JP2004105261A - Body wearing type power assistance instrument - Google Patents

Body wearing type power assistance instrument Download PDF

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Publication number
JP2004105261A
JP2004105261A JP2002268519A JP2002268519A JP2004105261A JP 2004105261 A JP2004105261 A JP 2004105261A JP 2002268519 A JP2002268519 A JP 2002268519A JP 2002268519 A JP2002268519 A JP 2002268519A JP 2004105261 A JP2004105261 A JP 2004105261A
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JP
Japan
Prior art keywords
person
assist device
unit
power assist
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2002268519A
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Japanese (ja)
Inventor
Hiromichi Fujimoto
藤本　弘道
Takeshi Shirogaichi
城垣内　剛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Holdings Corp
Original Assignee
Matsushita Electric Industrial Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Matsushita Electric Industrial Co Ltd filed Critical Matsushita Electric Industrial Co Ltd
Priority to JP2002268519A priority Critical patent/JP2004105261A/en
Publication of JP2004105261A publication Critical patent/JP2004105261A/en
Pending legal-status Critical Current

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Abstract

<P>PROBLEM TO BE SOLVED: To reduce a load on the muscle of a person and make a compact entire configuration of a power assistance instrument for using a power assistance instrument capable of being worn by the person. <P>SOLUTION: This power assistance instrument comprises a driving unit; a control unit; a power supply unit; and a sensor unit. The sensor unit determines an assistance power applied by the driving unit on the basis of either an acting force received by the person when the person acts or an estimated muscle value used by the person estimated in reference to the acting force received by the person when the person acts. With such an arrangement as above, the person can act in an attitude that a force more than a consumed energy is outputted with a less amount of energy by assisting the muscle power with the power assistance instrument that the person can wear on the body. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は、駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、身につけた人の行動時の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能なパワーアシスト機器に関する。
【０００２】
【従来の技術】
従来、人が身体に装着するパワーアシスト機器は、例えば、介護において介護者が寝たきり患者の抱き起こし・移送などの介護動作を行うとき、腰への負担が大きくなり腰痛などを引き起こしやすいという問題に対して、常に一定の割合で、人の筋肉にかかる負担を軽減することを目的としている。この方法において、補助するエネルギー値は非常に大きくなり駆動部として高トルクを長時間維持できるアクチュエータが必要となり、駆動部や電源部が大きくなり実際の使用にはそぐわない。
【０００３】
【発明が解決しようとする課題】
実際に人に装着できるパワーアシスト機器を使用するために、人の筋肉の負担を軽減し、かつ全体の構成が小型化できる方法が求められていた。
【０００４】
本発明は、上記のような課題に対処するために提案されたものであって、人の筋肉の負担を軽減し、かつ全体の構成が小型化することによって、人に装着できるパワーアシスト機器を実用化することを目的とする。
【０００５】
【課題を解決するための手段】
駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、身につけた人の行動時の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能なパワーアシスト機器で、筋力を補助することによって、人は少ないエネルギーで、使用したエネルギー以上の力を出したかの様に振舞うことができるようになる。
【０００６】
【発明の実施の形態】
以下、本発明の実施例について図面を参照して説明する。
図１は本発明の一実施例に係る駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、身につけた人の行動時の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能なパワーアシスト機器の構成の半分を示す説明図であり、左右対称となっている。
同図ａは正面側から見た説明図で、同図ｂは側面側から見た説明図を示している。この人工脚１は、脚部に装着する固定部２と、脚部の動きに合わせて折曲がる折曲がり部３と、この折曲がり部に屈伸力を与える駆動部およびギア部４と、脚部の動きを検出するセンサー部５と、このセンサー部の電気信号より、前記折曲がり部を、脚部と同様な動きで屈伸するよう前記駆動部を制御する制御部６と、電源部７と、腰の保持部８とを備える。
【０００７】
人が身体に装着することが可能なパワーアシスト機器として、下肢に装着するだけでなく、上肢に装着し補助するパワーアシスト機器、上肢と下肢に装着し補助するパワーアシスト機器でもよい。人が身体に装着することが可能なパワーアシスト機器の脚部１’は金属、例えばアルミニウム／マグネシウム／カルシウム／チタンまたは主成分とする合金、もしくは、樹脂、例えばポリウレタン樹脂／ポリアミド樹脂／フッ素樹脂／ポリエステル樹脂、または主成分とする樹脂混合体で構成されている。固定部２を介して人が身体に装着することが可能なパワーアシスト機器の脚部１’を人間の脚部に固定でき、人の脚部に後方よりはめ込む形式、もしくは脚部を覆う形式であり、ベルトやマジックテープによる固定方法でもよい。人が身体に装着することが可能なパワーアシスト機器の脚部１’は折れ曲がり部３で自由に回転させることができる。駆動部４によって折れ曲がり部３で自由に脚部間の角度θをかえることができる。駆動部４は、モータやエアアクチュエーターや油圧モータを適用することができ、ギアの組み合わせで大きなトルクを得るようにしており、折れ曲がり部はモータの回転駆動をピニオン−ラック機構やピストン−クランク機構やプーリーを介したベルト駆動で直線運動に変えて駆動させることもできる。また、折れ曲がり部には人間の脚部の角度θ’が１８０°以上にならないようにストッパーを備えている。また、駆動部は駆動電源を必要としない弾性体、または永久磁石材料もしくは電磁石の同極同士の磁気反発力を用いてもよい。
【０００８】
駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、身につけた人の行動時の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能なパワーアシスト機器で、筋力を補助することによって、人は少ないエネルギーで、使用したエネルギー以上の力を出したかの様に振舞うことができるようになる。
【０００９】
図２は靴部に設けた脚部の動きを検出するセンサーの配置を示す説明図であり、９は足裏を表しており、１０の位置でつま先部とかかと部にセンサーが配置される。
【００１０】
図３は人が身体に装着することが可能なパワーアシスト機器が人の脚部の筋肉と接触する部分に設けたセンサーの配置を示す説明図であり、１１は人の大腿部であり、１２が人の膝部であり、センサーは大腿部前側の筋肉の下方１３の位置に配置される。
【００１１】
図４は如何に人の脚部にかかる力を検出するかを示す説明図であり、一実施例として、屈曲した状態で脚部にかかる力に応じて、足裏のつま先部とかかと部に取り付けたセンサーから出力される電気信号に対し、屈曲した脚部を伸ばすときの筋力が大きくなる区間アについて、足裏のつま先部とかかと部に取り付けたセンサーからの出力される電気信号から推測された脚部の筋力を電気信号として出力し、制御部を介して駆動部に対して推測に基づく力を出力させる。ここで、設けるセンサーの数は１個または２個以上の複数でもよい。また、センサーは足裏に限らず、下肢の大腿部や上肢の手のひらや腕部に配置されてもよい。センサーは圧力センサーまたは加速度センサーまたは速度センサーまたは位置センサーを用いることができ、これらの組み合わせでもよい。
【００１２】
以下に本発明を用いた動作の一実施例を示す。例えば、介護において介護者が寝たきり患者の抱き起こし、移送などの動作を行うとき、腰への負担が大きく腰痛などを引き起こしやすいという問題が存在している。例えば、抱き起こし動作の場合、本発明の人が身体に装着することが可能なパワーアシスト機器を装着し、介護者は脚部を屈曲させ、寝たきり患者の頸部と腰部から手を回し背中の下方で自らの手をつなぎ、寝たきり患者の上半身を介護者の方向に引き寄せ、この時屈曲させた脚部を伸ばす時の介護者にかかる負担を人が身体に装着することが可能なパワーアシスト機器で補助することによって軽減させる場合、抱き起こす時に脚部にかかる寝たきり患者を持ち上げようとする力が靴部の足裏方向に配置したセンサーにかかり、センサーから電気信号が出力され、出力された電気信号が制御部に入力され、制御部が働いて駆動部に人が身体に装着することが可能なパワーアシスト機器の脚部の角度θを広げる方向に駆動させる命令が出され、結果的に介護者の使用するエネルギーは人が身体に装着することが可能なパワーアシスト機器を装着しない場合に比較して軽減されることとなる。
【００１３】
【発明の効果】
本発明は上記のように構成され、駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、身につけた人の行動時の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能なパワーアシスト機器で、筋力を補助することによって、人は少ないエネルギーで、使用したエネルギー以上の力を出したかの様に振舞うことができるようになる。
【図面の簡単な説明】
【図１】本発明の一実施例に係る人が身体に装着することが可能なパワーアシスト機器の片足構成を正面から示す説明図
【図２】靴部に設けた脚部の動きを検出するセンサーの配置を示す説明図
【図３】人が身体に装着することが可能なパワーアシスト機器が人の脚部の筋肉と接触する部分に設けたセンサーの配置を示す説明図
【図４】本発明の一実施例におけるセンサー部５出力特性と駆動部の出力特性を示した説明図
【符号の説明】
１　人が身体に装着することが可能なパワーアシスト機器
２　固定部
３　折れ曲がり部
４　駆動部およびギア部
５　センサー部
６　制御部
７　電源部
８　腰の保持部
９　足裏部
１０　足裏部のセンサー位置
１１　人の大腿部
１２　人の膝部
１３　大腿部センサー位置[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention includes a driving unit, a control unit, a power supply unit, and a sensor unit, and based on an acting force received by a person at the time of action by the sensor unit or an estimated value of a muscle force used by a person from an acting force received by the person at the time of action. In addition, the assisting force of the drive unit is determined, and the assisting force is applied only during the period when the burden on the muscular strength during the action of the wearer increases, and the human The present invention relates to a power assist device that can be attached to a device.
[0002]
[Prior art]
Conventionally, power assist devices worn by the human body, for example, when the caregiver performs a nursing operation such as holding and transporting a bedridden patient in nursing care, the burden on the waist increases, and it tends to cause low back pain etc. The aim is to always reduce the burden on human muscles at a constant rate. In this method, the energy value to be assisted becomes very large, and an actuator capable of maintaining a high torque for a long time is required as a driving unit.
[0003]
[Problems to be solved by the invention]
In order to use a power assist device that can be actually worn on a person, there has been a demand for a method that can reduce the burden on the muscles of the person and reduce the size of the entire configuration.
[0004]
The present invention has been proposed in order to address the above-described problems, and a power assist device that can be worn on a person by reducing the burden on human muscles and reducing the overall configuration. It is intended to be put to practical use.
[0005]
[Means for Solving the Problems]
A drive unit, a control unit, a power supply unit, and a sensor unit. The drive unit is based on an action force received by a person at the time of action by the sensor unit, or an estimated value of a muscular strength used by the person from the action force received by the person at the time of action. A person who wears on the body in such a way as to provide assisting force only during the period when the burden on the muscles during the action of the wearer is large and reduce the burden on the muscles. By assisting muscle power with a power assist device that can perform power, a person can behave with less energy and as if he or she exerted more power than the energy used.
[0006]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows a driving unit, a control unit, a power supply unit, and a sensor unit according to an embodiment of the present invention. The assisting force of the drive unit is determined based on the estimated value of the muscular strength, and the assisting force is applied only during the period when the burden on the muscular strength at the time of the action of the wearer increases, reducing the burden on the muscular strength. FIG. 4 is an explanatory diagram showing a half of the configuration of a power assist device that can be worn on a human body, and is symmetrical.
FIG. 7A is an explanatory diagram viewed from the front side, and FIG. 7B is an explanatory diagram viewed from the side surface. The artificial leg 1 includes a fixed portion 2 attached to the leg portion, a bent portion 3 that bends in accordance with the movement of the leg portion, a driving portion and a gear portion 4 that applies bending and stretching force to the bent portion, and a leg portion. A control unit 6 for controlling the drive unit so as to bend and stretch the bent portion by the same motion as the leg unit based on an electric signal of the sensor unit; a power unit 7; And a waist holding portion 8.
[0007]
As a power assist device that can be worn on a human body, a power assist device that is worn not only on the lower limb but also on the upper limb, or a power assist device that is worn on the upper limb and the lower limb may be used. The legs 1 'of a power assist device that can be worn by a human body are made of metal, for example, aluminum / magnesium / calcium / titanium or an alloy containing a main component, or resin, for example, polyurethane resin / polyamide resin / fluororesin / It is composed of a polyester resin or a resin mixture containing a main component. The leg 1 ′ of the power assist device that can be worn by a person on the body via the fixing part 2 can be fixed to the person's leg, and fitted into the person's leg from behind, or in a form that covers the leg. Yes, a fixing method using a belt or magic tape may be used. The leg 1 ′ of the power assist device that can be worn on a human body can be freely rotated by the bent portion 3. The angle θ between the legs can be freely changed at the bent portion 3 by the driving portion 4. The drive unit 4 can apply a motor, an air actuator, or a hydraulic motor, and obtains a large torque by a combination of gears. The bent portion controls the rotation of the motor by a pinion-rack mechanism, a piston-crank mechanism, or the like. It can be driven by changing to linear motion by belt drive via a pulley. Further, the bent portion is provided with a stopper so that the angle θ ′ of the human leg does not exceed 180 °. The driving unit may use an elastic body that does not require a driving power source, or a magnetic repulsive force of the same pole of a permanent magnet material or an electromagnet.
[0008]
A drive unit, a control unit, a power supply unit, and a sensor unit. The drive unit is based on an action force received by a person at the time of action by the sensor unit, or an estimated value of a muscular strength used by the person from the action force received by the person at the time of action. A person who wears on the body in such a way as to provide assisting force only during the period when the burden on the muscles during the action of the wearer is large and reduce the burden on the muscles. By assisting muscle power with a power assist device that can perform power, a person can behave with less energy and as if he or she exerted more power than the energy used.
[0009]
FIG. 2 is an explanatory diagram showing the arrangement of sensors for detecting the movement of the legs provided on the shoe portion. Reference numeral 9 denotes the sole of the foot, and the sensor is disposed on the toe and the heel at the position 10.
[0010]
FIG. 3 is an explanatory view showing an arrangement of sensors provided at a portion where a power assist device that can be worn by a person on a body comes into contact with muscles of a leg of a person, 11 is a thigh of a person, Reference numeral 12 denotes a human knee, and the sensor is arranged at a position 13 below the muscle on the front side of the thigh.
[0011]
FIG. 4 is an explanatory view showing how to detect a force applied to a human leg. As an example, according to the force applied to the leg in a bent state, the toe and the heel of the sole are applied. In contrast to the electric signal output from the attached sensor, it is estimated from the electric signal output from the sensor attached to the toe and the heel of the sole about the section a where the muscle strength when stretching the bent leg increases. The muscular strength of the leg is output as an electric signal, and the controller outputs a guessed force via the controller. Here, the number of sensors provided may be one or two or more. Further, the sensor is not limited to the sole, and may be arranged on the thigh of the lower limb or the palm or arm of the upper limb. As the sensor, a pressure sensor, an acceleration sensor, a speed sensor, or a position sensor can be used, or a combination thereof.
[0012]
An embodiment of the operation using the present invention will be described below. For example, there is a problem in that when a caregiver performs an operation such as holding a bedridden patient and transporting the patient in caregiving, the burden on the lower back is large and lower back pain is likely to occur. For example, in the case of the raising operation, the person of the present invention wears a power assist device that can be worn on the body, the caregiver bends the legs, turns his / her hands from the neck and waist of the bedridden patient, and moves down the back. This is a power assist device that can hold the bedridden patient's upper body in the direction of the caregiver and stretch the legs bent at this time. In the case of reducing by assisting, the force to lift the bedridden patient on the legs when raising it is applied to the sensor arranged in the direction of the sole of the shoe, an electric signal is output from the sensor, and the output electric signal is A command is input to the control unit, and a command is issued to drive the drive unit in a direction in which the angle θ of the legs of the power assist device capable of being worn by a person on the body by operating the control unit is increased. Energy use of the results to the caregiver so that the person is reduced as compared with the case where not equipped with a power assist device that can be worn on the body.
[0013]
【The invention's effect】
The present invention is configured as described above and includes a driving unit, a control unit, a power supply unit, and a sensor unit, and the human uses the acting force received by the person at the time of action or the acting force received by the person at the time of the action at the sensor unit. The assisting force of the drive unit is determined based on the estimated value of the muscular strength, and the assisting force is applied only during a period when the muscular strength at the time of the action of the wearer increases, thereby reducing the muscular force. By assisting muscle strength with such a power assist device that can be worn on the human body, a human can behave with a small amount of energy as if he or she exerted more power than the used energy.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing, from the front, a one-leg configuration of a power assist device that can be worn on a human body according to an embodiment of the present invention. FIG. 2 detects movement of a leg provided on a shoe. FIG. 3 is an explanatory diagram showing the arrangement of sensors. FIG. 3 is an explanatory diagram showing the arrangement of sensors provided at a portion where a power assist device that can be worn on a human body comes into contact with muscles of a human leg. Explanatory diagram showing output characteristics of a sensor unit 5 and a drive unit according to an embodiment of the present invention.
1 A power assist device that can be worn by a person 2 A fixed part 3 A bent part 4 A drive part and a gear part 5 A sensor part 6 A control part 7 A power supply part 8 A waist holding part 9 A sole part 10 A sensor of a sole part Position 11 thighs 12 knees 13 thigh sensor positions

Claims (13)

駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力を測定し、その作用力に基づいて駆動部による補助力を決めることを特徴とする人が身体に装着することが可能なパワーアシスト機器。A human body comprising a drive unit, a control unit, a power supply unit, and a sensor unit, wherein the sensor unit measures an acting force received by a person at the time of action, and determines an assisting force by the drive unit based on the acting force. Power assist device that can be attached to 駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力を測定し、人が行動時に受ける作用力から人が使っている筋力を推定し、その筋力の推定値に基づいて駆動部による補助力を決めることを特徴とする人が身体に装着することが可能なパワーアシスト機器。Equipped with a drive unit, a control unit, a power supply unit, and a sensor unit, the sensor unit measures the force exerted by the person at the time of action, estimates the muscular strength used by the person from the action force received by the person at the time of action, and A power assist device that can be worn on a body by a person, wherein the assisting force of a drive unit is determined based on an estimated value. 駆動部と制御部と電源部とセンサ部を具備し、センサ部で人が行動時に受ける作用力または、人が行動時に受ける作用力から人が使っている筋力の推定値に基づいて、駆動部による補助力を決めることを特徴とし、行動時の身につけた人の筋力への負担が大きくなる期間だけに補助力を与え、筋力への負担を小さくするような、人が身体に装着することが可能な請求項１または２記載のパワーアシスト機器。A driving unit, a control unit, a power supply unit, and a sensor unit. A person who wears on the body in such a way as to provide assisting force only during the period when the strain on the person's muscular strength is increased during the action and reduce the strain on the muscular strength. The power assist device according to claim 1, wherein the power assist device is capable of: 装着する部位が上肢または下肢もしくはその双方であることを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, 2 or 3, wherein a part to be worn is an upper limb or a lower limb or both. 駆動部として電磁モータを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, 2 or 3, wherein an electromagnetic motor is used as the driving unit. 駆動部として空気圧駆動のアクチュエータを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。4. The power assist device according to claim 1, wherein a pneumatic actuator is used as the drive unit. 駆動部として油圧駆動のアクチュエータを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。4. The power assist device according to claim 1, wherein a hydraulic actuator is used as the drive unit. 駆動部として弾性体を用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。4. The power assist device according to claim 1, wherein an elastic body is used as the driving unit. センサ部として圧力センサを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, wherein a pressure sensor is used as the sensor unit. センサ部として加速度センサを用いたことを特徴とする、請求項１または２または３の記載パワーアシスト機器。The power assist device according to claim 1, wherein an acceleration sensor is used as the sensor unit. センサ部として速度センサを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, wherein a speed sensor is used as the sensor unit. センサ部として位置センサを用いたことを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, 2 or 3, wherein a position sensor is used as the sensor unit. センサ部での測定値に基づき推定した筋力としての出力信号を無線を介して制御部に入力することを特徴とする、請求項１または２または３記載のパワーアシスト機器。The power assist device according to claim 1, wherein an output signal as a muscular strength estimated based on a measurement value of the sensor unit is input to the control unit via wireless communication.
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