CN1868434B

CN1868434B - Control device for walking assist apparatus

Info

Publication number: CN1868434B
Application number: CN 200610084235
Authority: CN
Inventors: 池内康
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2005-05-27
Filing date: 2006-05-29
Publication date: 2011-12-28
Anticipated expiration: 2026-05-29
Also published as: CN1868434A; CN101119695B; CN101184462A; CN101132755B; CN101132755A; CN101184462B; CN101119696B; CN101119695A; CN101119696A

Abstract

A control device and a control program for a walking assist apparatus set a desired lifting force to act on a user from a seat and distribute the desired lifting force to each leg link of the walking assist apparatus according to the ratios of treading forces of the legs of the user measured on the basis of outputs of force sensors so as to determine the share for each leg link. Then, an actuator of each leg link is controlled to generate a force for the determined share. Thus, a force required for the user to support himself/herself with his/her leg or legs on a floor can be reduced while using a reduced number of parts to be attached to each leg of the user. Moreover, an assist force for achieving such a reduced required force can be properly shared between the leg links associated with the legs of the user.

Description

The control device of walk supporting device

Technical field

The present invention relates to the control device and the control sequence thereof of walk supporting device of a kind of auxiliary user's (people) walking.

Background technology

As everyone knows, as this walk supporting device, can open the flat 5-329186 communique (to call patent document 1 in the following text) from for example spy and know.In the walk supporting device (walking assistance device) of this patent document 1 record, supporting member is huckle, calf, the foot that is installed in each lower limb of user.And, in this walk supporting device,, and the propulsive force of target is bestowed the user from walk supporting device by joint by these supporting members of actuator driving binding.

According to the walk supporting device of record in the described patent document 1, by on user's moving direction, producing the propulsive force of target, must be and can alleviate by the propulsive force of user self generation.Yet with reference to Figure 15 of patent document 1 as can be known, user's body weight is supported by user self.Thus, user's burden is not alleviated fully.In addition, patent document 1 each lower limb of also not having a walk supporting device suitably distributes the technology of target propulsive force.Like this, also just might produce with the unmatched masterpiece of change of each lower limb of user and use problem on each lower limb of user.In addition, in the technology of patent document 1, because the supporting member of walk supporting device is installed in respectively again on the huckle, calf, foot of each lower limb of user, so, power is to act on the huckle, calf, foot of each lower limb from supporting member, bring uncomfortable sense to user like this, easily.

The present invention finishes in view of the above-mentioned problems, purpose is, provides a kind of and can also alleviate user self is supported on the walk supporting device of ground power with its lower limb control device and control sequence thereof when minimizing is installed to installation position on each lower limb of user.In addition, another purpose is, provide a kind of can be with suitably sharing the control device and the control sequence thereof of the walk supporting device that is used to alleviate user self is supported on ground power with its lower limb auxiliary force with user's the corresponding leg connecting rod of each lower limb.

Summary of the invention

For achieving the above object, the control device of the walk supporting device of the 1st invention of the present invention has: the portion of taking a seat, and it accepts the part of user's weight of taking a seat from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, is linked to each little leg support respectively through the 3rd joint, and foot's installation portion of this pair of right and left also be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user is supporting leg and ground connection; Actuator is used in the left side, and the 2nd joint in the joint of the left side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the left side drives; And the right side actuator, the 2nd joint in the joint of the right side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the right side drives.

It is characterized in that having: legpower instrumentation mechanism, it comes the legpower of each lower limb of the described user of instrumentation according to the represented power detected value of output that is arranged on the 1st force transducer on described each foot's installation portion; Target is mentioned the power set mechanism, and it is set as the target that acts on from the described portion of taking a seat to described user's the desired value of upwards mentioning power and mentions power; Distributor gear, it is corresponding to described user's the left lower limb legpower and the ratio of right lower limb legpower, distribute to described each leg connecting rod and this target is mentioned power, decide described target to mention the target burden component of the left side leg connecting rod among the power and the target burden component of right side leg connecting rod thus; And actuator controlling organization, it controls described left side actuator, so that from the actual target burden component that power reaches described left side leg connecting rod of mentioning that imposes on the described portion of taking a seat of described left side leg connecting rod, and control described right side actuator, so that from the actual target burden component that power reaches described right side leg connecting rod of mentioning that imposes on the described portion of taking a seat of described right side leg connecting rod.

According to the 1st invention, walk supporting device has only its each foot's installation portion to be installed in user's the foot of each lower limb.In addition, user's part with its body weight is positioned in the described portion of taking a seat and gets final product.

And, in the 1st invention,, distribute and mention the target that the power set mechanism sets by described target and mention power corresponding to the user's who gets by described legpower instrumentation mechanism instrumentation the left lower limb legpower and the ratio of right lower limb legpower.In view of the above, decide described target to mention the target burden component of the left side leg connecting rod among the power and the target burden component of right side leg connecting rod.This occasion, the user's who is got by described legpower instrumentation mechanism instrumentation the left lower limb legpower and the ratio of right lower limb legpower reflect such meaning, that is, how the user wants to be supported on self body weight ground with each lower limb.Mainly be the weight of wanting to support self for example, with right lower limb if left lower limb legpower, then illustrates the user relatively greater than right lower limb legpower.Therefore, in the 1st invention,, and target is mentioned each leg connecting rod that power is distributed to walk supporting device, decide the target burden component of each leg connecting rod thus corresponding to user's the left lower limb legpower and the ratio of right lower limb legpower.In view of the above, target can be mentioned power and distribute to each leg connecting rod, so that be suitable for the operating state of desirable each lower limb of user.That is, can contrast the ratio of left lower limb legpower and right lower limb legpower, the ratio of the target burden component of the target of leg connecting rod burden component and right side leg connecting rod on the left of deciding.In addition, again particularly, for example, if make the shared described target of target burden component of right side leg connecting rod mention the ratio of power, with the ratio of the summation of the shared user's of right lower limb legpower right lower limb legpower and left lower limb legpower in the same manner, decide the target burden component of right side leg connecting rod to get final product.In addition, if make the shared described target of target burden component of left side leg connecting rod mention the ratio of power, with the ratio of the summation of the shared user's of left lower limb legpower right lower limb legpower and left lower limb legpower in the same manner, decide the target burden component of left side leg connecting rod to get final product.

And, in the 1st invention, control described left side actuator, so that reach the target burden component of the left side leg connecting rod of decision as described above from the actual power of mentioning that imposes on the described portion of taking a seat of left side leg connecting rod.Similarly, control described right side actuator, so that reach the target burden component of the right side leg connecting rod of decision as described above from the actual power of mentioning that imposes on the described portion of taking a seat of described right side leg connecting rod.In view of the above so that be suitable for desirable each lower limb of user operating state the leg connecting rod about making share target and mention power, act on to the user from the portion of taking a seat thereby can make its target mention power.Its result can alleviate the burden of each lower limb of user effectively.

So,, can when minimizing be installed to installation position on each lower limb of user, can also alleviate user self and be supported on ground power with its lower limb according to the 1st invention.In addition, can be by suitably sharing its auxiliary force that alleviates usefulness (mentioning power) with user's the corresponding leg connecting rod of each lower limb.

In addition, the control device of the walk supporting device of the 2nd invention of the present invention has: the portion of taking a seat, and it accepts the part of user's weight of taking a seat from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, is linked to each little leg support respectively through the 3rd joint, and foot's installation portion of this pair of right and left also be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user is supporting leg and ground connection; The left side actuator, the 2nd joint in the joint of the left side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the left side are constituted drives and the right side actuator, and the 2nd joint in the joint of the right side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the right side are constituted drives.

It is characterized in that, be provided with: legpower instrumentation mechanism, it comes the legpower of each lower limb of the described user of instrumentation according to the represented power detected value of output that is arranged on the 1st force transducer on described each foot's installation portion; Target is mentioned the power set mechanism, and it is set as the target that acts on from the described portion of taking a seat to described user's the desired value of upwards mentioning power and mentions power; The 2nd force transducer, it is arranged between the bottom of little leg support of described each leg connecting rod and the 3rd joint or between the 3rd joint and foot's installation portion of each leg connecting rod; Control object power instrumentation mechanism, it is that control object power is carried out instrumentation according to the represented power detected value of the output of the 2nd force transducer and will give the masterpiece on the little leg support of each leg connecting rod from described ground actual transfer; General objective is mentioned the power determination means, its summation decision that described target is mentioned power and supporting force is mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power and supported the overall weight of this walk supporting device on the ground that the summation decision of the supporting force of usefulness is that general objective is mentioned power; Distributor gear, it is mentioned power with this general objective and distributes to described each leg connecting rod corresponding to the ratio of described user's left lower limb legpower and right lower limb legpower, decides described general objective to mention the target burden component of the left side leg connecting rod among the power and the target burden component of right side leg connecting rod thus; And actuator controlling organization, it is according to the control object power and the target burden component of described left side leg connecting rod, control described left side actuator, so that the differential of the control object power of this left side leg connecting rod and target burden component is bordering on 0, and the control object power of the described right side leg connecting rod of foundation and target burden component, control described right side actuator, so that the differential of the control object power of this right side leg connecting rod and target burden component is bordering on 0.

According to the 2nd invention, same with the 1st invention, walk supporting device has only its each foot's installation portion to be installed in user's the foot of each lower limb.In addition, user's part with its body weight is positioned in the described portion of taking a seat and gets final product.

And, in the 2nd invention, to mention target that the power set mechanism sets by described target, to mention the summation decision of power and supporting force be that general objective is mentioned power, and this supporting force be meant with from the overall weight of described walk supporting device, deduct each the 2nd force transducer among this walk supporting device lower portion gross weight and the weight (the following weight X that is called in this part) that obtains supports the power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is that general objective is mentioned power.It is that expression will impose on load (with mentioning the isostatic load of power) in the portion of taking a seat and the summation of the gravity suitable with the weight X of walk supporting device or overall weight supports the supporting force of usefulness on the ground from the user with two leg connecting rods or a side's leg connecting rod that this general objective is mentioned power.In addition, generally speaking, the weight X of walk supporting device and overall weight are about equally.

In the 2nd invention,, distribute this general objective to mention power corresponding to the user's who gets by described legpower instrumentation mechanism instrumentation the left lower limb legpower and the ratio of right lower limb legpower.In view of the above, decide general objective to mention the target burden component of the left side leg connecting rod among the power and the target burden component of right side leg connecting rod.This occasion corresponding to user's the left lower limb legpower and the ratio of right lower limb legpower, and is mentioned each leg connecting rod that power is distributed to walk supporting device with general objective, decides the target burden component of each leg connecting rod thus.In view of the above, same with described the 1st invention, can contrast the left lower limb legpower of the action that reflects desirable each lower limb of user and the ratio of right lower limb legpower, the ratio on the left of deciding between the target burden component of the target of leg connecting rod burden component and right side leg connecting rod.In addition, again particularly, same with the occasion of described the 1st invention, as long as for example make the shared described general objective of target burden component of right side leg connecting rod mention the ratio of power, with the ratio of the summation of the shared user's of right lower limb legpower right lower limb legpower and left lower limb legpower in the same manner, decide the target burden component of right side leg connecting rod to get final product.In addition, the target of left side leg connecting rod burden component is also same with it.

And, in the 2nd invention, according to the control object power of the left side leg connecting rod that gets by described control object power instrumentation mechanism instrumentation with by the target burden component of the left side leg connecting rod that described distributor gear determined, control described left side actuator, so that the differential of the control object power of this left side leg connecting rod and target burden component is bordering on 0.Similarly, according to the control object power of the right side leg connecting rod that gets by described control object power instrumentation mechanism instrumentation with by target burden component that described distributor gear determined, control described right side actuator, so that the differential of the control object power of this right side leg connecting rod and target burden component is bordering on 0.

This occasion, the control object power of each leg connecting rod that is got by described control object power instrumentation mechanism instrumentation is equivalent to the burden component at the reality of each leg connecting rod of total supporting force, and this total supporting force is meant to be used to support from the user and imposes on the load in the portion of taking a seat and the power of the gravity suitable with the weight X of walk supporting device or overall weight.Therefore, as mentioned above, by controlling each actuator, the burden component of the reality of each leg connecting rod can be controlled at target burden component reliably.In addition, the power of mentioning that acts on from the portion of taking a seat to user's reality can also be controlled at described target and mention power this moment.

In view of the above, in the 2nd invention, in the weight of considering walk supporting device, on one side so that being suitable for leg connecting rod about the operating state ground of desirable each lower limb of user makes shares general objective and mention power, one side can also make the target that sets mention power suitably to act on to the user from the portion of taking a seat.Its result can more effectively alleviate the burden of each lower limb of user.

So,, can when minimizing be installed to installation position on each lower limb of user, can also alleviate user self and be supported on ground power with its lower limb according to the 2nd invention.In addition, can be by suitably sharing its auxiliary force that alleviates usefulness (mentioning power) with user's the corresponding leg connecting rod of each lower limb.

In the 1st invention, the 2nd invention, be preferably described each foot's installation portion, it has: the annular component that inserts from its toe side for the described user's that this foot's installation portion is installed foot, and be linked to described the 3rd joint (the 3rd invention) through this annular component.

According to the 3rd invention, not to make both the major part effect of overall weight that imposes on load (with the isostatic load of the described power of mentioning) in the portion of taking a seat and walk supporting device from the user, but make it to act on the ground through described annular component (annular component of the foot's installation portion in the more accurate foot that says so through being installed in the lower limb that is the supporting leg state) to the user.Therefore, the user can feel to have the weight ground of walk supporting device to carry out the motion of each lower limb hardly.

In addition, in described the 1st～the 3rd invention, being preferably described each the 1st force transducer is to be made of the more than one force transducer that is arranged on each foot's installation portion in following mode, promptly, for example when each lower limb of described user is supporting leg, this force transducer is the mode between either party and the ground at least in the metatarsophalangeal joints position of this foot among it is the bottom surface of foot of supporting leg and the foot heel position.And, this occasion, described legpower instrumentation mechanism is following mechanism, promptly, the summation of the detected value that the output of each force transducer of the 1st force transducer that constitutes each foot's installation portion is represented is as the power detected value of the 1st force transducer, measures mechanism's (the 4th invention) of legpower of the described user's that this foot's installation portion is installed foot according to the power detected value of this summation.

In view of the above, can suitably measure the legpower of each lower limb.Particularly, the two positions of the position of the metatarsophalangeal joints position of this foot among the bottom surface of user's foot and foot heel, be provided with under the occasion of force transducer, needn't just can suitably measure the legpower of each lower limb according to each foot of user posture with respect to ground.In addition, according to the two force transducer (power detected value), can hold the ground connection situation or the walking situation of user's lower limb in further detail.For example, when the user tops bar, have sometimes: even the output (be not 0 power detected value) of the force transducer of metatarsophalangeal joints position is arranged, the output (power detected value) of the force transducer of foot heel position also almost is maintained at 0 situation.In addition, when the user downhill path, have: the output of the force transducer of foot heel position is greater than the tendency of the output of the force transducer of metatarsophalangeal joints position.Like this, the occasion that two positions in metatarsophalangeal joints position and foot heel position is provided with force transducer (more generally is meant: the occasion that is provided with a plurality of force transducers of the force transducer that comprises both) again, can be according to the output of each force transducer, infer out user's walking states, also it can be inferred the result and apply flexibly in the present invention.

In addition, the 4th invention also can be such formation, that is, only in metatarsophalangeal joints position and foot heel position either party is provided with force transducer.This occasion, the 1st force transducer only are made of 1 force transducer, and the summation of output that constitutes each force transducer of the 1st force transducer then means the represented power detected value of output of its 1 force transducer.In addition, in the 4th invention, the 3rd invention is like that when each foot's installation portion has annular component as described, constitute each force transducer of the 1st force transducer so long as be configured in the bottom of annular component and the bottom surface of foot between or be configured in the front side of bottom of annular component or rear side and get final product at the basal surface position of foot.

In addition, in described the 3rd invention, can be to be contactless state and to be configured in the inboard of this annular component also so that support foot's supporting member of described user's foot with annular component with described each foot's installation portion; This foot's supporting member is hung through described the 1st force transducer is located at (the 5th invention) on this annular component.In addition, so-called " this foot's supporting member is hung through described the 1st force transducer and is located on this annular component " is, do not affact on foot's supporting member from the power of below supporting foot supporting member in order to make, and through the 1st force transducer with foot's supporting member hanging on annular component.

According to the 5th invention, can so that and the power (pull strength) of the equal size of the legpower of each lower limb of user when being supporting leg between described annular component and foot's supporting member, act on described the 1st force transducer.Thus, according to the represented detected value of the output of the 1st force transducer, the legpower in the time of can suitably measuring user's supporting leg.

In addition, foot's supporting member preferably has and all tabular parts (foot bottom) that contacts that almost are the bottom surface of user foot.This occasion, so long as, for example the both ends of arcuation member are attached at the both sides of foot bottom, can be so that user's foot insert from its toe side, and the external of this arcuation member is linked to described annular component through described the 1st force transducer the inside portion got final product.In addition, described the 5th the invention in, though the 1st force transducer can constitute by single force transducer,, also can constitute by a plurality of force transducers.

In addition, in the 1st～the 5th invention, be preferably at the power detected value of described the 1st force transducer and be the 1st threshold value of regulation when following, the instrumentation value that described legpower instrumentation mechanism then will be installed in the legpower of the foot on the described foot installation portion with the 1st force transducer places 0 (the 6th invention).

In view of the above, at the power detected value of the 1st force transducer when being small, promptly, do not wish to mention power or weight load the user and be provided with under the state on the side lower limb of foot's installation portion of the 1st force transducer, then can prevent to make and mention power or the problem of weight load on the leg connecting rod that is provided with foot's installation portion.In addition, can also get rid of the influence of small noise in the power detected value that is contained in the 1st force transducer etc.

In addition, in the 1st～the 6th invention, be preferably at the power detected value of described the 1st force transducer and be the 2nd threshold value of regulation when above, described legpower instrumentation mechanism is then with the instrumentation value (7th invent) of predefined set upper limit value as the legpower that is installed in the foot on the described foot installation portion with the 1st force transducer.

That is, the legpower of holding each lower limb of the user who gets from the power detected value of described the 1st force transducer is not to change sleekly as ordinary circumstance.And because if the ratio of the legpower of two lower limbs is change continually, correspondingly, therefore the also change continually of the target of each leg connecting rod burden component, impairs the stability of walk supporting device easily.So,, the instrumentation value of the legpower of foot is limited as the 7th invention.In view of the above, particularly be the period (so-called two lower limbs supporting phase) of supporting leg, can prevent that the ratio of the legpower of two lower limbs from changing continually at user's two lower limbs.And then can improve the stability of walk supporting device.In addition, the 2nd threshold value in the 7th invention is than the big value of the 1st threshold value in described the 6th invention.In addition, and with the occasion of the 6th invention with the 7th invention, when the power detected value of the 1st force transducer is value between the 1st threshold value and the 2nd threshold value, need only detected value according to the 1st force transducer, make the instrumentation value of legpower be linear change to described higher limit and get final product from 0.

In addition, in described the 1st～the 7th invention, be preferably and be provided with: the displacement pick off, it produces the output corresponding with the displacement in described the 2nd joint; Joint displacements amount instrumentation mechanism, its output according to this displacement pick off comes the displacement in each the 2nd joint of instrumentation; And target burden component correction mechanism, the displacement in the 2nd joint of each leg connecting rod that it gets according to institute's instrumentation, solve described the 3rd joint and described interval between portion and the deviation between the specified reference value of taking a seat, and the described target burden component to each leg connecting rod is revised (the 8th invention) so that its deviation approaches 0 ground.

In view of the above, by the pairing actuator of this leg connecting rod, can produce such reducing power (reducing power just as spring), that is, this reducing power can make the posture of the reality of this leg connecting rod be reduced into: the 3rd joint of each leg connecting rod and the interval between portion of taking a seat, with the corresponding to posture of described specified reference value.At this moment, because in a single day the user carries out the knee bends of its lower limb, above-mentioned interval is then less than specified reference value, and the power of mentioning that acts on to the user from the portion of taking a seat becomes big, and therefore, the user realizes its auxiliary sense easily.In addition, by above-mentioned reducing power, can also prevent the inappropriate posture of the fragmented one-tenth of posture of each leg connecting rod.In addition, the relative posture relation between the thigh support frame of each leg connecting rod and the little leg support is that displacement by the 2nd joint decides.Thus, by the displacement in instrumentation the 2nd joint, based on the instrumentation value of its displacement, can be in the hope of the 3rd joint of this leg connecting rod and take a seat interval between portion and the deviation between the specified reference value.

In the 8th invention, be preferably described target burden component correction mechanism and further specifically constitute by following each mechanism, that is, be by: according to the pairing deviation of described left side leg connecting rod, by the feedback control rule, solve and be used to make this deviation to approach 0 the mechanism that requires power; By multiply by the power that requires of being tried to achieve with respect to the ratio of the left lower limb legpower for the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of left leg connecting rod, and revise the mechanism of the described target burden component of left leg connecting rod by this correction; According to the pairing deviation of described right side leg connecting rod,, solve and be used to make this deviation to approach 0 the mechanism that requires power by the feedback control rule; And by multiply by the power that requires of being tried to achieve with respect to the ratio of the right lower limb legpower for the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of right leg connecting rod, and revise mechanism's (the 9th invention) of the described target burden component of right leg connecting rod by this correction.

In view of the above, can contrast the user's of this leg connecting rod side for the summation of described user's left lower limb legpower and right lower limb legpower the ratio of lower limb legpower, make each leg connecting rod produce described reducing power.So, do not increase the burden of user's lower limb, just described reducing power can be produced, thereby the stability of walk supporting device can be improved.

In addition, in described the 2nd invention, be preferably the change-over switch that is provided with the control that indicates whether to carry out the described power of mentioning; Described general objective is mentioned the power determination means, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, then described target is mentioned the summation decision of power and supporting force and mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is that general objective is mentioned power, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then the summation decision of the control object power separately of two leg connecting rods that will be got by described control object power instrumentation mechanism instrumentation is mentioned power (the 10th invention) for described general objective.

In addition, in described the 2nd invention, be preferably in the 8th invention as described and be provided with like that on the basis of the displacement pick off in the 2nd joint and target burden component correction mechanism, be provided with again under the occasion of change-over switch of the control that indicates whether to carry out the described power of mentioning, described general objective is mentioned the power determination means, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, then described target is mentioned the summation decision of power and supporting force and mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is that general objective is mentioned power, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then the decision of following value is mentioned power for described general objective, promptly this value is meant from the summation of the control object power separately of two leg connecting rods that got by described control object power instrumentation mechanism instrumentation, deduct the correction value (the 11st invention) afterwards of the target burden component separately of two leg connecting rods that obtain by described target burden component correction mechanism.

In the 10th invention and the 11st invention, be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, be the user basically and take a seat and be in the poised state that does not have active force between the portion.Also promptly, can be so that there be the power of mentioning in the portion of taking a seat to user's effect, the while can also remain on and make the portion of taking a seat be contacted with user's state.So the user can be seated at the portion of taking a seat easily.And under this state, in a single day the mode of operation of described change-over switch becomes the mode of operation that the control of the described power of mentioning is carried out in indication, and described target is mentioned power and then acted on to the user from the portion of taking a seat.Thus, can mention the power effect sleekly gives user's pattern and does not act on to the conversion between user's the pattern.

In addition, in the 10th invention, also can constitute and make up the technology of described the 3rd～the 9th invention.In addition, in the 11st invention, also can constitute and make up the technology of described the 3rd～the 7th invention.In addition, in the 11st invention, target is born the component correction mechanism further specifically, and preferably the 9th invention constitutes like that as described.

Then, the the 12nd, the 13rd invention of the present invention is the control of walk supporting device program, the control of the walk supporting device of the 12nd invention is characterised in that with program, the computer that the walk supporting device that makes control have following formation is used is carried out following processing, promptly, above-mentioned walk supporting device has: the portion of taking a seat, and it accepts the part of user's weight of taking a seat from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, is linked to each little leg support respectively through the 3rd joint, and be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user is supporting leg and ground connection; Actuator is used in the left side, and the 2nd joint in the joint of the left side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and foot's installation portion by the left side are constituted drives; The right side actuator, the 2nd joint in the joint of the right side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and foot's installation portion by the right side are constituted drives; And the 1st force transducer, it is arranged on described each foot's installation portion for the legpower of each lower limb of the described user of instrumentation; In addition, above-mentioned processing comprises: extract the output of described the 1st force transducer, and according to the represented power detected value of this output, come the processing of legpower of each lower limb of the described user of instrumentation; Extract the setting value of mentioning power to the target of described user's the desired value of upwards mentioning power as acting on from the described portion of taking a seat, and distribute this target to mention the setting value of power corresponding to described user's the left lower limb legpower and the ratio of right lower limb legpower, decide this target to mention the processing of the target burden component of the target burden component of the left side leg connecting rod among the power and right side leg connecting rod thus; And generation is used to control the control output of described left side with actuator, so that from the actual target burden component that power reaches the aforementioned left side leg connecting rod that determines of mentioning that imposes on the described portion of taking a seat of described left side leg connecting rod, and generate the control output that is used to control described right side usefulness actuator, so that from the actual processing that power reaches the target burden component of the aforementioned right side leg connecting rod that determines of mentioning that imposes on the described portion of taking a seat of described right side leg connecting rod.

Therefore, same according to the 12nd invention with the 1st invention, can when be installed to installation position on each lower limb of user, minimizing can also alleviate user self and be supported on ground power with its lower limb.In addition, can be by suitably sharing its auxiliary force that alleviates usefulness (mentioning power) with user's the corresponding leg connecting rod of each lower limb.

In addition, the control of the walk supporting device of the 13rd invention is characterised in that with program, the computer that the walk supporting device that makes control have following formation is used is carried out following processing, promptly, above-mentioned walk supporting device has: the portion of taking a seat, and it accepts the part of user's weight of taking a seat from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, is linked to each little leg support respectively through the 3rd joint, and be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user is supporting leg and ground connection; Actuator is used in the left side, and the 2nd joint in the joint of the left side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and foot's installation portion by the left side are constituted drives; The right side actuator, the 2nd joint in the joint of the right side leg connecting rod that described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and foot's installation portion by the right side are constituted drives; The 1st force transducer, it is arranged on described each foot's installation portion for the legpower of each lower limb of the described user of instrumentation; And the 2nd force transducer, it is arranged between the bottom of little leg support of described each leg connecting rod and the 3rd joint or between the 3rd joint and foot's installation portion of each leg connecting rod; In addition, above-mentioned processing comprises: extract the output of described the 1st force transducer, and according to the represented power detected value of this output, come the processing of legpower of each lower limb of the described user of instrumentation; Extract the output of described the 2nd force transducer, and according to the represented power detected value of this output, and will carry out the processing of instrumentation for control object power from the masterpiece that described ground passes on the little leg support of each leg connecting rod; Extract the setting value of mentioning power to the target of described user's the desired value of upwards mentioning power as acting on from the described portion of taking a seat, and the summation decision that this target is mentioned the setting value of power and supporting force mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is the processing that general objective is mentioned power; The general objective that is determined is mentioned power distribute to described each leg connecting rod corresponding to the ratio of described user's left lower limb legpower and right lower limb legpower, decide described general objective to mention the processing of the target burden component of the target burden component of the left side leg connecting rod among the power and right side leg connecting rod thus; And the control object power of the described left side of foundation leg connecting rod and target burden component, generate and be used to control of the control output of described left side with actuator, so that the differential of the control object power of this left side leg connecting rod and target burden component is bordering on 0, and the control object power of the described right side leg connecting rod of foundation and target burden component, generate the control output that is used to control described right side usefulness actuator, so that the differential of the control object power of this right side leg connecting rod and target burden component is bordering on 0 processing.

According to the 13rd invention, same with described the 2nd invention, in the weight of considering walk supporting device, on one side so that being suitable for leg connecting rod about the operating state ground of desirable each lower limb of user makes shares general objective and mention power, one side can also make the target that sets mention power suitably to act on to the user from the portion of taking a seat.Its result can more effectively alleviate the burden of each lower limb of user.

Therefore, according to the 13rd invention, can when be installed to installation position on each lower limb of user, minimizing can also alleviate user self and be supported on ground power with its lower limb.In addition, can be by suitably sharing its auxiliary force that alleviates usefulness (mentioning power) with user's the corresponding leg connecting rod of each lower limb.

In addition, in the 12nd invention, the 13rd invention, preferably, described walk supporting device the 3rd invention as described has annular component like that.This occasion, also the 5th invention has described foot supporting member like that as described, this foot's supporting member is hung through described the 1st force transducer be located on this annular component.This occasion, though the 1st force transducer can constitute by single force transducer,, also can constitute by a plurality of force transducers.

In the 12nd invention, in the 13rd invention, described each the 1st force transducer is to be made of the more than one force transducer that is arranged on each foot's installation portion in following mode, promptly, when each lower limb of described user is supporting leg, this force transducer is the mode between either party and the ground at least in the metatarsophalangeal joints position of this foot among it is the bottom surface of foot of supporting leg and the foot heel position, at this moment, be preferably the following processing of being treated to of the described legpower of instrumentation, promptly, the summation of the detected value that the output of each force transducer of the 1st force transducer that constitutes each foot's installation portion is represented is as the power detected value of the 1st force transducer, measures the processing (the 14th invention) of legpower of the described user's that this foot's installation portion is installed foot according to this power detected value.

According to the 14th invention, same with described the 4th invention, can suitably measure the legpower of each lower limb.Particularly, the two positions of the position of the metatarsophalangeal joints position of this foot among the bottom surface of user's foot and foot heel is provided with under the occasion of force transducer, needn't just can suitably measure the legpower of each lower limb according to each foot of user posture with respect to ground.In addition, under the occasion of a plurality of force transducers of the force transducer of the position that is provided with the heel of the force transducer that comprises the metatarsophalangeal joints position and foot, can infer out user's walking states according to the output of each force transducer, also it can be inferred the result and apply flexibly in the present invention.

In addition, in the 12nd～the 14th invention, be preferably the following processing of being treated to of the described legpower of instrumentation, promptly, be the 1st threshold value of regulation when following at the power detected value of described the 1st force transducer, the instrumentation value that then will be installed in the legpower of the foot on the described foot installation portion with the 1st force transducer places 0 processing (the 15th invention).

According to the 15th invention, same with described the 6th invention, at the power detected value of the 1st force transducer when being small, can prevent to make and mention power or the problem of weight load on leg connecting rod.In addition, can also get rid of the influence of small noise in the power detected value that is contained in the 1st force transducer etc.

In addition, in the 12nd～the 15th invention, be preferably the following processing of being treated to of the described legpower of instrumentation, promptly, be the 2nd threshold value of regulation when above, at the power detected value of described the 1st force transducer then with of the processing (the 16th invents) of predefined set upper limit value as the instrumentation value of the legpower that is installed in the foot on the described foot installation portion with the 1st force transducer.

In view of the above, same with described the 7th invention, particularly be period (so-called two lower limbs supporting phase) of supporting leg at user's two lower limbs, can prevent that the ratio of the legpower of two lower limbs from changing continually.And then can improve the stability of walk supporting device.In addition, the 2nd threshold value in the 16th invention is than the big value of the 1st threshold value in described the 15th invention.In addition, also inventing and the 16th occasion of inventing with the 15th, when the power detected value of the 1st force transducer is value between the 1st threshold value and the 2nd threshold value,, makes the instrumentation value of legpower be linear change to described higher limit and get final product from 0 as long as according to the detected value of the 1st force transducer.

In addition, in the 12nd～the 16th invention, be preferably described walk supporting device and be provided with the displacement pick off that produces the output corresponding with the displacement in described the 2nd joint; Make described computer further carry out following processing, promptly, extract the output of described displacement pick off, export the displacement in each the 2nd joint of instrumentation according to this, and the displacement in the 2nd joint of each leg connecting rod that gets according to institute's instrumentation, solve described the 3rd joint and described take a seat the interval between portion and the processing of the deviation between the specified reference value; And the processing of the described target burden component of each leg connecting rod being revised so that the deviation of being tried to achieve approaches 0 ground (the 17th invention).

In view of the above, same with described the 8th invention, by the pairing actuator of this leg connecting rod, can produce such reducing power (reducing power just as spring), that is, this reducing power can make the posture of the reality of this leg connecting rod be reduced into: the 3rd joint of each leg connecting rod and the interval between portion of taking a seat, with the corresponding to posture of described specified reference value.At this moment, because in a single day the user carries out the knee bends of its lower limb, above-mentioned interval is then less than specified reference value, and the power of mentioning that acts on to the user from the portion of taking a seat becomes big, and therefore, the user realizes its auxiliary sense easily.In addition, by above-mentioned reducing power, can also prevent the inappropriate posture of the fragmented one-tenth of posture of each leg connecting rod.

And, in the 17th invention, be preferably the processing of revising described target burden component and constitute by following each processing, promptly, be by: according to the pairing deviation of described left side leg connecting rod,, solve and be used to make this deviation to approach 0 the processing that requires power by the feedback control rule; By multiply by the power that requires of being tried to achieve with respect to the ratio of the left lower limb legpower for the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of left leg connecting rod, and revise the processing of the described target burden component of left leg connecting rod by its correction; According to the pairing deviation of described right side leg connecting rod,, solve and be used to make this deviation to approach 0 the processing that requires power by the feedback control rule; And by multiply by the power that requires of being tried to achieve with respect to the ratio of the right lower limb legpower for the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of right leg connecting rod, and revise the processing (the 18th invention) of the described target burden component of right leg connecting rod by its correction.

In view of the above, same with described the 9th invention, can contrast the user's of this leg connecting rod side for the summation of described user's left lower limb legpower and right lower limb legpower the ratio of lower limb legpower, make each leg connecting rod produce described reducing power.So, do not increase the burden of user's lower limb, just described reducing power can be produced, thereby the stability of walk supporting device can be improved.

In addition, in described the 13rd invention, the change-over switch that is preferably the control that indicates whether to carry out the described power of mentioning is arranged on the described walk supporting device; Determine described general objective to mention the following processing of being treated to of power, promptly, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, described target is mentioned the summation decision of the setting value of power and supporting force and mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is that general objective is mentioned power, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then the decision of the summation of the control object power separately of two leg connecting rods that institute's instrumentation is got is mentioned power (the 19th invention) for described general objective.

In addition, in described the 13rd invention, preferably, described walk supporting device is provided with: the displacement pick off, and it produces the output corresponding with the displacement in described the 2nd joint; And change-over switch, it indicates whether to carry out the control of the described power of mentioning; The 17th invention is same as described, make described computer further carry out following processing, promptly, extract the output of described displacement pick off, export the displacement in each the 2nd joint of instrumentation according to this, and the displacement in the 2nd joint of each leg connecting rod that gets according to institute's instrumentation, solve described the 3rd joint and described take a seat the interval between portion and the processing of the deviation between the specified reference value; And the processing of the described target burden component of each leg connecting rod being revised so that the deviation of being tried to achieve approaches 0 ground, under this occasion, the processing that determines described general objective to mention power is to be made of following processing, promptly, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, then described target is mentioned the setting value of power and the summation decision of supporting force and mentioned power for general objective, and this supporting force is meant and will deducts the gross weight of lower portion of each the 2nd force transducer among this walk supporting device from the overall weight of described walk supporting device and the weight supporting that the obtains power of usefulness on the ground, perhaps described target is mentioned power, supporting on the ground with overall weight with this walk supporting device, the summation decision of the supporting force of usefulness is that general objective is mentioned power, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then the decision of following value is mentioned power for described general objective, this value is meant the summation of control object power separately of two leg connecting rods that get from institute's instrumentation, deduct the correction value (the 20th invention) afterwards of the target burden component separately of two leg connecting rods that obtain by the processing of revising described target burden component.

According to the 19th invention, the 20th invention, invent same with described the 10th invention, the 11st, mode of operation in described change-over switch is when indicating the mode of operation of the control of not carrying out the described power of mentioning, is basically to be in the user and to take a seat not have the state of active force between the portion and reach balance.Also promptly, can be so that there be the power of mentioning in the portion of taking a seat to user's effect, the while can also remain on and make the portion of taking a seat be contacted with user's state.So the user can be seated at the portion of taking a seat easily.And under this state, in a single day the mode of operation of described change-over switch becomes the mode of operation that the control of the described power of mentioning is carried out in indication, and described target is mentioned power and then acted on to the user from the portion of taking a seat.Thus, can mention the power effect sleekly gives user's pattern and does not act on to the conversion between user's the pattern.

In addition, in the 19th invention, also can constitute and make up the technology of described the 14th～the 18th invention.In addition, in the 20th invention, also can constitute and make up the technology of described the 14th～the 16th invention.In addition, in the 20th invention, the processing of revise goal burden component further specifically, preferably the 18th invention constitutes like that as described.

As a supplement, in the 1st～the 20th invention discussed above, described take a seat portion so long as, for example can get off across the clan's seat of the taking a seat member (seat board) of (so that the mode that the portion of taking a seat is between user's the root of two lower limbs is seated in this portion of taking a seat) of user gets final product.This occasion, the 1st joint of each leg connecting rod is preferably disposed on the downside of the portion of taking a seat.In addition, the 1st joint of each leg connecting rod preferably can carry out the moving and fore-and-aft direction of the interior-change-exterior transhipment of each leg connecting rod for example oscillating motion and have at least around the joint of the rotary freedom of 2 rotations.In addition, though the 2nd joint of each leg connecting rod can be the joint that for example has the rotary freedom that centers on 1 rotation of left and right directions,, also can be the joint of straight ejector half.In addition, the 3rd joint of each leg connecting rod preferably has around the joint of the rotary freedom of 3 rotations.

Description of drawings

Fig. 1 is the side view (view on the arrow points face) that expression has been suitable for the walk supporting device of the 1st embodiment of the present invention.

Fig. 2 is the view that II-II points in the presentation graphs 1.

Fig. 3 is the profile of III-III line in the presentation graphs 1.

Fig. 4 is the block diagram of roughly formation (hardware formation) of control device of the walk supporting device of presentation graphs 1.

Fig. 5 is the block diagram of functional formation of the arithmetic processing section that control device had 51 of presentation graphs 4.

Fig. 6 is the block diagram of handling process of legpower instrumentation processing mechanism 60R, the 60L of expression arithmetic processing section 51.

Fig. 7 is an employed curve chart during the S104 that is illustrated in Fig. 6 handles.

Fig. 8 is the block diagram of flow process of the processing of the processing of knee angle instrumentation processing mechanism 61R, 61L of expression arithmetic processing section 51 and supporting force instrumentation processing mechanism 62R, 62L.

Fig. 9 is used for the S201 of key diagram 8 and the sketch map that S203 handles.

Figure 10 is the block diagram that the left and right sides target of expression arithmetic processing section 51 is mentioned the handling process of power determination means 63.

Figure 11 is the block diagram of handling process of feedback operation amount determination means 64R, the 64L of expression arithmetic processing section 51.

Figure 12 is the block diagram of handling process of feedforward operation amount determination means 65R, the 65L of expression arithmetic processing section 51.

Figure 13 is the sketch map that is used to illustrate that the S502 of Figure 12 handles.

Figure 14 is illustrated in employed curve chart in the 2nd embodiment of the present invention.

Figure 15 is the formation sketch map of the foot's installation portion in expression the 3rd embodiment of the present invention.

The specific embodiment

Below, with reference to description of drawings the 1st embodiment of the present invention.

At first, with reference to Fig. 1～Fig. 3, the structure of the walk supporting device of present embodiment is described.In addition, the walk supporting device 1 among these Fig. 1～Fig. 3 is to come illustrated it is installed in user A (shown in imaginary line) state last and that make it to move.This occasion, illustrated user A stands with upright standing posture roughly.But in Fig. 2,, then adopted two lower limbs of user A to become the posture divide right and left in order to can easily understand that the structure of walk supporting device 1.

With reference to Fig. 1 and Fig. 2, walk supporting device 1 is the body weight Reduction of Students' Study Load assistance device of the body weight part (compare with the occasion that supports the body weight of self with its lower limb, can alleviate the weight of user A with lower limb (supporting leg) supporting of himself) of supporting user A.This walk supporting device 1 has: the portion of taking a seat 2 that supplies user A to take a seat; And the pair of right and left leg connecting rod 3L, the 3R that are linked to this portion 2 of taking a seat.

Leg connecting rod

3L, 3R are mutual identical structure.In addition, in Fig. 1,

leg connecting rod

3L, 3R are with identical posture and come the left and right directions (perpendicular to the direction of Fig. 1 paper) of user A, under this state, and shape (the leg connecting rod 3L in left side is positioned at the surface of drawing) in an overlapping on drawing.

At this, in the explanation of the embodiment of this description, then being expression when using symbol " R " and the relevant meaning of leg connecting rod 3R on the right side of the right lower limb of user A or walk supporting device 1, then is the relevant meaning of representing with the left side of the left lower limb of user A or walk supporting device 1 of leg connecting rod 3L when using symbol " L ".But, when there is no need to distinguish the left and right sides, then can often omit R, L.

Take a seat portion 2 is the seat board shape, so that user A can be to be seated in this portion 2 of taking a seat across the mode of the portion of taking a seat 2 (making between the root of two lower limbs of the 2 configuration using person A of the portion of taking a seat).Take a seat by this, the body weight part of user A imposes on the portion of taking a seat 2 from the portion of taking a seat 2 tops.

In addition, the leading section 2f of the portion 2 of taking a seat and rearward end 2r are projected into top one side as shown in Figure 1.In view of the above, the seated position with respect to the portion of taking a seat 2 of user A (position of fore-and-aft direction) is limited between the leading section 2f and rearward end 2r of the portion of taking a seat 2.In addition, the leading section 2f of the portion 2 of taking a seat forms the fork shape as shown in Figure 2.

Each leg connecting rod 3 is respectively equipped with: the thigh support frame 11 that is linked to the lower face of the portion of taking a seat 2 through the 1st joint 10; Be linked to the shank support 13 of this thigh support frame 11 through the 2nd joint 12; And the foot's installation portion 15 that is linked to this shank support 13 through the 3rd joint 14.

The 1st joint 10 of each leg connecting rod 3 is the joints that are equivalent to user's hip joint, and can carry out the oscillating motion (the interior-change-exterior transhipment is moved) of rotating around axle of the oscillating motion of rotating around axle (fore-and-aft direction of leg connecting rod 3 show motion) of the left and right directions of this leg connecting rod 3 and fore-and-aft direction.The 10th joint is configured in the downside of the portion of taking a seat 2.And the 1st joint 10 has: a pair of pivot pin 20f, the 20r on the close forward position of the lower face of the portion of taking a seat 2 and back-end location is configured in the fore-and-aft direction of representing with dotted line among Fig. 1 with coaxial manner axle center C, rotate the carriage 21f, the 21r that are bearing in axle freely on this pivot pin 20f, the 20r respectively, the circular-arc guide rail 22 of the bottom that is fixed on these carriages 21f, 21r and move the plate 23 that is bearing in freely on this guide rail 22 along this guide rail 22.Extend out described thigh support frame 11 towards oblique front lower place from this plate plate 23.This thigh support frame 11 is roughly shaft-like member, and constitutes one with plate plate 23.

The both ends separately of pivot pin 20f, 20r (end, front and back) are via bearing 24f, 24r on the lower face that is fixed on the portion of taking a seat 2, and are fixed in this portion 2 of taking a seat.And the upper end of carriage 21f is embedded in the periphery of the pars intermedia of pivot pin 20f, and axle is bearing on this pivot pin 20f.In view of the above, can make this carriage 21f around the axle center C of pivot pin 20f and rotate freely.Similarly, the upper end of carriage 21r is embedded in the periphery of the pars intermedia of pivot pin 20r, and axle is bearing on this pivot pin 20r.In view of the above, can make this carriage 21r around the axle center C of pivot pin 20r and rotate freely.Therefore, the guide rail 22 in each the 1st joint 10 can be with carriage 21f, 21r, is that center of rotation shakes with the axle center C of pivot pin 20f, 20r.In addition, in the present embodiment, separately the 1st joint 10R, the 10L of leg connecting rod 3R, 3L are general axle center with center of rotation C, the shared pivot pin 20f of the 1st joint 10L, the 20r of the 1st joint 10R of leg connecting rod 3R and leg connecting rod 3L.That is, the equal axle of any one among the carriage 21f L of the 1st joint 10L in the carriage 21fR of the 1st joint 10R on right side and left side is bearing on the general pivot pin 20f.In addition, the equal axle of any one among the carriage 21rL of the 1st joint 10L in the carriage 21rR of the 1st joint 10R on right side and left side is bearing on the general pivot pin 20r.

The plate 23 in the 1st joint 10 of each leg connecting rod 3 is to approach this guide rail 22 and dispose with the posture parallel with the face of the circular arc that comprises guide rail 22.As shown in Figure 1, on this plate 23, be fixed with: have the carriage 26 that a plurality of (for example 4) rotate roller 25 freely.And the roller 25 of this carriage 26 fastens with the upper surface (inner peripheral surface) and the lower surface (outer peripheral face) of equal number at guide rail 22.In view of the above, can make plate 23 move freely along guide rail 22.This occasion, the radius of the position relation of the guide rail 22 and the portion 2 of taking a seat and the circular arc of guide rail 22 is to set like this, promptly as shown in Figure 1, when on the arrow points face, watching walk supporting device 1, make the center point P of circular arc of guide rail 22 be in the upside of the portion of taking a seat 2.

The formation in the 1st joint 10 by above explanation, can make the thigh support frame 11 that is one with plate 23 on the fore-and-aft direction of user A center of rotation C and shake freely.And by this swing movement, it is moving to make that each leg connecting rod 3 carries out the interior-change-exterior transhipment.In addition, can make the thigh support frame 11 that is one with plate 23 around the axle by described center point P (more accurate be center on face with the circular arc that comprises guide rail 22 vertical and by center point P spool) shake freely.And, shake swing by this, can make each leg connecting rod 3 carry out the motion of showing of front and back.In addition, in the present embodiment, the 1st joint 10 is the joints that rotatablely move that can center on 2 rotations of fore-and-aft direction and left and right directions.But, also can be on the basis that rotatablely moves of 2 rotations that center on fore-and-aft direction and left and right directions, what can also center on that the axle of above-below direction rotates rotatablely moves (the internal rotation external rotation motion of each leg connecting rod 3) that (that is, can center on rotatablely moving of 3 rotations) constitutes the 1st joint.Perhaps, the 1st joint also can be the joint that rotatablely moves that can only center on 1 rotation of left and right directions.

In addition, as shown in Figure 1, when watching walk supporting device 1 on the arrow points face, the plate 23 in the 1st joint 10 of each leg connecting rod 3 extends towards the rear of the portion of taking a seat 2 side from the position of described carriage 26.And the rearward end at this plate 23 is equipped with coaxial manner: motor 27 and as the rotary encoder 28 of the anglec of rotation testing agency of the anglec of rotation that detects these motor 27 rotors (anglec of rotation that begins from the reference position of regulation) usefulness.In the present embodiment, the 2nd joint 12 among the 1st of each leg connecting rod 3～the 3rd joint 10,12,14 is driven.Above-mentioned motor 27 is actuators that the 2nd joint 12 is driven.In addition, the anglec of rotation that detected of rotary encoder 28 is used for the anglec of rotation (angle of bend) in instrumentation the 2nd joint 12.In addition, the motor 27R of the motor 27L of left side leg connecting rod 3L and right side leg connecting rod 3R is equivalent to left side among the present invention respectively with actuator and right side actuator.In addition, each rotary encoder 28 is equivalent to the displacement pick off among the present invention.Each actuator can use the actuator of oil pressure or vapour-pressure type.In addition, each actuator also can for example be fixed on the rear portion of the portion of taking a seat 2 through suitable bracket.Perhaps, also each actuator can be installed on the 2nd joint 12 of each leg connecting rod 3, directly the 2nd joint 12 being driven.In addition, the displacement pick off also can be directly installed on the 2nd joint 12 of each leg connecting rod 3.In addition, replace rotary encoder, also can wait to constitute by potentiometer.

The 2nd joint 12 of each leg connecting rod 3 is equivalent to the knee joint of user A, is the joint that can carry out the stretching, extension curvature movement of this leg connecting rod 3.The 2nd joint 12 is by the pivot pin 29 of the axle center with left and right directions (more accurate be meant the axle center of the vertical direction of face with the circular arc that comprises described guide rail 22) upper end of thigh support frame 11 bottoms and shank support 13 to be linked up.And, by the 2nd joint 12, shank support 13 is relatively rotated freely around its pivot pin 29 with respect to thigh support frame 11.In addition, on the 2nd joint 12, be provided with the not shown brake that can limit with respect to the rotation possible range of thigh support frame 11 shank support 13.

The shank support 13 of each leg connecting rod 3 is the roughly shaft-like members that extend towards oblique below from the 2nd joint 12 of this leg connecting rod 3.Further specifically, this shank support 13 is to constitute like this, promptly, through between this between the two force transducer 30 (it is equivalent to the 2nd force transducer among the present invention) and bottom shank support 13b and top shank support 13a are linked up, wherein this bottom shank support 13b is made of the part near the 3rd joint 14, and this top shank support 13a is shaft-like, and is to be made of the part that is upside for the shank support 13b of this bottom.Make bottom shank support 13b enough shorter and smaller than top shank support 13a.In view of the above, force transducer 30 be configured in the 3rd joint 14 near.This force transducer 30 is the force transducer of Kistler (kistler) pick off (registered trade mark).Further specifically, this force transducer 30 is 3 axial force sensors that are used to detect 3 parallel power (with the axial parallel power and 2 parallel and mutually orthogonal with this surface axial parallel power of the Surface Vertical of force transducer 30).But, in the present embodiment, as hereinafter described, only utilized the detected value of 2 parallel power among 3 parallel power that detect.Therefore, force transducer 30 also can be made of 2 axial force sensors that the parallel power that detects 2 is used.

In addition, the upper end at the top of shank support 13 shank support 13a is fixed with: rotate and be one with this shank support 13 and rotate freely pulley 31 around the pivot pin 29 in described the 2nd joint 12.Peripheral part at this pulley 31 is fixed with: as a pair of steel wire rope 32a, the 32b of driving force transmission mechanism, it can pass to the rotating drive power of described motor 27 this pulley 31.These steel wire ropes 32a, 32b be on the diametric(al) of the peripheral part of pulley 31 in opposite directions two positions and drawn in the tangential direction of this pulley 31.And this steel wire rope 32a, 32b pass the inside of the not shown tubular type rubber tube (protecting tube of steel wire rope) that sets along thigh support frame 11 and are linked to the rotating driveshaft (diagram slightly) of motor 27.This occasion, make from the tension force of motor 27 and pay steel wire rope 32a, 32b, so that pass through the just commentaries on classics of the rotating driveshaft of motor 27, side among steel wire rope 32a, the 32b is curled by pulley 31, and the opposing party is then drawn from pulley 31, in addition, and the also feasible counter-rotating of passing through the rotating driveshaft of motor 27, the opposing party among steel wire rope 32a, the 32b is curled by pulley 31, and a side is then drawn from pulley 31.In view of the above, the rotating drive power of motor 27 is delivered to pulley 31 through steel wire rope 32a, 32b, thereby 31 on this pulley is driven (rotate in 13 axle center that center on the pivot pin 29 in the 2nd joint 12 with respect to thigh support frame 11 of shank support of fixing this pulley 31).

In addition, the bottom of the bottom shank support 13b of shank support 13 is the branched portion 13bb that forms the fork shape as shown in Figure 3.

The 3rd joint 14 of each leg connecting rod 3 is the joints that are equivalent to the ankle joint of user A.The 3rd joint 14 constitutes by centering on 3 free joints that rotate (free joint), 33 (with reference to Fig. 3) in the present embodiment as shown in Figure 3.And this free joint 33 is installed between the described branched portion 13bb of bottom shank support 13b of shank support 13, and links the linking part 34 on bottom (branched portion 13bb) with the top of foot's installation portion 15 of this shank support 13.In view of the above, foot's installation portion 15 can carry out the rotation of 3DOF with respect to shank support 13.In addition, in the rotation of the axle of the fore-and-aft direction of foot's installation portion 15, its scope that may rotate is subjected to the restriction of the branched portion 13bb of shank support 13.

Foot's installation portion 15 of each leg connecting rod 3 has: the footwear 35 that each foot of confession user A wears; And the annular component 36 of receiving the stirrup shape of the inside that is contained in these footwear 35.The upper end of this annular component 36 is fixed on described linking part 34.And annular component 36 so that its smooth base plate is connected to the inner bottom surface of footwear 35, and makes the bending section that is connected in its base plate two ends be connected to the mode of sidewall of the cross section of footwear 35 as shown in Figure 3, is received the inside that is contained in footwear 35.In addition, be inserted with the middle berth member 37 (omitting diagram among Fig. 1) that constitutes by the rigid body plate in the inside of footwear 35 in the mode of the base plate of the inner bottom surface that covers footwear 35 and annular component 36.Also have, linking part 34 is inserted into the inside of footwear 35 through the opening of the shoestring installation portion of footwear 35.

When the foot's installation portion 15 with each leg connecting rod 3 is installed in each foot of user A, make the inside of part by annular component 36 of the toe side of its foot, and make described middle berth member 37 be layered on the ground, bottom surface of this foot and the foot of user A is inserted from the welt of wearing of footwear 35.And, under this state, fasten shoestring, then make foot's installation portion 15 be installed in this foot.

In addition, below the middle berth member 37 of foot's installation portion 15, and in the toe lateral position of footwear 35 (compare with the base plate of annular component 36 and be in the position of front side) and rear portion side position (compare with the base plate of annular component 36 and be in the position of rear side) is equipped with force transducer 38,39.The force transducer 38 of front side with almost be in the user A that foot's installation portion 15 is installed foot MP joint (metatarsophalangeal joints) under the mode of position dispose.In addition, the force transducer 39 of rear side with almost be in this foot foot heel under the mode of position dispose.This two force transducer 38,39 is 1 axial force sensor that is used for the parallel power of detection of vertical on the direction of the bottom surface of foot's installation portion 15 (ground plane) (being under the support legs almost direction perpendicular to ground at the foot of user A) in the present embodiment.After this, dividing another name force transducer 38,39 is MP pick off 38, foot heel pick off 39.This MP pick off 38, foot heel pick off 39 are the pick offs that constitute the 1st force transducer among the present invention.At this, middle berth member 37 is not must employing rigid body plate, and it also can be made of the material of soft (flexible).When constituting middle berth member 37 by softish material, by side in its lower section a plurality of the 1st force transducers are set, can detect the power on the each several part of the foot bottom surface that is applied to user A accurately.On the other hand, when constituting middle berth member 37, detect all legpowers that is applied out of foot of user A easily by the rigid body plate.Thus, can reduce the quantity of the 1st force transducer that is arranged on middle berth member 37 following sides.

The structure that more than is the walk supporting device 1 of present embodiment constitutes.As a supplement, each foot's installation portion 15 is installed in each foot of user A, in addition, as hereinafter described, make walk supporting device 1 action (driving the 2nd joint 12) by motor 27, simultaneously user A is seated at again under the state in the portion of taking a seat 2, when watching its user A and walk supporting device 1 in front (when the dead ahead of user A is watched), for example, the thigh support frame 11L of left side leg connecting rod 3L extends (with reference to Fig. 2) along the medial surface of the left lower limb of user A, and the 2nd joint 12L of the bottom of this thigh support frame 11L also is positioned at the inner side of this left side lower limb.And, omitted diagram, when watching the shank support 13L that is connected in the 2nd joint 12L in front, the medial surface of the top of shank support 13L (top of top shank support 13aL) from the 2nd joint 12L along the left lower limb of user A extends.And, crooked gradually with the lower portion of this shank support 13L, simultaneously in the front side of the shank of this left side lower limb and reach mode directly over the instep of foot of this left side lower limb, form this shank support 13L.To right side leg connecting rod 3R too.

In addition, when the user A of build stood with upright standing posture usually, the 2nd joint 12 of each leg connecting rod 3 was projected into the place ahead of the lower limb of user A as shown in Figure 1.That is, the length of the length of thigh support frame 12 and shank support 13 is to set than the longer mode of the following size of hipbone of the lower limb of the user A of common build a little with the two length sum.The above-mentioned setting of the length by thigh support frame 11 and shank support 13 and be arranged on brake on above-mentioned the 2nd joint 12 then makes when can not produce thigh support frame 11 and shank support 13 presents straight line special state and thigh support frame 11 become with state shown in Figure 1 with shank support 13 and is the opposite curvature state.Its result can prevent because state or back-flexing state and cause the problem of uncontrollable walk supporting device 1 during each leg connecting rod 3 special.

In addition, the 2nd joint of each leg connecting rod 3 also can be the joint of straight ejector half.

In the walk supporting device 1 that constitutes as mentioned above, its detailed content will be explained below, in the foot of each lower limb of user A, installed under the state of foot's installation portion 15, produce torque by order about each the 2nd joint 12 by each motor 27, and make the power of mentioning upwards give user A from the portion's of taking a seat 2 effects.At this moment, for example, be supporting leg (being used to support the lower limb of the body weight of user A) with two lower limbs and under the state of standing (state of so-called two lower limbs supporting phase) at user A, two foot's installation portions, 15,15 ground connection, ground reaction force then acts on its ground plane separately.Act on both make a concerted effort of ground reaction force on the ground plane of each foot's installation portion 15, be and the gravity and the isostatic ground reaction force of gravity sum that acts on the walk supporting device 1 that act on the user A, the gross weight that also is about to after user A and walk supporting device 1 add together supports the power of usefulness (parallel power is total supporting force to call this power in the following text) on the ground.In addition, when the lower limb of user A moves with walk supporting device 1, more precisely, on total supporting force, also should add the power that is used to support the inertia force that produces by the motion of user A and walk supporting device 1.But, in the walk supporting device 1 of present embodiment, motor 27 (actuator) that weight is bigger and rotary encoder 28 are not to be configured near the knee of each leg connecting rod 3 but to be configured near the waist.In addition, because the binding (installation) of each leg connecting rod 3 has only foot's installation portion 15 to the part on the user A,, make each leg connecting rod 3 become the member of light weight so the installation component that is installed on the user A is fewer.Thus, the inertia force of following the motion of walk supporting device 1 to produce then becomes enough little.

This occasion in the walk supporting device 1 of present embodiment, has only its two

foots installation portion

15,15 to be mounted and is bundled in user A.In addition, each foot's installation portion 15 has described annular component 36.Thus, the gravity and this walk supporting device 1 that act on the walk supporting device 1 act on to user A from the suffered load of user A (downward parallel power) hardly through the portion of taking a seat 2, but act on the ground from the

annular component

36,36 of two leg connecting rods 3,3 via two foot's

installation portions

15,15.

Therefore, the supporting force that is used for a bearing capacity and load among described total supporting force acts on two leg connecting rods 3,3 of walk supporting device 1, wherein this gravity is meant the gravity that acts on the walk supporting device 1, and this load is meant that this walk supporting device 1 is through the portion of taking a seat 2 and from the suffered load of user A.And walk supporting device 1 is undertaken this supporting force through two leg connecting rods 3,3.Below, the supporting force of so being undertaken by walk supporting device 1 is called auxiliary device burden supporting force.If auxiliary device burden supporting force in other words, be that the suitable weight (part of the body weight of user A) of load that is used for being subjected to from user A with all weight of walk supporting device 1 with the portion of taking a seat 2 is bearing in ground supporting force.Also have, when two lower limbs of user A are supporting leg two foot's installation portions, 15 ground connection of the walk supporting device 1 (time), share described auxiliary device burden supporting force (bear a part of supporting force among the auxiliary device burden supporting force, and the remainder of bearing auxiliary device burden supporting force with the opposing party's leg connecting rod 3) with two leg connecting rods 3,3 with a side leg connecting rod 3.In addition, when the one leg that has only user A is supporting leg (one leg is a free state in addition), share all described auxiliary device burden supporting forces with the leg connecting rod 3 of supporting leg one side.After this, the supporting force of auxiliary device being born among the supporting force of bearing with each leg connecting rod 3 (acting on the supporting force on each leg connecting rod 3) is called the leg connecting rod supporting force.And, will be called right side leg link supporting power with the supporting force that right side leg connecting rod 3 is born, will be called left side leg connecting rod supporting force with the supporting force that left side leg connecting rod 3 is born.The summation of left side leg connecting rod supporting force and right side leg link supporting power is consistent with auxiliary device burden supporting force.Each leg connecting rod supporting force is to be delivered to shank support 13 from foot's installation portion 15 through the 3rd joint 14.

On the other hand, the supporting force that deducts described auxiliary device burden supporting force part afterwards from total supporting force then acts on two lower limbs of user A from ground side, and user A bears this supporting force with its lower limb.After this, the supporting force of so being undertaken by user A is called the user and bears supporting force.If in other words this user bears supporting force, be to be used for affacting weight supporting supporting force on the ground after the suitable weight of load in the portion of taking a seat 2 of walk supporting device 1 with among the body weight of user A, deducting with user A.Also have, when two lower limbs of user A are supporting leg, share described user with two lower limbs of user A and bear supporting force (bear the user with a side lower limb and bear a part of supporting force among the supporting force, and bear the remainder that the user bears supporting force) with the opposing party's lower limb.In addition, when the one leg that has only user A is supporting leg, shares all described users with the lower limb of supporting leg one side and bear supporting force.After this, the user is born the supporting force of bearing with each lower limb among the supporting force (acting on supporting force on each lower limb) and be called user's lower limb supporting force from ground side.And, will be called the right lower limb supporting force of user with the supporting force that right lower limb is born, will be called user left side lower limb supporting force with the supporting force that left lower limb is born.It is consistent that the summation of the right lower limb supporting force of user left side lower limb supporting force and user and user bear supporting force.In addition, with user A for supporting the legpower that the foot that himself makes each lower limb on the ground the power of stepping on is called this foot.The legpower of each lower limb is and the mutually isostatic power of above-mentioned user's lower limb supporting force.

As a supplement, the force transducer 30 that had of each leg connecting rod 3 is arranged on the upside in the 3rd joint 14.Thus, the leg connecting rod supporting force on being applied to this leg connecting rod 3, the supporting force that deducts after the supporting force of lower portion (foot's installation portion 15 etc.) of the force transducer 30 that is used to support this leg connecting rod 3 acts on this force transducer 30.And, detect the 3 axial compositions (perhaps 2 axial composition) of the supporting force that acted on by this force transducer 30.In other words, act on the power (it is equivalent to the control object power among the present invention) on the force transducer 30, be with the supporting force that amounts among the burden component of bearing of the leg connecting rod 3 to have this force transducer 3 suitable, wherein the supporting force of this total is meant to be used for supporting from the overall weight of walking auxiliary device 1 and deducts the gross weight of lower portion of each force transducer 30 and the weight that obtains and the total supporting force of suitable weight be applied to load in the portion of taking a seat 2 from user A.In addition, come the summation of detected supporting force respectively with two force transducers 30,30, be to deduct the gross weight of lower portion of each force transducer 30 and the weight that obtains and the supporting force consistent (after this, force transducer 30 being called supporting force sensor 30) of the total of suitable weight with being used for supporting be applied to load in the portion of taking a seat 2 from user A from the overall weight of walking auxiliary device 1.Also have, the gross weight of the lower portion of each supporting force sensor 30 of walk supporting device 1 and the overall weight of walk supporting device 1 are in a ratio of enough little.Thus, act on the supporting force of each supporting force sensor 30 and described leg connecting rod supporting force about equally.In addition, each supporting force sensor 30 is set at: have this supporting force sensor 30 leg connecting rod 3 the 3rd joint 14 near.Thus, the supporting force that acts on this supporting force sensor 30 acts on parallel power on the shank support 13 (among the leg connecting rod supporting force, one side passes to the supporting force of shank support 13 through the 3rd joint 14 from ground) no better than from the 3rd joint 14 of this leg connecting rod 3.After this, the summation about two leg connecting rods 3,3 that acts on the supporting force of each supporting force sensor 30 or act on the parallel power on the shank support 13 from the 3rd joint 14 of each leg connecting rod 3 is called always mentions power.In addition, this burden component of always mentioning each leg connecting rod 3 among the power is called and always mentions power burden component.

In addition, act on the MP pick off 38L of the left side installation portion 15L of foot and the summation of the power on the foot heel pick off 39L and be equivalent to described user left side lower limb supporting force (perhaps left lower limb legpower).In addition, act on the MP pick off 38R of the installation portion 15R of right side foot and the summation of the power on the foot heel pick off 39R and be equivalent to the right lower limb supporting force (perhaps right lower limb legpower) of described user.In addition, in the present embodiment, though MP pick off 38L and foot heel pick off 39 is 1 axial force sensor,, also can be 2 axle sensors or 3 axle sensors that for example can also detect with the parallel power of the direction of the bottom surface almost parallel of footwear 33.MP pick off 38 and foot heel pick off 39 preferably can detect and the bottom surface of footwear 33 or the ground pick off of the parallel power of vertical direction almost at least.

Below, the control device of the walk supporting device 1 of formation as mentioned above is described.

Fig. 4 is the block diagram of the roughly formation (hardware formation) of this control device of expression.As shown in the figure, control device 50 has: by the arithmetic processing section 51 of microcomputer (CPU, RAM, ROM) and imput output circuit (A/D converter etc.) formation; Separately exciting circuit 52R, the 52L of described motor 27R, 27L; Being used to set the power of mentioning of desired value that imposes on the size of mentioning power (the parallel power that makes progress of giving user A from the portion's of taking a seat 2 effects) of user A by walk supporting device 1 sets with key switch 53; Cut-off switch 54 is connected in the control of mentioning that power selects of mentioning that whether produces user A; Power-supply battery 55; Be connected in this power-supply battery 55 through on and off switch 56 (ONOFF switch) and when on and off switch 56 is carried out making operation (closure) with electric power from each circuit 51 of power-supply battery 55 apparatus for controlling of supply 50, the power circuit 57 of 52R, 52L.In addition, mention power and set the target that is equivalent among the present invention with key switch 53 and mention the power set mechanism, mention control connection cut-off switch 54 and be equivalent to change-over switch among the present invention.

This control device 50 is fixed on the rearward end or described

plate

23R, 23L etc. of the portion of taking a seat 2 through bracket (not shown).In addition, mentioning power sets with key switch 53, mentions control and connect the external that cut-off switch 54 and on and off switch 56 can operatively be installed in the framework (diagram is omited) of control device 50.Also have, mention power and set and constitute by numeral keys's switch or a plurality of selector switches etc., so that can directly set the desired value of the desirable power of mentioning or from pre-prepd plurality of target value, optionally set with key switch 53.

Control device 50 is connected with through omitting illustrated wiring: described MP pick off 38R, 38L; Foot heel pick off 39R, 39L; Supporting force sensor 30R, 30L; And rotary encoder 28R, 28L.And these signal of sensor are transfused to arithmetic processing section 51.In addition, mention the power setting and also be transfused to arithmetic processing section 51 with key switch 53 and the operation signal of mentioning control connection cut-off switch 54.In addition,

motor

27R, 27L flow to the not shown wiring of

motor

27R, 27L respectively and are connected in control device 50 from

exciting circuit

52R, 52L via power supply stream.And, the calculation process (control treatment) of arithmetic processing section 51 by illustrating in the back, and the anastomosing command value of the electric current of each

motor

27R, 27L (hereinafter referred to as the indicator current value) is determined.And arithmetic processing section 51 is by controlling each

exciting circuit

52R, 52L by this indicator current value, controlled and the torque of each

motor

27R, 27L produced.

In addition, also can so that the output signal (voltage signal) of described MP pick off 38R, 38L, foot heel pick off 39R, 39L, supporting force sensor 30R, 30L near these pick offs by preamplifier by amplification after input control device 50 again.In addition, the output signal of described MP pick off 38R, 38L, foot heel pick off 39R, 39L, supporting force sensor 30R, 30L by amplification after, its magnitude of voltage is carried out the A/D conversion, then by income arithmetic processing section 51.

Described arithmetic processing section 51 as the mechanism of its major function, has the functional mechanism shown in the block diagram of Fig. 5.This functional mechanism realizes its function by the program that is received among the ROM.

With reference to Fig. 5, arithmetic processing section 51 has: the right side legpower instrumentation processing mechanism 60R of the output signal of the MP pick off 38R of input right side leg connecting rod 3R and foot heel pick off 39R; The left side legpower instrumentation processing mechanism 60L of the output signal of the MP pick off 38L of input left side leg connecting rod 3L and foot heel pick off 39L.Right side legpower instrumentation processing mechanism 60R is the mechanism that carries out following processing, promptly, magnitude of voltage according to the output signal of MP pick off 38R and foot heel pick off 39R measures the processing of the size (size of the right lower limb supporting force of described user) of the right lower limb legpower of user A.Similarly, left side legpower instrumentation processing mechanism 60L is the mechanism that carries out following processing, that is, the magnitude of voltage according to the output signal of MP pick off 38L and foot heel pick off 39L measures the processing of the size (size of described user left side lower limb supporting force) of the left lower limb legpower of user A.Also have, these legpower instrumentation processing mechanisms 60R, 60L are equivalent to the legpower instrumentation mechanism among the present invention.

In addition, arithmetic processing section 51 has: the right side knee angle instrumentation processing mechanism 61R and the left side knee angle instrumentation processing mechanism 61L that import the output signal (pulse signal) of rotary encoder 28R, 28L respectively.These knee angle instrumentation processing mechanisms 61R, 61L be, measures the mechanism of angle of bend (displacement in the 2nd joint 12) at 12 places, the 2nd joint of pairing separately leg connecting rod 3 according to the signal of being imported.Also have, because the 2nd joint 12 of each leg connecting rod 3 is equivalent to the knee joint of this leg connecting rod 3, so, be the knee angle with the angle of bend in next title the 2nd joint.In addition, these knee angle instrumentation processing mechanisms 61R, 61L are equivalent to the joint displacements amount instrumentation mechanism among the present invention.

In addition, arithmetic processing section 51 has: the right side supporting force instrumentation processing mechanism 62R of the knee angle of the output signal of the supporting force sensor 30R of input right side leg connecting rod 3R and the right side leg connecting rod 3R that got by described right side knee angle instrumentation processing mechanism 61R institute instrumentation; The left side supporting force instrumentation processing mechanism 62L of the knee angle of the output signal (output voltage) of the supporting force sensor 30L of input left side leg connecting rod 3L and the left side leg connecting rod 3L that gets by described left side knee angle instrumentation processing mechanism 61L institute instrumentation.Right side supporting force instrumentation processing mechanism 62R is the mechanism that carries out following processing, promptly, based on the instrumentation value of the knee angle of the output signal of the supporting force sensor 30R that imported and right side leg connecting rod 3R, the supporting force of coming instrumentation to act on the supporting force sensor 30R among the described right side leg link supporting power also is the described processing of always mentioning power burden component of right side leg connecting rod 3R.Similarly, left side supporting force instrumentation processing mechanism 62L is the mechanism that carries out following processing, promptly, based on the instrumentation value of the knee angle of the output signal of the supporting force sensor 30L that imported and left side leg connecting rod 3L, come instrumentation to act on the also i.e. described processing of always mentioning power burden component of left side leg connecting rod 3L of supporting force of the supporting force sensor 30L among the leg connecting rod supporting force of described left side.Also have, these supporting force instrumentation processing mechanisms 62R, 62L are equivalent to the control object power instrumentation mechanism among the present invention.

In addition, arithmetic processing section 51 has: import the instrumentation value of above-mentioned each

instrumentation processing mechanism

60R, 60L, 61R, 61L, 62R, 62L and mention power and set with key switch 53 and the left and right sides target of mentioning the operation signal of control connection cut-off switch 54 and mention power determination means 63.It is the mechanisms that carry out following processing that this left and right sides target is mentioned power determination means 63, promptly, based on input value, decide as the described target of always mentioning the desired value of power and always mention power, and the desired value of the burden component of each leg connecting rod 3 of decision for its target is always mentioned power also is the described processing of always mentioning the desired value (the following controlled target value that only is called) of power burden component of each leg connecting rod 3.Also have, this controlled target value is equivalent to the target burden component among the present invention.

In addition, arithmetic processing section 51 also has: right side feedback operation amount determination means 64R, and its input has always mentioning power burden component, mentioning the controlled target value of the right side leg connecting rod 3R that power determination means 63 determined and the knee angle of the right side leg connecting rod 3R that got by described right side knee angle instrumentation processing mechanism 61R institute instrumentation by described left and right sides target of the right side leg connecting rod 3R that got by described right side supporting force instrumentation processing mechanism 62R institute instrumentation; Left side feedback operation amount determination means 64L, its input has always mentioning power burden component, mentioning the controlled target value of the left side leg connecting rod 3L that power determination means 63 determined and the knee angle of the left side leg connecting rod 3L that got by described left side knee angle instrumentation processing mechanism 61L institute instrumentation by described left and right sides target of the left side leg connecting rod 3L that got by described left side supporting force instrumentation processing mechanism 62L institute instrumentation; Right side feedforward operation amount determination means 65R, its input has always mentioning power burden component, mentioning the controlled target value of the right side leg connecting rod 3R that power determination means 63 determined and the knee angle of the right side leg connecting rod 3R that got by described right side knee angle instrumentation processing mechanism 61R institute instrumentation by described left and right sides target of the right side leg connecting rod 3R that got by described right side supporting force instrumentation processing mechanism 62R institute instrumentation; And left side feedforward operation amount determination means 65L, its input has always mentioning power burden component, mentioning the controlled target value of the left side leg connecting rod 3L that power determination means 63 determined and the knee angle of the left side leg connecting rod 3L that got by described left side knee angle instrumentation processing mechanism 61L institute instrumentation by described left and right sides target of the left side leg connecting rod 3L that got by described left side supporting force instrumentation processing mechanism 62L institute instrumentation.Each feedback operation amount determination means 64 is following mechanisms, promptly, according to the instrumentation value of being imported of always mentioning power burden component and the deviation between the controlled target value, by the feedback control rule of regulation, calculate and be used to make this deviation to approach the mechanism of 0 feedback operation amount (with respect to the feedback composition of the described indicator current value of each motor 27).In addition, each feedforward operation amount determination means 65 is following mechanisms, promptly, instrumentation value according to instrumentation value, controlled target value and the knee angle of always mentioning power burden component imported, by the feedforward rule of regulation, calculate and be used to make the instrumentation value of always mentioning power burden component to reach the mechanism of the feedforward operation amount (with respect to the feedforward composition of the described indicator current value of each motor 27) of controlled target value.

And, arithmetic processing section 51 has: additive operation processing mechanism 66R, it is by carrying out additive operation to the feedback operation amount that calculated by right side feedback operation amount determination means 64R with by the feedforward operation amount that right side feedforward operation amount determination means 65R is calculated, and finds the solution the indicator current value that the motor 27R of right side leg connecting rod 3R uses; And additive operation processing mechanism 66L, it is by carrying out additive operation to the feedback operation amount that calculated by left side feedback operation amount determination means 64L with by the feedforward operation amount that left side feedforward operation amount determination means 65L is calculated, and finds the solution the indicator current value that the motor 27L of left side leg connecting rod 3L uses.

In addition, described feedback operation amount determination means 64R, 64L, feedforward operation amount determination means 65R, 65L and additive operation processing mechanism 66R, 66L are equivalent to the actuator controlling organization among the present invention.

It more than is the general introduction of the operation processing function of arithmetic processing section 51.

Below, in the processing that comprises arithmetic processing section 51 is described in detail in, the control treatment of the control device 50 of present embodiment is described.In the walk supporting device 1 of present embodiment, under the state that disconnects described on and off switch 56, because the 2nd joint 12 of each leg connecting rod 3 is not applied in driving force, therefore, each joint 10,12,14 is in state free to rotate.Under this state, each leg connecting rod 3 folds because of its deadweight.Under this state, each foot's installation portion 15 is installed in each foot of user A, afterwards, this user A or the auxiliary who the accompanies portion 1 of then will taking a seat mentions and is configured under the striding of user A.

Then, in case carry out the making operation of on and off switch 56, electric power promptly is supplied to each circuit of control device 50, and this control device 50 begins to start.And this control device 50 Once you begin starts, the processing of 51 explanations below the execution of the control treatment cycles of regulation of described arithmetic processing section.

In each control treatment cycle, arithmetic processing section 51 is at first carried out the processing of described legpower instrumentation processing mechanism 60R, 60L.With reference to Fig. 6 this processing is described.Fig. 6 is the block diagram of the handling process of expression legpower instrumentation processing mechanism 60R, 60L.In addition, because the algorithm of the processing separately of legpower instrumentation processing mechanism 60R, 60L is identical, so in Fig. 6, the part relevant with left side legpower instrumentation processing mechanism 60L brackets with bracket to be represented.

Legpower instrumentation processing mechanism 60R is that representative illustrates its processing with the right side, at first, at S101, S102, make the detected value (the represented detected value of output voltage values of MP pick off 38R) of the MP pick off 38R of leg connecting rod 3R and the detected value of foot heel pick off 39R (the represented detected value of output voltage values of foot heel pick off 39R) pass through low pass filter respectively.This low pass filter is used for removing from the detected value of pick off 38R, 39R the radio-frequency component of noise etc.The cut-off frequency of this low pass filter is for example 100Hz.

Then, at S103, additive operation is carried out in the output of these low pass filters.In view of the above, can obtain the tentative instrumentation value FRF_p_R of the right lower limb legpower of user A.The slight error part that in this tentative instrumentation value FRF_p_R, includes the Shoestring tying of following the installation portion 15R of right side foot etc. and produce.

Therefore, in the present embodiment, and then, this tentative instrumentation value FRF_p_R is imposed conversion process at S104.In view of the above, finally obtain the instrumentation value FRF_R of the right lower limb legpower of user A.In the conversion process of S104 is that curve chart according to Fig. 7 carries out.That is, be the 1st threshold value FRF1 of regulation when following at FRF_p_R, FRF_R places 0 with the instrumentation value.In view of the above, can prevent the resulting Shoestring tying of following right side foot installation portion 15 etc. and slight error part of producing is taken as instrumentation value FRF_R.And, tentative instrumentation value FRF_p_R greater than the 1st threshold value FRF1 but be the 2nd threshold value FRF2 (＞when FRF1) following, follow the increase of the value of FRF_p_R, the value of instrumentation value FRF_R then is linear to be increased.And FRF_p_R is in case above the 2nd threshold value FRF2, and the value of FRF_R then is maintained at set upper limit value (value of the FRF_R when FRF_p_R equals the 2nd threshold value FRF2).Also have, the reason of setting the higher limit of FRF_R will be explained below.

It more than is the processing spec of right side legpower instrumentation processing mechanism 60R.The processing of left side legpower instrumentation processing mechanism 60L is also same with it.

Arithmetic processing section 51 is then carried out the processing of described knee angle instrumentation processing mechanism 61R, 61L and the processing of supporting force instrumentation processing mechanism 62R, 62L successively.Below, with reference to Fig. 8 and Fig. 9 these processing are described.Fig. 8 is the block diagram of flow process of the processing of the processing of expression knee angle instrumentation processing mechanism 61R, 61L and supporting force instrumentation processing mechanism 62R, 62L.In addition, the algorithm of the processing separately of knee angle instrumentation processing mechanism 61R, 61L is identical, and the algorithm of the processing separately of supporting force instrumentation processing mechanism 62R, 62L is identical.Therefore, in Fig. 8, the part relevant with left side knee angle instrumentation processing mechanism 61L and left side supporting force instrumentation processing mechanism 62L brackets with bracket to be represented.

Below, be that representative illustrates its processing with right side knee angle instrumentation processing mechanism 61R and supporting force instrumentation processing mechanism 62R.At first,, carry out the processing of S201 and S202, can obtain the instrumentation value θ 1_R of the knee angle (at the angle of bend of the leg connecting rod 3R at 12 places, the 2nd joint) of right leg connecting rod 3R by right side knee angle instrumentation processing mechanism 61R.At S201,, calculate the tentative instrumentation value θ 1p_R of the knee angle of leg connecting rod 3R according to the output of rotary encoder 28R.

At this, with reference to Fig. 9, in the present embodiment, line segment S1 and line segment S2 angulation θ 1_R are come instrumentation as the knee angle of right side leg connecting rod 3R, its middle conductor S1 is that (some P is the center of rotation of swing movement of the fore-and-aft direction of thigh support frame 11R with the described center point P relevant with the 1st joint 10R of leg connecting rod 3R, hereinafter referred to as the center point P that rocks back and forth), the line that links up with the central point of the 2nd joint 12R, and S2 is the line that the central point with the central point of the 2nd joint 12R and the 3rd joint 14R links up.The knee angle of left side leg connecting rod 3L is also same with it.Also have, in Fig. 9, leg connecting rod 3 wanted portion's formation to give medelling to represent.

This occasion, at described S201, (for example posture state of Fig. 1) is benchmark in the turned position that knee angle θ 1_R is in the 2nd joint 12R under the state of certain setting promptly under the state of the posture relation that is in regulation with thigh support frame 11R and shank support 13R at leg connecting rod 3R, output signal according to rotary encoder 28R, measure the rotation amount (anglec of rotation variable quantity, it is directly proportional with the rotation amount of the rotor of motor 27R) that begins to count from this benchmark turned position.And, the value of the knee angle of the leg connecting rod 3R that the rotation amount of the 2nd joint 12R that institute's instrumentation is got adds in the said reference turned position (its by memory storage in not shown memorizer) in advance, thus tried to achieve as described tentative instrumentation value θ 1p_R by the resulting value of this addition.

Sometimes the noise composition that in this tentative instrumentation value θ 1p_R, contains high frequency.Therefore, and then, make this θ 1p_R, finally obtain the instrumentation value θ 1_R of the knee angle of leg connecting rod 3R by low pass filter at S202.

It more than is the processing spec of right side knee angle instrumentation processing mechanism 61R.The processing of left side knee angle instrumentation processing mechanism 61L is also same with it.

As a supplement, in the present embodiment, come the reason of instrumentation to be as the knee angle of leg connecting rod 3R above-mentioned line segment S1 and line segment S2 angulation θ 1 because will in the left and right sides target that illustrates is later mentioned the processing etc. of power determination means 63, will use the instrumentation value of its angle θ 1 in detail at it.This occasion, in the walk supporting device 1 of present embodiment, the axle center of the thigh support frame 11 of each leg connecting rod 3 and above-mentioned line segment S1 angulation are certain.So, according to each knee angle instrumentation processing mechanism 61, also can be for example with the axle center of the thigh support frame 11 of each leg connecting rod 3 with try to achieve as the knee angle of this leg connecting rod 3 with the relevant described line segment S2 angulation of shank support 13.And the processing etc. that also can mention power determination means 63 by the left and right sides target of explanation in the back solves above-mentioned angle θ 1 according to its knee angle.

After the instrumentation value θ of the knee angle of obtaining leg connecting rod 3R as described above 1_R,, carry out the processing of right side supporting force instrumentation processing mechanism 62R at S203.In this is handled, according at the instrumentation value θ 1_R of the resulting knee angle of S202 and the detected value of supporting force sensor 30R (2 the power detected value that the magnitude of voltage of the output signal of supporting force sensor 30R is represented), calculate the instrumentation value Fankle_R of the supporting force (that is the described power burden component of always mentioning of leg connecting rod 3R) that acts on this supporting force sensor 30R.With reference to described Fig. 9, describe this processing in detail.

Supporting force (always the mention power burden component) Fankle_R that acts on this supporting force sensor 30R is substantially equal to from the 3rd joint 14R of leg connecting rod 3R and acts on parallel power on the shank support 13R as previously mentioned.And, this parallel power towards so that Fankle_R towards, in the walk supporting device 1 of present embodiment, be the central point direction parallel with the line segment S3 of the described center point P that rocks back and forth with the 3rd joint 14R that links leg connecting rod 3R.

On the other hand, supporting force sensor 30R is to detecting with the axial power Fz of the vertical z in surface (upper surface or lower surface) of this supporting force sensor 30R and perpendicular to this z axle and with the axial power Fx of the surperficial parallel x of this supporting force sensor 30R as shown in the figure.X axle, z axle are the coordinate axess that is fixed on the supporting force sensor 30R, and be with the circular arc that comprises described guide rail 22 interior face parallel the axle.At this moment, detected Fz, Fx are respectively the axial composition of z, the axial composition of x of Fankle_R.Therefore, as shown in the figure, if Fankle_R and z axle angulation are made as θ k, Fankle_R then can be calculated by following formula (1) according to detected value and the θ k of Fz, Fx.

Fankle_R＝Fx·sinθk+Fz·cosθk …(1)

In addition, angle θ k is as described below tries to achieve.Promptly, if line segment S2 and line segment S3 angulation (direction of=Fankle and line segment S2 angulation) are made as θ 2, length L separately 1, the L2 of line segment S1, S2 in the triangle that with line segment S1, S2, S3 is 3 limits formation then are certain value (predefined given value).And line segment S1 and S2 angulation θ 1 be, as described above the instrumentation value θ 1_R that is obtained by right side knee angle instrumentation processing mechanism 61R.Therefore, according to the instrumentation value θ 1_R of the length L separately 1 of line segment S1, S2, L2 (these values by memory storage in memorizer) in advance and angle θ 1, and by the geometry computing, can be in the hope of angle θ 2.

Particularly, on the triangle that with line segment S1, S2, S3 is 3 limits formation, set up following relational expression (2), (3).In addition, L3 is the length of line segment S3.

L32＝L12+L22-2·L1·L2·cosθ1 …(2)

L12＝L22+L32-2·L2·L3·cosθ2 …(3)

Therefore, according to the value of L1, L2 and the instrumentation value of angle θ 1, and through type (2), can calculate L3.And, according to the value of the L3 that calculates and the value of L1, L2, and through type (3), can calculate angle θ 2.

In addition, if z axle and line segment S2 angulation are made as θ 3,3 of this angle θ are the certain values that is predetermined by the setting angle of supporting force sensor 30 for shank support 13.And, by from the angle θ 3 of this certain value (this value by memory storage not shown memorizer) in advance, deducting the angle θ 2 that calculates as mentioned above, can be when carrying out the computing of formula (1) necessary angle θ k.

Therefore, in the present embodiment, in the processing of the S203 of right side supporting force instrumentation processing mechanism 62R, detected value Fz, Fx according to the supporting force sensor 30R of θ k that calculates as mentioned above and leg connecting rod 3R, by described formula (1), can obtain the instrumentation value Fankle_R that always mentions power burden component of right leg connecting rod 3R.

It more than is the detailed description of processing of the S203 of right side supporting force instrumentation processing mechanism 62R.The processing of left side supporting force instrumentation processing mechanism 62L is also same with it.

Also have, in the present embodiment, supporting force sensor 30 is made of 3 axial force sensors or 2 axial force sensors, by described formula (1), can obtain the instrumentation value Fankle that always mentions power burden component of each leg connecting rod.But, even supporting force sensor 30 1 axial force sensors also can obtain instrumentation value Fankle.For example, be when only detecting the pick off of the axial power Fx of x among Fig. 9 at supporting force sensor 30, by following formula (4), can be in the hope of instrumentation value Fankle.In addition, be when only detecting the pick off of the axial power Fz of z among Fig. 9 at supporting force sensor 30, by following formula (5), can be in the hope of instrumentation value Fankle.

Fankle＝Fx/sinθk …(4)

Fankle＝Fz/cosθk …(5)

But, in the occasion of using formula (4) or (5), if angle θ k spends near 0 or the values of 90 degree, the precision of Fankle value then is bad.So,, try to achieve the instrumentation value of Fankle preferably by described formula (1).

In addition, the extraction of square root of the square value sum of square value that instrumentation value Fankle also can be by finding the solution Fx and Fz is tried to achieve.This occasion does not then need the instrumentation value θ 1 of knee angle.

As a supplement, the processing of each instrumentation processing mechanism 60,61,62 discussed above can not carried out in order yet.For example, can wait the processing of carrying out each instrumentation processing mechanism 60,61,62 side by side by the time distribution.But, when in the processing of supporting force instrumentation processing mechanism 62R, 62L, using θ 1, then must before the processing of supporting force instrumentation processing mechanism 62R, 62L, carry out the processing of knee angle instrumentation processing mechanism 61R, 61L earlier.

Also have, in the present embodiment, make the supporting force sensor 30 (the 2nd force transducer) of always mentioning power burden component that is used for each leg connecting rod 3 of instrumentation between the 3rd joint 14R and shank support 13 (more precisely top shank support 13a).But, also can so that this supporting force sensor between (for example between the linking part 34 of the 3rd joint 14R and foot's installation portion 15) between the 3rd joint 14R and the foot's installation portion 15.This occasion, the anglec of rotation by instrumentation the 3rd joint 14, and, can measure the active force that acts on from the 3rd joint 14 on the shank support 13 to carrying out coordinate transform by the detected supporting force of the supporting force sensor between the 3rd joint 14 and the foot's installation portion 15.

Then, arithmetic processing section 51 is carried out the processing that described left and right sides target is mentioned power determination means 63.Below, describe this processing in detail with reference to Figure 10.Figure 10 is the block diagram that expression left and right sides target is mentioned the handling process of power determination means 63R, 63L.

At first, at S301, the instrumentation value Fankle_R that always mentions power burden component of the right side leg connecting rod 3R that tried to achieve by each supporting force instrumentation processing mechanism 62 as previously mentioned and the instrumentation value Fankle_L that always mentions power burden component of left side leg connecting rod 3L are carried out additive operation, calculate and always mention power Fankle_t.This always mention that power Fankle_t is equivalent to the foregoing supporting force that acts on each supporting force sensor 30 or act on from the 3rd joint 14 of each leg connecting rod 3 parallel power on the shank support 13, about the instrumentation value of the summation of leg connecting rod 3,3.In addition, always mention power Fankle_t and be substantially equal to described auxiliary device burden supporting force.

Then, at S302, mention control and connect the operation signal of cut-off switch 54 (be used to show that this switch 54 is in 0N or is in OFF signal) corresponding to described, optionally export the side in following two values, this two value is: from this always mention the output valve of the output valve of the S307 that deducts in the back explanation the power Fankle_t and S312 and the difference that obtains and with set the target that sets with key switch 53 by the described power of mentioning and mention the corresponding power of always mentioning of power (this target is mentioned power and is meant the power of mentioning of giving user A from the portion's of taking a seat 2 effects) and set value.This occasion in the present embodiment, is want when the portion of taking a seat 2 accepts to mention power at user A, mentions control and connects cut-off switch 54 and carry out making operation described.At state in addition, then the described control connection cut-off switch 54 of mentioning is carried out opening operation.And, at S302, connect cut-off switch 54 and be in when disconnecting when mentioning control, then select from the described difference of always mentioning the output valve of the output valve that deducts the S307 of explanation in the back the power Fankle_t and S312 and the obtaining line output of going forward side by side.In addition, connect cut-off switch 54 and be in when connecting, then select the described power setting value line output of going forward side by side of always mentioning when mentioning control.

As a supplement, always mentioning power setting value is: will be used for supporting from the overall weight of walking auxiliary device 1 deduct the gross weight of lower portion of each supporting force sensor 30 and the supporting force of the weight that obtains (promptly, with deduct after the supporting force of the gravity balance that weight produced that obtains) size, add to set with what key switch 53 set and mention power setting value value afterwards by the described power of mentioning.The size of this supporting force by memory storage in advance in not shown memorizer.In addition, the overall weight of the gross weight of the lower portion of supporting force sensor 30 and walk supporting device 1 is in a ratio of enough little.Therefore, also supporting force (with the supporting force that acts on away the gravity balance on the auxiliary device 1 all) size that is used to support away the overall weight of auxiliary device 1 can be added the setting value (target is mentioned power) of the above-mentioned power of mentioning and the value that obtains sets value as always mentioning power.Perhaps, also can direct input always mention the power setting value by operated key switch 53.

Afterwards, at S303, make the output of S302 pass through low pass filter.In view of the above, the decision target is always mentioned power.At the low pass filter of this S303 is to be used to prevent when the output of S302 takes place sharply to change (when always mentioning the power setting value and being changed, perhaps, the output of S302, the difference that obtains from the output valve of the output valve of always mentioning the S307 that deducts in the back explanation the power and S312 with always mention when changing between the power setting value etc.) target always mentions power problem jumpy takes place.And then, avoid acting on the rapid variation that power takes place of mentioning of user A from the portion of taking a seat 2 by this low pass filter.The cut-off frequency of this low pass filter is for example 0.5Hz.In addition, the general objective that is equivalent among the present invention of the processing of S301～S302 is mentioned the power determination means.

Then, at S304, based on the size of the instrumentation value FRF_L of the size of the instrumentation value FRF_R of the right lower limb legpower of being tried to achieve by each legpower instrumentation processing mechanism 60 as described above and left lower limb legpower, deciding the ratio of each leg connecting rod 3 usefulness about target always mentioned power and distribute to is distribution ratio.This distribution ratio is that two parts of proportioning sums are 1 by the parting proportioning on the right side and constitute as the proportioning that parts on the left side that target is always mentioned the allocation proportion of the left leg connecting rod 3L of distributing to of power of the allocation proportion of always mentioning the right leg connecting rod 3R of distributing to of power as target.

This occasion parts the ratio that proportioning is decided to be the size of the FRF_R for the big or small sum of the size of instrumentation value FRF_R and instrumentation value FRF_L on the right side and that is to say FRF_R/ (FRF_R+FRF_L).Similarly, part the ratio that proportioning is decided to be the size of the FRF_L for the big or small sum of the size of instrumentation value FRF_R and instrumentation value FRF_L on the left side and that is to say FRF_L/ (FRF_R+FRF_L).This occasion is supporting leg at the one leg of user A, and one leg is under the free state (being single lower limb bearing state) in addition, and the pairing distribution ratio of the lower limb of free state is 0, and the pairing distribution ratio of lower limb that is the supporting leg state is 1.In addition, the processing of S304 also can be carried out concurrently with the processing of S301～S303.

At this, in the conversion process (with reference to Fig. 6) of the S104 that illustrates at described each lower limb legpower instrumentation processing mechanism 60 the instrumentation value FRF_R of each lower limb legpower is given the reason of capping value.Two lower limbs at user A are under the supporting leg state (i.e. the state of two lower limbs supporting phase), and the described tentative instrumentation value FRF_p of each lower limb legpower changes sleekly, but is easy to generate frequent change.In this occasion, as if being that left and right sides distribution ratio is decided on the basis with tentative instrumentation value FRF_p, its distribution ratio then changes continually, and the ratio of sharing that target is always mentioned each leg connecting rod 3 in the power also just changes easily continually.Its result then is easy to generate small variations for the power of mentioning of user A from the portion's of taking a seat 2 effects.And then its small variations might be brought uncomfortable sense to user.Thus, in the present embodiment, set the higher limit of the instrumentation value FRF of each lower limb legpower, in the two lower limbs state of supporting phase, the situation that the distribution ratio about then having prevented changes continually.This occasion, at the state of two lower limbs supportings phase, after beginning during and finish before during, the distribution ratio about all is maintained at 1/2 basically, thus the distribution ratio about making is in stable.

In addition, at described Fig. 7, also can have only threshold value FRF1, be that threshold value FRF1 is when above at the tentative instrumentation value FRF_p_R (L) of each lower limb legpower of user A, so that the linear ground that increases of the instrumentation value FRF_R (L) of legpower, and obtain instrumentation value FRF_R (L) according to the chart of setting.Try to achieve according to tentative instrumentation value FRF_p FRF_R (L) usefulness chart threshold value FRF1, FRF2 equivalence also can according to user A inclination to the sensation of mentioning power or the weight of walk supporting device 1, the computing capability of control device 50 etc., suitably determine.

Return the explanation of Figure 10, then carry out the processing of S305 and S310.In addition, the processing of these S305, S310 also can be carried out concurrently with the processing of S301～S303 or the processing of S304.

The processing of S305 is the processing of finding the solution operating physical force, and this operating physical force is to be used to make the posture reducing power of leg connecting rod 3R generation just as spring.Similarly, the processing of S310 also is the processing of finding the solution operating physical force, and this operating physical force is to be used to make the posture reducing power of leg connecting rod 3L generation just as spring.After this, claim that these operating physical forces are the spring reducing power.This spring reducing power is equivalent to the power that requires among the present invention.

Because the algorithm of the processing of the processing of S305 and S310 is identical, so, with reference to described Fig. 9, represent with being treated to of the S305 relevant to describe with right side leg connecting rod 3R.

In the processing of S305, at first, the instrumentation value θ 1_R of the knee angle of the right side leg connecting rod 3R that use is tried to achieve by the processing of foregoing right side knee angle instrumentation processing mechanism 61R, by described formula (2), the length L 3 that calculates the line segment S3 among Fig. 9 also promptly links the length L 3 of the line segment S3 of the center point P in the 3rd joint 14 of leg connecting rod 3R and the described center point P that rocks back and forth.And, the spring constant k of regulation be multiply by, deducts the difference (L3-L3S) that obtains behind the reference value L3S that sets in advance from the L3 that is calculated, and with the product of the trying to achieve spring reducing power as right side connecting rod 3R.

That is, the spring reducing power can be tried to achieve by following formula (6).

Spring reducing power=k (L3-L3S) ... (6)

The processing of the described S310 relevant with left side leg connecting rod 3L is also same with it.The spring reducing power of each leg connecting rod 3 that calculates as mentioned above is equivalent to: for making the posture of this leg connecting rod 3 be reduced into the length L 3 and the supporting force of the corresponding to posture additivity of described reference value L3S ground effect to walk supporting device 1 of the line segment S3 among described Fig. 9.

In addition, in the present embodiment, though by proportion control rule, find the solution the spring reducing power as the feedback control rule,, also can try to achieve by other maneuvers such as PD control laws.In addition, the length L 3 of described line segment S3 equals: will be almost certain bias adds the 3rd joint 14 of each leg connecting rod 3 and the interval length afterwards of 2 in the portion of taking a seat.Thus, make above-mentioned (L3-L3S) approach 0 ground and calculate the spring reducing power, be equal to make the 3rd joint 14 of each leg connecting rod 3 and 2 in the portion of taking a seat the interval, and specified reference value (deducting the difference that obtains behind the above-mentioned bias by L3) between deviation approach 0 ground and calculate the spring reducing power.

Afterwards, carry out about the processing of S306～S309 of right side leg connecting rod 3R and about the processing of S311～S314 of left side leg connecting rod 3L.In processing, at first,, be multiplied by the target that obtains at described S303 and always mention power parting proportioning on the right side at S306 about S306～S309 of right side leg connecting rod 3R.In view of the above, decide target always to mention the basic target values of always mentioning power burden component that the burden component of right leg connecting rod 3R is distributed in conduct among the power.This basic target values is expression: as the target that acts on the desired value of mentioning power of user A from the portion of taking a seat 2 mention the right leg connecting rod 3R among the power the burden component, with the supporting force that is used for supporting the weight (the perhaps overall weight of walk supporting device 1) that after the overall weight of walk supporting device 1 deducts the gross weight of lower portion of each supporting force sensor 30, obtains among the summation of burden component of right leg connecting rod 3R.

In addition, at S307, be multiplied by the spring reducing power that obtains at S305 with parting proportioning on the right side.And, at S308, the value (it is equivalent to the correction of the target burden component among the present invention) of its product is added the basic target values of always mentioning power burden component of right leg connecting rod 3R.In view of the above, can try to achieve the tentative desired value Tp_Fankle_R that always mentions power burden component of right leg connecting rod 3R.And, at S309, make this tentative desired value Tp_Fankle_R by low pass filter, finally try to achieve controlled target value T_Fankle_R as the desired value of always mentioning power burden component of right leg connecting rod 3R.The low pass filter of S309 is the noise composition that is used to remove change of following knee angle θ 1 etc.The cut-off frequency of this low pass filter is for example 15Hz.

Similarly, in processing, at first,, be multiplied by the target that obtains at described S303 and always mention power parting proportioning on the left side at S311 about S311～S314 of left side leg connecting rod 3L.In view of the above, decide target always to mention the basic target values of always mentioning power burden component that the burden component of left leg connecting rod 3L is distributed in conduct among the power.This basic target values is expression: the burden component of mentioning the left leg connecting rod 3L among the power as the target that acts on the desired value of mentioning power of user A from the portion of taking a seat 2 with, be used for supporting the summation of the burden component of the left leg connecting rod 3L among the supporting force (the perhaps overall weight of walk supporting device 1) of the weight that after the overall weight of walk supporting device 1 deducts the gross weight of lower portion of each supporting force sensor 30, obtains.

In addition, at S312, be multiplied by the spring reducing power that obtains at S310 with parting proportioning on the left side.And, the value of its product (it is equivalent to the correction of the target burden component among the present invention) is added the basic target values of always mentioning power burden component of left leg connecting rod 3L at S313.In view of the above, can try to achieve the tentative desired value Tp_Fankle_L that always mentions power burden component of left leg connecting rod 3L.And, at S314, make this tentative desired value Tp_Fankle_R by low pass filter, finally try to achieve controlled target value T_Fankle_L as the desired value of always mentioning power burden component of left leg connecting rod 3L.For example, be 200N (newton) always mentioning power as the target of the output of S303, the left and right sides distribution ratio corresponding with the left and right sides legpower of user A (output of S304) is 0.4: 0.6 o'clock, and S306 is output as 120N, and S311 is output as 80N.

It more than is the processing of mentioning power determination means 63 about left and right sides target.As mentioned above, be in principle so that about the ratio of each leg connecting rod 3 decide with the ratio of the left and right sides legpower of user A with reaching the ratio identical about controlled target value T_Fankle_L, the T_Fankle_R of each leg connecting rod 3.In addition, relevant with left leg connecting rod 3L, right leg connecting rod 3R spring reducing power is attached to controlled target value T_Fankle_L, T_Fankle_R again respectively.In addition, additional reducing power, then become with the summation of additional reducing power to controlled target value T_Fankle_R to controlled target value T_Fankle_L: the weighted mean of the spring reducing power that calculates respectively at S305, S310, and this weighted mean be with about distribution ratio as weight coefficient.Therefore, the summation of controlled target value T_Fankle_L, T_Fankle_R then becomes: the above-mentioned weighted mean of spring reducing power is added value after the target that determines at S303 is always mentioned power.

In addition, the processing of S304, S306, S311 is equivalent to the distributor gear among the present invention, and in addition, the processing of S305, S307, S310, S312 is equivalent to the target burden component correction mechanism among the present invention.

Carrying out as described above after left and right sides target mentions the processing of power determination means 63,51 of arithmetic processing section are carried out the processing of feedback operation amount determination means 64R, 64L and feedforward operation amount determination means 65R, 65L successively or concurrently.

With reference to Figure 11, the processing of feedback operation amount determination means 64R, 64L is described.Figure 11 is the block diagram of the handling process of expression feedback operation amount determination means 64R, 64L.Also have, because the algorithm of feedback operation amount determination means 64R, 64L is identical, so in Figure 11, the part relevant with left side feedback operation amount determination means 64L brackets with bracket to be represented.

Feedback operation amount determination means 64R is that representative illustrates its processing with the right side, at first, at S401, calculate: by described left and right sides target mention the right leg connecting rod 3R that power determination means 63 determined controlled target value T_Fankle_R, and the instrumentation value Fankle_R that always mentions power burden component of the right side leg connecting rod 3R that gets by described right side supporting force instrumentation processing mechanism 62R institute instrumentation between deviation (T_Fankle_R-Fankle_R).And at S402,403, will gain respectively Kp, Kd are multiplied by this deviation.In addition, the operation result of S403 by differential (among the figure ' s ' expression operator), at S405, carries out additive operation to the operation result of its differential value and S402 at S404.In view of the above, so that converging on 0 ground, deviation (T_Fankle_R-Fankle_R), calculates the operational ton Ifb_R of the electric current of dextral motor 27 by PD control law as the feedback control rule.Operational ton Ifb_R represents the feedback composition of the indicator current value of dextral motor 27.

This occasion, in the present embodiment, at S406, the instrumentation value θ 1_R corresponding to the knee angle of leg connecting rod 3R can set described gain Kp, Kd with changing.Its reason be because: according to the knee angle of leg connecting rod 3R, the sensitivity that power changes of mentioning of the portion 2 of taking a seat changes (torque variation) with respect to the electric current of motor 27R and changes.At this moment, knee angle θ 1_R big more (leg connecting rod 3R extend more), the sensitivity of mentioning the power variation of the portion of taking a seat 2 that changes (torque variations) with respect to the electric current of motor 27R is high more.Thus, at S406,, be that the instrumentation value θ 1_R of knee angle of leg connecting rod 3R big more and make the value of gain Kp, Kd set this gain Kp, Kd respectively with reducing in principle according to omitting illustrated data drawing list.

It more than is processing about right side feedback operation amount determination means 64R.The processing of left side feedback operation amount determination means 64L is also same with it.In addition, in the present embodiment, by using PD control law as the feedback control rule, and can be at a high speed and control stably mention power.But,, also can use PD control law feedback control rule in addition as the feedback control rule.

Below, with reference to Figure 12, the processing of feedforward operation amount determination means 65R, 65L is described.Figure 12 is the block diagram of the handling process of expression feedforward operation amount determination means 65R, 65L.In addition, because the algorithm of feedforward operation amount determination means 65R, 65L is identical, so in Figure 12, the part relevant with left side feedforward operation amount determination means 65L brackets with bracket to be represented.

Feedforward operation amount determination means 65R is that representative illustrates its processing with the right side.At S501, the instrumentation value θ 1_R of the knee angle of the leg connecting rod 3R that got by described right side knee angle instrumentation processing mechanism 61R institute instrumentation is carried out differential, calculate the angular velocity omega 1_R of angle of bend at 12 places, the 2nd joint of leg connecting rod 3R.In addition, at S502, use the instrumentation value θ 1_R of knee angle of leg connecting rod 3R and the instrumentation value Fankle_R that always mentions power burden component of the right side leg connecting rod 3R that gets by described right side supporting force instrumentation processing mechanism 62R institute instrumentation, calculate tensile real tension force T1 as the reality of steel wire rope 32a, the 32b of leg connecting rod 3R.The computing of this reality tension force T1 is described with reference to Figure 13.In addition, in Figure 13, leg connecting rod 3 has been given medelling represented.In addition, in Figure 13, the key element identical with Fig. 9 used identical reference marks.

At first, the instrumentation value Fankle_R's that always mentions power burden component of leg connecting rod 3R calculates by following formula (7) with the orthogonal composition Fankle_a of line segment S2.

Fankle_a＝Fankle_R·sinθ2 …(7)

In addition, angle θ 2 is Fankle_R and line segment S2 angulation, and this θ 2 is to use instrumentation value θ 1_R as illustrated with reference to described Fig. 9, and by the geometry computing, (with reference to described formula (2), (3)) that calculate.

And, press shown in the following formula (8), the length L 2 of line segment S2 is multiplied by the Fankle_a that so tries to achieve.In view of the above, according to Fankle_R, can calculate the moment M1 that the 2nd joint (knee joint) is produced.

M1＝Fankle_a·L2 …(8)

The moment that on pulley 31, produces by the real tension force T1 of

steel wire rope

32a, 32b, under general normal condition with above-mentioned moment M1 equilibrium.Therefore, press following formula (9) again, the effective radius r that uses pulley 31 calculates the real tension force T1 of

steel wire rope

32a, 32b divided by this moment M1.

T1＝M1/r …(9)

It more than is the detailed description of the processing of S502.

Return the explanation of Figure 12,, calculate goal tension T2 as steel wire rope 32a, the 32b of leg connecting rod 3R then at S503.This goal tension T2 is the tension force that should produce corresponding to the controlled target value of being mentioned the leg connecting rod 3R that processing determined of power determination means 63 by described left and right sides target (desired value of always mentioning power burden component) on steel wire rope 32a, 32b.The calculating of this goal tension T2 is identical with the computing of S502.Particularly, change into by Fankle_R formula (7) the right: mention the controlled target value T_Fankle_R of the right leg connecting rod 3R that processing determined of power determination means 63 by described left and right sides target, calculate controlled target value T_Fankle_R with the orthogonal composition of described line segment S2 (with reference to Figure 13).And, replace the Fankle_a on described formula (8) the right by using the one-tenth that is calculated to assign to, calculate the target moment in the 2nd joint 12 of leg connecting rod 3R.In addition, replace the M1 on described formula (9) the right, calculate the goal tension T2 of

steel wire rope

32a, 32b by using this target moment.

It more than is the detailed description of the processing of S503.

After the processing of carrying out S501～S503 as described above, at S504, use angular velocity omega 1_R, the real tension force T1 and the goal tension T2 of

steel wire rope

32a, 32b in the 2nd joint 12 that calculates as mentioned above, by the feed-forward process of regulation, decide the operational ton Iff_R of the electric current of motor 27R.Operational ton Iff_R represents the feedforward composition of the indicator current value of dextral motor 27.

In the processing of S504,, calculate operational ton Iff_R by the represented modular form of following formula (10).

Iff_R＝B1·T2+B2·ω1_R+B3·sgn(ω1_R) …(10)

Wherein, B2=b0+b1T1, B3=d0+d1T1

At this, the B1 in the formula (10) is a constant coefficient, and B2, B3 suc as formula shown in ' wherein ' record of (10), are the coefficients of representing with the linear function of real tension force T1 respectively.In addition, b0, b1, d0, d1 are constant.And sgn () is a sign function.

This formula (10) is the modular form of the relation between the angular velocity omega 1_R in the tension force of electric current,

steel wire rope

32a, 32b of expression motor 27 and the 2nd joint 12.Further specifically, the 1st the tensile proportional of expression on formula (10) the right, represent the pairing item of viscous friction power between

steel wire rope

32a, 32b and the pulley 31 for the 2nd, represent the pairing item of kinetic force of friction between

steel wire rope

32a, 32b and the pulley 31 for the 3rd.In addition, can further append the corresponding item of angular acceleration with the 2nd joint 12 (that is, corresponding item) on the right of formula (10) with inertia force.

As a supplement, give minimized identification algorithm by square value with the difference of the left side value of formula (10) and the right value, and to using each constant B1, b0, b1, d0, d1 the experimentizing property ground identification in advance in the computing of formula (10).And each constant B1, the b0 that is discerned, b1, d0, d1, are used during in order to the action of walk supporting device 1 in not shown memorizer by memory storage.

It more than is the processing spec of right side feedforward operation amount determination means 65R.The processing of left side feedforward operation amount determination means 65L is also same with it.

With reference to Fig. 5, after operational ton Ifb_L, the Iff_L of the electric current of operational ton Ifb_R, the Iff_R of the electric current that calculates motor 27R as described above and motor 27L, arithmetical organ 51, by utilizing additive operation processing mechanism 66R that operational ton Ifb_R, Iff_R are carried out additive operation, decide the indicator current value of motor 27R.In addition, arithmetical organ 51 carries out additive operation by utilizing additive operation processing mechanism 66L to operational ton Ifb_L, Iff_L, decides the indicator current value of motor 27L.Arithmetical organ 51 is exported to the exciting circuit 52 corresponding with each motor 27 respectively with these indicator current values, and at this moment, 52 of exciting circuits are connected in motor 27 according to the indicator current value that is transfused to.

The control treatment of arithmetical organ 51 discussed above is to carry out at the control cycle of regulation.In view of the above, so that the instrumentation value Fankle that always mentions power burden component of the reality of each leg connecting rod 3R consistently makes motor 27 generation torques with this leg connecting rod 3 pairing controlled target value T_Fankle, and then the driving force in the 2nd joint 12 (knee joint) of this leg connecting rod 3R operated.

In embodiment discussed above,

leg connecting rod

3R, 3L about corresponding to the ratio ground of the right lower limb legpower of user A and left lower limb legpower general objective being mentioned power and distributing to, that decides each leg connecting rod 3 always mentions power burden component.And, make that producing this on each leg connecting rod 3 always mentions power burden component.Thus, particularly be manipulated under the anastomosing state, can make by what described key switch 53 set and mention power (target is mentioned power) slyness and stably give user A from the portion's of taking a seat 2 effects at the described control connection cut-off switch 54 of mentioning.And then, can alleviate the burden of each lower limb of user A effectively.

As a supplement, general objective is mentioned power as previously mentioned, is the setting value of mentioning power (target is mentioned power) that will be set by described key switch 53, the value after adding up with the supporting force that is used for supporting the weight (the perhaps overall weight of walk supporting device 1) that obtains after the overall weight of walk supporting device 1 deducts the gross weight of lower portion of each supporting force sensor 30 (more precisely the value of its sum is passed through low pass filter after value).Thus, bear component by the power of always mentioning that determines each leg connecting rod 3 as described above, its result, as mentioning power for the target of the desired value of mentioning power of user A from the portion of taking a seat 2 effect,

leg connecting rod

3R, 3L corresponding to the ratio ground of the right lower limb legpower of user A and left lower limb legpower about being assigned to.And, can act on the portion of taking a seat 2 ground from each

leg connecting rod

3R, 3L motor 27R, the 27L of each

leg connecting rod

3R, 3L controlled so that the target of being distributed is mentioned the burden component of each leg connecting rod 3 of power.

In addition, in the present embodiment, owing to make each leg connecting rod 3 produce the spring reducing power, therefore, user A makes knee bending more deeply more, just can obtain the bigger power of mentioning more from walk supporting device 1, and user A also just realizes its auxiliary sense from walk supporting device 1 easily.In addition, by suitably setting the described spring constant k relevant value of (with reference to described formula (6)), can also prevent that the posture of each leg connecting rod 3 from diverging to inappropriate posture with the spring reducing power.

In addition, connect cut-off switch 54 and be manipulated under the state of disconnection mentioning control, will describedly always mention power Fankle_t and determine to mention power for general objective.Thus, under this state, as long as user A carries body weight in the portion of taking a seat 2 wittingly, then can be when making the portion of taking a seat 2 be contacted with user A, between can also reach the poised state that does not produce active force.And, connect and to mention control and connect cut-off switch 54 in case begin operation from this state, can also avoid the rapid power of mentioning to give the state of affairs of user A from the portion's of taking a seat 2 effects, mention power and act on A sleekly thereby can make to the user.

In addition because and decide the indicator current value of each motor 27 with PD control law (feedback control rule) and feedforward rule, so, can be at a high speed and stably control and mention power.

In addition, in said embodiment, though with the additional desired value (controlled target value) of always mentioning power burden component of spring reducing power to each leg connecting rod 3,, additional (particularly being S305, the S307 that omits Figure 10, the processing of S310, S312) that also can omit the spring reducing power.This occasion will be as long as will be directly inputted to S302 at the Fankle_t that try to achieve at the S301 place of Figure 10.

In addition, at described the 1st embodiment, in the processing of each legpower instrumentation processing mechanism 60, used the curve chart of Fig. 7.Also can replace the curve chart of Fig. 7 and use curve chart for example shown in Figure 14, the tentative instrumentation value FRF_p of each lower limb legpower is transformed into instrumentation value FRF.Below, describe as the 2nd embodiment with the embodiment of this occasion.The curve chart of Figure 14 in the 2nd embodiment be with tentative instrumentation value FRF_p during less than threshold value FRF FRF be that the mode of negative value is set.Further specifically, in the curve chart of Figure 14, when FRF_p is when being in threshold value FRF1 and being slightly less than value between the threshold value FRF3 (FRF3＞0) of threshold value FRF1, follow the minimizing of FRF_p, FRF is linearly and diminishes.In addition, when FRF_p compares with threshold value FRF3 and further diminishes (occasion that comprises FRF_p＜0), FRF is maintained at minus certain value (value of the FRF when FRF_p=FRF3).

At this, when user A walked, for example, if lift right lower limb, according to the acceleration of motion of this moment, MP pick off 38R and foot heel pick off 39R were output as near very little value (value or minus value 0), and tentative instrumentation value FRF_p_R then becomes less than threshold value FRF.At this moment, use the curve chart of Figure 14 and the pedometer measured value FRF_R of the right lower limb that obtains is negative value.

And, in the 2nd embodiment, when obtaining the instrumentation value FRF_R of negative value, then the part of the processing (left and right sides target is mentioned the processing of power determination means 63) of Figure 10 is carried out for example following change when the curve chart that uses Figure 14.That is,, when obtaining the instrumentation value FRF_R of negative value, then the ratio of two distribution ratios is placed the ratio of predefined regulation at the S304 of Figure 10.For example, as mentioned above, when FRF_R＜0, make to part proportioning on the left side: by distribution ratio=1.1 :-0.1.Promptly, the corresponding distribution ratio of the FRF with becoming negative value that parts proportioning on the left side and part on the right side among the proportioning is decided to be minus setting (being-0.1 in the present embodiment), and the opposing party's distribution ratio is decided to be by ' 1, deduct value behind this minus setting (make left and right sides distribution ratio and be ' 1 ').And, use this distribution ratio, carry out the processing of S306 and 311.At this moment, for example, when mentioning power and be 200N as the target of the output of the S303 of Figure 10, the output of S306 and S311 then is respectively-20N, 200N.In addition, when the lower limb that obtains the tentative instrumentation value FRF_p littler than threshold value FR1 (the right lower limb in the above-mentioned example) is judged is when dissociating lower limb, does not then carry out the computing (will place 0 corresponding to the spring reducing power of this free lower limb) of S305 or the spring reducing power in S310 processing corresponding with the lower limb that should dissociate.In view of the above, when the beginning of single lower limb supporting phase (only making one leg be the period of supporting leg state), the 2nd joint 12 of free side leg connecting rod 3 is driven to the curved side, thereby can assist the dissociate action of lifting of side lower limb of user A.

In addition, in said embodiment, constitute the 1st force transducer by MP pick off 38 and foot heel pick off 39, shown in Figure 3 as described above, be the bottom surface of foot of supporting leg state and the mode between the ground with foot and these

force transducers

38,39 are arranged on foot's installation portion 15 between user A.But, the position that is provided with of the 1st force transducer is not restricted to this.The 1st force transducer also can for example be installed on foot's installation portion as shown in Figure 15.Below, describe as the 3rd embodiment with the embodiment of this occasion.

As shown in figure 15, in the 3rd embodiment, foot's supporting member 100 is set in the inboard of the described annular component 36 of foot's installation portion 15.This foot's supporting member 100 is the member of slippers (slipper) shape, it be by: being contacted with almost is that all tabular foot bottoms 101 (member of the middle berth shape of footwear) in the bottom surface of user A foot and the arcuation member 102 that is linked to this foot bottom 101 (cross section for roughly the member of semicircle arcuation) constitute.The both sides of the bottom at the two ends of arcuation member 102 and foot bottom 101 are combined into one.This arcuation member 102 can partly insert for the toe side of the foot of user A.And under this insertion state, this foot is subjected to foot bottom 101 supportings.These foot bottoms 101 and arcuation member 102 are to have the inflexible material of regulation by for example metal or resin etc. to form.

In addition, between the interior face on the external on arcuation member 102 tops and annular component 36 tops, be provided with the drawbar load sensing mechanism 103 that constitutes the 1st force transducer.This drawbar load sensing mechanism 103 is engaged in arcuation member 102 and annular component 36.This drawbar load sensing mechanism 103 is: the load cell of this trailed model for example.This occasion, foot's supporting member 100 are configured in the inboard of annular component 36 to be non-contacting state with annular component 36 or footwear 35.In view of the above, foot's supporting member 100 is hung through drawbar load sensing mechanism 103 to be located on the annular component 36, so that can not have from the power of below supporting foot supporting member 100 from annular component 36 or footwear 35 effects.

In addition, the inner surface of the upper surface of portion 101 and arcuation member 102 is provided with the fender of the foot that is used to protect user A under foot.

It more than is the structure explanation of the foot's installation portion 15 in the present embodiment.In addition, described MP pick off 38, foot heel pick off 39, middle berth member 37 are not set on foot's installation portion 15 in the present embodiment.And, in the time of in each foot that the foot's installation portion 15 in the present embodiment is installed in user A, pass through the inside of the arcuation member 102 of foot's supporting member 100 as long as make the part of the toe side of its foot, and make this foot put under foot in the portion 101 ground, this foot is got final product from the inside that welt inserts footwear 35 of wearing of footwear 35.

In the walk supporting device of the present embodiment of foot's installation portion 15 with formation like this, be the legpower of foot of the user A of supporting leg state, be as acting on the pull strength on the drawbar load sensing mechanism 103 and being detected by drawbar load sensing mechanism 103.

And, in the present embodiment, about the output of drawbar load sensing mechanism 103 of each foot's installation portion 15 be the output of replacing MP pick off 38 and foot heel pick off 39, and be transfused to each legpower instrumentation processing mechanism 60 to arithmetic processing section 51.And, by each legpower instrumentation processing mechanism 60, make the value of the represented detected value (making pull strength is positive value) of the output of with it corresponding drawbar load sensing mechanism 103 by low pass filter, and will be by the value behind the low pass filter as its tentative instrumentation value FRF_p.In addition, each legpower instrumentation processing mechanism 60 is also fixed tentatively instrumentation value FRF_p according to being somebody's turn to do, and solves the instrumentation value FRF of legpower according to the curve chart (the perhaps curve chart of Figure 14) of described Fig. 7.

Formation except above explanation and processing are then identical with described the 1st embodiment (perhaps the 2nd embodiment).

In the present embodiment, can obtain and the identical effect of described the 1st embodiment (perhaps the 2nd embodiment).In addition, in the present embodiment, drawbar load sensing mechanism 103 is to be installed between the topmost of outer peripheral face of the topmost of inner peripheral surface of annular component 36 and arcuation member 102.But, the allocation position of drawbar load sensing mechanism 103 is not restricted to this, also can be arranged on the position of the oblique top of arcuation member 102 or side surface part and be and annular component 36 between.In addition, the drawbar load sensing mechanism more than 2 can be set between arcuation member 102 and annular component 36 also, via these a plurality of drawbar load sensing mechanisms foot's supporting member 100 be hung and be located on the annular component 36.This occasion, with to be with the summation of the power detected value of MP pick off 38R and foot heel pick off 39R that the basis measures the situation of legpower in described the 1st embodiment same, so long as be that the basis comes the instrumentation legpower to get final product with the summation of the represented detected value of the output of each drawbar load sensing mechanism.

Claims

1. the control device of a walk supporting device has: the portion of taking a seat, and it accepts the part of the user's who takes a seat weight from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, is linked to each little leg support respectively through the 3rd joint, and foot's installation portion of this pair of right and left also be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user becomes supporting leg and ground connection; Actuator is used in the left side, and the 2nd joint in the joint of the left side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the left side drives; And right side actuator, the 2nd joint in the joint of the right side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the right side drives, the control device of this walk supporting device is characterised in that to have:

Legpower instrumentation mechanism, it comes the legpower of each lower limb of the described user of instrumentation according to the represented power detected value of output of being located at the 1st force transducer of described each foot's installation portion;

Target is mentioned the power set mechanism, and it is set as the target that acts on described user's the desired value of upwards mentioning power from the described portion of taking a seat and mentions power;

Distributor gear, it is corresponding to described user's the left lower limb legpower and the ratio of right lower limb legpower, distribute to described each leg connecting rod and this target is mentioned power, decide described target to mention the target burden component of the left side leg connecting rod in the power and the target burden component of right side leg connecting rod thus;

The actuator controlling organization, it controls described left side actuator, so that from the actual target burden component that power becomes described left side leg connecting rod of mentioning that imposes on the described portion of taking a seat of described left side leg connecting rod, and control described right side actuator, so that from the actual target burden component that power becomes described right side leg connecting rod of mentioning that imposes on the described portion of taking a seat of described right side leg connecting rod.

2. the control device of a walk supporting device has: the portion of taking a seat, and it accepts the part of the user's who takes a seat weight from the top; Thigh support frame, it is a pair of right and left, is linked to this portion of taking a seat respectively through the 1st joint; Little leg support, it is a pair of right and left, is linked to each thigh support frame through the 2nd joint respectively; Foot's installation portion, it is a pair of right and left, be linked to each little leg support respectively through the 3rd joint, and foot's installation portion of this pair of right and left also be installed in respectively described user about in the foot of each lower limb, when each lower limb of described user becomes supporting leg and ground connection; Actuator is used in the left side, and the 2nd joint in the joint of the left side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the left side drives; And right side actuator, the 2nd joint in the joint of the right side leg connecting rod that it constitutes described the 1st joint, thigh support frame, the 2nd joint, little leg support, the 3rd joint and described foot installation portion by the right side drives, the control device of this walk supporting device is characterised in that to have:

The 2nd force transducer, it is loaded between the bottom of little leg support of described each leg connecting rod and the 3rd joint or between the 3rd joint and foot's installation portion of each leg connecting rod;

Control object power instrumentation mechanism, the power detected value that it is represented according to the output of the 2nd force transducer will carry out instrumentation for control object power for the masterpiece of the little leg support of each leg connecting rod from described ground actual transfer;

General objective is mentioned the power determination means, it mentions power with described target, the weight supporting that obtains is mentioned power as general objective and is determined in the summation of the supporting force on ground with being used for the overall weight from this walk supporting device deducted the gross weight of lower portion of each the 2nd force transducer the described walk supporting device, perhaps, described target is mentioned power, with the summation that is used for the overall weight of this walk supporting device is supported on the supporting force on ground, mention power and determine as general objective;

Distributor gear, it is mentioned power with this general objective and distributes to described each leg connecting rod corresponding to the ratio of described user's left lower limb legpower and right lower limb legpower, decides described general objective to mention the target burden component of the left side leg connecting rod in the power and the target burden component of right side leg connecting rod thus;

The actuator controlling organization, it is according to the control object power and the target burden component of described left side leg connecting rod, control described left side actuator, so that the differential of the control object power of this left side leg connecting rod and target burden component is bordering on 0, and the control object power of the described right side leg connecting rod of foundation and target burden component, control described right side actuator, so that the differential of the control object power of this right side leg connecting rod and target burden component is bordering on 0.

3. the control device of walk supporting device according to claim 1 is characterized in that,

Described each foot's installation portion has annular component, and is linked to described the 3rd joint through this annular component, and this annular component makes the described user's that this foot's installation portion is installed foot insert from its toe side.

4. the control device of walk supporting device according to claim 2 is characterized in that,

5. the control device of walk supporting device according to claim 1 is characterized in that,

Described each the 1st force transducer is made of the more than one force transducer that is arranged on each foot's installation portion in following mode, that is: when each lower limb of described user is supporting leg, in the metatarsophalangeal joints position of this foot of this force transducer in the bottom surface of the foot of its supporting leg and the foot heel position at least between either party and the ground

Described legpower instrumentation mechanism is following mechanism, that is: will constitute the power detected value of the summation of the represented detected value of the output of each force transducer of the 1st force transducer of each foot's installation portion, measure the mechanism of legpower of the described user's that this foot's installation portion is installed foot according to the power detected value of this summation as the 1st force transducer.

6. the control device of walk supporting device according to claim 2 is characterized in that,

Described each the 1st force transducer is made of the more than one force transducer that is arranged on each foot's installation portion in following mode, promptly, when each lower limb of described user is supporting leg, in the metatarsophalangeal joints position of this foot of this force transducer in the bottom surface of the foot of its supporting leg and the foot heel position at least between either party and the ground

Described legpower instrumentation mechanism is following mechanism, promptly, the summation of the detected value that the output of each force transducer of the 1st force transducer that constitutes each foot's installation portion is represented is as the power detected value of the 1st force transducer, measures the mechanism of legpower of the described user's that this foot's installation portion is installed foot according to the power detected value of this summation.

7. the control device of walk supporting device according to claim 3 is characterized in that,

In the inboard of the annular component of described each foot's installation portion, with the non-contacting state configuration of this annular component foot's supporting member of the described user's of supporting foot to be arranged, this foot's supporting member is hung at this annular component through described the 1st force transducer.

8. the control device of walk supporting device according to claim 4 is characterized in that,

9. the control device of walk supporting device according to claim 1 is characterized in that,

Be the 1st threshold value of regulation when following at the power detected value of described the 1st force transducer, described legpower instrumentation mechanism is made as 0 with the instrumentation value that is installed in the legpower of the foot on the described foot installation portion with the 1st force transducer.

10. the control device of walk supporting device according to claim 2 is characterized in that,

11. the control device of walk supporting device according to claim 1 is characterized in that,

Be the 2nd threshold value of regulation when above at the power detected value of described the 1st force transducer, described legpower instrumentation mechanism, with predefined set upper limit value as the instrumentation value of the legpower that is installed in the foot on the described foot installation portion with the 1st force transducer and obtain.

12. the control device of walk supporting device according to claim 2 is characterized in that,

13. the control device of walk supporting device according to claim 1 is characterized in that,

Have: the displacement pick off, it produces the output corresponding with the displacement in described the 2nd joint; Joint displacements amount instrumentation mechanism, its output according to this displacement pick off comes the displacement in each the 2nd joint of instrumentation; And target burden component correction mechanism, the displacement in the 2nd joint of each leg connecting rod that it gets according to institute's instrumentation, obtain the deviation of described the 3rd joint and the described relative specified reference value in interval between portion of taking a seat, and the described target of each leg connecting rod is born component revise, so that this deviation approaches 0.

14. the control device of walk supporting device according to claim 2 is characterized in that,

Have: the displacement pick off, it produces the output corresponding with the displacement in described the 2nd joint; Joint displacements amount instrumentation mechanism, its output according to this displacement pick off comes the displacement in each the 2nd joint of instrumentation; And target burden component correction mechanism, the displacement in the 2nd joint of each leg connecting rod that it gets according to institute's instrumentation, obtain described the 3rd joint and the described interval between portion of taking a seat for the deviation of specified reference value, and the described target of each leg connecting rod is born component revise, so that this deviation approaches 0.

15. the control device of walk supporting device according to claim 13 is characterized in that,

Described target burden component correction mechanism is made of following each mechanism: according to the described deviation corresponding to described left side leg connecting rod, by the feedback control rule, obtain and be used to make this deviation to approach 0 the mechanism that requires power; By multiply by the power that requires of being tried to achieve with respect to the ratio of the left lower limb legpower of the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of left leg connecting rod, and revise the mechanism of the described target burden component of left leg connecting rod by this correction; According to deviation,, obtain and be used to make this deviation to approach 0 the mechanism that requires power by the feedback control rule corresponding to described right side leg connecting rod; By multiply by the power that requires of being tried to achieve with respect to the ratio of the right lower limb legpower of the summation of described user's left lower limb legpower and right lower limb legpower, decide the correction of the described target burden component of right leg connecting rod, and revise the mechanism of the described target burden component of right leg connecting rod by this correction.

16. the control device of walk supporting device according to claim 14 is characterized in that,

17. the control device of walk supporting device according to claim 2 is characterized in that,

Have change-over switch, it indicates whether to carry out the control of the described power of mentioning,

Described general objective is mentioned the power determination means, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, the summation of described target being mentioned power and supporting force is mentioned power as general objective and is determined, this supporting force be used for the overall weight from this walk supporting device deducted the gross weight of lower portion of each the 2nd force transducer the described walk supporting device and the weight supporting that obtains in ground, perhaps, described target is mentioned power, with be used for summation that overall weight with this walk supporting device is supported on the supporting force on ground and mention power as general objective and determine, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then the summation of the control object power separately of two leg connecting rods that will be obtained by described control object power instrumentation mechanism instrumentation is mentioned power as described general objective and is determined.

18. the control device of walk supporting device according to claim 2 is characterized in that,

Have: the displacement pick off, it produces the output corresponding with the displacement in described the 2nd joint; Joint displacements amount instrumentation mechanism, its output according to this displacement pick off comes the displacement in each the 2nd joint of instrumentation; Target burden component correction mechanism, the displacement in the 2nd joint of each leg connecting rod that it gets according to institute's instrumentation, obtain described the 3rd joint and the described interval between portion of taking a seat for the deviation of specified reference value, and the described target of each leg connecting rod is born component revise, so that its deviation approaches 0; And change-over switch, it indicates whether to carry out the control of the described power of mentioning,

Described general objective is mentioned the power determination means, mode of operation in described change-over switch is when indicating the mode of operation of the control of carrying out the described power of mentioning, described target is mentioned power, the weight supporting that obtains is mentioned power as general objective and is determined in the summation of the supporting force on ground with being used for the overall weight from this walk supporting device deducted the gross weight of lower portion of each the 2nd force transducer the described walk supporting device, perhaps, described target is mentioned power, with be used for summation that overall weight with this walk supporting device is supported on the supporting force on ground and mention power as general objective and determine, and be when indicating the mode of operation of the control of not carrying out the described power of mentioning at the mode of operation of described change-over switch, then following value is mentioned power as described general objective and determine, promptly this value is meant from the summation of the control object power separately of two leg connecting rods that obtained by described control object power instrumentation mechanism instrumentation, deducts the value after the correction of target burden component separately of two leg connecting rods that obtained by described target burden component correction mechanism.