JPH07163607A - Motor-driven auxiliary device for walking staircase or the like - Google Patents
Motor-driven auxiliary device for walking staircase or the likeInfo
- Publication number
- JPH07163607A JPH07163607A JP5312106A JP31210693A JPH07163607A JP H07163607 A JPH07163607 A JP H07163607A JP 5312106 A JP5312106 A JP 5312106A JP 31210693 A JP31210693 A JP 31210693A JP H07163607 A JPH07163607 A JP H07163607A
- Authority
- JP
- Japan
- Prior art keywords
- user
- walking
- power transmission
- thigh
- stairs
- 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.)
- Granted
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、使用者の足に装着し
て、特には階段の昇り歩行の筋力補助（パワーアシス
ト）に使用される電動補助装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric power assisting device which is attached to a user's foot and is used particularly for muscle power assist (power assist) in climbing stairs.
【０００２】[0002]
【従来の技術】人間が空間を上下方向へ移動する際に用
いられる階段設備は、これを昇り歩行するとき、平地を
歩行する場合に比べて著しく大きな労力を必要とする。
健常者でさえ疲労、苦痛を感ずるのが常であるから、と
りわけ足の筋肉の弱い人、足に障害等がある人、老齢の
人、又は健常者であっても重量物の運搬時等には歩行困
難をきたしている。そこで、階段の昇り歩行の疲労、労
力、苦痛を軽減する手段として、現在のところ、エレベ
ータ、エスカレータ、リフト等の昇降設備機器の開発及
びその普及が広く行なわれているが、設備上、階段しか
ない場所では、歩行者の前記したような苦痛、疲労を軽
減する対策は現在のところ見聞しない。2. Description of the Related Art Stairs equipment used by humans to move up and down in space requires significantly more labor when climbing up and walking than when walking on flat ground.
Even a healthy person usually feels fatigue and pain, especially when the person with weak leg muscles, a person with a foot disorder, an elderly person, or even a healthy person carries heavy objects. Has difficulty walking. Therefore, as means for reducing fatigue, labor, and pain of climbing stairs, at present, the development and popularization of elevator equipment such as elevators, escalators, and lifts are widely used. In areas where there are no pedestrians, no measures are currently taken to reduce the above-mentioned pain and fatigue of pedestrians.
【０００３】今後の高齢化社会をにらむと、人は年齢と
共に筋力が衰える一方である。また、通勤距離の増大に
より、乗換駅での階段の昇降は不可避である。特に階段
の昇り歩行は、筋力の弱い人々にとっては、正に苦痛の
種になっている。現代は、裕福であればたいていの肉体
的苦痛を逃れ得る方法を選択できるが、唯一エスカレー
タが装備されていない駅等の階段は、これを登らない限
り希望の列車に乗ることが出来ず、いくら裕福であって
も我慢を強いられる。Looking at an aging society in the future, people's muscle strength declines with age. Also, due to the increase in commuting distance, it is inevitable to go up and down stairs at transfer stations. In particular, climbing stairs is a real pain for people with weak muscles. In modern times, if you are wealthy, you can choose how to get rid of most physical pains, but the only stairs at stations that are not equipped with an escalator cannot get on the desired train unless you climb it, and how much Even if you are rich, you will have to be patient.
【０００４】[0004]
【本発明が解決しようとする課題】現在、パワーアシス
トの概念は、自動車のパワーステアリング、ブレーキの
マスターバック等が身近な機器として知られている。パ
ワーアシストの原理は、力が働いていることを、例えば
機械構造物の場合は撓み、歪み等の物理量をセンサ手段
で検知し、その検知量に応じて、前記力を滅じる方向に
補助動力を作動させ、それをある制御周期で繰り返して
いくことである。この方法のパワーアシストによれば、
力が働かなくなれば、補助動力も作動しない。補助動力
は決して単独で作動することはなく、あくまで人の筋力
を補助して人間の労働負担を軽減することを特徴として
いる。ゆえに、動力をコントロールする、あるいは操縦
するといった人間の技量に依存する部分がないため、操
作の習熟は不要であり、どうしても操作ミスを避けるこ
とのできない人間が使用してさえも安全性が確保される
ものと考えられる。パワーアシストを用いて疲労を軽減
する装置として、最近は電動補助自転車（特開平４−２
７２９４８号公報など）が知られている。At present, the concept of power assist is known as a familiar device such as a power steering of an automobile and a master back of a brake. The principle of power assist is to detect that a force is working, for example, in the case of a mechanical structure, a physical quantity such as bending or distortion is detected by a sensor means, and the force is assisted in the direction of eliminating the force according to the detected quantity. It is to operate the power and repeat it at a certain control cycle. According to the power assist of this method,
If the power goes out, the auxiliary power does not work either. The auxiliary power never operates independently, and is characterized by assisting human muscular strength to reduce the labor burden on humans. Therefore, since there is no part that depends on human skill such as controlling power or manipulating, there is no need for operation proficiency, and safety is ensured even when used by humans who cannot avoid operating mistakes. It is considered to be one. As a device for reducing fatigue by using power assist, recently, an electric assisted bicycle (Japanese Patent Laid-Open No. 4-2
No. 72948, etc.) is known.
【０００５】階段の昇り歩行にパワーアシストの採用を
検討すると、階段を昇るとき、人は足を一歩上段へ踏み
出し（図２の実線）、体全体を一つ上へ引き上げる運動
の際には、踏み出した足１本（軸足と呼ぶ）で体重を支
える形で、一段下段にあった体を一段上の段へ引き上げ
る（図２の点線）。このため軸足は大きな仕事をし、階
段を昇る動作が肉体的に大きな疲労をもたらす。そこで
前記の仕事を電気モータの動力で補助すれば、階段を昇
る歩行の疲労を軽減できることは明らかである。Considering the adoption of power assist for climbing the stairs, when climbing the stairs, a person steps one step up (the solid line in FIG. 2), and during the exercise of pulling up the whole body, While supporting your weight with one foot that you step out (referred to as the axial foot), pull up the body that was in the lower step to the upper step (dotted line in Fig. 2). Therefore, the axial foot does a great work, and the motion of climbing the stairs causes great physical fatigue. Therefore, it is apparent that the fatigue of walking up the stairs can be reduced by assisting the above-mentioned work with the power of the electric motor.
【０００６】従って、本発明の目的は、使用者が足に装
着することにより、特には階段を昇る歩行のとき、足の
筋肉の緊張状態（力を出している状態）、又は体重の移
動状態から筋肉に疲労をもたらす階段昇りの歩行状態か
否かを検知し、電気モータの動力により足の筋肉の動作
を補助し、階段を昇る歩行動作に伴う疲労を軽減する電
動補助装置を提供することにある。Therefore, an object of the present invention is to attach the user's foot to the user's foot, particularly when the user walks up stairs, in a tense state of the muscles of the foot (in a state of exerting force) or a moving state of weight. To provide an electric assist device that detects whether or not a stair climbing walking condition that brings fatigue to the muscles is supported, assists the movement of the leg muscles by the power of the electric motor, and reduces fatigue associated with walking motions climbing stairs. It is in.
【０００７】[0007]
【課題を解決するための手段】上記の課題を解決するた
めの手段として、この発明に係る階段歩行等の電動補助
装置は、使用者の大腿部に装着される大腿用装着部１
と、臑部に装着される臑用装着部２と、一端部を前記大
腿用装着部１及び臑用装着部２に固定され他端部は膝間
節の部位で屈伸動作が可能に連結された動力伝達腕４，
５と、前記動力伝達腕に屈伸動作の動力を付与する電気
モータ８による駆動部と、前記電気モータ及び駆動部の
電源及び制御部１１とから成り、前記電源及び制御部は
使用者の身体に装着されることを特徴とする。As a means for solving the above problems, an electric assist device for walking on stairs or the like according to the present invention is provided with a thigh mounting portion 1 to be mounted on a user's thigh.
And a wearing part 2 for a snout which is mounted on the knee part, one end is fixed to the mounting part 1 for the thigh and the fitting part 2 for the thigh, and the other end is connected so as to be capable of flexion / extension at a part of the knee joint. Power transmission arm 4,
5 and a driving part by an electric motor 8 for giving the power for bending and stretching to the power transmission arm, and a power source and control part 11 for the electric motor and the driving part, the power source and the control part being on the body of the user. It is characterized by being installed.
【０００８】本発明の電動補助装置はまた、動力伝達腕
４，５は、使用者の足の内側面及び外側面に沿う配置と
された一対で構成され、各一対の動力伝達腕の一端部は
大腿部又は臑部の横断面外形に倣う湾曲板状のブリッジ
部６を介して一体的に結合されていること、及び、電気
モータ８による駆動部は、動力伝達腕４，５を連結した
関節軸１２が一方の動力伝達腕５と共回りする関係とさ
れ、他方の動力伝達腕４に電気モータ８を設置し、前記
電気モータ８の出力軸に取付けた歯車１５を前記関節軸
１２に取付けた歯車７と噛み合わせると共に、前記関節
軸１２の歯車７はクラッチ１４を介して関節軸１２との
間で動力の伝達又は遮断が行なわれること、並びに、制
御部１１には、使用者の大腿部前側の筋肉の緊張度を検
出する筋電センサ１０の検出信号と、動力伝達腕４，５
の屈伸角度を検出する角度センサ９の検出信号、及び使
用者の足裏に作用する体重等の大きさを検出する圧力セ
ンサ１３の検出信号とがそれぞれ入力され、前記の各検
出信号の総和に基いて階段昇り歩行の当否を判別し、そ
の出力値に応じた大きさのモータ出力を発生させ駆動部
を制御することもそれぞれ特徴とする。In the electric power assisting device of the present invention, the power transmission arms 4 and 5 are composed of a pair arranged along the inner side surface and the outer side surface of the user's foot, and one end portion of each pair of power transmission arms. Is integrally connected via a curved plate-shaped bridge portion 6 that follows the outer shape of the cross section of the thigh or the tail, and the drive portion by the electric motor 8 connects the power transmission arms 4 and 5. The joint shaft 12 is rotated together with one power transmission arm 5, the electric motor 8 is installed on the other power transmission arm 4, and the gear 15 attached to the output shaft of the electric motor 8 is attached to the joint shaft 12 The gear 7 of the joint shaft 12 is engaged or disengaged with the joint shaft 12 via the clutch 14, and the control unit 11 includes a user Sensor for Detecting Tension of Muscles in Front of Thigh of Human Detection signals of 0 and a power transmission arm 4,5
The detection signal of the angle sensor 9 for detecting the bending angle of the user and the detection signal of the pressure sensor 13 for detecting the size of the weight or the like acting on the sole of the user are input, and the total of the detection signals is obtained. It is also characterized in that whether or not to walk up the stairs is discriminated based on this, and a motor output having a magnitude corresponding to the output value is generated to control the drive unit.
【０００９】[0009]
【作用】電気モータ８による駆動部が、動力伝達腕４，
５の関節部に動力を伝え開閉動作させると、大腿用装着
部１と臑用装着部２を通じて使用者の足の膝関節の屈伸
動作を助長し、歩行時の筋力補助の作用をする。従っ
て、階段昇り歩行に限らず、足の筋肉の弱い人、足に障
害等がある人々の平地歩行の補助にも利用できる。平地
歩行の補助の場合は、膝関節部の筋力補助に加えて、足
首関節部の筋力補助にも効果的である。[Function] The drive part by the electric motor 8 is provided with the power transmission arm 4,
When power is transmitted to the joint portion 5 to be opened and closed, the bending and stretching operation of the knee joint of the user's foot is promoted through the thigh mounting portion 1 and the seat mounting portion 2, and a muscle force assisting action during walking is exerted. Therefore, it can be used not only for walking up the stairs but also for assisting people who have weak muscles in the legs or those who have obstacles in the legs to walk on the flat ground. In the case of assisting walking on a flat ground, in addition to assisting muscle strength in the knee joint, it is also effective in assisting muscle strength in the ankle joint.
【００１０】一対の動力伝達用腕４，４又は５，５の一
端部を結合したブリッジ部６は、使用者の大腿部又は臑
部に対する補助動力の伝達を効果的、効率的に行なう。
駆動部を構成するクラッチ１４が遮断されると、動力の
伝達が遮断されるばかりでなく、使用者自身の筋力によ
る通常の歩行動作を妨げない。クラッチ１４が使用者の
膝関節の伸長動作時にのみ接続され、屈曲動作時に切断
されるように制御されると、この電動補助具は、階段の
昇り歩行の筋力補助として働く。The bridge portion 6 in which one end portions of the pair of power transmission arms 4, 4 or 5, 5 are connected to each other effectively and efficiently transmits the auxiliary power to the thigh or the toe of the user.
When the clutch 14 that constitutes the drive unit is disengaged, not only the transmission of power is interrupted, but also the normal walking operation by the user's own muscle force is not hindered. When the clutch 14 is connected only during the extension motion of the user's knee joint and is controlled so as to be disconnected during the flexion motion, this electric assisting device works as a muscle force assist for climbing stairs.
【００１１】階段の昇り歩行の筋力補助の場合、動力伝
達腕４，５による使用者の膝の屈伸角度の検出は、図３
のような平地歩行時の１８０°に近い比較的大きな角度
θ1と、図２のように階段昇り時の９０°に近い比較的
小さな角度θ2 との相違を検出し区別する。筋電センサ
１０は、階段を昇る動作において主に使用する大腿部の
前側の筋肉の緊張度を検出する。即ち、人が階段を昇る
時は、図２のように一方の足を１歩上段へ踏み出し、次
には前記踏み出した足を軸足として体全体を一段上へ引
き上げる動作のくり返しにより階段の昇り歩行を行なう
のであり、前記のように踏み出した軸足の大腿部の前側
の筋肉が主に使用される。従って、大腿部の前側の筋肉
の緊張度の大小により、平地歩行と階段昇り歩行を区別
できる。圧力センサ１３は、使用者の片足に全体重、あ
るいは所持品重量まで負荷されているか否かを検出す
る。即ち、人が中腰の姿勢をとった時でも、膝関節の角
度は比較的小さく、また、大腿部の前側の筋肉を使用す
る。このため、前記角度センサ１０と筋電センサ１０の
出力は、階段の昇り歩行と同等又は類似な出力を発生
し、制御部１１が誤判断するおそれがある。しかし、中
腰の姿勢では、体重等は両足にほぼ均等に負荷するか
ら、圧力センサ１３の検出信号は、階段昇り歩行時の前
記軸足に対する体重移動に比べて大差があり、もって両
動作を明確に区別できる。In the case of assisting the muscular strength of walking up the stairs, the bending angle of the user's knee is detected by the power transmission arms 4 and 5 as shown in FIG.
The difference between a relatively large angle θ 1 close to 180 ° when walking on a flat ground and a relatively small angle θ 2 close to 90 ° when climbing stairs as shown in FIG. 2 are detected and distinguished. The myoelectric sensor 10 detects the degree of tension of the muscle on the front side of the thigh which is mainly used in the operation of climbing the stairs. That is, when a person goes up the stairs, as shown in FIG. 2, one foot steps up one step, and then the stepped foot is used as an axial foot to raise the whole body up one step It walks, and the muscles on the front side of the thigh of the axial foot that is stepped out as described above are mainly used. Therefore, it is possible to distinguish between flat ground walking and stair climbing walking depending on the degree of tension of the muscles on the front side of the thigh. The pressure sensor 13 detects whether or not one leg of the user is loaded with the total weight or the weight of the belongings. That is, the angle of the knee joint is relatively small even when a person takes a middle waist posture, and the muscles on the front side of the thigh are used. Therefore, the outputs of the angle sensor 10 and the myoelectric sensor 10 generate an output that is equivalent to or similar to the climbing walk on the stairs, and the control unit 11 may make an erroneous determination. However, in the middle waist posture, since the weight and the like are applied to both feet almost equally, the detection signal of the pressure sensor 13 has a great difference as compared with the weight movement with respect to the shaft foot when walking up the stairs, and therefore both movements are clearly defined. Can be distinguished.
【００１２】従って、階段昇り時に、上段へ踏み出した
軸足の膝関節角度がθ2 のように比較的小さいことを角
度センサ９が検出し、同軸足の前側の筋肉の緊張度が大
きいことを筋電センサ１０が検出し、更に軸足にかかる
体重等の負荷が格別大きいことを圧力センサ１３が検出
し、前記三つの検出信号がアンド回路で満たされたと
き、制御部１１においては階段昇り歩行と判別し、電気
モータ８を作動させ、駆動部が動力伝達腕４，５を開く
方向に駆動し、使用者の膝の伸長動作（軸足で体重等を
支えた形で、一段下段へあった体全体を上段へ引き上げ
る動作）の筋力を補助する。Therefore, when climbing stairs, the angle sensor 9 detects that the knee joint angle of the axial foot stepped up to the upper step is relatively small as θ 2 , and the tension of the muscle on the front side of the coaxial foot is large. When the pressure sensor 13 detects that the myoelectric sensor 10 detects the load such as the weight applied to the shaft foot and the like and the three detection signals are satisfied by the AND circuit, the control unit 11 climbs the stairs. When it is determined that the user is walking, the electric motor 8 is operated, and the drive unit drives the power transmission arms 4 and 5 in the opening direction to extend the knees of the user (in the form of supporting the weight and the like with the shaft foot, move one step to the lower step). The action of pulling up the whole body that was there) is assisted.
【００１３】角度センサ９はまた、駆動部が動力伝達腕
４，５を開く方向に駆動した際の角度の許容限度（最大
角度、例えば１７０°ぐらい。）も監視し、前記許容限
度の角度を検出すると直ちに制御部１１はクラッチ１４
を遮断し、以後の歩行動作の円滑な遂行を害さない。The angle sensor 9 also monitors the allowable limit of the angle (maximum angle, for example, about 170 °) when the drive section drives the power transmission arms 4 and 5 in the opening direction, and the angle of the allowable limit is monitored. Immediately upon detection, the control unit 11 causes the clutch 14
It does not interfere with smooth performance of the walking motion thereafter.
【００１４】[0014]
【実施例】次に、図示した本発明の実施例を説明する。
図１に例示した電動補助装置は、使用者の大腿部に装着
される大腿用装着部１と、臑部に装着される臑用装着部
２と、一端部を前記大腿用装着部１及び臑用装着部２に
それぞれ固定され他端部を膝間接の部位で屈伸動作が可
能に連結された動力伝達腕４，５と、前記動力伝達腕に
屈伸動作の動力を付与する電気モータ８による駆動部
と、前記電気モータ及び駆動部の電源電池を含む制御部
１１とから成り、前記電源及び制御部１１は使用者の身
体に装着する構成とされている。EXAMPLE An example of the present invention shown in the drawings will be described below.
The power assisting device illustrated in FIG. 1 includes a thigh mounting portion 1 to be mounted on a user's thigh, a thigh mounting portion 2 to be mounted on a gluteal part, and one end portion of the thigh mounting portion 1 and By the power transmission arms 4 and 5 which are respectively fixed to the wearing part 2 for the leg and the other ends of which are connected so as to be able to perform bending and stretching movements at the indirect knee joint portion, and the electric motor 8 which gives the power for bending and stretching movements to the power transmission arms. It comprises a drive unit and a control unit 11 including the electric motor and a power supply battery for the drive unit, and the power supply and control unit 11 is configured to be worn on the user's body.
【００１５】大腿用装着部１及び臑用装着部２は共に、
所謂サポータの如く伸縮性のある布等、又は皮革、合成
樹脂シート等で使用者の足へ巻き付けるようにして簡単
にぴったり装着できる構成とされ、所謂マジックテープ
又はベルト等で足に固定される。前記大腿用装着部１及
び臑用装着部２には、各々使用者の足の内側面及び外側
面に沿う配置で一対をなす内外２本の等長の動力伝達腕
４，４及び５，５の一端部が固定され、各一対の動力伝
達腕４，５は、使用者の膝関節の部位で関節軸１２によ
り膝の屈伸運動が可能（開閉動作可能）に連結されてい
る。従って、この補助装置は、使用者の膝の屈伸動作に
合せて動く。動力伝達腕４，５は、使用者の負担、疲労
をできるだけ軽減するため、軽量なアルミニウム等の金
属、あるいはエンジニアリングプラスチック等により強
くできるだけ細くスマートに軽量に製作されている。各
一対の動力伝達腕４，４又は５，５の一端部は、大腿部
又は臑部の横断面外形に倣う湾曲板状のブリッジ６を介
して一体的に結合され、前記ブリッジ６は各装着部と一
体化した構成とし、もって膝の屈伸運動以外の動きにも
邪魔にならない程度に装着部を強固に固定でき、しかも
動力伝達腕に伝えられた補助動力は大腿部又は臑部へ効
率良く、柔らかなタッチで伝えられる構成としている。
ブリッジ６は、軽量な金属板、プラスチック板などで形
成されている。The thigh mounting portion 1 and the thigh mounting portion 2 are both
A stretchable cloth such as a so-called supporter, leather, a synthetic resin sheet, or the like is wrapped around the user's foot so that the user can easily fit the foot tightly, and is fixed to the foot with a so-called magic tape or belt. The thigh-mounting part 1 and the thigh-mounting part 2 each have a pair of two equal-length power transmission arms 4, 4 and 5, 5 arranged inside and outside the user's foot. One end of each of the power transmission arms 4 and 5 is connected to the pair of power transmission arms 4 and 5 so that the knee can flex and extend (open and close) by the joint shaft 12 at the user's knee joint. Therefore, this auxiliary device moves in accordance with the bending and stretching motion of the user's knee. The power transmission arms 4 and 5 are made of a metal such as lightweight aluminum or an engineering plastic to be strong, thin, smart, and lightweight in order to reduce a user's burden and fatigue as much as possible. One end of each pair of power transmission arms 4, 4 or 5, 5 is integrally connected via a curved plate-shaped bridge 6 that follows the outer cross-sectional contour of the thigh or the tail, and the bridge 6 is With a structure that is integrated with the mounting part, the mounting part can be firmly fixed to the extent that it does not interfere with movements other than bending and stretching movements of the knee, and the auxiliary power transmitted to the power transmission arm is sent to the thigh or the gluteal part. It is structured so that it can be transmitted efficiently and with a soft touch.
The bridge 6 is formed of a lightweight metal plate, a plastic plate, or the like.
【００１６】電気モータ８による駆動部は、図４にも示
しているように、大腿用及び臑用の相対応する二つの動
力伝達腕４，５を開閉動作（回動）が可能に連結した関
節部分を駆動する。そのため関節軸１２の一端部は、一
方の動力伝達腕５の外面部に共回りする関係に固着さ
れ、他方の動力伝達腕５は関節軸１２に対して自由に回
転する状態とされ、当該動力伝達腕５の外面部に固定さ
れた電気モータ８の出力軸に取付けたウオーム１５が、
前記関節軸１２の外端部に自由回転する状態に設置され
たウオームホイール７と噛み合わされ減速機が構成され
ている。前記ウオームホイール７は、クラッチ１４を介
して関節軸１２へ動力を伝達し又は遮断する構成とされ
ている。従って、クラッチ１２が遮断されている限り、
電気モータ８が回転していても、その動力は関節軸１２
及び動力伝達腕へは一切伝達されず、モータは空回りの
状態であり、使用者の通常の歩行動作には一切支障がな
い。電気モータ８が正転方向に駆動され、クラッチ１４
が接続されると、電気モータ８の減速された（従って、
反比例的に高トルク化された）回転動力は関節軸１２を
通じて一方の動力伝達腕５へ伝達され、他方、電気モー
タ８を設置した側の動力伝達腕４が反力側となって二つ
の動力伝達腕４と５は関節軸１２を中心に相対的に回動
して開く動作（角度θ2 が大きくなる動作）をし、使用
者の膝の伸長動作を補助する。As shown in FIG. 4, the drive unit of the electric motor 8 connects the two corresponding power transmission arms 4 and 5 for the thigh and the knee so that they can be opened and closed (rotated). Drive joints. Therefore, one end of the joint shaft 12 is fixed to the outer surface of the one power transmission arm 5 in a co-rotating relationship, and the other power transmission arm 5 is set to freely rotate with respect to the joint shaft 12. The worm 15 attached to the output shaft of the electric motor 8 fixed to the outer surface of the transmission arm 5
A decelerator is constituted by meshing with a worm wheel 7 installed on the outer end of the joint shaft 12 so as to freely rotate. The worm wheel 7 is configured to transmit or cut off power to the joint shaft 12 via the clutch 14. Therefore, as long as the clutch 12 is disengaged,
Even if the electric motor 8 is rotating, its power is the joint shaft 12
Also, the power is not transmitted to the power transmission arm, and the motor is in an idle state, which does not hinder the normal walking motion of the user. The electric motor 8 is driven in the normal direction, and the clutch 14
Is connected, the electric motor 8 is decelerated (thus
Rotational power (increased in inverse proportion to the torque) is transmitted to one power transmission arm 5 through the joint shaft 12, and on the other hand, the power transmission arm 4 on the side where the electric motor 8 is installed becomes the reaction side and two powers are transmitted. The transmission arms 4 and 5 relatively rotate about the joint shaft 12 and perform an opening operation (an operation that increases the angle θ 2 ) to assist the user's knee extension operation.
【００１７】従って、電気モータ８としては、瞬時最大
出力１００ｗぐらいの小形、軽量のモータが使用され
る。図１及び図４中の符号１６は電気モータ８及び駆動
部を覆うカバーである。前記の電気モータ８を駆動する
電源としては、複数の小形蓄電池が１〜２個使用され、
制御部１１のケース内に納められている。制御部１１は
最大で２〜３Kgぐらいの重量となり、これは使用者が腰
バンド１７等により身体に装着して携行する。前記の制
御部１１には、駆動部を設けた２本の動力伝達腕４と５
の開閉角度を検出する角度センサ９、使用者の大腿部の
前側の筋肉の緊張度を検出する筋電センサ１０、及び使
用者の足に負荷される体重等の大きさを検出する圧力セ
ンサ１３の検出信号がそれぞれ入力される。制御部１１
は、内蔵したマイクロコンピュータ等が前記の各検出信
号に基いて演算処理を行ない、使用者が図３のような平
地歩行をしているか、あるいは階段の昇り歩行又は下り
歩行をしているか、又はその他の特異な姿勢をとってい
るか、等々を瞬時に判別し、電気モータ８及びクラッチ
１４を制御して、特に階段の昇り歩行時に使用者の筋力
補助を行なう。Therefore, as the electric motor 8, a small and lightweight motor having an instantaneous maximum output of about 100 w is used. Reference numeral 16 in FIGS. 1 and 4 is a cover that covers the electric motor 8 and the driving unit. As a power source for driving the electric motor 8, a plurality of small storage batteries are used,
It is stored in the case of the control unit 11. The control unit 11 has a maximum weight of about 2 to 3 kg, which is carried by the user by wearing the waist band 17 or the like on the body. The control unit 11 includes two power transmission arms 4 and 5 provided with a drive unit.
Sensor 9 for detecting the opening / closing angle of the user, a myoelectric sensor 10 for detecting the degree of tension of the front muscles of the user's thigh, and a pressure sensor for detecting the weight of the user's foot etc. The 13 detection signals are input respectively. Control unit 11
Is carried out by a built-in microcomputer or the like based on each of the detection signals, and the user is walking on a flat ground as shown in FIG. 3, or walking up or down stairs, or Whether or not the user is in another peculiar posture is instantly determined, and the electric motor 8 and the clutch 14 are controlled to assist the user's muscular strength especially when climbing up stairs.
【００１８】前記角度センサ９には公知のロータリエン
コーダ、あるいは光電変換方式で回転角を検出するセン
サ手段が好適に使用され、平地歩行時の膝の屈曲角度θ
1 （図３）、又は階段昇り歩行時の膝の屈曲角度θ2 な
どを検出し、両者を区別する角度情報を与える。更には
人が階段を昇り歩行する際に、軸足を中心として体全体
が上段へ完全に移り膝関節が伸びきる直前の角度（約１
７０°ぐらい）を検出し、クラッチ１４を遮断する角度
情報も与える。As the angle sensor 9, a known rotary encoder or a sensor means for detecting a rotation angle by a photoelectric conversion method is preferably used, and the bending angle θ of the knee when walking on a level ground.
1 (Fig. 3), or the bending angle θ 2 of the knee when walking up the stairs, etc. is detected, and the angle information for distinguishing between the two is given. Furthermore, when a person walks up the stairs, the angle immediately before the knee joint is fully extended by moving the entire body around the axial foot to the upper stage (about 1
(About 70 °) is detected and the angle information for disengaging the clutch 14 is also given.
【００１９】前記筋電センサ１０としては、歯科治療に
おいて、咬合調整等に使用されて公知のシート状センサ
が好適に使用される。この筋電センサ１０は大腿用装着
部１の適正位置に付着される。前記圧力センサ１３とし
ては、周知の歪ゲージなどを好適に使用できる。圧力セ
ンサ１３は、使用者の靴の底部（かかと部又は足裏部）
に例えば靴底シートの形で装着して使用される。As the myoelectric sensor 10, a well-known sheet-like sensor used for occlusal adjustment in dental treatment is preferably used. This myoelectric sensor 10 is attached to an appropriate position of the thigh mounting portion 1. A well-known strain gauge or the like can be preferably used as the pressure sensor 13. The pressure sensor 13 is the bottom of the user's shoe (heel or sole).
For example, it is used by being attached in the form of a shoe sole sheet.
【００２０】次に、制御部１１の制御動作フローチャー
トを図５に示した。図示を省略した電源スイッチをオン
してシステムがスタートすると、まず角度センサ９の検
出信号について、膝の屈曲角が階段昇り歩行時の角度θ
2 よりも大きいか小さいかを比較検討し、大きい場合
（ＹＥＳ）は平地歩行（図３）と判断してシステムは発
動しない。図２の角度θ2 よりも小さい場合（ＮＯ）
は、次に圧力センサ１３の検出信号に基いて、体重配分
の比較検討が行なわれる。Next, a control operation flowchart of the control unit 11 is shown in FIG. When the system is started by turning on a power switch (not shown), first, regarding the detection signal of the angle sensor 9, the bending angle of the knee is the angle θ when walking up the stairs.
If it is larger than 2 and smaller than 2, it is judged (YES) to be a flat ground walk (Fig. 3) and the system does not activate. When it is smaller than the angle θ 2 in FIG. 2 (NO)
Next, based on the detection signal of the pressure sensor 13, the weight distribution is comparatively examined.
【００２１】ちなみに、制御部１１は、この電動補助装
置を装着した使用者が立ち、あるいは荷物等をもって歩
行動作をすると、直ちにその体重や荷物重量の総和と左
右の足にかかる固有の体重配分を演算し設定する回路が
組込まれている。そこで、図５では体重配分の検討をと
りあえず右足から始める。右足に前記設定値以上の負荷
が作用しているか否かが比較検討される。設置値以上
（ＹＥＳ）の場合には、次の筋電センサ１０の検出信号
の比較検討に移る。しかし、右足の筋電センサ１０の検
出値が設定値より小さい場合（ＮＯ）は、平地歩行と判
断してシステムは発動しない。前記のように設定値より
大きい場合は、階段の昇り歩行と結論を下して右足のク
ラッチ１４を接続し、前記の各センサ検出値に応じた大
きさの動力で電気モータ８が駆動され、使用者が右足の
膝を伸長しつつ右足を軸足として体全体を一段上へ引き
上げる昇り歩行の動作の筋力を補助する。全く同様の処
理が左足の動作についても行なわれる。そしてまた、角
度センサ９の検出値が、図３の平地歩行時の膝関節角度
θ1 よりも大きくなって、膝が伸びきる約１７０°ぐら
いの大きさになると、クラッチ１４を遮断してその後の
通常の歩行動作を円滑に行なわしめる。By the way, when the user wearing this electric assisting device stands up or walks with luggage, the control section 11 immediately gives the total weight and the weight of the luggage and the unique weight distribution on the left and right feet. A circuit for calculating and setting is incorporated. Therefore, in FIG. 5, the weight distribution will be examined starting from the right foot. It is comparatively examined whether or not a load equal to or more than the set value is applied to the right foot. If the value is equal to or greater than the installation value (YES), the next detection signal of the myoelectric sensor 10 is compared and examined. However, when the detected value of the myoelectric sensor 10 of the right foot is smaller than the set value (NO), it is determined that the user is walking on a flat ground, and the system is not activated. When it is larger than the set value as described above, it is concluded that the stairs are walking up, and the clutch 14 of the right foot is connected, and the electric motor 8 is driven by the power of a magnitude corresponding to each sensor detection value, The user assists the muscular strength of the ascending walking motion in which the user extends the knee of the right foot and pulls up the entire body with the right foot as the axial foot. Exactly the same processing is performed for the motion of the left foot. Further, when the detection value of the angle sensor 9 becomes larger than the knee joint angle θ 1 at the time of walking on the flat ground in FIG. Smoothly carry out normal walking motion of.
【００２２】[0022]
(1) 筋電センサを用いないで、両足底の圧力センサ１
３と角度センサ９からの検出信号のみ、つまり上記の一
連の動作の中で膝の屈伸角度が図２の角度θ2 以下で、
軸足（片足）に体重の大部分がかかっているときには、
それだけで軸足の筋肉を使用している階段昇り歩行時と
みなし、この２つの条件をトリガとして電気モータ８を
駆動させ、どちらかでも成立しなくなった時点で、電気
モータ８を停止させ、クラッチ１４を遮断する方式で実
施することもできる。 (2) 電気モータは両足用に１個とし、同モータは使用
者の腰ベルト等に取付け、フレキシブルチューブ等によ
り左右の足の動力伝達腕の関節部へ動力を伝え、膝部の
クラッチを制御して左右交互に補助動力を伝達する方式
を実施することもできる。 (3) 動力源としては、空気圧シリンダの利用も実施可
能である。使用者はベルト等に小型の空気圧ボンベを装
着し、空気圧制御回路により空気圧シリンダを駆動して
動力伝達腕の開動作を行なわしめる。空気圧を利用する
場合、アクチュエータとしては空気圧シリンダ以外に、
空気圧により伸縮する袋状のアクチュエータを利用する
こともできる。 (4) カバー１６等の意匠を工夫し、従来の義足、装具
等がもたらす、どちらかと言えば暗いイメージを払拭
し、ファッション性が高く、軽量で装着感が薄く、取り
外した時点で折り畳み、コンパクトに鞄等に収納できる
構造とすることが望ましい。 (5) 脚に障害のある人、若しくは病気等により階段を
昇ることが困難になった人の補助具、又はリハビリテー
ション用、あるいは健常者が重量物を持って階段を昇る
用途、名所旧跡での石段昇り、山登りの筋力補助にも好
適である。場合によっては平地歩行の補助具として使用
することが可能である。(1) Pressure sensors 1 on both soles without using myoelectric sensors
3 and only the detection signals from the angle sensor 9, that is, when the bending and extension angle of the knee is less than the angle θ 2 in FIG.
When most of the weight is applied to one foot,
This alone is regarded as when walking up the stairs using the muscles of the axial leg, and the electric motor 8 is driven by using these two conditions as a trigger. When either of these conditions is no longer satisfied, the electric motor 8 is stopped and the clutch It can also be implemented by a method of shutting off 14. (2) There is one electric motor for both legs. This motor is attached to the user's waist belt, etc., and the power is transmitted to the joints of the power transmission arms of the left and right legs by a flexible tube etc., and the clutch of the knee is controlled. It is also possible to implement a system in which the auxiliary power is transmitted alternately to the left and right. (3) A pneumatic cylinder can be used as the power source. A user attaches a small pneumatic cylinder to a belt or the like, and an air pressure control circuit drives an air pressure cylinder to open the power transmission arm. When using air pressure, in addition to pneumatic cylinders as actuators,
A bag-shaped actuator that expands and contracts by air pressure can also be used. (4) By devising the design of the cover 16, etc., it wipes away the rather dark image brought by conventional prostheses, orthosis, etc., it is highly fashionable, lightweight and thin to wear, it folds when removed, compact It is desirable to have a structure that can be stored in a bag or the like. (5) Auxiliary equipment for people with leg disabilities, or those who have difficulty climbing stairs due to illness, or for rehabilitation, or for use by healthy people to climb stairs with heavy objects, at historic sites It is also suitable for assisting muscle strength when climbing stone steps and climbing mountains. In some cases, it can be used as an aid for walking on a flat ground.
【００２３】[0023]
【本発明が奏する効果】本発明に係る階段歩行の電動補
助装置は、足の筋肉の弱い人、足に障害等がある人、老
齢の人の階段昇り歩行を補助して、介添え人を無用にし
たり、これらの人々の行動範囲を広げ、生活を楽しむこ
とに寄与する。のみならず、健常者であっても、名所旧
跡の見学、あるいは仕事のため長い階段や山道を荷物等
を持って昇らざるを得ない人々の労力、疲労を大きく軽
減して、目的の遂行に寄与する。The electric assist device for walking on stairs according to the present invention assists a person with weak leg muscles, a person with a foot disorder or the like, and an elderly person to walk up the stairs without using an attendant. Contribute to the enjoyment of life by expanding the range of action of these people. Not only that, even for healthy people, it is possible to greatly reduce the labor and fatigue of people who have to climb long stairs and mountain paths with luggage etc. Contribute.
【図１】電動補助装置の実施例を示した斜視図である。FIG. 1 is a perspective view showing an embodiment of an electric auxiliary device.
【図２】人の階段昇り歩行の模写図である。FIG. 2 is a copy of a person walking up the stairs.
【図３】人の平地歩行の模写図である。FIG. 3 is a copy of a person walking on a flat ground.
【図４】図１のＡ−Ａ矢視断面図である。FIG. 4 is a sectional view taken along the line AA of FIG.
【図５】制御部の動作フローチャートである。FIG. 5 is an operation flowchart of the control unit.
１ 大腿用装着部 ２ 臑用装着部 ４，５ 動力伝達腕 ８ 電気モータ １１ 制御部 ６ ブリッジ部 １２ 関節軸 １５，７ 歯車 １４ クラッチ １０ 筋電センサ ９ 角度センサ １３ 圧力センサ 1 Thigh Wearing Part 2 Depth Wearing Part 4, 5 Power Transmission Arm 8 Electric Motor 11 Control Part 6 Bridge Part 12 Joint Shaft 15, 7 Gear Wheel 14 Clutch 10 Myoelectric Sensor 9 Angle Sensor 13 Pressure Sensor
Claims (4)
と、臑部に装着される臑用装着部と、一端部を前記大腿
用装着部及び臑用装着部に固定され他端部は膝間節の部
位で屈伸動作可能に連結された動力伝達腕と、前記動力
伝達腕に屈伸動作の動力を付与する電気モータによる駆
動部と、前記電気モータ及び駆動部の電源及び制御部と
から成り、前記電源及び制御部は使用者の身体に装着さ
れることを特徴とする、階段歩行等の電動補助装置。1. A thigh mounting portion to be mounted on a user's thigh, a thigh mounting portion to be mounted on a gluteal portion, and one end fixed to the thigh mounting portion and the thigh mounting portion, etc. A power transmission arm whose end is connected to allow flexion / extension at a part of the knee joint, a drive unit by an electric motor for applying power for flexion / extension motion to the power transmission arm, a power source and control of the electric motor and the drive unit An electric auxiliary device for walking on stairs or the like, characterized in that the power source and the control unit are attached to a user's body.
の内側面及び外側面に沿う配置とされた一対で構成さ
れ、各一対の動力伝達腕の一端部は大腿部又は臑部の横
断面外形に倣う湾曲板状のブリッジ部を介して一体的に
結合されていることを特徴とする、階段歩行等の電動補
助装置。2. A power transmission arm according to claim 1, which is composed of a pair arranged along an inner side surface and an outer side surface of a user's foot, and one end portion of each pair of power transmission arms is a thigh or An electric auxiliary device for walking on stairs or the like, which is integrally connected via a curved plate-shaped bridge portion that follows the outer shape of the lateral cross section of the body.
は、動力伝達腕を連結した関節軸が一方の動力伝達腕と
共回りする関係とされ、他方の動力伝達腕に電気モータ
が設置され、前記電気モータの出力軸に取付けた歯車を
前記関節軸に取付けた歯車と噛み合わせると共に、前記
関節軸の歯車はクラッチを介して関節軸との間で動力の
伝達又は遮断が行なわれることを特徴とする、階段歩行
等の電動補助装置。3. The drive unit of the electric motor according to claim 1, wherein the joint shaft connecting the power transmission arms rotates together with one power transmission arm, and the electric motor is installed on the other power transmission arm. A gear mounted on the output shaft of the electric motor meshes with a gear mounted on the joint shaft, and the gear of the joint shaft transmits or cuts off power between the gear and the joint shaft via a clutch. A characteristic electric assist device for walking on stairs.
部前側の筋肉の緊張度を検出する筋電センサの検出信号
と、動力伝達腕の屈伸角度を検出する角度センサの検出
信号、及び使用者の足裏に作用する体重等の大きさを検
出する圧力センサの検出信号とがそれぞれ入力され、前
記の各検出信号の総和に基いて階段昇り歩行の当否を判
別し、その出力値に応じた大きさのモータ出力を発生さ
せ駆動部を制御することを特徴とする、階段歩行等の電
動補助装置。4. The control unit according to claim 1, wherein a detection signal of a myoelectric sensor for detecting the tension of the muscles on the front side of the thigh of the user and an angle sensor for detecting the bending and extension angle of the power transmission arm. The detection signal, and the detection signal of the pressure sensor that detects the size of the weight or the like that acts on the sole of the user, are input, and it is determined whether or not the stairs are walking based on the sum of the detection signals. An electric assist device for walking on stairs or the like, characterized in that a motor output having a magnitude corresponding to the output value is generated to control a drive unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31210693A JP3530959B2 (en) | 1993-12-13 | 1993-12-13 | Electric assist device for flatland walking and stair walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31210693A JP3530959B2 (en) | 1993-12-13 | 1993-12-13 | Electric assist device for flatland walking and stair walking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07163607A true JPH07163607A (en) | 1995-06-27 |
| JP3530959B2 JP3530959B2 (en) | 2004-05-24 |
Family
ID=18025315
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31210693A Expired - Fee Related JP3530959B2 (en) | 1993-12-13 | 1993-12-13 | Electric assist device for flatland walking and stair walking |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3530959B2 (en) |
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