an output signal from the drive unit, and a data storage unit that stores reference parameters for each of the phases, which are a series of minimum movement units that constitute the subject's movement pattern classified as a task, and controls the drive unit to generate power according to the phase by comparing the physical quantities around the joints with the reference parameters stored in the data storage unit.
  • a synthesis control step in which the control ratio of the voluntary control step and the autonomous control step set for each phase of each task is stored in a data storage unit, and the control state of the voluntary control step and the autonomous control step is synthesized so as to obtain a control ratio corresponding to the phase.
  • the physical impedance of the entire system consisting of the entire device and the subject is compensated for in accordance with the physical characteristics of the entire system including the human body characteristics of the subject, and gravity, based on the physical quantities around the joints, and the synthesis control state is feedback-adjusted while correcting the difference by the motion command from the brain and nervous system based on the bioautoregulation loop interactively promoted between the subject's body and the motion mechanism, so that the difference between the subject's motion intention and the motion phenomenon is minimized.
  • the motor function of the subject's brain-nerve-muscle system can be improved by correcting the difference between the movement command from the brain-nerve-muscle system and the actual movement phenomenon.
  • a movement function improvement device and a movement function improvement method that can improve the motor function of the subject's brain-nerve-muscle system by correcting the difference between the movement command from the brain-nerve-muscle system and the actual movement phenomenon when the subject repeatedly performs voluntary movements using a movement mechanism.
  • FIG. 1 is a conceptual diagram for explaining the basic theory of the bioautoregulation loop according to the present invention.
  • FIG. 2 is a conceptual diagram illustrating a minimum voluntary movement control unit.
  • FIG. 1 is a conceptual diagram showing a transition state when the basic theory of the bioautoregulation loop described above is applied to a subject.
  • 1 is a schematic diagram showing an external configuration of a lower limb type motion function improving device according to an embodiment of the present invention;
  • FIG. 5 is a block diagram showing the configuration of a control system of the motion function improving device of FIG. 4.
  • FIG. 2 is a conceptual diagram showing an example of each task and each phase stored in a data storage unit.
  • 13 is a schematic diagram showing the external configuration of a motion function improving device including a waist-type motion mechanism unit in another embodiment.
  • FIG. 8 is a schematic diagram showing a main configuration of the operation function improving device of FIG. 7; 8 is a schematic diagram showing the operation state and the movable range of the motion improving device of FIG. 7; 13 is a schematic diagram showing the external configuration of a motion function improving device including a single-joint type motion mechanism unit in another embodiment.
  • FIG. 11 is a schematic diagram showing a state in which the motion function improving device of FIG. 10 is applied to the knee joint of the right leg of a subject. 11 is a schematic diagram showing a state in which the motion function improving device of FIG. 10 is applied to the elbow joint of the left arm of a subject.
  • FIG. 1 is a diagram showing the state in which the movement function improving device is attached to a subject.
  • FIG. 1 is a diagram showing the state in which the movement function improving device is worn by a subject.
  • the human body's motor system is made up of the central nervous system (brain and spinal cord), the peripheral nervous system, and the musculoskeletal system.
  • the central nervous system brain and spinal cord
  • a movement mechanism having a drive unit that drives actively or passively in conjunction with the subject's physical movements is used to demonstrate that when the subject performs a specific movement, command signals (efferent nerve signals) that cause the subject to move in accordance with their motor intention, and sensory signals (afferent nerve signals) that are generated when the subject is able to move, travel between the central system (brain and spinal cord) and peripheral systems (motor nerves, muscular system, and sensory nerves), improving and reconstructing the physical functions required for voluntary movement.
  • command signals efferent nerve signals
  • sensory signals afferent nerve signals
  • the movement function improvement method includes a voluntary control step for making the subject move in accordance with his/her movement intention, an autonomous control step for generating a preset ideal power, and an impedance control step (including gravity compensation control) for reducing the sense of difficulty in movement caused by the load and viscous friction of the movement mechanism itself, allowing the subject to feel as if the movement mechanism is a part of his/her body, and making it possible to achieve functional fusion and integration between the subject and the movement mechanism.
  • a voluntary control step for making the subject move in accordance with his/her movement intention
  • an autonomous control step for generating a preset ideal power
  • an impedance control step including gravity compensation control
  • the synthesis control step that synthesizes the control states from the voluntary control step and the autonomous control step so that the control ratio corresponds to the phase of the task not only executes the impedance control step described above, but also feedback-adjusts the synthesized control state while simultaneously correcting the difference by the movement command from the nervous system based on the bioautoregulation loop that is interactively promoted between the subject's body and the movement mechanism, so that the difference between the subject's movement intention and the motor phenomenon is minimized.
  • This biological self-regulation loop is formed by activating proprioceptors called muscle spindles and tendon spindles in muscles and tendons in sync with nervous system command information transmitted from the brain through the spinal cord to the motor nerves and muscle contraction, and this activation information becomes information for muscle contraction and is fed back to the central nervous system (spinal cord and brain) via the sensory nerves, and the feedback information is used to strengthen and adjust the synaptic connections between nerves and between nerves and muscles, in a circular flow that is repeated.
  • a minimum voluntary movement control unit consisting of the cranial nervous system (brain and spinal cord), synaptic connections (nerve-nerve synaptic connections and nerve-muscle synaptic connections), and muscular system (muscle fibers (extrafusal muscle fibers connected to alpha motor neurons and intrafusal muscle fibers connected to gamma motor neurons), tendon fibers, muscle spindles, tendon spindles, etc.) can be configured as the minimum movement control unit to realize voluntary movements caused by human will to establish a biological autoregulation loop.
  • the minimum voluntary movement control unit is a control unit for realizing the minimum voluntary movement, which is formed through the pathway of the cranial nervous system (brain, spinal cord, motor nerves), muscle fibers, movement (reaction), muscle spindles, tendon spindles, and the cranial nervous system (sensory nerves, spinal nerves, brain) as shown in Figure 2.
  • the minimum voluntary movement control unit that creates a specific joint movement is configured in multiple ways in conjunction with other minimum voluntary movement control units that are related to the minimum voluntary movement unit in question while linking with other joint movements, thereby achieving the desired overall movement.
  • the synaptic connections between the nerves in the minimal voluntary motor control units, and between the nerves and muscles are adjusted and strengthened within the group of minimal voluntary motor control units related to the target overall movement and within the overall adjustment system, such as the unconscious adjustment of postural balance.
  • flexion and extension muscle groups composed of the smallest voluntary movement control units
  • a movement mechanism such as the lower limb type, single joint type, waist type, hand type, and finger type described below
  • the minimum voluntary movement control unit is considered to be a unit that promotes synaptic plasticity, neuroplasticity, and muscular plasticity, which are basic neural functions for improving the function of the brain, nerves, and muscles, the process for activating the subject's self-healing ability in response to the disease or symptoms (relaxation, stiffness, tremors, rigidity, ataxia, simultaneous contraction, etc.) will differ for each minimum voluntary movement control unit.
  • the unit components of the minimum voluntary movement control unit for improving the motor functions of the brain-nerve-muscle system differ for each disease or symptom, and the relevant parts and ranges of other minimum voluntary movement control units related to the minimum voluntary movement control unit also differ, so it is possible to construct a treatment control strategy by using it as the minimum unit when making various adjustments to the movement mechanism according to the subject's condition (such as tuning parameters to realize movements according to the subject's movement intentions and establish a bioautoregulation loop).
  • signals derived from the nervous system linked to voluntary will obtained from a pathway affected by the diseased area or cause of disease are detected, and then functional improvements are implemented for each of the minimum voluntary movement control units that make up the overall voluntary movement that is the target, focusing on the minimum voluntary movement control units involved in that pathway.
  • the starting point for a human to perform voluntary movements is the expression of the will to perform a voluntary movement in the cerebrum, and the nervous system signals of that will to move are transmitted from the brain to the spinal cord, motor nerves, and muscle fibers, ultimately achieving the desired movement.
  • this process from the expression of will to the generation of a movement, is too rough, making it difficult to explicitly grasp the influence of the diseased area and disease cause on voluntary movements from the brain/nervous system through synaptic connections to the muscular system, including the sensory nerves of muscle fibers and muscle spindles and the gamma loop of gamma motor neurons. It is also difficult to explicitly perform treatment that takes into account the influence of the diseased area and disease cause. For this reason, in actual clinical settings, training is limited to the repetition of simple movements.
  • Figures 3 (A) to (E) show the transitional states when the basic theory of the bioautoregulation loop described above is applied to a subject.
  • Figures 3 (A) Starting from a state before treatment where the movement mechanism is not attached ( Figure 3 (A)), in the early stages of treatment, sensory nervous system information from the musculoskeletal system caused by joint movement using the movement mechanism is fed back to the central nervous system (brain and spinal cord) ( Figure 3 (B)).
  • the movement function improvement device 1 is used to be integrated with the subject, and is configured by incorporating a control system 3 (FIG. 5) that has the functional configuration of the basic theory of the above-mentioned voluntary control step, autonomous control step, impedance control step, and bio-self-control loop in a movement mechanism section 2 having a drive mechanism that drives actively or passively in conjunction with the subject's physical movements.
  • a control system 3 FIG. 5
  • the movement function improvement device 1 is a device that applies to the subject a driving force that is autonomously controlled in accordance with each walking phase that constitutes the walking movement of the subject, and a driving force that is voluntarily controlled based on a bioelectric potential signal. It detects the bioelectric potential signal and the movement angles of the hip joint and knee joint of the subject, and operates to apply a driving force from a drive mechanism based on the detection signal.
  • the operating mechanism 2 consists of a waist frame 10 attached to the waist of the subject, a lower limb frame 11 attached to the lower limbs of the subject, a number of drive units (drive mechanisms) 12L, 12R, 13L, 13R provided on the lower limb frame 11 in correspondence with the joints of the subject, and cuffs 14L, 14R, 15L, 15R as auxiliary force application members attached to the lower limb frame 11 so that the forces of the drive units 12L, 12R, 13L, 13R act on the subject from the front or rear.
  • drive units drive mechanisms
  • the movement function improvement device 1 has a control device 30 (see FIG. 5 below) that controls the drive sections (drive mechanisms) 12L, 12R, 13L, and 13R based on signals resulting from the subject's lower limb movements, a rear unit 16 equipped with the control device 30, and an operation unit (not shown) used by the caregiver.
  • a control device 30 controls the drive sections (drive mechanisms) 12L, 12R, 13L, and 13R based on signals resulting from the subject's lower limb movements
  • a rear unit 16 equipped with the control device 30, and an operation unit (not shown) used by the caregiver.
  • the control device 30 can drive the lower limb frames 11 relatively around the output axes of the actuators of the drive units 12L, 12R, 13L, and 13R that correspond to the joints of the subject.
  • Each drive unit 12L, 12R, 13L, and 13R is equipped with a group of sensors for detecting the drive torque and rotation angle of the actuator.
  • the rear unit 16 is equipped with a battery unit (not shown) for supplying power for driving the entire device.
  • the waist frame 10 is a generally C-shaped member in plan view that opens forward and can receive the subject's waist and enclose it from its rear to both left and right sides. It has a rear waist frame part 17 that is located behind the subject, and a left waist frame part 18L and a right waist frame part 18R that extend forward while curving from both ends of the rear waist frame part 17.
  • the left and right hip frame sections 18L and 18R are connected to the rear hip frame section 17 via an opening adjustment mechanism (not shown).
  • the bases of the left and right hip frame sections 18L and 18R are inserted and held within the rear hip frame section 17 so that they can slide left and right.
  • the lower limb frame 11 has a right lower limb frame 19R that is attached to the right lower limb of the subject, and a left lower limb frame 19L that is attached to the left lower limb of the subject.
  • the left lower limb frame 19L and the right lower limb frame 19R are formed symmetrically.
  • the left lower leg frame 19L has a left thigh frame 20L located on the left side of the subject's left thigh, a left lower leg frame 21L located on the left side of the subject's left lower leg, and a left leg lower end frame 22L on which the sole of the subject's left leg (the sole of the left shoe, if shoes are worn) is placed.
  • the left lower leg frame 19L is connected to the tip of the left waist frame section 18L via a waist connection mechanism 23L.
  • the right lower leg frame 19R has a right thigh frame 20R located on the right side of the subject's right thigh, a right lower leg frame 21R located on the right side of the subject's right lower leg, and a right leg lower end frame 22R on which the sole of the subject's right leg (the sole of the right shoe if shoes are worn) is placed.
  • the right lower leg frame 21R is connected to the tip of the right waist frame section 18R via a waist connection mechanism 23R.
  • the waist frame 10 (rear waist frame 17, right waist frame 18R, and left waist frame 18L) and the lower limb frame 11 (right lower limb frame 19R and left lower limb frame 19L) have a frame body formed into a long, thin plate shape made of metal such as stainless steel or carbon fiber, and are formed to be lightweight and highly rigid.
  • metal such as stainless steel or carbon fiber
  • CFRP carbon fiber reinforced plastic
  • extra super duralumin, an aluminum alloy are used as strength members.
  • Cuffs 14L, 14R, 15L, and 15R are provided on the left thigh frame 20L, the right thigh frame 20R, the left lower leg frame 21L, and the right lower leg frame 21R, one each.
  • the cuffs (hereafter referred to as "thigh cuffs") 14L, 14R provided on the left thigh frame 20L and right thigh frame 20R are supported by thigh cuff support mechanisms 24L, 24R attached to the lower ends of the thigh frame bodies.
  • the thigh cuffs 14L, 14R have an arc-shaped attachment surface that can be fitted and placed against the subject's thigh.
  • a fitting member is attached to the attachment surface of the thigh cuffs 14L, 14R so that they can fit snugly against the subject's thigh without any gaps.
  • the cuffs 15L, 15R provided on the left crus frame 21L and right crus frame 21R are supported by crus cuff support mechanisms 25L, 25R attached to the upper ends of the upper elements.
  • the crus cuffs 15L, 15R have an arc-shaped attachment surface that can be fitted and placed against the subject's crus.
  • a fitting member is attached to the attachment surface of the crus cuffs 15L, 15R so that they can fit snugly against the subject's crus.
  • These special shoes 26L, 26R are made up of a pair of left and right shoes that hold the subject's feet in a tight fit from the toes to the ankles, and can measure load using a floor reaction force sensor (FRF sensor 60, described below) attached to the sole of the foot.
  • FPF sensor 60 floor reaction force sensor
  • the movement function improvement device 1 can control and assist walking movements based on bioelectric potential signals that accompany voluntary nervous system command signals according to the intentions of the subject wearing the movement mechanism unit 2.
  • Control system in the motion function improving device Fig. 5 is a block diagram showing the configuration of the control system 3 of the motion function improving device 1.
  • the control system 3 of the motion function improving device 1 has a control device 30 that is responsible for overall control of the entire system, a data storage unit 31 in which various data is stored in a database so as to be readable and writable in response to commands from the control device 30, and drive units 12L, 12R, 13L, and 13R that actively or passively drive in conjunction with the lower limb movement of the subject.
  • the control system 3 is also provided with a joint detection unit 40 having a potentiometer 32, an absolute angle sensor 33, and a torque sensor 34, and detects the physical quantities around the joints associated with the subject's body movements based on the output signals from the drive units 12L, 12R, 13L, and 13R.
  • a joint detection unit 40 having a potentiometer 32, an absolute angle sensor 33, and a torque sensor 34, and detects the physical quantities around the joints associated with the subject's body movements based on the output signals from the drive units 12L, 12R, 13L, and 13R.
  • the joint detection unit 40 detects the physical quantities around the joints, including the absolute angle, rotation angle, angular velocity, angular acceleration, and drive torque between the rotor side frame and the stator side frame of the drive units 12L, 12R, 13L, and 13R in the motion mechanism unit 2.
  • the potentiometer 32 is coaxial with the output shaft of the actuator in the drive units 12L, 12R, 13L, and 13R, and detects the rotation angle of the output shaft to detect the joint angle corresponding to the movement of the subject's lower limbs.
  • the absolute angle sensor 33 is also mounted on the lower limb frame 11 and measures the absolute angle of the subject's thigh relative to the vertical direction.
  • This absolute angle sensor 33 is composed of an acceleration sensor and a gyro sensor, and is used in sensor fusion, a method of extracting new information using data from multiple sensors.
  • a first-order filter is used to remove the effects of translational motion and temperature drift in each sensor. This first-order filter is calculated by weighting and adding up the values obtained from each sensor.
  • the torque sensor 34 detects the current value supplied to the drive units 12L, 12R, 13L, and 13R, for example, and detects the drive torque by multiplying this current value by a torque constant specific to the actuator.
  • a biosignal detection unit 41 having a bioelectric potential sensor (group of electrodes) is placed on the subject's body surface (mainly the body surface of the thigh) based on the joints associated with the subject's lower limb movements, and detects changes in the ionic current transmitted from the subject's nervous system to the muscular system as a bioelectric potential signal that appears on the skin surface.
  • the biosignal detection unit 41 is a detection unit that measures nerve action potentials emitted from the brain toward the legs to move the subject's legs and muscle action potentials when skeletal muscles generate muscle force, and has electrodes that detect weak potentials generated in the periphery of the body system.
  • the biopotential sensor is attached so that it can be detachably attached to the subject's skin surface, for example, by an adhesive sticker that covers the periphery of the electrode.
  • the data storage unit 31 stores data required for various calculation processes in the control device 30.
  • Bioelectric potential signals detected by the biosignal detection unit 41 are stored in the data storage unit 31.
  • the joint angles ( ⁇ knee, ⁇ hip) detected by the absolute angle sensor 33 of the joint circumference detection unit 40 and the load data detected by the FRF sensor 60 described below are input to the data storage unit 31.
  • the control device 30 is composed of, for example, a CPU (Central Processing Unit) chip with memory, and includes a voluntary control unit 50, an autonomous control unit 51, and a synthetic control unit 52.
  • a CPU Central Processing Unit
  • the optional control unit 50 controls the drive units 12L, 12R, 13L, and 13R based on the bioelectric potential signal and the physical quantities around the joints to produce a movement phenomenon that reflects the subject's intention to move. Specifically, the optional control unit 50 supplies a command signal to the current control unit 55 in response to the detection signal from the biosignal detection unit 41.
  • the optional control unit 50 generates a command signal by applying a predetermined command function f(t) or gain P to the biosignal detection unit 41.
  • This gain P is a preset value or function, and can be adjusted by an external input.
  • the data on the knee joint angle detected by the potentiometer 32, the data on the absolute angle of the thigh relative to the vertical direction detected by the absolute angle sensor 33, the driving torque detected by the torque sensor 34, and the bioelectric potential signal detected by the biosignal detection unit 41 are input to the data storage unit 31.
  • FRF Fluor Reaction Force
  • sensors 60 are attached to the soles of the pair of dedicated shoes 26L, 26R to detect the pressure distribution on the soles of the subject's left and right feet.
  • This FRF sensor 60 is capable of measuring the load acting on the soles of the feet independently by dividing it into the forefoot (toes) and rearfoot (heel).
  • This FRF sensor 60 consists of, for example, a piezoelectric element that outputs a voltage according to the applied load or a sensor whose capacitance changes according to the load, and can detect changes in load due to weight shifting and whether or not the subject's legs are in contact with the ground.
  • the center of gravity position can be obtained from the balance of the load on the soles of the left and right feet based on the detection results of each FRF sensor 60.
  • the pair of dedicated shoes 26L, 26R it is possible to estimate to which side of the subject's left or right foot the center of gravity is biased, based on the data measured by each FRF sensor 60.
  • each of the dedicated shoes 26L, 26R has an FRF sensor 60, an FRF control unit 61 consisting of an MCU (Micro Control Unit), and a transmission unit 62.
  • the output of the FRF sensor 60 is converted into a voltage via a converter 63, and then input to the FRF control unit 61 after the high frequency band is blocked via an LPF (Low Pass Filter) 64.
  • LPF Low Pass Filter
  • This FRF control unit (center of gravity position detection unit and walking state recognition unit) 61 determines the change in load associated with the weight shift of the subject and the presence or absence of contact with the ground based on the detection results of the FRF sensor 60, and also determines the center of gravity position according to the load balance on the soles of the left and right feet.
  • the FRF control unit 61 wirelessly transmits the determined center of gravity position as FRF data via the transmission unit 62 to the receiving unit 65 in the device body.
  • the control device 30 receives the FRF data wirelessly transmitted from the transmitter 62 of each dedicated shoe 26L, 26R via the receiver 65, and then stores the load and center of gravity position on the soles of the left and right feet based on the FRF data in the data storage unit 31.
  • the autonomous control unit 51 stores in the data storage unit 31 the reference parameters for each phase, which is a series of smallest movement units that make up the movement pattern of the subject classified as a task, and estimates the phase of the subject's task by comparing the physical quantities around the joints with the reference parameters stored in the data storage unit 31, and controls the drive unit to generate power corresponding to that phase.
  • the autonomous control unit 51 compares the knee joint angle data detected by the joint circumference detection unit (potentiometer 32) 40 and the load data detected by the FRF sensor 60 with the knee joint angle and load of the reference parameters stored in the data storage unit 31, and estimates the phase of the subject's movement based on the comparison result.
  • the autonomous control unit 51 obtains the control data for the estimated phase, it generates a command signal according to the control data for this phase and supplies the command signal to the current control unit 55 to cause the drive units 12L, 12R, 13L, and 13R to generate this power.
  • the autonomous control unit 51 also receives a gain adjusted by an external input, generates a command signal according to this gain, and outputs it to the current control unit 55.
  • the current control unit 55 controls the current that drives the actuators of the drive units 12L, 12R, 13L, and 13R to control the magnitude of the torque and the rotation angle of the actuators, thereby applying an assist force from the actuators to the knee joint of the subject.
  • the autonomous control unit 51 identifies the walking phases corresponding to the walking task of the subject based on the physical quantities detected by the joint circumference detection unit (potentiometer 32, absolute angle sensor 33, and torque sensor 34) 40, and generates power corresponding to each walking phase in the drive units 12L, 12R, 13L, and 13R.
  • the synthesis control unit 52 synthesizes the control signals from the voluntary control unit 50 and the autonomous control unit 51, and the drive current corresponding to the synthesized control signal is amplified by the current control unit 55 and supplied to the actuators of the drive units 12L, 12R, 13L, and 13R.
  • the torque of this actuator is transmitted to the knee joint of the subject via the lower limb frame as an assist force.
  • FIG. 6 shows an example of each task and each phase stored in the data storage unit 31.
  • tasks for classifying the subject's movements for example, task A having standing movement data for transitioning from a sitting position to a standing position, task B having walking movement data for the subject walking after standing, task C having sitting movement data for transitioning from a standing position to a sitting position, and task D having stair ascending and descending movement data for ascending and descending stairs from a standing position are stored in the data storage unit 31.
  • Each task is set with a plurality of phase data.
  • task B for walking movement has phase B with movement data (joint angles, trajectory of center of gravity position, torque fluctuation, change in bioelectric potential signal, etc.) when trying to swing the right leg forward from a standing position with the center of gravity on the left leg, phase B with movement data when landing and shifting the center of gravity from a position with the right leg forward, phase B with movement data when trying to swing the left leg forward from a standing position with the center of gravity on the right leg, and phase B with movement data when landing and shifting the center of gravity from a position with the left leg forward of the right leg.
  • movement data joint angles, trajectory of center of gravity position, torque fluctuation, change in bioelectric potential signal, etc.
  • the movement function improvement device 1 detects changes in the ionic current transmitted from the subject's nervous system to the muscular system using the biosignal detection unit 41 as a bioelectric potential signal that appears on the skin surface, and operates to apply a driving force from the drive unit (actuator) based on this detection signal.
  • the assist force is a force that generates a torque that acts on each joint in the frame mechanism of the movement mechanism unit 2 (corresponding to the subject's knee joint and hip joint, respectively) as the axis of rotation.
  • the subject can therefore walk while supporting his or her weight with the combined force of his or her own muscle strength and the drive torque from drive units 12L, 12R, 13L, and 13R.
  • device 1 for improving movement functions controls the assist force applied in response to the shift in the center of gravity that accompanies walking movements so as to reflect the subject's will.
  • drive units 12L, 12R, 13L, and 13R of movement mechanism unit 2 are controlled so as not to impose a load that goes against the subject's will, and are controlled so as not to interfere with the subject's movements.
  • the motion function improvement device 1 can also assist with movements that correspond to the subject's will, such as when the subject stands up from a seated position in a chair, or when sitting down in a chair from a standing position, or even when the subject goes up or down stairs.
  • movements that correspond to the subject's will, such as when the subject stands up from a seated position in a chair, or when sitting down in a chair from a standing position, or even when the subject goes up or down stairs.
  • muscle strength is weak
  • it can be difficult to climb stairs or stand up from a chair, but when the subject is fitted with the motion mechanism unit 2, a driving torque is applied according to the subject's will, allowing them to move without worrying about weakened muscle strength.
  • the synthesis control unit 52 stores the control ratios of the optional control unit 50 and the autonomous control unit 51 set for each phase of each task in the data storage unit 31, and synthesizes the control states of the optional control unit 50 and the autonomous control unit 51 so that the control ratio corresponds to the phase.
  • the motor intention is transmitted as a weak ionic current from the brain to the spinal cord, nerves, muscle spindles, and muscles, causing the musculoskeletal system with joints to move.
  • the voluntary control unit 50 controls the actuators to move the joints according to the subject's intention.
  • the movement mechanism 2 is fastened in a state of close contact with the subject's legs (biological parts), etc., so the drive forces of the drive units 12L, 12R, 13L, and 13R are transmitted to the subject as an assisting force for rotating the joints. Therefore, when the subject's body moves due to the assisting force of the movement mechanism 2, signals from the Ia afferent neurons are sent from the muscle spindles back to the brain via the nerves and spinal cord.
  • the movement function improvement device 1 is configured to sense the bioelectric potential signals from the brain to the periphery after a decision is made regarding movement and use them for actuator control, and is intended to capture bioelectric potential signals corresponding to brain activity from peripheral muscle activity. It is then possible to provide real-time feedback to the brain and nervous system sensed at the periphery. Therefore, by carrying out rehabilitation while the subject is wearing the movement mechanism unit 2, it is possible to promote functional recovery in the two-way signal transmission system.
  • control ratio is switched so that autonomous control functions, controlling the drive unit using a control program for each phase based on the results of an analysis of basic human movement patterns and movement mechanisms.
  • the synthesis control unit 52 compensates the physical impedance of the entire system consisting of the entire device and the subject based on the physical quantities around the joints, in accordance with the physical characteristics of the entire system, including the body characteristics of the subject, and gravity.
  • the synthesis control unit 52 constructs a target equation of motion in a computational environment using the equation of motion data (Mi) and known parameters (Pk) read from the data storage unit 31, and is configured to be able to substitute a drive torque estimate (Te), a joint torque estimate ( ⁇ T), and a joint angle ⁇ into the equation of motion.
  • the equation of motion data (Mi) is used to construct an equation of motion for the entire system consisting of the motion function improvement device 1 and the subject, while the known parameters (Pk) consist of dynamics parameters such as the weight of each part of the motion function improvement device 1, the moment of inertia around the joints, the viscosity coefficient, and the Coulomb friction coefficient.
  • the joint circumference detection unit 40 includes not only the potentiometer 32, absolute angle sensor 33, and torque sensor 34 described above, but also a relative force detection unit 70, a joint torque estimation unit 71, and a muscle torque estimation unit 72.
  • the relative force detection unit 70 detects the relative force ( ⁇ F) acting on the movement mechanism unit (frame mechanism) 2, that is, the force that is determined relatively in relation to the forces generated by the drive units 12L, 12R, 13L, and 13R and the muscle strength of the subject.
  • the joint torque estimation unit 71 estimates the joint moment ( ⁇ T) around each joint of the subject from the difference between the relative force data ( ⁇ F) detected by the relative force detection unit 70 multiplied by a preset coefficient and the drive torque (Te) detected by the torque sensor 34.
  • the resultant force of the drive torque (Te) of the drive units 12L, 12R, 13L, and 13R and the subject's muscle torque (Tm) acts on the subject's legs as the joint moment ( ⁇ T), so the subject can move his or her legs with less muscle force than if the movement mechanism unit (frame mechanism) 2 was not attached.
  • the muscle torque estimation unit 72 estimates the muscle torque (Tm) due to the subject's muscle force based on the drive torque (Te) detected by the torque sensor 34 and the joint moment ( ⁇ T) estimated by the joint torque estimation unit 71. Note that the muscle torque (Tm) is calculated in order to enable parameter identification even when the subject is generating muscle force, and is advantageous when performing parameter identification while the subject is moving.
  • the synthesis control unit 52 performs calculations that take into account the drive torque (Te), joint data ( ⁇ ), joint moment ( ⁇ T), and even muscle torque (Tm) obtained from the joint detection unit 40, and identifies unknown dynamics parameters (Pu) such as the weight of each part of the subject, the moment of inertia around each joint, the viscosity coefficient, and the Coulomb friction coefficient, and repeats this process multiple times (e.g., 10 times) to average them.
  • Te drive torque
  • ⁇ joint data
  • ⁇ T joint moment
  • Tm muscle torque
  • the synthesis control unit 52 then reads the ratio of the estimated muscle torque (Tm) and bioelectric potential (Tm/BES) and a predetermined set gain (Gs) from the data storage unit 31, and if the set gain (Gs) is outside the allowable error range (Ea), it corrects the bioelectric potential (BES) to obtain a corrected bioelectric potential (BES') and makes the ratio (Tm/BES') of the muscle torque (Tm) and the corrected bioelectric potential (BES') approximately equal to the set gain (Gs).
  • the synthesis control unit 52 is configured to be able to read the control method data (Ci) from the data storage unit 31, the drive torque (Te), joint torque ( ⁇ T) and joint angle ⁇ obtained from the joint circumference detection unit 40, as well as the identification parameters (Pi) that are the results of identifying the unknown dynamics parameters (Pu), and the corrected bioelectric potential (BES').
  • the synthesis control unit 52 also uses the control method data (Ci) to configure a specific control unit in the computation environment, and can send a control signal Ur for controlling the drive units 12L, 12R, 13L, and 13R by reflecting the drive torque (Te), joint torque ( ⁇ T), joint angle ⁇ , identification parameter (Pi), and bioelectric potential (BES') in this synthesis control unit 52.
  • the current control unit 55 drives the drive units 12L, 12R, 13L, and 13R in response to the control signal Ur from the synthesis control unit 52.
  • the motion function improvement device 1 controls the assist force based on impedance adjustment to eliminate the hindrance to natural control caused by the physical characteristics of the device itself, namely the viscoelasticity around the joints and the constraints caused by the inertia of the frame.
  • the motion function improvement device 1 calculates the parameters of the joints and compensates for the moment of inertia, viscosity, and elasticity using the drive units (actuators) 12L, 12R, 13L, and 13R, thereby improving the assist rate in walking movements and reducing the discomfort felt by the subject.
  • the movement function improvement device 1 it is possible to indirectly change and adjust the characteristics of the subject by changing the characteristics of the entire system, which includes the device itself and the subject. For example, by adjusting the drive torque so as to suppress the effects of the inertia and viscous friction terms of the entire system, it is possible to maximize the subject's innate ability to perform agile movements such as reflexes. Furthermore, it is possible to suppress the effects of the subject's own inertia and viscous friction terms, making it possible to have the subject walk faster than their natural cycle or move more smoothly (with less viscous friction) than before wearing the device.
  • the synthesis control unit 52 identifies the subject's specific dynamics parameters, and the control device 30 controls the actuators 12L, 12R, 13L, and 13R based on the equation of motion into which the identified dynamics parameters are substituted. This allows the device 30 to exert an effect according to the control method used, regardless of the subject's individual differences, physical condition, and other variable factors.
  • control device 30 can control the actuators 12L, 12R, 13L, and 13R based on an equation of motion into which the muscle torque (Tm) estimated by the joint circumference detection unit 40 is also substituted, so that the dynamics parameters can be identified even when the subject is generating muscle force, and the above-mentioned effects can be achieved without requiring the subject to wait for the dynamics parameters to be identified.
  • Tm muscle torque
  • the gain between the bioelectric potential (BES) detected by the biosignal detection unit 41 and the muscle torque (Tm) detected by the joint detection unit 40 is adjusted to a preset gain (Gs), which can prevent situations in which the detection results from the biosignal detection unit 41 are insufficiently or excessively sensitive.
  • At least one of gravity compensation and inertia compensation using the dynamics parameters identified by the synthesis control unit 52 can be applied to the control device 30, which makes it possible to prevent situations in which the weight of the device itself becomes a burden on the subject, or in which the inertia of the device itself causes discomfort to the subject during operation.
  • the synthesis control unit 52 feedback-adjusts the synthesized control state while correcting the difference by the movement command from the brain and nervous system based on the bioautoregulation loop that is interactively promoted between the subject's body and the movement mechanism unit 2, so as to minimize the difference between the subject's movement intention and the movement phenomenon.
  • the movement function improving device 1 when the subject repeatedly performs voluntary movements using the movement mechanism unit 2, it becomes possible to improve the motor function of the subject's brain-nerve-muscle system by correcting the difference between the movement command from the brain-nerve system and the actual movement phenomenon.
  • the smallest movement control unit for realizing voluntary movements caused by the will of the subject is set as a minimum voluntary movement control unit consisting of the brain nervous system, synaptic connections, and muscular system, and the movement mechanism section 2 is used to establish a bioautoregulation loop for each minimum voluntary movement control unit that forms bodily movements that are linked together to realize a movement phenomenon.
  • the minimum voluntary movement control unit is explicitly incorporated into the process of function improvement and treatment based on the basic theory of the biological self-control loop by the movement mechanism unit, which is influenced by the diseased area and disease cause. This has an effect on the other minimum voluntary movement control units, and they are linked in sync with the movement of the movement mechanism unit 2, and the functions of each minimum voluntary movement control unit are strengthened and adjusted in sync with the movement of the movement mechanism unit 2 to achieve the target movement, improving the function of the brain, nerves, and muscles.
  • movement function improvement device 1 For example, in subjects with progressive diseases (slowly progressive neuromuscular diseases), movement function would normally gradually decline over time, but by using the movement function improvement device 1, a previously unimaginable effect of function improvement was achieved, as shown in Figure 7. Also, while it is commonly believed that muscle destruction in everyday life and conventional exercise therapy causes an increase in blood CK levels, which are an indicator of muscle destruction in the blood, the movement function improvement device 1 has the effect of decreasing CK levels.
  • FIG. 10(A) and (B) show the main configuration of the motion mechanism unit 101 in Fig. 9 excluding the thigh cuff, belt, etc.
  • the motion function improving device 100 is a device that assists the work and motion of a subject, and operates to detect bioelectric potential signals, the motion angle of the hip joint of the subject, and the absolute angle of the trunk, and apply a driving force from a driving unit based on the detection signals.
  • the motion function improvement device 100 When a subject wearing the motion function improvement device 100 voluntarily lifts and carries a relatively heavy object, the bioelectric potential signals generated on the skin surface of the latissimus dorsi or gluteus maximus (gluteus maximus) and a driving torque corresponding to the motion angle of the subject's hip joint are applied as an assist force from the motion mechanism unit 101. Therefore, the subject can lift and carry the object using the combined force of his or her own muscle strength and the driving torque from the driving mechanism (actuator).
  • the driving mechanism actuator
  • the movement function improvement device 100 can also assist with ascending and descending tasks, such as when the subject goes up and down stairs while carrying luggage.
  • a waist frame 110 is attached to the back side of the subject's waist in the left-right direction.
  • the waist frame 110 is a hollow member made of, for example, CFRP (carbon fiber reinforced plastic), and has a rounded shape that matches the shape of the back and both sides of the waist of the human body.
  • the waist frame 110 is configured so that a first waist frame 110A is attached to the left and right sides of the back side of the waist of the subject, and a second waist frame 110B is attached to the left and right sides above the first waist frame 110A, and these frames are connected via supports 111.
  • the first waist frame 110A and the second waist frame 110B are attached to the waist of the subject by means of attachment belts 112, 113 that are placed around the abdomen of the subject.
  • the first waist frame 110A and the second waist frame 110B are attached in a forward-leaning position so that both ends are lower than the back side, that is, so that both ends are located lower than the longitudinal center (the part located on the back side of the subject).
  • a left side frame 120 and a right side frame 121 are fixed to both ends of the first waist frame 110A and the second waist frame 110B.
  • a battery 122 is detachably stored in the center of the first waist frame 110A on the outside opposite the side where the operating mechanism unit 101 is attached, and wiring etc. connected to the battery 122 are inserted into the internal space.
  • the pillar 111 is a member that vertically connects the longitudinal center of the first waist frame 110A and the longitudinal center of the second waist frame 110B.
  • the pillar 111 is, for example, a hollow member made of reinforced resin, and sensor wiring is inserted inside.
  • a control device (not shown, but equivalent to the control device 30 in Figure 5 described above) that controls the operation of the operating mechanism part 101 is provided inside the pillar 111.
  • the strength of the monocoque structure is ensured by the pillars 111 holding the various members that make up the first waist frame 110A and the second waist frame 110B so that they do not rotate.
  • the pillars 111 are respectively fitted with a wearing belt 112 corresponding to the first waist frame 110A and a wearing belt 113 corresponding to the second waist frame 110B.
  • the left side frame 120 is fixed to the left of the subject's hip joint by joining the left end of the first waist frame 110A to the left end of the second waist frame 110B.
  • the right side frame 121 has a structure that is roughly symmetrical to the left side frame 120, and is fixed to the right end of the first waist frame 110A to the right end of the second waist frame 110B by joining them.
  • the left side frame 120 has an actuator and a brake mechanism (neither shown), and is provided with a minus button 123 for inputting to reduce the driving force of the actuator.
  • This minus button 123 lights up when the power of the motion function improvement device is on.
  • the right side frame 121 has an actuator and a brake mechanism (neither shown), and is provided with a plus button 124 for inputting to increase the driving force of the actuator, and a power button 125 for switching the power of the motion function improvement device 1 on and off.
  • the plus button 124 and the power button 125 are lit when the power of the motion function improvement device is on.
  • the waist frames first waist frame 110A and second waist frame 110B
  • support pillars 111 and side frames (left side frame 120 and right side frame 121) are assembled into a single unit, creating a monocoque structure in which the frame itself bears the stress.
  • the thigh fixing part 130 consists of a left thigh fixing part 130L that fixes the left thigh of the subject, and a right thigh fixing part 130R that fixes the right thigh of the subject.
  • the left thigh fixing part 130L is composed of a stay part 131L connected to an actuator inside the left side frame 120 and a belt part 132L attached to the stay part 131L, and is rotatable relative to the left side frame 120 in a side view.
  • the right thigh fixing part 130R is composed of a stay part 131R connected to an actuator inside the right side frame 121 and a belt part 132R attached to the stay part 131R, and is provided so as to be rotatable relative to the right side frame 121 in a side view.
  • the stay sections 131L, 131R are designed to be the optimal length based on the average length of the human thigh, and the subject's thighs are fixed by the belt sections 132L, 132R.
  • the attachment belt 112 is a belt that is placed across the abdominal side when attaching the first waist frame 110A to the subject, and serves as the main means for attaching the operating mechanism unit 101 to the waist of the human body.
  • the attachment belt 113 is a belt that is placed across the abdominal side when attaching the second waist frame 110B to the subject.
  • the attachment belt 113 is used to secure the operating mechanism unit 101 to the human body above the attachment belt 113 in order to efficiently transmit the reaction force generated by the movement of the legs to the abdomen or waist of the subject when the subject wearing the operating mechanism unit 101 lifts a relatively heavy object with bent knees.
  • the battery 122 is provided on the outside of the center of the first waist frame 110A, on the outside opposite to the side where the operating mechanism unit 101 is attached, and supplies power to the control device, actuator, brake mechanism (not shown), minus button 123, plus button 124, and power button 125.
  • the biosignal detection unit 140 which has a bioelectric potential sensor, is attached to the back of the subject's waist and detects bioelectric potential signals associated with muscle activity when the subject tries to raise his or her trunk or when the subject tries to maintain the angle of the trunk.
  • the bioelectric potential sensors of the biosignal detection unit 140 are connected to the ends of wires that extend from holes provided in the support 111 to the outside of the support, and three of them are provided.
  • the bioelectric potential sensors are attached to the back of the subject's waist to detect bioelectric potential signals generated when the subject moves their trunk muscles.
  • the biopotential signal detected by the biosignal detection unit 140 is input to the control device.
  • the biopotential sensor may be attached to the subject's back using tape or gel. One of the three sensors is used to measure the reference signal, and the remaining two sensors are used to measure the biopotential signal.
  • the motion mechanism unit 101 is attached to the back side of the subject's waist.
  • the motion function improving device 100 is a device that generates an assisting force (assisting force) to assist the movement of the thighs relative to the waist when the subject stands up as shown in FIG. 11(B) from a bent position (squatting position) as shown in FIG. 11(A).
  • Such motions of the subject include, for example, the motion of standing up from a squatting position, the motion of lifting an object from a squatting position, the motion of assisting transfer, etc.
  • Figure 11(C) is a diagram (left side view) showing the movable range of the movement mechanism unit 101 in the movement function improving device 100.
  • the left thigh fixing unit 130L can rotate 130° clockwise and 30° counterclockwise from the reference position shown in Figure 11(C) with the left side frame 120 as the center of rotation. With such movement, the movement function improving device generates an assist force to assist the movement of the thigh relative to the waist when the subject stands up as shown in Figure 11(B) from a bent position as shown in Figure 11(A).
  • the movement range of the right thigh fixing unit 130R is similar.
  • the waist-type movement function improving device 100 has a configuration (excluding the receiver 65) that is almost identical to the control system 3 of the lower limb-type movement mechanism improving device 1 described above.
  • the movement function improving device 100 also has functionally a voluntary control step for making the subject move in accordance with his/her movement intention, an autonomous control step for generating a preset ideal power, and an impedance control step (including gravity compensation control) for reducing the feeling of difficulty in movement due to the load and viscous friction of the movement mechanism unit 101 itself.
  • the subject feels as if the movement mechanism unit 101 is a part of his or her body, making it possible to achieve functional fusion and integration between the subject and the movement mechanism unit 101.
  • an assist force can be generated to assist the movement of the thighs relative to the waist.
  • Such an assist force is generated by driving a drive unit (actuator) based on bioelectric potential signals detected by the biosignal detection unit 140 that accompany muscle activity when the subject tries to raise the trunk or muscle activity when trying to maintain the angle of the trunk.
  • control device determines that the signal levels of the biological signals from the left and right thighs of the subject are not equal, it determines that the subject is walking, but if it determines that the signal levels are equal, it determines that the subject is stationary.
  • control device determines that the subject is in a stopped state, if it determines that both the left and right hip joint angles are greater than a specified angle, it determines that the subject is walking, but if it determines that they are equal to or less than the specified angle, it determines that the subject is in a posture with their upper body lowered forward.
  • the synthesis control step that synthesizes the control states from the voluntary control step and the autonomous control step so as to obtain a control ratio according to the phase of the task not only executes the impedance control step described above, but also feedback-adjusts the synthesized control state while simultaneously correcting the difference by the motion command from the brain and nervous system based on the bioautoregulation loop that is interactively promoted between the subject's body and the motion mechanism, so as to minimize the difference between the subject's motion intention and the motor phenomenon.
  • the movement function improving device 100 when the subject repeatedly performs voluntary movements using the movement mechanism unit 101, it becomes possible to improve the motor function of the subject's brain-nerve-muscle system by correcting the difference between the movement command from the brain-nerve system and the actual movement phenomenon.
  • the smallest movement control unit for realizing voluntary movements caused by the subject's will is set as a minimum voluntary movement control unit consisting of the brain nervous system, synaptic connections, and the muscular system, and the movement mechanism section 101 is used to establish a bioautonomic control loop for each minimum voluntary movement control unit that forms bodily movements that are linked together to realize a movement phenomenon.
  • the minimum voluntary movement control unit is explicitly incorporated into the process of function improvement and treatment based on the basic theory of the biological self-control loop by the movement mechanism section, which is influenced by the diseased area and disease cause. This has an effect on the other minimum voluntary movement control units, and they are linked in sync with the movement of the movement mechanism section 101, and the function of each minimum voluntary movement control unit is strengthened and adjusted in sync with the movement of the movement mechanism section to achieve the target movement, improving the function of the brain, nerves, and muscles.
  • (3-2) Configuration of the movement mechanism (single-joint type: hardware) 12 shows a motion function improving device 150 including a single-joint type motion mechanism unit 151 according to another embodiment.
  • the movement function improvement device 150 is a device that assists the movement of a movement mechanism unit 151 attached to the joints (elbow joints, knee joints, etc.) of the subject's upper or lower limbs, and has the function of assisting voluntary movement by driving a drive unit (actuator) in accordance with the subject's intention to move, and improving the smoothness of upper or lower limb movement by performing repeated joint extension movements.
  • the movement function improving device 150 is composed of a movement mechanism section 151 that is attached to any joint of the subject, a control unit 152 that has a built-in control device (not shown, but equivalent to the control device 30 in FIG. 5 described above), and an operation section 153 that displays necessary information and allows settings to be changed or confirmed. Note that the electrode cable and charger connected to the control unit 152 are omitted from FIG. 12.
  • the operating mechanism 151 is configured to rotate the first transmission member 170 and the second transmission member 171 relative to one another using the driving force of the drive unit (actuator) 160.
  • the first transmission member 170 and the second transmission member 171 are attachments selected according to the joint of the subject, and are fastened to one end portion and the other end portion of the joint via the first coupling part 175 and the second coupling part 176, respectively.
  • the drive unit 160 is positioned to the side of the knee joint of the subject, and has a first motor housing 180 that houses either the rotor (magnet) or the stator (coil), and a second motor housing 181 that houses the other of the rotor (magnet) or the stator (coil).
  • the first motor housing 180 has a first coupling portion to which a first transmission member attached to one end of the joint of the subject (e.g., the thigh) is coupled.
  • the second motor housing 181 has a second coupling portion 38 to which a second transmission member 50 attached to the other end of the joint (e.g., the shin) is coupled.
  • the first transmission member 40 has a pair of cuffs (not shown) fixed by fixing member 76 to fit into one end of the joint of the subject.
  • the drive unit 160 is configured by stacking a first motor housing 180 and a second motor housing 181 on the same axis, with the back surface of the first motor housing 180 facing the back surface of the second motor housing 181.
  • the center of rotation of the first motor housing 180 and the center of rotation of the second motor housing 181 are connected by a motor shaft (not shown) mounted between the housings.
  • the first motor housing 180 has a circular cover 180A formed in a circular dome shape, and an extension portion 180B formed extending radially from the outer periphery of the circular cover 180A. The end of the extension portion 180B is formed to support the first coupling portion 175 and to guide the insertion and removal operation of the first transmission member 170.
  • the second motor housing 181 has a circular cover 181A formed in a circular dome shape, and an extension portion 181B formed extending radially from the outer periphery of the circular cover 181A. The end of the extension portion 181B is formed to support the second coupling portion 176 and to guide the insertion and removal operation of the second transmission member 171.
  • the drive unit 161 has an angle sensor that detects the relative rotation angle ⁇ between the first motor housing 180 and the second motor housing 181. This angle sensor is housed inside either the first motor housing 180 or the second motor housing 181.
  • the single-joint type motion function improving device 150 in this embodiment has a configuration (excluding the receiving unit) that is almost identical to the control system 3 of the lower limb type motion mechanism improving device 1 described above.
  • the motion function improving device 150 also has functionally a voluntary control step for making the subject move in accordance with his/her motion intention, an autonomous control step for generating a preset ideal power, and an impedance control step (including gravity compensation control) for reducing the feeling of difficulty in movement due to the load and viscous friction of the motion mechanism unit 151 itself.
  • the subject feels as if the movement mechanism unit 151 is a part of his or her body, making it possible to achieve functional fusion and integration between the subject and the movement mechanism unit 151.
  • the synthesis control step that synthesizes the control states of the voluntary control step and the autonomous control step so as to obtain a control ratio according to the phase of the task not only executes the impedance control step described above, but also feedback-adjusts the synthesized control state while at the same time correcting the difference by the movement command from the brain and nervous system based on the bioautoregulation loop that is interactively promoted between the subject's body and the movement mechanism unit 151 so as to minimize the difference between the subject's movement intention and the motor phenomenon.
  • the movement function improving device 150 when the subject repeatedly performs voluntary movements using the movement mechanism unit 151, it becomes possible to improve the motor function of the subject's brain-nerve-muscle system by correcting the difference between the movement command from the brain-nerve system and the actual movement phenomenon.
  • the smallest movement control unit for realizing voluntary movements caused by the subject's will is set as a minimum voluntary movement control unit consisting of the brain nervous system, synaptic connections, and muscular system, and a bioautoregulation loop is established for each minimum voluntary movement control unit that forms bodily movements that are linked to realize a movement phenomenon, using the movement mechanism section 151.
  • the minimum voluntary movement control unit is explicitly incorporated into the process of function improvement and treatment based on the basic theory of the bioautoregulation loop by the movement mechanism section 151, which is influenced by the diseased area and disease cause, and this has an effect on the other minimum voluntary movement control units, leading to a synchronization and linkage with the movement of the movement mechanism section 151, and the function of each minimum voluntary movement control unit is strengthened and adjusted in synchronization with the movement of the movement mechanism section 151 to achieve the target movement, thereby improving the function of the brain, nerves, and muscles.
  • the movement function improvement devices 1, 100, 150 are described as having a movement mechanism unit 2 for the lower body (lower limb type), a waist-type movement mechanism unit 101, and even a single-joint type movement mechanism unit 151.
  • the present invention is not limited to this, and can be widely applied to movement function improvement devices having a movement mechanism unit adapted to any joint part that is capable of physical movement of the subject.
  • a movement function improving device may be configured that includes a hand-type movement mechanism and a control system that has the functional configuration of the basic theory of the voluntary control step, autonomous control step, impedance control step, and bioautonomous control loop described above.
  • This hand-type movement mechanism may be configured to be directly attached to the subject's fingers, or may be configured to be fixed to a tabletop.
  • the joint circumference detection unit 40 detects the absolute angle, rotation angle, angular velocity, angular acceleration, and drive torque between the rotor side frame and the stator side frame of the drive units 12L, 12R, 13L, 13R (160) in the operating mechanism unit 2 (101, 151) as physical quantities around the joints.
  • the present invention is not limited to this.

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  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)

Abstract

Pour réduire au minimum la différence entre l'intention d'une personne sujet à se déplacer et un phénomène moteur, la différence est corrigée par des commandes de mouvement provenant du système nerveux cérébral et, en même temps, un état de commande synthétisé est réglé par rétroaction, sur la base d'une boucle de rétroaction biologique qui est favorisée de manière interactive entre le corps de la personne sujet et la partie de mécanisme de mouvement.
PCT/JP2023/030629 2022-10-31 2023-08-25 Dispositif et procédé pour améliorer une fonction de mouvement WO2024095577A1 (fr)

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JP2022175158A JP2024065996A (ja) 2022-10-31 2022-10-31 動作機能向上装置および動作機能向上方法
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008264509A (ja) * 2007-03-22 2008-11-06 Univ Of Tsukuba リハビリテーション支援装置
JP2014124399A (ja) * 2012-12-27 2014-07-07 Univ Of Tsukuba 訓練システム
WO2016006688A1 (fr) * 2014-07-10 2016-01-14 Cyberdyne株式会社 Dispositif de mesure de signal biologique, procédé de mesure de signal biologique, dispositif d'assistance de mouvement de type monté, et procédé d'assistance au mouvement
WO2021166739A1 (fr) * 2020-02-20 2021-08-26 Cyberdyne株式会社 Dispositif portable d'assistance au mouvement

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008264509A (ja) * 2007-03-22 2008-11-06 Univ Of Tsukuba リハビリテーション支援装置
JP2014124399A (ja) * 2012-12-27 2014-07-07 Univ Of Tsukuba 訓練システム
WO2016006688A1 (fr) * 2014-07-10 2016-01-14 Cyberdyne株式会社 Dispositif de mesure de signal biologique, procédé de mesure de signal biologique, dispositif d'assistance de mouvement de type monté, et procédé d'assistance au mouvement
WO2021166739A1 (fr) * 2020-02-20 2021-08-26 Cyberdyne株式会社 Dispositif portable d'assistance au mouvement

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