JP5636352B2 - 動作補助装置及び歩行補助装置 - Google Patents
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Description
この式(1)の右辺は、脚リンク負担目標値Fcmdの大きさの並進力(支持力)を床側から左脚リンク3Lに作用させたと仮定した場合に、該並進力のベクトルによって第3関節8の関節軸のまわりに発生するモーメントの大きさを示している。
L12=L22+L32−2・L2・L3・cosθ3 ……(3)
従って、L1,L2の値と、膝角度の計測値θ1とから式(2)により、L3を算出できる。そして、その算出したL3の値と、L1,L2の値とから式(3)により、角度θ3を算出できる。
ここで、式(4)の右辺におけるω1は左脚リンク3Lの膝角度の時間的変化率(微分値)としての膝角速度、β1は該膝角速度ω1の時間的変化率(微分値)としての膝角加速度、sgn( )は符号関数である。また、A1,A2,A3,A4,A5は、予め定められた値の係数である。
ここで、式(5)の右辺におけるTcmd1は、前記基本目標トルク演算手段64bにより求められる基本目標トルクTcmd1と同じである。また、ω1,β1は、前記式(4)に関して説明した通り、それぞれ膝角速度、膝角加速度である。また、B1,B2,B3,B4,B5は、予め定められた値の係数である。
Claims (7)
- 利用者の動作を補助する動作補助装置であって、
利用者の動作を補助する力を発生する複数の駆動手段と、
前記複数の駆動手段にエネルギーを供給する複数のエネルギー源と、
前記各エネルギー源のエネルギー残量を検知する残量検知手段と、
前記残量検知手段の検知結果に基づいて前記複数の駆動手段を制御する制御手段とを備え、
前記複数の駆動手段は、各々発生する力の作用点が利用者の同一部位となるように構成され、
前記複数の駆動手段のうち同一のエネルギー源からエネルギーが供給される1又は複数の駆動手段を1つの駆動源として、該駆動源に属する1又は複数の駆動手段の出力を当該駆動源の出力とすると、前記制御手段は、前記各エネルギー源のエネルギー残量に差がある場合には、前記各エネルギー源のエネルギー残量が同等である場合の前記駆動源の出力に比べて、前記エネルギー残量が小さいエネルギー源に対応した前記駆動源は小さい出力を発生し、前記エネルギー残量が大きいエネルギー源に対応した前記駆動源は大きい出力を発生するように、前記複数の駆動手段を制御することを特徴とする動作補助装置。 - 利用者が跨ぐようにして着座する着座部材と、前記着座部材に連結した複数の脚リンクと、前記着座部材を押し上げる方向に前記各脚リンクを駆動可能な駆動手段とを備え、当該利用者の体重の少なくとも一部を前記着座部材を介して前記脚リンクで支えるようにした歩行補助装置であって、
前記駆動手段は、複数の駆動手段で構成され、
前記各駆動手段は、前記複数の脚リンクのうちの1又は複数を駆動し、
前記複数の駆動手段のうちの1又は複数に対して電気エネルギーを供給する複数の蓄電池と、
前記各蓄電池の蓄電残量を検知する残量検知手段と、
前記残量検知手段の検知結果に基づいて前記複数の駆動手段を制御する制御手段とを備え、
前記複数の駆動手段のうち同一の蓄電池から電気エネルギーが供給される1又は複数の駆動手段を1つの駆動源として、該駆動源に属する1又は複数の駆動手段の出力を当該駆動源の出力とすると、前記制御手段は、前記各蓄電池の蓄電残量に差がある場合には、前記各蓄電池の蓄電残量が同等である場合の前記駆動源の出力に比べて、前記蓄電残量が小さい蓄電池に対応した前記駆動源は小さい出力を発生し、前記蓄電残量が大きい蓄電池に対応した前記駆動源は大きい出力を発生するように、前記複数の駆動手段を制御することを特徴とする歩行補助装置。 - 請求項2に記載の歩行補助装置において、前記制御手段は、前記複数の蓄電池のうちの所定の2つの蓄電池の蓄電残量の差が大きいほど、当該所定の2つの蓄電池のそれぞれに対応した前記駆動源に供給される電気エネルギーの差が大きくなるように当該2つの駆動源を制御することを特徴とする歩行補助装置。
- 請求項2又は3に記載の歩行補助装置において、前記制御手段は、前記複数の蓄電池のうちの所定の2つの蓄電池の蓄電残量に差がある状態が長く続くほど、当該所定の2つの蓄電池のそれぞれに対応した前記駆動源に供給される電気エネルギーの差が大きくなるように当該2つの駆動源を制御することを特徴とする歩行補助装置。
- 請求項2〜4のいずれか1項に記載の歩行補助装置において、前記制御手段は、前記複数の蓄電池のうちの所定の2つの蓄電池の蓄電残量の差の時間変化量が大きいほど、当該所定の2つの蓄電池のそれぞれに対応した前記駆動源に供給される電気エネルギーの差が大きくなるように当該2つの駆動源を制御することを特徴とする歩行補助装置。
- 請求項2〜5のいずれか1項に記載の歩行補助装置において、
前記駆動源に対応した1又は複数の前記駆動手段が1又は複数の前記脚リンクを駆動するときに、当該脚リンクが前記着座部材を押し上げる力のそれぞれを合成した力を脚リンク合成力と定義するとき、
前記制御手段は、前記複数の駆動源のうちの所定の2つの駆動源のそれぞれの脚リンク合成力のなす角度が大きくなるほど、当該所定の2つの駆動源に供給される電気エネルギーの差が小さくなるように当該2つの駆動源を制御することを特徴とする歩行補助装置。 - 請求項2〜6のいずれか1項に記載の歩行補助装置において、前記制御手段は、前記複数の蓄電池のうちの所定の2つの蓄電池の蓄電残量の差が所定の値以上のときに、前記残量検知手段の検知結果に基づいて前記複数の駆動手段を制御することを特徴とする歩行補助装置。
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JP2011233267A JP5636352B2 (ja) | 2011-10-24 | 2011-10-24 | 動作補助装置及び歩行補助装置 |
US13/657,108 US20130102934A1 (en) | 2011-10-24 | 2012-10-22 | Motion assist device and walking assist device |
DE102012219429.0A DE102012219429B4 (de) | 2011-10-24 | 2012-10-24 | Bewegungsunterstützungseinrichtung und Gangunterstützungseinrichtung |
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DE102013104166B4 (de) * | 2013-04-24 | 2016-06-09 | Tino Werner | Schreitroboter mit verbesserter Mechanik |
US10533542B2 (en) | 2014-05-06 | 2020-01-14 | Sarcos Lc | Rapidly modulated hydraulic supply for a robotic device |
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JP2013090693A (ja) | 2013-05-16 |
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