JP2006020697A - Apparatus or method for determining walking state - Google Patents

Apparatus or method for determining walking state Download PDF

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JP2006020697A
JP2006020697A JP2004199276A JP2004199276A JP2006020697A JP 2006020697 A JP2006020697 A JP 2006020697A JP 2004199276 A JP2004199276 A JP 2004199276A JP 2004199276 A JP2004199276 A JP 2004199276A JP 2006020697 A JP2006020697 A JP 2006020697A
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posture
value
sensor
output
walking
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JP4384562B2 (en
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Atsushi Ashihara
淳 芦原
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Honda Motor Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus or a method for determining a walking state constituted to detect shaking of a posture such as stumbling in an early stage and generate an assisting power for recovering the posture before largely losing the balance of the posture. <P>SOLUTION: This apparatus for determining walking state is provided with a sensor 21 disposed on a human body to measure the tension of the muscle for detecting that the posture in walking becomes unstable, a differentiation means 25 differentiating an output value of the sensor, a comparison means 26 comparing the output of the differentiation means with a preset determination value, and a determination means 28 determining that the posture of the user becomes unstable, when the output of the differentiation means exceeds the determination value. This apparatus determines the unbalance by differentiating the output value of the muscle tension measuring sensor and comparing the differentiation value with the preset determination value. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、歩行中の姿勢が不安定になったことを検出するための装置あるいは歩行中の姿勢が不安定になったことを検出するための方法に関するものである。   The present invention relates to a device for detecting that a posture while walking is unstable or a method for detecting that a posture while walking is unstable.

外傷や疾病、あるいは加齢による筋力低下で自力歩行が困難となった人のために、股関節や膝関節の側方にトルクアクチュエータを装着し、トルクアクチュエータが発生する回転力で下肢の運動を補助するようにした歩行補助装置が種々提案されている（特許文献１を参照されたい）。   For people who have difficulty walking on their own due to trauma, illness, or muscular weakness due to aging, a torque actuator is attached to the side of the hip and knee joints, and the rotational force generated by the torque actuator assists the movement of the lower limbs Various types of walking assist devices have been proposed (see Patent Document 1).

上記文献１に記載の従来の歩行補助装置においては、使用者の身体の各所に取り付けたジャイロセンサ、加速度センサ、及びトルクアクチュエータの回転角度の信号に基づいて身体各部の運動状態を検出し、これに足裏に加わる床反力を加味してトルクアクチュエータに発生させるトルクを制御することにより、使用者の歩行機能を補助するようにしている。
特開２００３−７９６８４号公報 In the conventional walking assist device described in the above-mentioned document 1, the motion state of each part of the body is detected based on the signals of the rotation angles of the gyro sensor, the acceleration sensor, and the torque actuator attached to various parts of the user's body. By adding the floor reaction force applied to the sole of the foot and controlling the torque generated by the torque actuator, the user's walking function is assisted.
JP 2003-79684 A

しかるに、ジャイロセンサ及び加速度センサの信号に基づく姿勢制御の場合、例えば、躓いたりして転びそうになった時の転倒回避行動のための補助力は、上半身の姿勢が大きく崩れたことを検知してから出力される。そのため、転倒回避に要する動力が過大になる傾向がある。つまり、従来の制御によると、転倒回避行動に対応しようとすると、電動モータや駆動回路などの過負荷耐力を大きく設定しておかねばならず、装置が大型化しがちであった。   However, in the case of posture control based on the signals of the gyro sensor and the acceleration sensor, for example, the assisting force for the fall avoidance action when it is about to fall over is detected by detecting that the posture of the upper body has greatly collapsed. Is output after Therefore, there is a tendency that the power required for avoiding the fall is excessive. That is, according to the conventional control, in order to cope with the fall avoidance behavior, the overload resistance of the electric motor, the drive circuit, etc. has to be set large, and the device tends to be enlarged.

また、一方で、人は転びそうになると、反射的に転倒回避行動をとろうとして踏ん張ることがあり、そのために姿勢変化が大きくならずに却ってセンサの反応が遅れ、補助トルクの発生が遅れることも考えられる。   On the other hand, when a person is about to fall, he or she may struggle to reflexively avoid falling, so that the sensor response is delayed and the generation of auxiliary torque is delayed instead of a large change in posture. Is also possible.

本発明は、このような従来技術の欠点を解消すべく案出されたものであり、その主な目的は、躓くなどの姿勢の動揺を早期に検出し、姿勢が大きく崩れる以前に姿勢を立て直すための補助動力を発生させることが可能なように構成された歩行状態を判定する装置又は方法を提供することにある。   The present invention has been devised to eliminate such drawbacks of the prior art, and its main purpose is to detect posture fluctuations such as whispering at an early stage and reestablish the posture before the posture largely collapses. An object of the present invention is to provide an apparatus or a method for determining a walking state configured to be able to generate auxiliary power for the purpose.

このような目的を達成するために本発明は、歩行中の姿勢が不安定になったことを検出する歩行状態判定装置として、筋肉の緊張度を計測すべく人体に配置したセンサ（２１）と、該センサの出力値を微分する微分手段（２５）と、該微分手段の出力を予め設定した判定値と比較する比較手段（２６）と、前記微分手段の出力が前記判定値を超えると使用者の姿勢が不安定になったと判定する判定手段（２８）とを有することを特徴とする装置（請求項１）、あるいは、歩行中の姿勢が不安定になったことを検出する歩行状態判定方法として、筋肉の緊張度を計測するセンサを人体に配置し、該センサの出力値を微分し、該微分値を予め設定した判定値と比較し、前記微分値が前記判定値を超えると使用者の姿勢が不安定になったと判定することを特徴とする方法（請求項２）を提供することとした。   In order to achieve such an object, the present invention provides a sensor (21) disposed on a human body to measure the degree of muscle tension as a walking state determination device that detects that a posture during walking is unstable. Differentiating means (25) for differentiating the output value of the sensor, comparing means (26) for comparing the output of the differentiating means with a preset judgment value, and used when the output of the differentiating means exceeds the judgment value A determination means (28) for determining that a person's posture has become unstable (Claim 1), or a walking state determination for detecting that a posture during walking has become unstable As a method, a sensor for measuring the degree of muscle tension is placed on the human body, the output value of the sensor is differentiated, the differential value is compared with a preset judgment value, and the sensor is used when the differential value exceeds the judgment value. The person's posture has become unstable It was to provide a method (claim 2), wherein the door.

人は、脊柱の周囲の筋肉で歩行中の直立姿勢を維持しようとしている。また、姿勢が不安定になると、瞬時に左右拮抗する筋肉、例えば右外腹斜筋と左外腹斜筋との緊張力を拮抗させて上体を安定させようとする。本発明は、この、人が本来備えている姿勢保持反応に着目し、上肢の特に腹部の筋肉の反応を検出することにより、姿勢が不安定になったことを検出しようとするものである。本発明によれば、例えば動揺しそうになった人が姿勢を立て直そうとして力を入れた時の筋肉の緊張度合いに応じた量として動揺の程度を検出し得るので、人間の感覚に一致した検出が可能である。また筋肉の反応を直接検出するので、姿勢が大きく変化する以前に動揺の兆候を判別することができ、加速度センサやジャイロセンサを用いる場合に比してタイムラグが少ない上、腹部などに筋電位センサなどを配するのみで検出し得るので、複雑な力学的演算が不要なことと相俟って、判定装置の小型軽量化を推進し得る。   A person tries to maintain an upright posture while walking with muscles around the spine. In addition, when the posture becomes unstable, the upper body tries to stabilize the upper body by antagonizing the tension of the muscles that instantly antagonize left and right, for example, the right external oblique muscle and the left external oblique muscle. The present invention pays attention to the posture maintaining reaction that a person originally has and attempts to detect that the posture has become unstable by detecting the reaction of the muscles of the upper limb, particularly the abdomen. According to the present invention, for example, the degree of swaying can be detected as an amount corresponding to the degree of muscle tension when a person who is about to sway is trying to reestablish his / her posture, so detection that matches human senses Is possible. In addition, since the muscle reaction is directly detected, signs of shaking can be determined before the posture changes greatly, and there is less time lag compared to using an acceleration sensor or gyro sensor. Therefore, the detection apparatus can be reduced in size and weight in combination with the fact that complicated mechanical calculation is unnecessary.

以下に添付の図面を参照して本発明について詳細に説明する。   Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

図１は、本発明が適用される外骨格型歩行補助装置の全体を示す斜視図であり、図２は、使用者への装着状態を示す側面図である。図１に示すように、歩行補助装置は、使用者の腰部に装着される腰部支持具１と、使用者の左右の上腿部に装着される上下に長い棒状をなす上腿部支持具２と、使用者の左右の下腿部に装着される上下に長い棒状をなす下腿部支持具３と、使用者が履いた靴に装着される足部支持具４とからなっている。   FIG. 1 is a perspective view showing the entirety of an exoskeleton walking assist device to which the present invention is applied, and FIG. 2 is a side view showing a wearing state for a user. As shown in FIG. 1, the walking assist device includes a waist support 1 attached to the user's waist and an upper thigh support 2 having a vertically long stick shape attached to the left and right upper thighs of the user. And a lower leg support 3 having a vertically long bar shape mounted on the left and right lower leg of the user, and a foot support 4 mounted on the shoes worn by the user.

腰部支持具１は、図３に示すように、比較的剛性の高い部材で上面視略Ｕ字形（コの字形）に形成された基部１ａと、基部１ａの前端部に結合した弾性に富む薄板材で形成された一対の開閉部１ｂとからなり、全体として前方中央部が開放されたＣ字形をなしている。また基部１ａの中央部は左右方向に伸縮可能にされ、左右の開閉部１ｂは前後方向に摺動可能にされており、これらは、使用者の体格に応じた適正寸法に設定した上で、ねじ手段などの適宜な固定手段をもって固定されるようになっている。   As shown in FIG. 3, the lumbar support 1 includes a base 1a formed of a relatively rigid member in a substantially U shape (U-shape) when viewed from above, and a thin elastic material coupled to the front end of the base 1a. It consists of a pair of opening / closing parts 1b formed of a plate material, and has a C-shape with the front center part opened as a whole. Further, the central part of the base part 1a can be expanded and contracted in the left-right direction, and the left and right opening and closing parts 1b are slidable in the front-rear direction, and these are set to appropriate dimensions according to the physique of the user, It is fixed by appropriate fixing means such as screw means.

腰部支持具１の側部前端および上腿部支持具２の上端には、左右の股関節にトルクを付与するトルクアクチュエータＴＡ１（図２）を取り付けるための左右一対の腰部アクチュエータベース５が設けられている。また上腿部支持具２の下端および下腿部支持具３の上端には、左右の膝関節にトルクを付与するトルクアクチュエータＴＡ２（図２）を取り付けるための左右一対の膝部アクチュエータベース６が設けられている。   A pair of left and right waist actuator bases 5 for attaching a torque actuator TA1 (FIG. 2) for applying torque to the left and right hip joints are provided at the front side end of the waist support 1 and the upper end of the upper thigh support 2. Yes. A pair of left and right knee actuator bases 6 for attaching a torque actuator TA2 (FIG. 2) for applying torque to the left and right knee joints are provided at the lower end of the upper leg support 2 and the upper end of the lower leg support 3. Is provided.

上腿部支持具２の腰部アクチュエータベース５並びに膝部アクチュエータベース６との連結部は、回動軸が前後方向に延在するヒンジ７ａ・７ｂを介して屈曲自在に連結されている。また下腿部支持具３の膝部アクチュエータベース６並びに足部支持具４との連結部も、回動軸が前後方向に延在するヒンジ８ａ・８ｂを介して屈曲自在に連結されている。そして上腿部支持具２及び下腿部支持具３は、上下に伸縮可能にされると共に、使用者の体格に応じた適正寸法に設定した上で、ねじ手段などの適宜な固定手段をもってその長さが固定されるようになっている。   The connecting portion of the upper leg support 2 with the waist actuator base 5 and the knee actuator base 6 is connected to bend freely through hinges 7a and 7b whose rotating shafts extend in the front-rear direction. Further, the joint portions of the crus support 3 with the knee actuator base 6 and the foot support 4 are also flexibly connected via hinges 8a and 8b whose rotation axes extend in the front-rear direction. The upper thigh support 2 and the lower thigh support 3 are made to be vertically extendable and set to appropriate dimensions according to the user's physique, and with appropriate fixing means such as screw means. The length is fixed.

各アクチュエータベース５・６に個々に取り付けられるトルクアクチュエータＴＡ１・ＴＡ２は、クラッチ及び減速機付き電動モータからなり、腰部支持具１並びに上腿部支持具２の下端のそれぞれにモータハウジングが固定され、上腿部支持具２並びに下腿部支持具３の各上端のそれぞれにロータが固定される。これにより、股関節並びに膝関節の運動に対応した補助的なトルクが、腰部支持具１の側部前端と上腿部支持具２の上端との連結部および上腿部支持具２の下端と下腿部支持具３の上端との連結部に与えられる。なお、両トルクアクチュエータＴＡ１・ＴＡ２は、それぞれ対応する各アクチュエータベース５・６に対して反復着脱可能なねじ手段などを介して取り付けられており、保守・整備の簡略化が図られている。   The torque actuators TA1 and TA2 that are individually attached to the actuator bases 5 and 6 include an electric motor with a clutch and a speed reducer, and a motor housing is fixed to each of the lower ends of the waist support 1 and the upper thigh support 2, A rotor is fixed to each of the upper ends of the upper leg support 2 and the lower leg support 3. As a result, the auxiliary torque corresponding to the movement of the hip joint and the knee joint is applied to the connecting portion between the side front end of the waist support 1 and the upper end of the upper thigh support 2, and the lower end and lower of the upper thigh support 2. It is given to the connecting portion with the upper end of the thigh support 3. Both torque actuators TA1 and TA2 are attached to the corresponding actuator bases 5 and 6 via screw means that can be repeatedly attached and detached, thereby simplifying maintenance and maintenance.

上腿部支持具２の上下方向中間位置には、一対の弾性Ｃ字形部材を適宜な上下間隔をおいて連結してなる上腿部結合クリップ９が、所定範囲を上下に摺動可能に結合している。また下腿部支持具３の上下方向中間位置にも、一対の弾性Ｃ字形部材を適宜な上下間隔をおいて連結してなる下腿部結合クリップ１０（図２を参照されたい、図１においては図示省略した）が、所定範囲を上下に摺動可能に結合している。   At the middle position in the vertical direction of the crus support 2, a crus coupling clip 9, which is formed by connecting a pair of elastic C-shaped members at an appropriate vertical distance, is slidable within a predetermined range. is doing. Also, a crus joint clip 10 (see FIG. 2, see FIG. 1), which is formed by connecting a pair of elastic C-shaped members at an appropriate vertical interval at an intermediate position in the vertical direction of the crus support 3. Is not shown in the figure), but a predetermined range is slidably coupled up and down.

下腿部支持具３と足部支持具４との連結部１１は、左右方向に延在する軸上で回動可能になっており、足首の運動に追従可能になっている。   The connecting portion 11 between the crus support 3 and the foot support 4 is rotatable on an axis extending in the left-right direction, and can follow the movement of the ankle.

腰部支持具１の中央部には、図示されない上肢との結合部が設けられる背当て板１２が取り付けられている。なお、制御回路やバッテリーは、背当て板１２に取り付けられる。   At the center of the lumbar support 1, a back plate 12 provided with a joint with an upper limb (not shown) is attached. The control circuit and the battery are attached to the back plate 12.

さて、人は、通常脊柱の周囲の筋肉を緊張させて直立姿勢を維持しようとしている。そして直立姿勢が不安定になりそうなときは、瞬時に左右の外腹斜筋の緊張力を拮抗させて上体を安定させようとすることが知られている。この、人が本来備えている姿勢保持反応に着目し、腹部周囲の筋肉の緊張状態を観察し、その反応を検出することにより、不安定状態となった（動揺した）ことを早期に検出することができる。   Now, people are usually trying to maintain an upright posture by straining the muscles around the spine. When the upright posture is likely to become unstable, it is known to instantaneously antagonize the tension of the left and right external oblique muscles to stabilize the upper body. Focusing on the posture maintenance reaction that a person originally has, observing the tension state of the muscles around the abdomen and detecting the reaction, it is detected early that it has become unstable (swayed) be able to.

筋肉の緊張状態（動揺の程度）の観察手段としては、皮膚の表面に電極を張り付けることによって筋肉の活動電位を検出する表面誘導法が知られている。具体的に言うと、直径約１０ｍｍの複数の表面電極を、外腹斜筋の筋繊維に沿って電極間の距離を１５ｍｍとして体表面に貼り付け、外腹斜筋の活動電位を検出する。ここで表面電極の数は、適宜に決定される。   As a means for observing a muscle tension state (degree of shaking), a surface induction method is known in which an action potential of a muscle is detected by attaching an electrode to the surface of the skin. More specifically, a plurality of surface electrodes having a diameter of about 10 mm are affixed to the body surface along the muscle fibers of the external oblique muscle with a distance between the electrodes of 15 mm, and the action potential of the external oblique muscle is detected. Here, the number of surface electrodes is appropriately determined.

上記のような筋電センサ２１が捉えた筋電信号を信号入力回路２２に入力したならば、これを整流回路２３で全波整流し、平滑化回路２４にて移動平均をとるなどして平滑化する。そして平滑化した値を微分回路２５に入力して微分し、この微分値を比較回路２６に入力して所定の閾値２７と比較する。その結果、閾値よりも大きければ、躓き兆候大との判定を判定回路２８が下し、例えばトルクアクチュエータＴＡ１・ＴＡ２の出力を通常よりも高める制御を行い、次の一歩を踏み出す速度を高めたり、あるいは歩幅を大きくしたりする。   If the myoelectric signal captured by the myoelectric sensor 21 as described above is input to the signal input circuit 22, it is smoothed by full-wave rectifying the signal by the rectifier circuit 23 and moving average by the smoothing circuit 24. Turn into. Then, the smoothed value is inputted to the differentiation circuit 25 and differentiated, and this differentiation value is inputted to the comparison circuit 26 and compared with the predetermined threshold value 27. As a result, if it is larger than the threshold value, the determination circuit 28 determines that the whirling sign is large, for example, performs control to increase the output of the torque actuators TA1 and TA2, and increases the speed of taking the next step, Or increase the stride.

本発明は、筋電位の微分値、つまり単位時間当たりの変化量で判定するので、急峻に変化する場合にのみ反応し、電位のピーク値が大きくても、ゆっくりと変化する場合には反応しない。つまり、変化量自体が大きくても、通常制御でリカバリーできるような変化速度の場合には応答しない。また変化量の絶対値で判定するのではないので、センサ出力がオフセットするなどしても誤検知しない、という副次的なメリットもある。   Since the present invention makes a determination based on the differential value of the myoelectric potential, that is, the amount of change per unit time, it reacts only when it changes sharply, and does not respond when it changes slowly even if the peak value of the potential is large. . In other words, even if the change amount itself is large, no response is made at a change speed that can be recovered by normal control. In addition, since the determination is not based on the absolute value of the change amount, there is a secondary merit that no erroneous detection is performed even if the sensor output is offset.

筋肉の収縮反応を検出する方法としては、上述の筋電位計測法の他に、圧電センサを用いて筋肉の硬さを計測する方法も知られているが、これら各種の筋肉の緊張度の計測法を単独で、あるいは適宜に組み合わせて用いることができる。また本発明は、上記した外骨格型の歩行補助装置に限らず、形状記憶合金アクチュエータ及び空気圧アクチュエータを用いたサポータ型歩行補助装置（必要ならば、特開２００２−４８０５３号公報を参照されたい）にも適用可能である。   In addition to the above-described myoelectric potential measurement method, a method for measuring muscle hardness using a piezoelectric sensor is also known as a method for detecting muscle contraction reaction. The methods can be used alone or in appropriate combination. The present invention is not limited to the above-described exoskeleton type walking assist device, but is also a supporter type walking assist device using a shape memory alloy actuator and a pneumatic actuator (refer to Japanese Patent Laid-Open No. 2002-48053 if necessary). It is also applicable to.

本発明が適用された歩行補助装置の装着具の全体斜視図である。It is a whole perspective view of the wearing tool of the walk auxiliary device to which the present invention was applied. 歩行補助装置の装着状態を示す側面図である。It is a side view which shows the mounting state of a walking assistance apparatus. 腰部支持具の上面図である。It is a top view of a waist support tool. 筋肉の緊張度判断のフローに係わる説明図である。It is explanatory drawing regarding the flow of a muscle tension degree judgment.

符号の説明Explanation of symbols

２１ 筋電センサ
２２ 信号入力回路
２５ 微分回路
２６ 比較回路
２８ 判定回路 21 myoelectric sensor 22 signal input circuit 25 differentiation circuit 26 comparison circuit 28 determination circuit

Claims (2)

歩行中の姿勢が不安定になったことを検出する歩行状態判定装置であって、
筋肉の緊張度を計測すべく人体に配置したセンサと、
該センサの出力値を微分する微分手段と、
該微分手段の出力を予め設定した判定値と比較する比較手段と、
前記微分手段の出力が前記判定値を超えると使用者の姿勢が不安定になったと判定する判定手段とを有することを特徴とする歩行状態判定装置。 A walking state determination device that detects that the posture during walking has become unstable,
Sensors placed on the human body to measure muscle tension,
Differentiating means for differentiating the output value of the sensor;
Comparing means for comparing the output of the differentiating means with a preset judgment value;
A walking state determination device comprising: determination means for determining that the posture of the user has become unstable when the output of the differentiation means exceeds the determination value. 歩行中の姿勢が不安定になったことを検出する歩行状態判定方法であって、
筋肉の緊張度を計測するセンサを人体に配置し、
該センサの出力値を微分し、
該微分値を予め設定した判定値と比較し、
前記微分値が前記判定値を超えると使用者の姿勢が不安定になったと判定することを特徴とする歩行状態判定方法。 A walking state determination method for detecting that the posture while walking is unstable,
A sensor that measures muscle tension is placed on the human body,
Differentiate the output value of the sensor,
The differential value is compared with a preset judgment value,
A walking state determination method, wherein when the differential value exceeds the determination value, it is determined that the posture of the user has become unstable.
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