CN108472192B - Joint movement assistance system - Google Patents
Joint movement assistance system Download PDFInfo
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- CN108472192B CN108472192B CN201680074788.8A CN201680074788A CN108472192B CN 108472192 B CN108472192 B CN 108472192B CN 201680074788 A CN201680074788 A CN 201680074788A CN 108472192 B CN108472192 B CN 108472192B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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- 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
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
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- Mechanical Engineering (AREA)
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- Rehabilitation Therapy (AREA)
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- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
When the person to be attached to the main device brings the joints of the fingers to which the main device is attached into a flexed state or an extended state, the control device receives a second detection value (DM 2) reflecting the flexion angle of the joints from the main devicej、DM3j). In addition, the control device receives a signal from a magnetic sensor (432) of the joint movement assistance devicej) The transmitted first detection value (DA 2)j) And a slave magnetic sensor (433)j) The transmitted first detection value (DA 3)j). Then, the control device makes the bellows (342)j) The air pressure in the air tank is changed so that the second detection value (DM 2)j) And a first detection value (DA 2)j) The absolute value of the difference of (a) is a predetermined value or less. In addition, the control device enables the corrugated pipe (343)j) The air pressure in the air tank is changed so that the second detection value (DM 3)j) And a first detection value (DA 3)j) The absolute value of the difference of (a) is a predetermined value or less. As a result, the joint movement assistance device tracks the movement of the finger to which the main device is attached. Therefore, the joint movement can be appropriately assisted.
Description
Technical Field
The present invention relates to an articulation assisting system, and more particularly, to an articulation assisting system that assists an articulation of a predetermined object.
Background
Various apparatuses for rehabilitation have been proposed. Among such apparatuses, there are the following apparatuses: the device replaces a physiotherapist or a family member or the like, or assists a treatment exercise for achieving restoration of the function of the basic action of the patient with the help of the physiotherapist or the family member or the like.
As one of the devices for assisting the movement of the patient concerned, there is a device in which: in the case where fingers are paralyzed and contractually contracted due to a central nervous system disorder such as cerebral infarction, the joint movement of the fingers is assisted by the expansion and contraction of bellows (see patent document 1: hereinafter, referred to as "conventional example 1"). As in the above-described conventional example 1, the joint movement assistance device using the bellows is lighter than the device in the system using the actuator driven by the motor and the wire, and therefore has high practicability. Further, since the joint movement assistance device using the bellows can be driven at a low pressure, a low-vibration and low-noise pump such as a diaphragm pump or a vane pump can be used. From this point of view, it can be said that the joint movement assistance device using the extensible bellows is highly practical.
In the technique of conventional example 1, the bellows that can be expanded and contracted is disposed in the joint that is the subject of assistance. Further, a one-side transmission member connected to one-side end of the bellows is attached to a one-side portion connected to a joint as an assist target. Further, the other-side transmission member connected to the other-side end of the bellows is attached to the other-side portion connected to the joint as the assist target. In such a mounted state, when air is forcibly discharged from the bellows, the bellows contracts, and thereby the joint motion that changes from the joint flexion state to the joint extension state is assisted. Further, when air is forcibly supplied to the bellows, the bellows expands, and thereby the joint motion that changes from the joint extending state to the joint flexing state is assisted.
As one of the methods for operating the joint movement assistance device, a master/slave system is considered in which the joint movement assistance device is used as a slave device and the slave device is remotely operated by a master device. In the case of adopting such a master/slave system, the following configuration is considered: a master device is attached to a healthy hand, and an articulation assisting device as a slave device is made to follow the movement of fingers of the hand to which the master device is attached. As one of the configurations for remotely operating the slave device by the master device, the following configuration is considered: a flexion angle of a finger joint of a hand to which a main device is attached is detected, and air pressure in the bellows is controlled based on the detected flexion angle.
Here, as a technique for detecting the flexion angle of the finger joint, there is a technique of: a sheet-like angle sensor is attached to a joint portion of a finger, and the angle sensor detects the flexion angle of the finger joint (see patent document 2: hereinafter referred to as "conventional example 2"). In the technique of conventional example 2, a method of detecting a change in the amount of light passing through an optical fiber and a method of detecting the amount of change in the linear position due to the flexion of the joint are used as angle sensors. The joint flexion motion prediction device calculates the flexion angular velocity from the flexion angle detected by the angle sensor, and predicts the state of the joint from the flexion angle, the flexion angular velocity, and reference angle data that is a prediction determination reference value for the state of the joint.
When the technique of conventional example 2 is applied to the technique of the joint movement assistance device of conventional example 1, the state of the finger joints of the hand to which the main device is attached is predicted. Then, based on the result of the prediction of the joint state, the control device performs control for forcibly discharging air from the bellows when the finger on the host device side changes from the joint flexion state to the joint extension state. In addition, the following structure is also considered: the controller is configured to forcibly supply air to the bellows when the finger on the main device side changes from the joint-extended state to the joint-flexed state based on the result of the prediction of the joint state.
Documents of the prior art
Patent document
Patent document 1: international publication No. 2011/043095
Patent document 2: japanese laid-open patent publication No. 2009-112540
Disclosure of Invention
Problems to be solved by the invention
In the technique of the above-described conventional example 2, a sheet-like angle sensor is directly attached to the joint portion of the finger. As a result, when the technical idea of conventional example 2 is applied and the articulation assisting apparatus of conventional example 1 is operated as a slave apparatus, if the articulation assisting system is frequently used, the sheet may be plastically deformed to deteriorate the detection characteristic, and the durability of the sensor may be shortened. Further, when the technical idea of conventional example 2 is applied to the master device and the joint movement assistance device of conventional example 1 is operated, it is difficult to make the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device the same in the intermediate state between the joint flexion state and the joint extension state.
Therefore, the following technique is preferable: the joint movement assisting device as a slave device is simply operated appropriately by feedback control based on the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device, without using a sheet-like angle sensor directly attached to the joint portion. The solution to this need is one of the problems to be solved by the present invention.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a novel articulation assisting system capable of remotely operating an articulation assisting device and appropriately assisting an articulation without using a sensor directly attached to an articulation portion.
Means for solving the problems
Which assists the articulation of a first subject, the articulation assistance system being characterized by: a slave device attached to the first object; a main device installed on a second object, the second object being constructed as follows: the second object has any one of symmetry of congruent symmetry, similar symmetry and left-right symmetry with the first object; and a control device that controls the first object to perform an articulation corresponding to an articulation of the second object, the slave device including: at least one bellows, which is freely extendable and retractable, is prepared in accordance with the joint movement to be assisted, and generates a force assisting the joint movement; a pipe that communicates with the bellows; a one-side member connected to one-side end of the bellows and attached to a portion of the first object on one side of a joint related to the joint movement; another side member connected to another side end portion of the bellows and attached to another side portion of the joint of the first object; and a first detection unit that is attached to at least one of the one-side member and the other-side member and detects a first physical quantity reflecting an angle formed by a first direction in which the one-side portion extends from the connection portion with the joint and a second direction in which the other-side portion extends from the connection portion with the joint, the main device including: a one-side corresponding member mounted at a position corresponding to a mounting position of the one-side member on the first object; another-side corresponding member mounted at a position corresponding to a mounting position of the another-side member on the first subject; and a second detection unit that is attached to at least one of the one-side corresponding member and the other-side corresponding member, and that detects a second physical quantity reflecting a second angle formed between a third direction corresponding to the first direction of the first object and a fourth direction corresponding to the second direction of the first object, wherein the control device controls supply of the working fluid into the bellows via the pipe and discharge of the working fluid from the bellows via the pipe, based on a difference between the first physical quantity and the second physical quantity.
In the joint movement assistance system, the slave device is attached to the first object. When the slave device is attached to the first object, a bellows prepared for a joint to be assisted in articulation is disposed in the corresponding joint portion. In the slave device, a first detection unit that detects a first physical quantity reflecting an angle formed by a first direction in which one side portion extends from a connecting portion thereof with the joint and a second direction in which the other side portion extends from the connecting portion thereof with the joint is attached to the one side member and the other side member. In addition, in the articulation assistance system, the main apparatus is mounted on the second subject. In the main device, a second detection unit that detects a second physical quantity reflecting a second angle formed by a third direction corresponding to the first direction of the first object and a fourth direction corresponding to the second direction of the first object is mounted on the one-side corresponding member and the other-side corresponding member. In this joint movement assistance system, the slave device and the master device have the same configuration, except that the slave device includes a bellows and a pipe communicating with the bellows.
In this state, the control device performs feedback control based on the first physical quantity detected by the first detection unit and the second physical quantity detected by the second detection unit, and controls supply of the working fluid into the bellows and discharge of the working fluid from the bellows. As a result, the bellows generates a force that assists the articulation through the expansion stroke and the contraction stroke of the bellows. Therefore, the joint movement assistance device as the slave device can be remotely operated in the master/slave system in which the control is performed using the first physical quantity detected by the first detection unit and the second physical quantity detected by the second detection unit.
Therefore, the joint movement assistance device as the slave device can be easily and appropriately operated by the feedback control in which the first physical quantity and the second physical quantity are directly compared, without calculating the flexion angle of the finger attached to the master device and the flexion angle of the finger attached to the slave device.
In this case, it is needless to say that the assistance can be performed with respect to the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state of the hinge joint having the fixed rotation shaft. In this case, it is also possible to assist joint motions of other joints such as a hip joint, a spherical joint, and an elliptical joint, which do not have a fixed rotation axis.
Therefore, according to the joint movement assistance system of the present invention, it is possible to remotely operate the joint movement assistance device and appropriately assist the joint movement without using a sensor directly attached to the joint portion.
Further, if a lightweight and flexible resin bellows is used as a component, the weight of the slave device can be reduced, and the physical burden on the person to whom the joint movement assistance attachment is attached can be reduced, thereby appropriately assisting the joint movement.
In the articulation assistance system of the present invention, the at least one bellows comprises a vertically disposed bellows, the vertically arranged bellows is arranged in a direction perpendicular to the rotational axis of the rotational movement of the joint to be assisted, the slave device may also have a first restraint member on the side of the joint opposite the vertically disposed bellows, the first restraint member elastically restrains the one side member connected to the vertically arranged bellows and the other side member connected to the vertically arranged bellows, by converting the force generated by assisting the expansion and contraction of the bellows into a rotational force, the rotational force for assisting the joint movement is transmitted to the one side portion where the one side member that is elastically constrained is mounted and the other side portion where the other side member that is elastically constrained is mounted via the one side member that is elastically constrained and the other side member that is elastically constrained. The master device may further include a second restriction member that is disposed at a position in the master device corresponding to the position at which the first restriction member is disposed in the slave device, and elastically restricts the one-side corresponding member corresponding to the one-side member that is elastically restricted and the other-side corresponding member corresponding to the other-side member that is elastically restricted.
In this case, when the slave device is attached to the first object, the vertically arranged bellows prepared for the joint to be assisted in the joint movement is arranged at the joint portion in the direction perpendicular to the rotation axis of the rotational movement of the corresponding joint. Further, the slave device has a first restriction member elastically restricting the one side member and the other side member. In addition, the main device has a second constraining member that elastically constrains the one-side corresponding member and the other-side corresponding member. As a result, it is possible to appropriately assist the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state. In this case as well, the slave device and the master device have the same configuration, except that the slave device includes a bellows and a pipe communicating with the bellows.
In the articulation assistance system according to the present invention, the first physical quantity may be a physical quantity determined by a distance from the one side member to the other side member and an angle formed by a direction in which the one side member extends and a direction in which the other side member extends, and the second physical quantity may be a physical quantity determined by a distance from the one side corresponding member to the other side corresponding member and an angle formed by a direction in which the one side corresponding member extends and a direction in which the other side corresponding member extends. It is noted that in a joint mechanism such as a human body, a first angle and a length reflecting a distance from one side member to the other side member are in one-to-one correspondence, and a second angle and a length reflecting a distance from one side corresponding member to the other side corresponding member are in one-to-one correspondence. Therefore, by detecting the physical quantity that changes due to the distance from the one side member to the other side member and the angle formed by the direction in which the one side member extends and the direction in which the other side member extends, and detecting the physical quantity that changes due to the distance from the one side corresponding member to the other side corresponding member and the angle formed by the direction in which the one side corresponding member extends and the direction in which the other side corresponding member extends, it is possible to determine whether there is a difference between the first angle and the second angle.
In the joint movement assistance system of the present invention, the following structure can be adopted: the working fluid is air, and the control device has: an air pressure setting unit that sets an air pressure in the bellows by supplying air to the bellows and discharging air from the bellows; and an air pressure control unit that controls the setting of the air pressure in the bellows by the air pressure setting unit based on a difference between the first physical quantity and the second physical quantity. In this case, since the air pressure control unit adjusts the air pressure in the bellows, the bellows can appropriately assist the joint movement with the force generated in accordance with the adjusted air pressure.
In the joint movement assistance system according to the present invention, the first detection unit and the second detection unit may be detection units configured in the same manner by a magnet and a magnetic sensor, the magnet of the first detection unit may be attached to one of the one side member and the other side member, and the magnetic sensor of the first detection unit may be attached to the other of the one side member and the other side member, which is different from the one member. Further, the magnet of the second detection unit may be attached to one of the one corresponding member and the other corresponding member, and the magnetic sensor of the second detection unit may be attached to the other of the one corresponding member and the other corresponding member, which is different from the one corresponding member. In this case, the detection result of the magnetic sensor reflecting the distance between the magnetic sensor and the magnet is the first physical quantity and the second physical quantity. Therefore, it is possible to appropriately assist the joint motion using both the magnet and the magnetic sensor that are not directly attached to the joint portion.
In the articulation assistance system according to the present invention, the first object may include at least one of the fingers of one hand of the human body, and the second object may include at least one of the fingers of the other hand of the human body, when the main device is attached to the second object. In this case, the case is applied to the case where the person to which the joint movement assistance device is attached has only fingers of one hand contracture, and fingers of the other hand do not contracture. That is, the slave device is mounted on the hand of the human body to which the joint motion should be assisted. The master device is attached to the hand of the human body where the fingers are not contractually contracted. Therefore, the person who is attached with the joint movement assistance device can assist the joint movement of the fingers by himself/herself without being assisted by another person.
In the joint movement assistance system according to the present invention, when the master device is attached to a second object, the first object may include at least one of the fingers of the hand of the human body, and the second object may include at least one of the fingers of the hand of the human body different from the human body. In this case, the slave device is attached to a hand of a human body to which joint movement should be assisted, and the master device is attached to a hand of a human body different from the human body, in which fingers are not contracture. Therefore, the joint movement of the fingers can be assisted with the help of another person such as a physical therapist or a family member.
In the joint movement assistance system according to the present invention, the first object may include one wrist portion of a human body and the second object may include the other wrist portion of the human body when the master device is attached to the second object. In this case, the case is applied to the case where the wrist of only one hand of the person to which the joint movement assistance device is attached is contractable, and the wrist of the other hand is not contractable. That is, the slave device is mounted on the hand of the human body to which the joint motion should be assisted. The main device is attached to the hand of the human body, which is not contracted with fingers. Therefore, the joint movement of the wrist can be assisted by the person himself or herself to whom the joint movement assistance device is attached without the assistance of another person.
In the joint movement assistance system according to the present invention, when the master device is attached to a second object, the first object may include a wrist portion of a human body, and the second object may include a wrist portion different from the human body. In this case, the slave device is attached to a hand of a human body to which joint movement should be assisted, and the master device is attached to a hand of a human body different from the human body, in which fingers are not contracture. Therefore, the joint movement of the wrist can be assisted with the help of another person such as a physical therapist or a family member.
Effects of the invention
As described above, according to the joint movement assistance system of the present invention, the following effects are achieved: the joint movement can be appropriately assisted by remotely operating an articulation assisting device as a slave device without using a sensor directly attached to a joint portion.
Drawings
Fig. 1 is a diagram for explaining the configuration of an articulation assistance system according to an embodiment of the present invention.
Fig. 2 is an external view of the articulation assistance device of fig. 1.
Fig. 3 is a diagram for explaining the structure of the thumb joint movement assistance portion of fig. 2.
Fig. 4 is a graph showing characteristics of the magnetic sensor of fig. 3.
Fig. 5 is a diagram for explaining the configuration of the finger joint movement assistance portion for the index finger in fig. 2.
Fig. 6 is an external view of the host device of fig. 1.
Fig. 7 is a diagram for explaining the structure of the thumb main part of fig. 6.
Fig. 8 is a diagram for explaining the configuration of the finger main part for the index finger of fig. 6.
Fig. 9 is a diagram for explaining the configuration of the control device of fig. 1.
Fig. 10 is a diagram for explaining an example of the state of the finger main part and the state of the finger joint movement assistance part following the finger main part.
Fig. 11 is a diagram (1) for explaining a guide member as a modification.
Fig. 12 is a diagram (2) for explaining a guide member as a modification.
Fig. 13 is a diagram for explaining a modification of the joint movement of the auxiliary wrist.
Description of the reference symbols
100: an articulation assistance system; 200: an articulation assistance device (slave device); 210: a hand mounting portion; 2301: a thumb joint movement assistance section (finger joint movement assistance section); 2302、2303、2304、2305: a finger joint movement assistance section; 321j(j ═ 1, …, 5): a transmission member; 322k(k 2, …, 5): a transmission member; 323j、324j(j ═ 1, …, 5): a transmission member; 331k(k 2, …, 5): piping; 332j、333j(j ═ 1, …, 5): piping; 341k(k 2, …, 5): bellows (bellows disposed vertically); 342j、343j(j ═ 1, …, 5): bellows (bellows disposed vertically); 3901: a thumb mounting portion; 390k(k 2, …, 5): a finger mounting section; 391j(j ═ 1, …, 5): a mounting member (first restricting member); 392j(j ═ 1, …, 5): finger stall; 393j(j=1,…,5)、396k(k 2, …, 5): a belt member; 412j、413j(j ═ 1, …, 5): a first detection unit; 422j、423j(j ═ 1, …, 5): a magnet; 432j、433j(j ═ 1, …, 5): a magnetic sensor; 442j、443j(j ═ 1, …, 5): wiring; 500: a master device; 510: a hand mounting portion; 5301: a thumb major portion (finger major portion); 5302、5303、5304、5305: a finger main part; 621j(j ═ 1, …, 5): a transmission member; 622k(k 2, …, 5): a transmission member; 623j、624j(j ═ 1, …, 5): a transmission member; 6901: a thumb mounting portion; 690k(k 2, …, 5): a finger mounting section; 691j(j ═ 1, …, 5): a mounting member (second restricting member); 692j(j ═ 1, …, 5): finger stall; 693j(j=1,…,5)、696k(k 2, …, 5): a belt member; 712j、713j(j ═ 1, …, 5): a second detection unit; 722j、723j(j ═ 1, …, 5): a magnet; 732j、733j(j ═ 1, …, 5): a magnetic sensor; 742j、743j(j ═ 1, …, 5): wiring; 800: a control device; 811: a pressure pump; 812: a pressure reducing pump; 813: an electric-air pressure control valve (air pressure setting portion); 814: a control unit (air pressure control unit); 815. 816: piping; 941A: bellows (bellows disposed vertically); 921A, 921M, 922A, 922M: a transmission member; 951A: a first detection unit; 951M: a second detection unit; 961A, 961M: a magnet; 971A, 971M: a magnetic sensor; GA1, GA2, GA3, GA4, GM1, GM2, GM3, GM 4: a guide member; AA1, AA3, AM1, AM 3: a shaft member; HB1, HB 2: a human body; HDR 1: right hand (first object); HDR 2: right hand (second object).
Detailed Description
An embodiment of the present invention will be described below with reference to fig. 1 to 10. In addition, in the present embodiment, an articulation assisting system including an articulation assisting device attached to the right hand of a human body and a main device attached to the right hand of a human body different from the human body to which the articulation assisting device is attached is exemplified and described. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.
[ Structure ]
The structure of one embodiment of an articulation assistance system 100 is shown in FIG. 1. As shown in fig. 1, the articulation assistance system 100 has an articulation assistance device 200 and a main device 500. In addition, the joint movement assistance system 100 has a control device 800. Here, the articulation assisting device 200 corresponds to a slave device.
< Structure of the device for assisting joint movement 200 >
The configuration of the above-described joint movement assistance device 200 will be described.
An external view of the articulation assistance device 200 is shown in fig. 2. FIG. 2 is a view from the back side of the hand of a right hand HDR1 of human body HB1 mounted on a first object as viewed from the back side of the hand with the finger joints in an extended stateAn external view of the joint movement assistance device 200. As shown in FIG. 2, the joint movement assistance device 200 includes a hand attachment portion 210 and a thumb joint movement assistance portion 2301The finger joint movement assisting section 2302、2303、2304、2305。
In addition, in the following description, the thumb joint movement assistance part 230 will be described1And a finger joint movement assistance part 2302、2303、2304、2305Collectively referred to as "finger joint movement assistance part 230j(j ═ 1, …, 5) ". In the following description, the thumb joint movement assistance unit 230 is described1The finger joint movement assistance part 2302、2303、2304、2305When collectively referred to, the finger joint movement assistance section 230 will be also referred to ask(k=2,…,5)”。
The hand attachment unit 210 will be described. The hand attachment unit 210 is, for example, a cloth member, and is attached to the back and palm of the right hand HDR 1. A thumb joint movement assistance part 230 is attached to the hand attachment part 2101A portion of one side of (a).
In addition, a finger joint movement assisting section 230 is attached to the hand attaching section 2102、2303、2304、2305A portion of one side of (a). In a state where the hand attachment unit 210 is attached to the hand, the finger joint movement assistance unit 230j(j 1, …, 5) is disposed on the finger portion on the back side of the hand.
Thumb joint movement assistance unit 2301Structure of (1)
For the above-mentioned thumb joint movement assisting part 2301The structure of (a) will be explained.
Thumb joint movement assistance part 2301Assisting the joint movement of the thumb. The thumb joint movement assisting part 230 in a state where the hand attaching part 210 is attached to the hand1Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb.
As shown in fig. 2As shown in fig. 3 (a) and (B), the thumb joint movement assistance part 2301With bellows 3421、3431The piping 3321、3331And a transmission member 3211、3231、3241. In addition, the thumb joint movement assistance part 2301Has a first detecting part 4121、4131Thumb mounting part 3901. Here, bellows 3421、3431The bellows is arranged corresponding to the vertical.
In addition, coordinate systems (X) in fig. 3 (a) and (B)1,Y1,Z1) The finger tip direction in the state where the thumb is extended is + Y1The direction is + Z, which is a direction from the palm side of the finger, i.e., the abdomen side of the finger (hereinafter, also referred to as "finger abdomen") to the back side of the finger, i.e., the back side of the finger (hereinafter, also referred to as "back finger")1Direction in the same direction as Y1Direction and Z1The direction perpendicular to the direction of the little finger is + X1A coordinate system of directions. Here, FIG. 3 (A) is from + Z1The thumb joint movement assistance part 230 attached to the thumb is viewed from the side of the direction1Time graph. In addition, FIG. 3 (B) is from-X1The thumb joint movement assistance part 230 attached to the thumb is viewed from the side of the direction1Time graph.
The bellows 342 described above1The ring-shaped groove is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the first joint of the thumb. Bellows 3421One side of (in FIG. 3 "-Y)1Direction side ") end portion and a portion formed on the transmission member 3231The other end side of (in fig. 3, "+ Y)1Directional side ") of the first and second connection portions. Bellows 3421And the other end portion formed on the transmission member 3211The one end portion side of the first and second connecting portions. Bellows 342 configured in this manner1A force is generated that assists the articulation of the first joint.
The bellows 343 described above1And bellows 3421Similarly, the joint is a stretchable resin member having annular grooves at equal intervals, and is arranged along the second joint of the thumbThe periphery of the shaft is arranged on the back side of the finger. Bellows 3431And a transmission member 324 formed at one end portion thereof1On the other side (bellows 343)1Side) end portion side connection portions. Bellows 3431And the other end portion formed on the transmission member 3231The one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 343 configured in this manner1A force is generated that assists the articulation of the second joint.
Here, the bellows 3421A flexible resin pipe 332 is attached thereto1The bellows 3421Via the piping 3321Is in communication with the control device 800. Furthermore, when the bellows 342 is in the state of being opened1The bellows 342 changes when the air pressure therein changes1Expansion and contraction are performed. As a result, the bellows 3421A force is generated that assists the aforementioned articulation.
In addition, at the bellows 3431A flexible resin pipe 333 is mounted thereon1The bellows 3431Via a pipe 3331Is in communication with the control device 800. Also, when the bellows 3431When the air pressure in the chamber changes, the bellows 3431Expansion and contraction are performed. As a result, the bellows 3431A force is generated that assists the aforementioned articulation.
The transmission member 321 described above1For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. Transmitting member 3231Via bellows 3421And a transmission member 3211Is connected to one end of the long plate portion. Furthermore, the transmission member 3211The connection part of the end part of one side and the bellows 3421Is connected with the other end of the connecting rod. Here, the transmission member 3211When the joint movement assistance device 200 is attached to the right hand, the end portion on one side of the long plate portion and the transmission member 323 can rotate with the joint axis of the first joint of the thumb as the rotation axis1And (4) connecting.
In addition, the transmission member 3211Is connected toA first detection part 412 is partially installed1Magnet 422 (described later)1. The transmission member 3211Via thumb mount 3901Is arranged at the end part of the thumb. Here, when an auxiliary joint for assisting joint movement (hereinafter, also referred to simply as an "auxiliary joint") is used as the first joint, the transmission member 3211Corresponding to the other side member.
The above-mentioned transmitting member 3231For example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. Further, the other end of the long plate portion is formed with a plate-like other-side connecting portion extending substantially upright in the direction of the back of the finger. On the other side connecting portion, a supply pipe 332 is molded1Wiring 4421An insertion hole into which the insert is inserted.
Transmitting member 3241Via a bellows 3431And a transmission member 3231Is connected to one end of the long plate portion. Further, a transmission member 3231And the bellows 3431Is connected with the other end of the connecting rod. Here, the transmission member 3231When the joint movement assistance device 200 is attached to the right hand, the end portion on one side of the long plate portion and the transmission member 324 can rotate with the joint axis of the second joint of the thumb as the rotation axis1And (4) connecting.
In addition, the transmission member 3211Via bellows 3421And a transmission member 3231Is connected to the other end of the long plate portion. Further, a transmission member 3231And the other side connecting portion of (2) and the bellows 3421Is connected with one side end part of the connecting rod.
In addition, the transmission member 3231Is provided with a first detection part 4131Magnet 423 described later1. In addition, the transmission member 3231Is provided with a first detecting part 4121Magnetic sensor 432 described later1. The transmission member 3231Via thumb mount 3901Is arranged at the basal joint part of the thumb.
Here, when the joint to be assisted is the first joint, the transmission member 3231The other-side connecting portion and the long plate portion correspond to one-side member. When the joint to be assisted is the second joint, the transmission member 3231The one-side connecting portion and the long plate portion of (a) correspond to the other-side member.
The above-mentioned transmission member 3241For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. A supply pipe 333 is formed on the connection part1Wiring 443, wiring1An insertion hole into which the insert is inserted. Transmitting member 3231Via a bellows 3431And a transmission member 3241Is connected to the other end of the long plate portion. Furthermore, the transmission member 3241And the connection part of the other end of the bellows 3431Is connected with one side end part of the connecting rod.
In addition, the transmission member 3241Is provided with a first detection part 4131Magnetic sensor 433 described later1. The transmission member 3241Via thumb mount 3901Is mounted on the metacarpal bone of the thumb. Here, when the joint to be assisted is the second joint, the transmission member 324 is used1Corresponding to a side member.
The first detecting part 4121Having a magnet 4221And a magnetic sensor 4321。
In the present embodiment, the magnet 422 is described above1Is a cylindrically shaped member. Magnet 4221Is mounted on the transmission member 3211Of the connecting part of (2) — Y1And a direction side. In this embodiment, the magnet 4221Is + Y1The direction side is S pole, magnet 4221And a magnetic sensor 4321Relative to-Y1The direction side is an N pole.
The magnetic sensor 432 described above1To be connected with the magnet 4221Are oppositely arranged on the transmission member 3231Is connected to the other side of+ Y of the junction1And a direction side. Also, the magnetic sensor 4321Via the wiring 4421Is connected to the control device 800.
In this embodiment, the magnetic sensor 4321The magnetic flux sensor is provided with a Hall element for outputting a voltage corresponding to the magnetic flux density of the magnetic flux surface, and the voltage value output by the Hall element is detected. Also, the magnetic sensor 432 will sense the magnetic field1The detection result of the detection is taken as the first detection value DA21And transmitted to the control device 800. Fig. 4 shows the output characteristics of the magnetic sensor when the articulation assisting device 200 is actually attached to a finger of a human body and the flexion angle of the finger is changed. As shown in fig. 4, the flexion angle of the finger and the output voltage of the magnetic sensor are in one-to-one correspondence.
That is, the magnetic sensor 4321Outputs a voltage value corresponding to the voltage value mounted on the transmission member 3211Magnet 4221And is mounted on the transmission member 3231Magnetic sensor 432 of1Distance therebetween, and transmission member 3211The direction in which the long plate portion extends and the transmission member 3231The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 4321The output voltage value is a physical quantity reflecting the transmission member 321 in accordance with the flexion or extension of the first joint1The long plate portion of (2) and the transmission member 3231Is directed toward the direction in which the first joint extends (first angle).
The first detecting part 4131Having a magnet 4231And a magnetic sensor 4331。
The magnet 4231Is connected with the magnet 4221A cylindrical shaped member constructed in the same manner. Magnet 4231Is mounted on the transmission member 3231Of one-side connecting part of1And a direction side. In the present embodiment, the magnet 4231And a magnetic sensor 4331Relative to-Y1The direction side is an N pole.
The magnetic sensor 4331To be connected with the magnet4231Are oppositely arranged on the transmission member 3241Of the connecting part of (2) + Y1And a direction side. Furthermore, the magnetic sensor 4331Via the wiring 4431Is connected to the control device 800.
The magnetic sensor 4331And a magnetic sensor 4321Similarly, the sensor is of a hall element type, and detects a voltage value output from the hall element. Then, the magnetic sensor 4331The detection result of the detection is taken as the first detection value DA31And transmitted to the control device 800.
That is, the magnetic sensor 4331Outputs a voltage value corresponding to the voltage value mounted on the transmission member 3231Magnet 4231And is mounted on the transmission member 3241Magnetic sensor 4331Distance therebetween, and a transmission member 3231The direction in which the long plate portion extends and the transmission member 3241The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 4331The output voltage value is a physical quantity reflecting the transmission member 323 in accordance with the flexion or extension of the second joint1And the transmission member 324 in the direction in which the long plate portion extends toward the second joint1Is directed toward the direction in which the second joint extends (first angle).
The thumb mounting part 3901Is arranged on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. Thumb mount 3901Has a mounting member 3911Finger cot 3921And a belt member 3931。
The mounting member 3911The elastic strip-shaped member is disposed on the finger of the thumb and the dorsal side of the metacarpal in the direction in which the thumb extends. On the mounting member 3911Is + Z1A transmission member 321 is fixed to the direction side1、3231、3241The long plate portion of (2). In addition, in the mounting member 3911On and fixed with a transmission member 3241Partially opposite side (-Z)1Directional side), a hand mount 210 is mounted.
Here, the transmission member 321 is attached1And a transmission member 3231Mounting component 391 on a first joint therebetween1Corresponding to the first constraining member. In addition, is installed on the transmission member 3231And a transmission member 3241On the second joint therebetween 3911Corresponding to the first constraining member.
Finger cot 3921For example, made of leather, is fixed to the mounting member 3911On the fingertip side. Furthermore, the thumb joint movement assisting part 2301Finger sleeve 392 for mounting on the thumb1Fixed to the tip of the thumb. The belt member 3931For example, a member made of a long cloth, a base joint portion and a transmission member 3231The long plate part is fixed.
Finger joint movement assisting section 230k(k 2, …, 5) structure (see below)
For the above-mentioned finger joint movement auxiliary part 230kThe structure of (k 2, …, 5) will be described.
Finger joint movement assistance part 2302Assisting the joint movement of the index finger. In addition, the finger joint movement assistance part 2303To assist the joint movement of the middle finger. In addition, the finger joint movement assistance part 2304The joint motion of the ring finger is assisted. In addition, the finger joint movement assistance part 2305Assist in the joint movement of the little finger. The finger joint movement assisting section 230 in a state where the hand attachment section 210 is attached to the handk(k 2, …, 5) are attached to the fingers (distal, middle, and proximal) and metacarpal bones of the fingers, respectively.
In fig. 5 (a) and (B), the finger joint movement assistance section 230 is providedkShows a finger joint movement assistance part 2302The structure of (1). In addition, coordinate systems (X) in fig. 5 (a) and (B)2,Y2,Z2) The fingertip direction in the state where the index finger is extended is + Y2A direction from the finger ventral side to the finger dorsal side is + Z2Direction in the same direction as Y2Direction and Z2The direction perpendicular to the direction of the little finger is + X2A coordinate system of directions.
Here, FIG. 5 (A) is from + Z2The finger joint movement assistance part 230 installed on the index finger is viewed from the side of the direction2Time graph. In addition, FIG. 5 (B) is from-X2The finger joint movement assistance part 230 installed on the index finger is viewed from the side of the direction2Time graph. In the present embodiment, the finger joint movement assistance part 2303、2304、2305And is also configured to be connected to the finger joint movement assistance part 2302The same is true.
As shown in FIG. 2 and (A) and (B) of FIG. 5, each finger joint movement assistance part 230k(k 2, …, 5) each having a bellows 341k、342k、343kThe pipe 331k、332k、333kAnd a transmission member 321k、322k、323k、324k. In addition, each finger joint movement assistance part 230kEach having a first detecting part 412k、413kAnd a finger attachment part 390k. Here, bellows 341k、342k、343kThe bellows is arranged corresponding to the vertical.
The above-mentioned bellows 341kThe first joint is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the first joint. Bellows 341kOne side of (Y in FIG. 5)kDirection side ") end portion and end portion formed on the transmission member 322kThe other end side of (in fig. 5, "+ Y)kDirectional side ") of the first and second connection portions. Bellows 341kAnd the other end portion formed on the transmission member 321kThe one end portion side of the first and second connecting portions. Bellows 341 configured in this mannerkA force is generated that assists the articulation of the first joint.
The bellows 342 described abovekAnd bellows 341kSimilarly, the second joint is a stretchable resin member having annular grooves at equal intervals, and is disposed on the dorsal side of the finger along the periphery of the joint axis of the second joint. Bellows 342kAnd a transmission member 323 formed at one end portion thereofkThe other side end portion side of the first and second connecting portions. Bellows 342kAnd the other end portion of the transmission member 322kThe one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 342 configured in this mannerkA force is generated that assists the articulation of the second joint.
The bellows 343 described abovekAnd bellows 341k、342kSimilarly, the third joint is a stretchable resin member having annular grooves at equal intervals, and is disposed along the periphery of the joint axis of the third joint on the side substantially perpendicular to the joint axis. Bellows 343kAnd a transmission member 324 formed at one end portion thereofkOn the other side (bellows 343)kSide) end portion side connection portions. Bellows 343kAnd the other end portion formed on the transmission member 323kThe one-side end portion side of the first connection portion is connected to the one-side connection portion of the second connection portion. Bellows 343 configured in this mannerkA force is generated that assists the articulation of the third joint.
Here, bellows 341kAnd bellows 342kThe inner space of the tube is connected to a flexible resin pipe 331kBut is communicated. In addition, the bellows 342kA flexible resin pipe 332 is attached theretokThe bellows 342kVia the piping 332kIs in communication with the control device 800. Furthermore, when the corrugated tube 341 is usedk、342kWhen the pressure of the air inside changes, the bellows 341k、342kExpansion and contraction are performed. As a result, the bellows 341k、342kA force is generated that assists the aforementioned articulation.
In addition, at the bellows 343kA flexible resin pipe 333 is mounted thereonkThe bellows 343kVia a pipe 333kIs in communication with the control device 800. Also, when the bellows 343kWhen the air pressure in the chamber changes, the bellows 343kExpansion and contraction are performed. As a result, the bellows 343kA force is generated that assists the aforementioned articulation.
The transmission member 321 described abovekFor exampleIs a member made of steel and has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. Transmission member 322kVia bellows 341kAnd a transmission member 321kIs connected to one end of the long plate portion. Furthermore, the transmission member 321kThe connection part on the one end side of the bellows 341kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 321kAnd the transmission member 322 so as to be rotatable about the joint axis of the first joint as a rotation axiskAnd (4) connecting. The transmission member 321kVia finger mount 390kIs arranged at the end part of the finger.
The above-mentioned transmission member 322kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. Further, the other end of the long plate portion is formed with a plate-like other-side connecting portion extending substantially upright in the direction of the back of the finger. On the one side connection part and the other side connection part, a supply pipe 331 is formedkAn insertion hole into which the insert is inserted.
Transmitting member 323kVia bellows 342kAnd a transmission member 322kIs connected to one end of the long plate portion. Furthermore, the transmission member 322kAnd the bellows 342kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 322 is providedkOne end of the long plate part and the transmission member 323 so as to be rotatable about the joint shaft of the second joint as a rotation shaftkAnd (4) connecting.
In addition, the transmission member 321kVia bellows 341kAnd a transmission member 322kIs connected to the other end of the long plate portion. Furthermore, the transmission member 322kAnd the other side connecting part of the bellows 341kIs connected with one side end part of the connecting rod.
In addition, theIn the transmission member 322kIs mounted with the first detection part 412kMagnet 422 (described later)k. The transmission member 322kVia finger mount 390kIs arranged at the middle joint of the finger. Here, when the joint to be assisted is the second joint, the transmission member 322 is usedkCorresponding to the other side member. The transmission member 322kVia finger mount 390kIs arranged at the middle joint of the finger.
The above-mentioned transmitting member 323kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger. A supply pipe 332 is formed on the other side connecting partkWiring 442kAn insertion hole into which the insert is inserted.
Transmitting member 324kVia a bellows 343kAnd a transmission member 323kIs connected to one end of the long plate portion. Further, a transmission member 323kAnd the bellows 343kIs connected with the other end of the connecting rod. Here, when the joint movement assistance device 200 is attached to the right hand, the transmission member 323kAnd the transmission member 324 so as to be rotatable about the joint axis of the third joint as a rotation axiskAnd (4) connecting.
In addition, the transmission member 322kVia bellows 342kAnd a transmission member 323kIs connected to the other end of the long plate portion. Further, a transmission member 323kAnd the other side connecting portion of (2) and the bellows 342kIs connected with one side end part of the connecting rod.
In addition, the transmission member 323kIs provided with a first detection part 413kMagnet 423 described laterk. In addition, the transmission member 323kIs mounted with a first detection part 412kMagnetic sensor 432 described laterk. The transfer is carried outComponent 323kVia finger mount 390kIs arranged at the base joint part of the finger.
Here, when the joint to be assisted is the second joint, the transmission member 323kThe other-side connecting portion and the long plate portion correspond to one-side member. When the joint to be assisted is the third joint, the transmission member 323kThe one-side connecting portion and the long plate portion of (a) correspond to the other-side member.
The above-mentioned transmission member 324kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. A supply pipe 333 is formed on the connection partkWiring 443, wiringkAn insertion hole into which the insert is inserted. Transmitting member 323kVia a bellows 343kAnd a transmission member 324kIs connected to the other end of the long plate portion. Furthermore, the transmission member 324kAnd the connection part of the other end of the bellows 343kIs connected with one side end part of the connecting rod.
In addition, the transmission member 324kIs provided with a first detection part 413kMagnetic sensor 433 described laterk. The transmission member 324kVia finger mount 390kIs arranged on the metacarpal bone part of the finger. Here, when the joint to be assisted is the third joint, the transmission member 324 is usedkCorresponding to a side member.
The first detecting part 412kHaving a magnet 422kAnd a magnetic sensor 432k。
The magnet 422kIs connected with the magnet 4221A cylindrical shaped member constructed in the same manner. Magnet 422kIs mounted on the transmission member 322kOf one-side connecting part ofkAnd a direction side. In this embodiment, the magnet 422kAnd a magnetic sensor 432kRelative to-YkThe direction side is an N pole.
The magnetic sensor 432 described abovekTo be connected with the magnet 422kIn an opposed mannerIs mounted on the transmission member 323kOf the other side connecting part ofkAnd a direction side. Also, the magnetic sensor 432kVia the wiring 442kIs connected to the control device 800.
The magnetic sensor 432kAnd a magnetic sensor 4321Similarly, the sensor is a hall element type sensor, and detects a voltage value output from the hall element. Also, the magnetic sensor 432kAs the first detection value DA2kAnd transmitted to the control device 800.
That is, the magnetic sensor 432kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 322kUpper magnet 422kAnd is mounted on the transmission member 323kMagnetic sensor 432 ofkDistance therebetween, and transmission member 322kThe direction in which the long plate portion extends and the transmission member 323kThe angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 432kThe output voltage value is a physical quantity reflecting the transmission member 322 in accordance with the flexion or extension of the second jointkThe long plate portion of (2) and the transmission member 323kIs directed toward the direction in which the second joint extends (first angle).
The first detecting part 413kHaving a magnet 423kAnd a magnetic sensor 433k。
The magnet 423kIs connected with the magnet 422kA cylindrical member is similarly constructed. Magnet 423kIs mounted on the transmission member 323kOf one-side connecting part ofkAnd a direction side. In the present embodiment, the magnet 423kAnd a magnetic sensor 433kRelative to-YkThe direction side is an N pole.
The magnetic sensor 433kTo communicate with the magnet 423kAre oppositely arranged on the transmission member 324kOf the connecting part of (2) + YkAnd a direction side. Furthermore, the magnetic sensor 433kVia the wiring 443kIs connected to the control device 800.
The magnetic sensor 433kAnd a magnetic sensor 432kSimilarly, the sensor is of a hall element type, and detects a voltage value output from the hall element. Furthermore, the magnetic sensor 433kThe detection result of the detection is taken as the first detection value DA3kAnd transmitted to the control device 800.
That is, the magnetic sensor 433kOutput voltage value corresponding to the voltage value installed at the transmission part 323kUpper magnet 423kAnd is mounted on the transmission member 324kMagnetic sensor 433kDistance therebetween, and a transmission member 323kThe direction in which the long plate portion extends and the transmission member 324kThe angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 433kThe output voltage value is a physical quantity reflecting the transmission member 323 in accordance with the flexion or extension of the third joint1And the transmission member 324 in the direction in which the long plate portion extends toward the third joint1Is directed toward the direction in which the third joint extends (first angle).
The finger attachment part 390k(k 2, …, 5) is attached to the fingers (distal, middle, and proximal) and metacarpal bones. Finger attachment portions 390k(k 2, …, 5) each has a mounting member 391kFinger cot 392kAnd a belt member 393k、396k。
The mounting member 391kThe elastic strip-shaped member is disposed on the finger of the finger and the dorsal side of the metacarpal in the direction in which the finger extends. On the mounting member 391kIs + ZkA transmission member 321 is fixed to the direction sidek、322k、323k、324kThe long plate portion of (2). In addition, in the mounting member 391kAnd a transmission member 324 is fixedkPartially opposite side (-Z)kDirectional side) is mounted with a hand mounting portion 210.
Here, the transmission member 321 is attachedkAnd a transmission member 322kMounting component 391 on a first joint therebetweenkCorresponding to the first restricting member. In addition, is mounted on the transmission member 322kAnd a transmission member 323kOn the second joint therebetween 391kCorresponding to the first constraining member. In addition, is installed on the transmission member 3231And a transmission member 3241Mounting part 391 of the third joint therebetweenkCorresponding to the first constraining member.
Finger cot 392kFor example, made of leather, is fixed to the mounting member 391kOn the fingertip side. Furthermore, the finger joint movement assistance part 230kFinger sleeve 392 for mounting on a fingerkFixed to the tip of a finger. The belt member 393k、396kFor example, a cloth member in the shape of a strip. Also, belt member 393kCentering joint part and transmission part 322kThe long plate part is fixed. Belt member 396kTo the base joint part and the transmission part 323kThe long plate part is fixed.
< Structure of master device 500 >
The configuration of the host apparatus 500 described above will be described.
An external view of the host device 500 is shown in fig. 6. Fig. 6 is an external view of the main apparatus 500 attached to the "right hand HDR2 of the human body HB2 (the right hand of a person different from the person to which the articulation assisting apparatus 200 is attached)" as the second object when the joints of the fingers are in the extended state, as viewed from the back side of the hand. As shown in FIG. 6, the main device 500 has a hand attachment portion 510 and a thumb main portion 5301And a finger main part 530k(k 2, …, 5). In the present embodiment, "right hand HDR2 of human body HB 2" and "right hand HDR1 of human body HB 1" have congruent symmetry. The term "congruent symmetry" also includes the case of substantial congruence other than perfect congruence.
In the following description, the thumb main part 530 will be described1And a finger main part 530k(k 2, …, 5) are collectively referred to as "main part of finger 530j(j=1,…,5)”。
The hand attachment unit 510 described above will be explained. The hand attachment portion 510 is, for example, a clothThe resulting part is mounted on the back and palm of the right hand HDR 2. A thumb main part 530 is attached to the hand attaching part 5101A portion of one side of (a).
Further, a finger main part 530 is attached to the hand attachment part 510k(k-2, …, 5). In a state where the hand attachment unit 510 is attached to the hand, the thumb main part 5301And a finger main part 530j(k 2, …, 5) is disposed on the finger portion on the dorsal side.
Main part of thumb 5301Structure of (1)
For the thumb main part 530 mentioned above1The structure of (a) will be explained.
The thumb main part 530 in a state where the hand mounting part 510 is mounted on the hand1Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. As shown in fig. 6 and fig. 7 (a), (B) in combination, the thumb main part 5301Has a transmission member 6211、6231、6241. In addition, the thumb main part 5301Has a second detecting part 7121、7131Thumb mounting 6901。
In addition, the coordinate system (U) in fig. 7 (a), (B)1,V1,W1) The finger tip direction is + V in the state that the thumb is extended1A direction of + W from the finger ventral side to the finger dorsal side1Direction in the same direction as V1Direction and W1The direction of the finger is vertical and + U1A coordinate system of directions. Here, FIG. 7 (A) is from + W1Thumb main part 530 mounted on thumb as viewed from the direction side1Time graph. In addition, FIG. 7 (B) is a slave-U1Thumb main part 530 mounted on thumb as viewed from the direction side1Time graph.
The above-mentioned transmission member 6211For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. At the transmitting member 6211Is provided with a second detection part 7121Magnet 722 described later1. The transmission member 6211Via thumb mount 6901Is arranged at the end part of the thumb. Here, when the joint to be assisted is the first joint, the transmission member 6211Corresponding to the other side corresponding part.
The above-mentioned transmission member 6231For example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger.
At the transmitting member 6231Is mounted with a second detecting part 7131Magnet 723 (below)1. In addition, the transmission member 6231Is mounted with a second detection part 7121Magnetic sensor 732 described later1. Then, the transmission member 6231On the other side connecting portion of the first substrate, a wiring 742 is formed1An insertion hole into which the insert is inserted. The transmission member 6231Via thumb mount 6901Is arranged at the basal joint part of the thumb.
Here, when the joint to be assisted is the first joint, the transmission member 623 transmits the motion vector to the first joint1The other-side connecting portion and the long plate portion of (b) correspond to one-side corresponding members. When the joint to be assisted is the second joint, the transmission member 623 transmits the motion vector to the first joint1The one-side connecting portion and the long plate portion of (b) correspond to the other-side corresponding member.
The transmission member 6241For example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. At the transmission member 6241Is mounted with a second detection part 7131Magnetic sensor 733 to be described later1. Then, the transmission member 6241Has wiring 743 formed on the connection portion1An insertion hole into which the insert is inserted. The transmission member 6241Via thumb mount 6901Mounting ofOn the metacarpal bone of the thumb. Here, when the joint to be assisted is the second joint, the transmission member 6241Corresponding to a side-corresponding part.
In the present embodiment, the transmission member 6211、6241Length ratio of the connecting portion in the finger back direction of the transmission member 3211、3241Has a short length in the finger back direction. In the present embodiment, the transmission member 6231Length ratio of one side connection part to the other side connection part in the finger back direction transmitting member 3231The length of the connecting portion (2) in the finger back direction is short (see fig. 3 and 7).
The second detection unit 712 described above1Having a magnet 7221And a magnetic sensor 7321。
The magnet 7221Is connected with the magnet 422 of the joint movement assisting device 2001A cylindrical shaped member constructed in the same manner. Magnet 7221Is mounted on the transmission member 6211Of the connecting part of (2) — V1And a direction side. In this embodiment, the magnet 7221And a magnetic sensor 7321relative-V1The direction side is an N pole.
The magnetic sensor 732 described above1To interact with the magnet 7221Are oppositely arranged on the transmission component 6231Of the other side connecting part of1And a direction side. Also, the magnetic sensor 7321Via wiring 7421Is connected to the control device 800.
The magnetic sensor 7321Is a magnetic sensor 432 associated with the joint movement assistance device 2001The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 7321The detection result of the detection is made as the second detection value DM21And transmitted to the control device 800.
That is, the magnetic sensor 7321Outputs a voltage value corresponding to the voltage value mounted on the transmission member 6211Upper magnet 7221And is mounted on the transmission member 6231Magnetic sensor 732 above1In betweenDistance and transmission member 6211And a transmission member 623 for transmitting the direction in which the long plate portion extends1The angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 7321The output voltage value is a physical quantity reflecting the transmission member 621 in accordance with the flexion or extension of the first joint1And a transmission member 623 for transmitting the direction in which the long plate portion extends toward the first joint1Is directed toward the direction in which the first joint extends (second angle).
The second detecting unit 7131Having a magnet 7231And a magnetic sensor 7331。
The magnet 7231Is connected to the magnet 423 of the joint movement assistance device 2001A cylindrical shaped member constructed in the same manner. Magnet 7231Is mounted on the transmission member 6231Of one side connecting part of1And a direction side. In this embodiment, the magnet 7231And a magnetic sensor 7331relative-V1The direction side is an N pole.
The magnetic sensor 733 described above1To interact with the magnet 7231Are oppositely arranged on the transmission component 6241Of the connecting part of (2) + V1And a direction side. Also, the magnetic sensor 7331Via wiring 7431Is connected to the control device 800.
The magnetic sensor 7331Is a magnetic sensor 433 of the joint movement assistance device 2001The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 7331As the second detection value DM31And transmitted to the control device 800.
That is, the magnetic sensor 7331Outputs a voltage value corresponding to the voltage value mounted on the transmission member 6231Upper magnet 7231And is mounted on the transmission member 6241Magnetic sensor 733 on1Distance therebetween, and a transmission member 6231And the transmission member 624 extending in the direction of the long plate part1In the direction in which the long plate portion extendsAt an angle. Accordingly, the magnetic sensor 7331The output voltage value is a physical quantity reflecting the transmission member 623 according to the flexion or extension of the second joint1And the transmission member 624 extending in the direction in which the long plate portion extends toward the second joint1Is directed toward the second joint (second angle).
The thumb mounting part 6901Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the thumb. Thumb mount 6901Having mounting members 6911Finger cot 6921Belt member 6931。
The above-mentioned mounting member 6911The elastic strip-shaped member is disposed on the finger of the thumb and the dorsal side of the metacarpal in the direction in which the thumb extends. At the mounting member 6911Is + W1A transmission member 621 is fixed to the direction side1、6231、6241The long plate portion of (2). In addition, at the mounting member 6911And a transmission member 624 is fixed thereto1Partially opposite side (-W)1Directional side) is mounted with a hand mounting portion 510.
Here, the transfer member 621 is mounted1And transmission member 6231At the first joint therebetween 6911Corresponding to the second restricting member. In addition, is mounted on the transmission member 6231And transmission member 6241On the second joint therebetween 3911Corresponding to the second restricting member.
The above finger cot 6921E.g. made of leather, fixed to the mounting member 6911On the fingertip side. Furthermore, the thumb is placed on the main part 5301When mounted on the thumb, finger cot 6921Fixed to the tip of the thumb. Belt member 6931For example, a strip-shaped cloth member, a base joint portion and a transmission member 6231The long plate part is fixed.
Finger Main part 530k(k 2, …, 5) structure (see below)
For the finger main part 530 described abovek(k=2, …, 5).
The finger main part 530 in a state where the hand attaching part 510 is attached to the hand2Is mounted on the fingers (distal joint part and basal joint part) and the metacarpal bone part of the index finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand3Is mounted on the fingers (distal and proximal) and metacarpal bone of the middle finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand4Is arranged on the finger (distal part and basal part) and the metacarpal part of the ring finger. In addition, the finger main part 530 is mounted on the hand in a state where the hand mounting part 510 is mounted on the hand5Is arranged on the finger (distal joint part and basal joint part) and the metacarpal bone part of the little finger.
In fig. 8 (a), (B), the finger main part 530 is providedkShows a finger main part 5302The structure of (1). In addition, the coordinate system (U) in fig. 8 (a), (B)2,V2,W2) The fingertip direction is + V in the state that the index finger is extended2A direction of + W from the finger ventral side to the finger dorsal side2Direction in the same direction as V2Direction and W2The direction of the finger is vertical and + U2A coordinate system of directions.
Here, FIG. 8 (A) is from + W2Directional side view finger main section 530 mounted on index finger2Time graph. In addition, FIG. 8 (B) is a slave-U2Directional side view finger main section 530 mounted on index finger2Time graph. In the present embodiment, the finger main part 5303、5304、5305Also with the finger main part 5302The same is true.
As shown in fig. 6 and fig. 8 (a) and (B) in combination, each finger main part 530k(k 2, …, 5) each have a transmission member 621k、622k、623k、624k. In addition, each finger main portion 530kRespectively having a second detecting part 712k、713kAnd finger attachment 690k。
The above-mentioned transmission member 621kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at one end of the long plate portion. The transmission member 621kVia finger mount 690kIs arranged at the end part of the finger. Alternatively, the finger can be taken from the main part 530kThe transmission member 621 is omitted from the components of (1)k。
The above-mentioned transmission member 622kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger. At the transmitting part 622kIs provided with a second detection part 712kMagnet 722 described laterk. The transmission part 622kVia finger mount 690kIs arranged at the middle joint of the finger. Here, when the joint to be assisted is the second joint, the transmission member 622kCorresponding to the other side corresponding part.
The above-mentioned transmission member 623kFor example, a member made of steel has a long plate portion. One end of the long plate portion is formed with a plate-shaped one-side connecting portion extending substantially upright in the direction of the back of the finger. The other end of the long plate portion is formed with a plate-shaped other-side connecting portion extending substantially upright in the direction of the back of the finger.
At the transmitting member 623kIs mounted with a second detecting part 713kMagnet 723 (below)k. In addition, the transmission member 623kIs mounted with a second detection part 712kMagnetic sensor 732 described laterk. Then, the transmission member 623kOn the other side connecting portion of the first substrate, a wiring 742 is formedkAn insertion hole into which the insert is inserted. The transmission member 623kVia finger mount 690kIs arranged on the base joint part of the finger.
Here, when the joint to be assisted is the second joint, the transmission member 623 transmits the motion vector to the second jointkThe other-side connecting portion and the long plate portion of (b) correspond to one-side corresponding members. When the joint to be assisted is the third joint, the transmission member 623 transmits the rotation of the first joint to the second jointkThe one-side connecting portion and the long plate portion of (b) correspond to the other-side corresponding member.
The transmission member 624kFor example, a member made of steel has a long plate portion. A plate-shaped connecting portion extending substantially upright in the direction of the back of the finger is formed at the other end of the long plate portion. At the transmission member 624kIs mounted with a second detection part 713kMagnetic sensor 733 to be described laterk. Then, the transmission member 624kHas wiring 743 formed on the connection portionkAn insertion hole into which the insert is inserted. The transmission member 624kVia finger mount 690kIs arranged on the metacarpal bone part of the finger. Here, when the joint to be assisted is the third joint, the transmission member 624kCorresponding to a side-corresponding part.
In the present embodiment, the transmission member 621k、624kLength ratio of the connecting portion in the finger back direction of the transmission member 321k、324kHas a short length in the finger back direction. In the present embodiment, the transmission member 622k、623kThe length ratio of the one-side connecting part to the other-side connecting part in the finger back direction of the transmission member 322k、323kThe one-side connection portion and the other-side connection portion of (a) are short in length in the finger back direction (refer to fig. 5 and 8).
The second detection unit 712 described abovekHaving a magnet 722kAnd a magnetic sensor 732k。
The magnet 722kIs connected with the magnet 422 of the joint movement assisting device 200kA cylindrical shaped member constructed in the same manner. Magnet 722kMounted on the transfer member 622kOf one side connecting part ofkAnd a direction side. In this embodiment, the magnet 722kAnd a magnetic sensor 732krelative-VkThe direction side is an N pole.
The magnetic sensor 732 described abovekTo interact with the magnet 722kAre oppositely arranged on the transmission component 623kOf the other side connecting part ofkAnd a direction side. Also, the magnetic sensor 732kVia wiring 742kIs connected to the control device 800.
The magnetic sensor 732kIs a magnetic sensor 432 associated with the joint movement assistance device 2001The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 732kThe detection result of the detection is made as the second detection value DM2kAnd transmitted to the control device 800.
That is, the magnetic sensor 732kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 622kUpper magnet 722kAnd is mounted on the transmission member 623kMagnetic sensor 732 abovekDistance therebetween, and a transmission member 622kAnd a transmission member 623 for transmitting the direction in which the long plate portion extendskThe voltage value corresponding to the angle formed by the direction in which the long plate portion extends. Thus, the magnetic sensor 732kThe output voltage value is a physical quantity reflecting the transmission member 622 in accordance with the flexion or extension of the second jointkAnd a transmission member 623 for transmitting the long plate portion extending toward the second jointkIs directed toward the direction in which the second joint extends (second angle).
The second detecting unit 713kHaving a magnet 723kAnd a magnetic sensor 733k。
The magnet 723kIs connected to the magnet 423 of the joint movement assistance device 200kA cylindrical shaped member constructed in the same manner. Magnet 723kIs mounted on the transmission member 623kOf one side connecting part ofkAnd a direction side. In this embodiment, the magnet 723kAnd a magnetic sensor 733krelative-VkThe direction side is an N pole.
The magnetic sensor 73 described above3kTo interact with the magnet 723kAre oppositely arranged on the transmission component 624kOf the connecting part of (2) + VkAnd a direction side. Also, the magnetic sensor 733kVia wiring 743kIs connected to the control device 800.
The magnetic sensor 733kIs a magnetic sensor 433 of the joint movement assistance device 2001The hall element type sensor configured in the same manner detects a voltage value output from the hall element. Also, the magnetic sensor 733kThe detection result of the detection is made as the second detection value DM3kAnd transmitted to the control device 800.
That is, the magnetic sensor 733kOutputs a voltage value corresponding to the voltage value mounted on the transmission member 623kUpper magnet 723kAnd is mounted on the transmission member 624kMagnetic sensor 733 onkDistance therebetween, and a transmission member 623kAnd the transmission member 624 extending in the direction of the long plate partkThe angle formed by the direction in which the long plate portion extends. Accordingly, the magnetic sensor 733kThe output voltage value is a physical quantity reflecting the transmission member 623 according to the flexion or extension of the third joint1And the transmission member 624 extends in the direction of the third joint1Is directed toward the direction in which the third joint extends (second angle).
The finger attaching part 690k(k 2, …, 5) is attached to the fingers (distal, middle, and proximal) and metacarpal bones. Each finger attachment 690k(k 2, …, 5) each has a mounting member 691kFinger cot 692kAnd belt member 693k、696k。
The above-mentioned mounting member 691kThe elastic strip-shaped member is disposed on the finger of the finger and the dorsal side of the metacarpal in the direction in which the finger extends. At the mounting member 691kIs + WkA transmission member 621 is fixed to the direction sidek、622k、623k、624kThe long plate portion of (2). In addition, at the mounting member 691kAnd a transmission member 624 is fixed theretokPartially opposite side (-W)kDirectional side) is mounted with a hand mounting portion 510.
Here, the transfer member 621 is mountedkAnd a transmission member 622kAt the first joint therebetween 691kCorresponding to the second restricting member. In addition, is installed on the transmission member 622kAnd transmission member 623k691 on the second joint therebetweenkCorresponding to the second restricting member. In addition, is mounted on the transmission member 623kAnd transmission member 624kA mounting part 691 on the third joint therebetweenkCorresponding to the second restricting member.
The above finger cot 692kE.g. made of leather, fixed to the mounting member 691kOn the fingertip side. Furthermore, the finger main part 530kWhen fitted on a finger, finger cot 692kFixed to the tip of a finger. Belt member 693k、696kFor example, a cloth member in the shape of a strip. Moreover, the band member 693kCentering joint part and transmission part 622kThe long plate part is fixed. Belt member 696kTo the base section part and the transmission part 623kThe long plate part is fixed.
< Structure of control device 800 >
The configuration of the control device 800 will be described.
The control device 800 passes through the pipe 3321And a thumb joint movement assisting part 2301Bellows 342 of1And (4) communicating. Further, the control device 800 passes through the pipe 3331And a thumb joint movement assisting part 2301Bellows 3431And (4) communicating. Further, the control device 800 passes through the pipe 332kAnd a finger joint movement assisting section 230kBellows 341k、342kAnd (4) communicating. The control device 800 also communicates with the pipe 333 via the pipe 333kAnd a finger joint movement assisting section 230kBellows 343kAnd (4) communicating. In the following description, these bellows will be collectively referred to as "bellows".
Further, the control device 800 passes through the wiring 442jThe first detection unit 412 of the joint movement assistance device 200jAnd (4) connecting. Further, the control device 800 passes through the wiring 443jThe first detection unit 413 of the joint movement assistance device 200jAnd (4) connecting. Further, the control device 800 passes through the wiring 742jSecond detection unit 712 connected to host device 500jAnd (4) connecting. Further, the control device 800 passes through a pipe 743jSecond detection unit 713 connected to host device 500jAnd (4) connecting.
As shown in fig. 9, the control device 800 includes a pressure increasing pump 811, a pressure reducing pump 812, an electric-air pressure control valve 813, and a control unit 814. The control device 800 includes pipes 815 and 816. Here, the electric-air pressure control valve 813 corresponds to an air pressure setting portion, and the control unit 814 corresponds to an air pressure control portion.
The pressure pump 811 is connected to one side of the pump-side connection port of the electric/air pressure control valve 813 via a pipe 815. The pressurizing pump 811 is used when air is forcibly supplied to the bellows. The decompression pump 812 is connected to the other side of the pump side connection port of the electric/air pressure control valve 813 via a pipe 816. The decompression pump 812 is used when air is forcibly discharged from the bellows.
The electric-air pressure control valve 813 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One of the inlet sides of the flow path switching valves is connected to a pressure pump 811, and the other of the inlet sides of the flow path switching valves is connected to a pressure reducing pump 812.
When the flow path switching valve forcibly supplies air to the bellows under the control of the control unit 814, the pressurizing pump 811 and a pipe communicating with a predetermined bellows are connected to each other via the pipe 815 to form a flow path. When the air is forcibly discharged from the bellows by the flow path switching valve under the control of the control unit 814, the decompression pump 812 and a pipe communicating with a predetermined bellows are connected to each other via a pipe 816 to form a flow path.
For example, the auxiliary part 230 is forcibly moved toward the thumb joint1Bellows 342 of1When air is supplied, the flow path switching valve is connected to the piping 815 and the piping 3321Are connected to formForming a flow path. In addition, the bellows 342 is forcibly driven1When air is discharged, the channel switching valve is connected to the pipe 816 and the pipe 3321The flow paths are formed by the connection. And, forcibly toward the bellows 3431When air is supplied, the flow path switching valve is connected to the piping 815 and the piping 3331The flow paths are formed by the connection. In addition, the pressure is forcibly transmitted from the bellows 3431When air is discharged, the channel switching valve is connected to the piping 816 and the piping 3331The flow paths are formed by the connection.
In addition, the finger joint movement assisting unit 230 is forcibly moved to the finger jointkBellows 341k、342kWhen air is supplied, the flow path switching valve is connected to the piping 815 and the piping 332kThe flow paths are formed by the connection. In addition, the bellows 341 is forcibly removed from the chamberkBellows 342kWhen air is discharged, the channel switching valve is connected to the pipe 816 and the pipe 332kThe flow paths are formed by the connection. And, forcibly toward the bellows 343kWhen air is supplied, the flow path switching valve is connected to the piping 815 and the piping 333kThe flow paths are formed by the connection. In addition, the pressure is forcibly transmitted from the bellows 343kWhen air is discharged, the channel switching valve is connected to the piping 816 and the piping 333kThe flow paths are formed by the connection.
The control unit 814 performs switching control of discharging air from the bellows and supplying air to the bellows. In this control, when air is supplied to the bellows, the control unit 814 controls the electric-air pressure control valve 813 to form a flow path connecting the pressure pump 811 and the bellows that performs the articulation, thereby adjusting the air pressure in the bellows. When air is discharged from the bellows, the control unit 814 controls the electric-air pressure control valve 813 to form a flow path connecting the decompression pump 812 and the bellows that performs the articulation, thereby adjusting the air pressure in the bellows.
In performing this control, the control unit 814 receives the second detection unit 712 of the slave host device 500j(j-1, …, 5) transmitted second detection value DM2jAnd receives a second signal from the joint movement assistance device 200A detecting part 412jTransmitted first detection value DA2j. Then, control unit 814 performs feedback control such that first detection value DA2jAnd a second detection value DM2jThe absolute value of the difference is equal to or less than a predetermined value, and a supply/discharge control command is generated to supply/discharge to the bellows 342jFrom bellows 342 orjAllowing the air to escape. The supply-discharge control command generated in this way is sent to the electric-air pressure control valve 813.
In addition, in performing this control, the control unit 814 receives the second detection unit 713 from the host device 500j(j-1, …, 5) transmitted second detection value DM3jAnd receives the first detection part 413 from the joint movement assistance device 200jTransmitted first detection value DA3j. Then, control unit 814 performs feedback control such that first detection value DA3jAnd a second detection value DM3jThe absolute value of the difference is not more than a predetermined value, and a supply/discharge control command is generated to supply/discharge to the bellows 343jFrom a bellows 343 orjAllowing the air to escape. The supply-discharge control command generated in this way is sent to the electric-air pressure control valve 813. As a control method of such a control unit 814, for example, a known PID (Proportional-Integral-Derivative) control may be used. The predetermined value is predetermined by experiments, simulations, experiences, and the like.
[ actions ]
The operation of the articulation assisting system 100 configured as described above will be described with respect to an assisting operation based on the finger articulation of the master/slave system.
In the following description of the operation, the state of the host device 500 will be described as the finger master 530j(j is 1, …, 5), reference may sometimes be made to the main finger part 5302A state diagram of (1). In the following description, the state of the joint movement assistance device 200 will be described as the finger joint movement assistance unit 230j(j=1,…,5) The finger joint movement assisting unit 230 may be referred to2A state diagram of (1).
< assisting action of the joint-motion assisting device 200 for the joint flexion state >
First, as shown in fig. 10 (a), the person to be attached to the main apparatus 500 is assumed to place all joints of the finger to which the main apparatus 500 is attached in a flexed state. The control unit 814 receives the magnetic sensor 732 from the host device 500 in such a flexed statej(j-1, …, 5) transmitted second detection value DM2jAnd a slave magnetic sensor 733jThe transmitted second detection value DM3j. In addition, the control unit 814 receives a signal from the magnetic sensor 432 of the articulation assisting apparatus 200jTransmitted first detection value DA2jAnd a slave magnetic sensor 433jTransmitted first detection value DA3j。
Next, the control unit 814 calculates the second detection value DM2jAnd first detection value DA2jThe difference of (d) and the absolute value of the difference. When the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 342jThe internal air pressure is increased by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813.
Next, the control unit 814 receives the command from the magnetic sensor 432 of the joint movement assistance device 200jReceiving bellows 342jFirst detection value DA2 when air pressure in the air conditioner is changedj. Next, the control unit 814 calculates the second detection value DM2jAnd first detection value DA2jAnd determining whether the absolute value is equal to or less than a predetermined value. When the absolute value is not equal to or less than the predetermined value, control section 814 repeats the feedback control process until second detection value DM2 reachesjAnd first detection value DA2jUntil the absolute value of the difference is less than or equal to a predetermined value.
In addition, the control unit 814 calculates the second detection value DM3jAnd first detection value DA3jThe absolute value of the difference of (a). Then, when the absolute value is not equal to or less than a predetermined value, control section 814Lower, a bellows 343 is generatedjThe internal air pressure is increased by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813.
Next, the control unit 814 receives the command from the magnetic sensor 433 of the joint movement assistance device 200jReceiving bellows 343jFirst detection value DA3 when air pressure in the air conditioner is changedj. Next, the control unit 814 calculates the second detection value DM3jAnd first detection value DA3jAnd determining whether the absolute value is equal to or less than a predetermined value. When the absolute value is not equal to or less than the predetermined value, control section 814 repeats the feedback control process until second detection value DM3 reachesjAnd first detection value DA3jUntil the absolute value of the difference is less than or equal to a predetermined value. Here, the predetermined pressure is determined in advance from experiments, simulations, experiences, predetermined values, and the like, from the viewpoint of not rapidly changing the air pressure in the bellows.
When in this way toward the bellows 342jWhen air is supplied inside, the finger joint movement assisting part 230 attached to the thumb1Middle corrugated pipe 3421And (4) expanding. The finger joint movement assistance unit 230 is attached to the index finger, middle finger, ring finger, and little finger (hereinafter also referred to as "four fingers")k(k 2, …, 5), bellows 342k、341kAnd (4) expanding. In addition, when the bellows 343 is fitted in this wayjWhen air is supplied inside, the finger joint movement assisting part 230jBellows 343 of (j ═ 1, …, 5)jAnd (4) expanding. As a result, as shown in fig. 10 (B), the finger joint movement assistance part 230 is attachedjThe joints of the fingers (j 1, …, 5) are in a flexed state.
< assisting action of the Joint movement assisting device 200 for the Joint extension State >
Next, the person who is attached to the main apparatus 500 puts all the joints of the fingers into the extended state. Fig. 7 (a) and fig. 7 (B) and fig. 8 (a) and fig. 8 (B) show the case where the fingers of the hand to which the main apparatus 500 is attached are in the state of joint extension.
The control unit 814 calculates the second detection value DM2 in such an extended statejAnd first detection value DA2jAnd determining whether the absolute value is equal to or less than a predetermined value. Then, when the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 342jThe internal air pressure is lowered by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813. The control unit 814 repeats the feedback control process until the second detection value DM2jAnd first detection value DA2jUntil the absolute value of the difference becomes equal to or less than a predetermined value.
In addition, the control unit 814 calculates the second detection value DM3jAnd first detection value DA3jAnd determining whether the absolute value is equal to or less than a predetermined value. Then, when the absolute value is not equal to or less than a predetermined value, the control unit 814 generates the bellows 343jThe internal air pressure is lowered by a predetermined pressure supply/discharge control command, and the supply/discharge control command is transmitted to the electric-air pressure control valve 813. The control unit 814 repeats the feedback control process until the second detection value DM3jAnd first detection value DA3jUntil the absolute value of the difference is less than or equal to a predetermined value.
When in this way the secondary bellows 342jWhen the air is exhausted, the finger joint movement auxiliary part 230 mounted on the thumb1Middle corrugated pipe 3421And (4) shrinking. In addition, the finger joint movement assistance part 230 attached to four fingersk(k 2, …, 5), bellows 342k、341kAnd (4) shrinking. In addition, when the corrugated tube 343 is fitted in this mannerjWhen the air in the finger joint movement auxiliary part 230 is dischargedjBellows 343 of (j ═ 1, …, 5)jAnd (4) shrinking. As a result, the finger joint movement assistance part 230 is attached as shown in fig. 3 (a) and (B) and fig. 5 (a) and (B)jThe joints of the fingers (j 1, …, 5) are in the extended state.
In addition, in the host device 500 when the person to be attached has the joints of the fingers changed to various states such as the flexed state, the extended state, or the intermediate state between the extended state and the flexed state, the second detection value DM2j、DM3jThe value of (c) is changed. Then, control device 800 detects DM2 based on the second detection valuejIs detected from the second detection value DM2jMinus the first detection value DA2jWhen the obtained value is positive, the bellows 342 is controlled so as to be in accordance with the output characteristic of the magnetic sensor shown in fig. 4jThe air pressure in the air conditioner is increased in a stepwise manner to obtain a first detection value DA2jAnd the second detection value DM2jThe values of (b) are the same within a predetermined range of values. Further, control device 800 detects value DM2 from the second detection valuejMinus the first detection value DA2jWhen the obtained value of (b) is negative, the bellows 342 is controlled to be in a negative statejThe air pressure in the chamber is gradually decreased, and the first detection value DA2 is detectedjAnd the second detection value DM2jThe values of (b) are the same within a predetermined range of values.
Further, control device 800 detects DM3 based on the second detection valuejIs detected from the second detection value DM3jMinus the first detection value DA3jWhen the obtained value is positive, the bellows 343 is controlled in accordance with the output characteristic of the magnetic sensor shown in fig. 4jThe air pressure in the air conditioner is increased in stages to make the first detection value DA3jAnd the second detection value DM3jThe values of (b) are the same within a predetermined range of values. Further, control device 800 detects value DM3 from the second detection valuejMinus the first detection value DA3jIs controlled so that the bellows 343 is made negativejThe air pressure in the chamber is gradually decreased, and the first detection value DA3 is obtainedjAnd the second detection value DM3jThe values of (b) are the same within a predetermined range of values. As a result, the joints of the fingers to which the joint movement assistance device 200 is attached are also assisted to the flexed state, the extended state, or an intermediate state between the extended state and the flexed state.
As described above, in the present embodiment, the finger joint movement assistance part 230 of the joint movement assistance device 200 is providedj(j-1, …, 5) is fitted on a finger of the right hand HDR1 of human body HB 1. Further, in the articulation assisting apparatus 200, the magnet 422jAnd a magnetic sensor 432jAre respectively mounted on the transmission members facing each other at the joint portion so as to face each other. In the joint movement assistance device 200, the magnet 423jAnd a magnetic sensor 433jAre respectively mounted on the transmission members opposed at the other joint portion so as to be opposed. In addition, the finger main part 530 of the main device 500 is setj(j-1, …, 5) is fitted on a finger of the right hand HDR2 of human body HB 2. In this articulation assistance system, the slave device and the master device have the same configuration, except that the articulation assistance device 200 includes a bellows and a pipe communicating with the bellows.
With such a configuration, when the person who is attached to the main device 500 puts the joints of the fingers to which the main device 500 is attached into the flexed state or the extended state, the control device 800 receives the second detection value DM2 reflecting the flexion angle of the joints from the main device 500j、DM3j. In addition, the control device 800 receives the magnetic sensor 432 from the joint movement assistance device 200jTransmitted first detection value DA2jAnd a slave magnetic sensor 433jTransmitted first detection value DA3j. Then, the control device 800 performs feedback control so that the second detection value DM2jAnd first detection value DA2jThe absolute value of the difference of (a) is a predetermined value or less, and the bellows 342 is made to be in contact withjControl of air pressure variations within. Further, control device 800 performs feedback control such that second detection value DM3jAnd first detection value DA3jThe absolute value of the difference of (a) is a predetermined value or less, and the bellows 343 is madejControl of air pressure variations within. As a result, the joint movement assistance device 200 can assist the joint movement by following the movement of the finger of the hand to which the main device 500 is attached.
Therefore, according to the present embodiment, it is possible to remotely operate the joint movement assistance device without using a sensor directly attached to the joint portion, thereby appropriately assisting the joint movement.
[ variation of embodiment ]
The present invention is not limited to the above-described embodiments, and various modifications can be made.
For example, in the above-described embodiment, the finger joint movement assistance portions are attached to the thumb, the index finger, the middle finger, the ring finger, and the little finger, respectively, so as to assist the joint movement of the thumb, the index finger, the middle finger, the ring finger, and the little finger. In contrast, an articulation assisting section may be attached to any finger to assist the articulation of the finger. In this case, the same number of finger main parts as the arbitrary number of fingers may be prepared.
In addition, although the above-described embodiment has described the joint movement assistance system having the joint movement assistance device that assists the movement of the fingers of the right hand of the human body, it is obvious that the joint movement assistance system may be a joint movement assistance system having a joint movement assistance device that assists the movement of the fingers of the left hand.
In the above-described embodiment, when the joint movement assistance device is attached to the right hand, the main device is attached to the right hand of a human body different from the human body to which the joint movement assistance device is attached. In contrast, the master device may be attached to the left hand (left-right symmetry) of the different human body.
In the above-described embodiment, the hand to which the main device is attached and the hand to which the joint exercise assisting device is attached have congruent symmetry, but the following may be the case: the hand on which the main device is mounted and the hand on which the joint movement assistance device is mounted have at least one of similar symmetry and bilateral symmetry.
In the case where one hand of the human body is contractual and the other hand is healthy, the joint movement assistance device may be attached to the contractual hand of the human body, and the main device may be attached to the healthy hand (bilateral symmetry) of the human body.
As shown in fig. 11 (a) and (B) and fig. 12 (a) and (B), the host device may be provided with a communication unitThe plate-like guide members GM1, GM2, GM3, and GM4 are attached to the transmission member, and the plate-like guide members GA1, GA2, GA3, and GA4 are attached to the transmission member of the joint movement assistance device. Although shown in fig. 11 (a), (B) and fig. 12 (a), (B), the guide member is mounted on the-U of the transmission member in the main apparatusjLateral view, but + U in the transfer memberjThe direction side is also provided with a guide member. In addition, although the-X in which the guide member is mounted on the transmission member in the articulation assisting device is shownjLateral view, but at + X of the transfer memberjThe direction side is also provided with a guide member.
Here, the guide members GM1 and GM2 of the host device are attached to the transmission members disposed at positions facing each other at the second joint portion. Holes through which the shaft member AM1 passes are formed in the guide members GM1 and GM 2. The shaft member AM1 is disposed near the rotation center axis of the second joint. The guide members GM3 and GM4 of the host device are attached to the transmission members disposed at positions facing each other at the third joint portion. Holes through which the shaft member AM3 passes are formed in the guide members GM3 and GM 4. The shaft member AM3 is disposed near the rotation center axis of the third joint.
The guide members GA1, GA2 of the joint movement assistance device are attached to the transmission members disposed at positions facing each other at the second joint portion. Holes through which the shaft members AA1 are inserted are formed in the guide members GA1, GA 2. The shaft member AA1 is disposed near the rotation center axis of the second joint. The guide members GA3, GA4 of the joint movement assistance device are attached to the transmission members disposed at positions facing each other at the third joint portion. Holes through which the shaft members AA3 are inserted are formed in the guide members GA3, GA 4. The shaft member AA3 is disposed near the rotation center axis of the third joint.
By attaching such a guide member to the main device and the articulation assisting device, the main device and the articulation assisting device can perform articulation while the main device and the articulation assisting device are engaged with each otherIn the device, it is not easy for the magnet and the magnetic sensor corresponding to the magnet to be at VjAn offset is generated on the shaft. In addition, in the joint movement assistance device, it is not easy for the magnet and the magnetic sensor corresponding to the magnet to be disposed at YjAn offset is generated on the shaft. Therefore, the reliability of the detection results of the first and second detection units can be ensured.
In the above-described embodiment, the joint movement of the finger is assisted. In contrast, the joint movement of the wrist can be assisted. In this case, as shown in fig. 13 (a), on the slave device side, a magnet 961A may be attached to a transmission member 921A connected to the other end of the bellows 941A, and a magnetic sensor 971A may be attached to a transmission member 922A connected to the one end of the bellows 941A. Here, in the joint movement assistance system that assists joint movement of the wrist, the magnet 961A and the magnetic sensor 971A correspond to the first detection section.
As shown in fig. 13 (B), the master device side may be configured such that a magnet 961M is attached to the transmission member 921M attached to a position corresponding to the attachment position of the transmission member 921A of the slave device, and a magnetic sensor 971M is attached to the transmission member 922M attached to a position corresponding to the attachment position of the transmission member 922A of the slave device. Here, in the joint movement assistance system that assists joint movement of the wrist, the magnet 961M and the magnetic sensor 971M correspond to the second detection section.
In addition, when the joint movement assistance device is attached to the right hand in assisting the joint movement of the wrist, the main device may be attached to the right hand of a human body different from the human body to which the joint movement assistance device is attached. In contrast, the master device may be attached to the left hand (left-right symmetry) of the different human body.
In addition, when the joint movement of the wrist is assisted, the following may be used: the hand to which the main device is attached and the hand to which the joint exercise assisting device is attached have at least one of congruent symmetry, similar symmetry, and bilateral symmetry.
In addition, when one hand of the human body is contractually contracted and the other hand is healthy in assisting the joint movement of the wrist, the joint movement assisting device may be attached to the contractually contracted hand of the human body and the main device may be attached to the healthy hand (bilateral symmetry) of the human body.
In the above-described embodiment, the joint movement from the joint flexion state to the joint extension state and the joint movement from the joint extension state to the joint flexion state are assisted. In contrast, in the present invention, it is also possible to assist the joint motion of another joint such as a hip joint, a ball joint, or an oval joint.
In the above-described embodiment, the first detection unit and the second detection unit are each configured by a magnet and a magnetic sensor. In contrast, for example, an ultrasonic reflection sensor may be used as the first detection unit and the second detection unit to detect the angle between the transmission members facing each other at the joint portion.
In the present embodiment, a resin bellows is used, but any material may be used as long as it is freely extendable and retractable and does not increase the weight of the device attached to the human body.
In the joint movement assistance device according to the present invention, the working fluid is air, but may be other gas, or may be a liquid such as water or oil.
When the joint movement assistance device of the present invention is used in the fields of care and welfare, the device can be used not only for rehabilitation but also for the weak as a power assist device. The joint movement assistance device according to the present invention can be used as a power assist device for grasping an object or the like, in addition to the fields of care and welfare.
In the above-described embodiment, the present invention is applied to an articulation assisting system for assisting an articulation of a human body, but the present invention may be applied to an articulation assisting system for a predetermined object such as an endoskeletal mammal or an endoskeletal robot having an articulation mechanism.
Industrial applicability
As described above, the joint movement assistance system according to the present invention can be applied to a joint movement assistance system that assists joint movement of a predetermined object.
Claims (13)
1. An articulation assistance system that assists an articulation of a first subject, the articulation assistance system being characterized in that,
the joint movement assistance system includes:
a slave device attached to the first object;
a main device installed on a second object, the second object being constructed as follows: the second object has any one of symmetry of congruent symmetry, similar symmetry and left-right symmetry with the first object; and
a control device that controls the first object to perform an articulation corresponding to an articulation of the second object,
the slave device has:
at least one bellows, which is freely retractable, is prepared for each joint to be assisted, and generates a force for assisting the movement of the joint;
a pipe that communicates with the bellows;
a one-side member connected to one-side end of the bellows and installed at a position of the first object at a side connected to a joint, wherein the joint is a joint related to the joint motion;
another side member connected to the other end of the bellows and attached to another side portion of the first object, which is connected to the joint; and
a first detection unit that is attached to at least one of the one side member and the other side member, and that detects a first physical quantity that is determined by a distance from the one side member to the other side member and a first angle formed by a first direction in which the one side portion extends from the connection portion between the one side portion and the joint and a second direction in which the other side portion extends from the connection portion between the other side portion and the joint, the first detection unit being attached to at least one of the one side member and the other side member and having no element attached to the joint,
the master device has:
a one-side corresponding member mounted at a position corresponding to a mounting position of the one-side member on the first object;
another-side corresponding member mounted at a position corresponding to a mounting position of the another-side member on the first subject; and
a second detection unit that is attached to at least one of the one-side corresponding member and the other-side corresponding member, and that does not have an element attached to a portion corresponding to the joint portion of the first object, and that detects a second physical quantity that is determined by a distance from the one-side corresponding member to the other-side corresponding member and a second angle formed by a third direction in which the one-side corresponding member corresponding to the first direction of the first object extends and a fourth direction in which the other-side corresponding member corresponding to the second direction of the first object extends,
the control device controls supply of the working fluid into the bellows through the pipe and discharge of the working fluid from the bellows through the pipe, based on a difference between the first physical quantity and the second physical quantity.
2. The articulation assistance system of claim 1,
the at least one bellows includes a vertically disposed bellows disposed in a direction perpendicular to a rotational axis of the rotational motion of the joint to be assisted,
the slave device further includes a first restraint member that elastically restrains the one side member connected to the vertically arranged bellows and the other side member connected to the vertically arranged bellows, on a joint side opposite to the vertically arranged bellows, and transmits a rotational force for assisting the joint movement to a portion on one side where the one side member elastically restrained is mounted and a portion on the other side where the other side member elastically restrained is mounted via the one side member elastically restrained and the other side member elastically restrained by helping to convert a force generated by expansion and contraction of the bellows into a rotational force,
the master device further includes a second constraining member that is disposed at a position corresponding to a position at which the first constraining member is disposed in the slave device in the master device, and elastically constrains a one-side corresponding member corresponding to the one-side member elastically constrained and another-side corresponding member corresponding to the other-side member elastically constrained.
3. The articulation assistance system of claim 1,
the slave device further includes plate-like guide members attached to the one side member and the other side member, respectively,
the plate-like guide member attached to the one side member and the plate-like guide member attached to the other side member are attached via a shaft member disposed in the vicinity of a rotational movement center axis of the joint of the first object,
the main device further includes a plate-like guide member attached to the one-side corresponding member and the other-side corresponding member,
the plate-like guide member attached to the one-side corresponding member and the plate-like guide member attached to the other-side corresponding member are attached via a shaft member disposed in the vicinity of a rotational movement center axis of the joint of the second object.
4. The articulation assistance system of claim 1,
the working fluid is air and the working fluid is,
the control device has:
an air pressure setting unit that sets an air pressure in the bellows by supplying air to the bellows and discharging air from the bellows; and
and an air pressure control unit that controls setting of the air pressure in the bellows by the air pressure setting unit based on a difference between the first physical quantity and the second physical quantity.
5. The articulation assistance system of claim 1,
the first detection portion and the second detection portion are detection portions constituted by a magnet and a magnetic sensor in the same manner,
the magnet of the first detection portion is mounted on one of the one side member and the other side member, the magnetic sensor of the first detection portion is mounted on the other one of the one side member and the other side member which is different from the one member,
the magnet of the second detection unit is attached to one of the one-side corresponding member and the other-side corresponding member, and the magnetic sensor of the second detection unit is attached to the other of the one-side corresponding member and the other-side corresponding member, which is different from the one-side corresponding member.
6. The articulation assistance system according to any one of claims 1 to 5,
the first object includes at least one of fingers of one hand of a human body,
the second object includes at least one of the fingers of the other hand of the human body.
7. The articulation assistance system according to any one of claims 1 to 5,
the first object includes at least one of fingers of a hand of a human body,
the second object includes at least one of fingers of a hand of a human body different from the human body.
8. The articulation assistance system according to any one of claims 1 to 5,
the first object includes a wrist portion of a human body,
the second object includes the other wrist portion of the human body.
9. The articulation assistance system of claim 6,
the first object includes a wrist portion of a human body,
the second object includes the other wrist portion of the human body.
10. The articulation assistance system of claim 7,
the first object includes a wrist portion of a human body,
the second object includes the other wrist portion of the human body.
11. The articulation assistance system according to any one of claims 1 to 5,
the first object includes a wrist portion of a human body,
the second object includes a wrist portion of a human body different from the human body.
12. The articulation assistance system of claim 6,
the first object includes a wrist portion of a human body,
the second object includes a wrist portion of a human body different from the human body.
13. The articulation assistance system of claim 7,
the first object includes a wrist portion of a human body,
the second object includes a wrist portion of a human body different from the human body.
Applications Claiming Priority (3)
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JP2015248544 | 2015-12-21 | ||
JP2015-248544 | 2015-12-21 | ||
PCT/JP2016/086220 WO2017110453A1 (en) | 2015-12-21 | 2016-12-06 | Joint motion assist system |
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CN108472192A CN108472192A (en) | 2018-08-31 |
CN108472192B true CN108472192B (en) | 2020-09-22 |
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CN (1) | CN108472192B (en) |
HK (1) | HK1256841A1 (en) |
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WO2016160624A1 (en) | 2015-03-27 | 2016-10-06 | Other Lab Llc | Lower-leg exoskeleton system and method |
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CN107184364B (en) | 2017-07-07 | 2018-04-17 | 北京恒通信佳科技发展有限公司 | A kind of bellows |
CA3072622A1 (en) * | 2017-08-29 | 2019-03-07 | Roam Robotics Inc. | Semi-supervised intent recognition system and method |
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EP3698765B1 (en) * | 2017-10-20 | 2022-03-09 | Connect Inc. | Finger exerciser |
CN108652918B (en) * | 2018-05-22 | 2020-03-10 | 安徽工程大学 | Rehabilitation device for preventing hand muscle from atrophy and deformation |
CN108721049B (en) * | 2018-05-22 | 2020-03-31 | 李晓华 | Rehabilitation device for preventing hand muscle from atrophy and deformation |
CN110269780B (en) * | 2019-07-18 | 2021-04-06 | 河南师范大学新联学院 | Finger joint rehabilitation training mechanism |
CN110339022B (en) * | 2019-08-14 | 2021-08-27 | 新乡医学院第一附属医院(河南省结核病医院) | Department of neurology nurses and tempers device with hand |
JP2023506033A (en) | 2019-12-13 | 2023-02-14 | ローム ロボティクス インコーポレイテッド | A power driven device that benefits the wearer while skiing |
CN111265388B (en) * | 2020-02-04 | 2022-02-25 | 成都普崔克机电有限公司 | Joint device |
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CN111330231B (en) * | 2020-03-02 | 2020-12-29 | 吉林大学第一医院 | Medical finger-rehabilitation dactylotheca of stand alone type |
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HK1256841A1 (en) | 2019-10-04 |
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JP6445188B2 (en) | 2018-12-26 |
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