JP2005118466A5

JP2005118466A5 -

Info

Publication number: JP2005118466A5
Application number: JP2003359749A
Authority: JP
Filing date: 2003-10-20
Publication date: 2006-10-26

Claims

肢体に装着して前記肢体を動かす駆動部を備え、前記駆動部に取り付けられた位置・角度センサのセンシング情報をもとに、力制御または位置制御によって前記駆動部の動作を制御する肢体駆動装置において、
前記駆動部の先端が予め設定された軌道に沿って動作するように、動作指令を生成する目標軌道設定部と、
前記目標軌道設定部の出力から前記軌道の接線方向を算出し接線座標系を導出する接線座標系生成手段と、
前記接線座標系をもとに、前記軌道の接線方向については、法線方向に比べて柔軟に倣うように力制御の制御座標系を制御する力方向制御手段と、
前記位置・角度センサのセンシング情報と前記目標軌道設定部の出力と前記力方向制御手段の出力とに基づいて治療状態を提示する治療状態提示手段と
を備えたことを特徴とする肢体駆動装置。 A limb body drive device comprising a drive unit that is mounted on a limb and moves the limb body, and controls the operation of the drive unit by force control or position control based on sensing information of a position / angle sensor attached to the drive unit In
A target trajectory setting unit for generating an operation command so that the tip of the drive unit operates along a preset trajectory;
A tangential coordinate system generating means for calculating a tangential direction of the trajectory from the output of the target trajectory setting unit and deriving a tangential coordinate system;
Based on the tangential coordinate system, the tangential direction of the trajectory, a force direction control means for controlling the control coordinate system of the force control so as to follow more flexibly than the normal direction ,
A limb body drive device comprising treatment state presentation means for presenting a treatment state based on sensing information of the position / angle sensor, an output of the target trajectory setting unit, and an output of the force direction control means .

前記力方向制御手段は、前記軌道の接線方向の制限力と法線方向の制限力と前記軌道の接線方向および法線方向に対し共に垂直な方向の制限力とを各要素にもつ制限力ベクトルと、前記接線座標系と、前記肢体駆動装置の基準座標系とから座標変換行列を算出し、前記制限力ベクトルと前記座標変換行列とヤコビ行列との積から前記駆動部の制限トルクを算出し、トルクを制限することを特徴とする請求項１記載の肢体駆動装置。 The force direction control means includes a limiting force vector having, in each element, a limiting force in a tangential direction of the track, a limiting force in a normal direction, and a limiting force in a direction perpendicular to both the tangential direction and the normal direction of the track. A coordinate transformation matrix is calculated from the tangential coordinate system and a reference coordinate system of the limb driving apparatus, and a torque limit of the driving unit is calculated from a product of the force limit vector, the coordinate transformation matrix, and the Jacobian matrix. The limb body drive device according to claim 1, wherein torque is limited .

前記接線座標系生成手段は、前記目標軌道設定部の出力と前記駆動部の位置情報とから、前記駆動部先端の現在位置に最も近い前記目標軌道設定部の出力（目標点）を選択し、前記目標点を基に前記軌道の接線方向を算出し前記接線座標系を導出することを特徴とする請求項１乃至２記載の肢体駆動装置。 The tangential coordinate system generation means selects the output (target point) of the target trajectory setting unit closest to the current position of the tip of the driving unit from the output of the target trajectory setting unit and the position information of the driving unit , limb driving apparatus according to claim 1 or 2, wherein the calculating a tangential direction of said track on the basis of the target point to derive the tangent coordinate system.

前記接線座標系生成手段は、前記目標軌道設定部の出力と前記駆動部の位置情報とから、前記駆動部先端の現在位置に最も近い前記目標軌道設定部の出力（目標点）を選択し、その間の距離が予め定めた規定値以上の場合は、警告情報を前記治療状態提示手段に出力することを特徴とする請求項１乃至３記載の肢体駆動装置。 The tangential coordinate system generation means selects the output (target point) of the target trajectory setting unit closest to the current position of the tip of the driving unit from the output of the target trajectory setting unit and the position information of the driving unit , The limb body drive device according to any one of claims 1 to 3, wherein warning information is output to the treatment state presenting means when the distance therebetween is equal to or greater than a predetermined value .

前記治療状態提示手段は、複数回の前記肢体動作サイクルに渡る治療状態を同時に提示することを特徴とする請求項１乃至４記載の肢体駆動装置。 The limb body drive device according to claim 1, wherein the treatment state presentation unit simultaneously presents treatment states over a plurality of limb movement cycles .

前記目標軌道設定部は、前記目標点と前記駆動部先端の現在位置との間の距離が予め定めた第１の閾値よりも大きい場合は、前記駆動部先端の動作方向が前記目標点と逆方向になるように動作指令を生成することを特徴とする請求項１乃至５記載の肢体駆動装置。 The target trajectory setting unit, when the distance between the current position of the drive tip and the target point is greater than a first threshold value determined in advance, the operation direction of the target point opposite the drive tip The limb body driving device according to claim 1, wherein an operation command is generated so as to be in a direction .

前記目標軌道設定部は、前記目標点と前記駆動部先端の現在位置との間の距離の時間変化が予め定めた第２の閾値よりも大きい場合は、動作指令を停止することを特徴とする請求項１乃至６記載の肢体駆動装置。 The target trajectory setting unit, when the time variation of the distance between the current position of the drive tip and the target point is greater than a second threshold value determined in advance is characterized by stopping the operation command The limb body drive device according to claim 1 .