WO2010050396A1 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
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- WO2010050396A1 WO2010050396A1 PCT/JP2009/068163 JP2009068163W WO2010050396A1 WO 2010050396 A1 WO2010050396 A1 WO 2010050396A1 JP 2009068163 W JP2009068163 W JP 2009068163W WO 2010050396 A1 WO2010050396 A1 WO 2010050396A1
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- user
- leg
- timing
- target pattern
- change
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Images
Classifications
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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Definitions
- the present invention relates to a walking assistance device that assists a user's walking.
- the present application relates to a walking assistance device that assists the walking of a user who can move one leg normally but cannot move the other leg normally.
- Patent Document 1 discloses a walking assist device that is worn by a user who cannot move one leg freely and applies torque to a joint of a non-healthy leg based on the motion of the healthy leg.
- the present invention provides a walking assistance device that relieves user anxiety that arises when the device actively applies torque to a leg.
- the walking assistance device of the present invention provides the user with images, sounds or tactile stimuli that help the user predict the movement of the device prior to the device applying torque to the legs.
- image, sound, or tactile stimulus that helps predict the movement of the device may be collectively referred to as “notice stimulus”.
- the walking assistance device based on the technology disclosed in this specification includes a wearable device attached to a user's leg and a controller that controls the wearable device.
- the wearable device adjusts the joint angle by applying torque to the joint of the user's leg.
- the controller controls the wearable device so that the joint angle of the user follows a target pattern indicating a change over time of the target joint angle of the joint to be adjusted.
- the controller is configured to give a “notice stimulus” to the user prior to the wearable device operating based on this target pattern.
- the wearable device includes, for example, a two-link mechanism in which an upper link fixed to a user's thigh and a lower link fixed to a lower leg are connected by a rotary joint located outside the knee, and the rotary joint is driven by an actuator. Including. A wearable device having such a mechanism assists in the movement of the user's knee.
- the controller of the walking assist device performs the following process. That is, the controller specifies a change timing at which a change with time of the target joint angle in the target pattern satisfies a predetermined condition. Next, the controller notifies the user of the arrival of the change timing prior to the specified change timing. That is, this walking assistance device notifies the user of the timing when the movement of the wearable device changes. Such a walking assist device can relieve the user's anxiety due to the fact that the next movement of the wearable device cannot be imaged.
- the most suitable “predetermined condition” is the timing at which the target pattern becomes at least one of the minimum value and the maximum value.
- such timing is the timing at which the trajectory of the target joint angle becomes a minimum value or a maximum value on the time axis.
- This timing corresponds to the timing at which the rotation direction of the joint (the rotation direction of the target joint angle) is reversed.
- the controller specifies the timing at which the target pattern becomes at least one of the minimum value and the maximum value as the change timing. By notifying the user of such change timing in advance, the user can know in advance the timing at which the rotational direction of the torque applied to the joint by the wearable device is reversed. Users who receive such a notice can rest assured. Since the movement of the knee is important in the walking motion, the target joint to which the wearable device applies torque is preferably the knee joint.
- predetermined conditions may be the operation start timing or stop timing of the wearable device. Mathematically, these timings are timings that satisfy the condition that the temporal change of the target pattern is discontinuous.
- the target pattern stored in the controller may be prepared in advance or may be generated in real time while the user is walking. In the latter case, only one leg is suitable as a walking assist device for a non-healthy leg user.
- the walking assistance device may include a leg motion sensor that detects the movement of one leg.
- the controller controls a wearable device that generates a target pattern of the other leg from the movement of one leg and adjusts the joint angle of the other leg according to the generated target pattern.
- the controller of the walking assistance device may be configured to execute the following process.
- the controller generates a waveform notification pattern corresponding to a change in the target pattern over time.
- the controller is configured to give the user a stimulus based on the notification pattern prior to controlling the wearable device according to the target pattern.
- the waveform of the notification pattern may be similar to the waveform of the change over time of the target pattern.
- the “notice stimulus” may be a sound whose frequency change pattern with time is the same as the waveform of the target pattern.
- the “notice stimulus” may give the user a vibration in which the frequency change pattern of the vibration frequency is the same as the waveform of the target pattern.
- the user can perform the future operation of the wearable device, that is, the wearable device. It is possible to image the entire change in joint angle that the device intends to achieve over time.
- notice stimulus does not simply give a walking rhythm, but informs the user of the operation of the wearable device in advance.
- a pedestrian can preliminarily image the operation of the wearable device, particularly the timing at which the joint angle changes greatly.
- the user can relieve anxiety about the walking assist device.
- the typical front view of the walk auxiliary device of an example is shown.
- the typical side view of the walk auxiliary device of an example is shown.
- a block diagram of the controller is shown. It is a figure explaining a target pattern. It is a figure explaining alerting
- FIG. 1 shows a schematic diagram of a walking assistance device 10 worn by a user.
- FIG. 1A shows a schematic front view
- FIG. 1B shows a schematic side view.
- the walking assist device of the present embodiment is a device for a user who cannot freely move the knee joint of the left leg.
- the walking assist device 10 applies an appropriate torque to the user's left knee joint to assist the user's walking motion. It should be noted that the technology disclosed in this specification can be applied to a walking assist device that applies torque to leg joints other than knees.
- the walking assist device 10 includes a right leg device 12R and a left leg device 12L.
- the right leg device 12R and the left leg device 12L correspond to wearable devices.
- the right leg device 12R is attached to the outside of the right leg from the user's thigh along the lower leg.
- the right leg device 12R has an upper link 14R and a lower link 16R.
- the two links are rotatably connected.
- the upper link 14R is fixed to the user's thigh with a belt.
- the lower link 16R is fixed to the user's lower leg with a belt.
- the mechanical joints of the upper link 14R and the lower link 16R are located outside the user's right knee.
- the mechanical joint relatively rotates the upper link 14R and the lower link 16R.
- the mechanical joint is arranged such that its axis is substantially coaxial with the axis of the user's knee joint.
- the mechanical joint is provided with an encoder 20R.
- the encoder 20R detects the angle of
- An inclination angle sensor 22R is attached to the upper link 14R.
- the inclination angle sensor 22R detects an angle around the pitch axis of the user's right hip joint.
- a ground sensor 24R is attached to the lower end of the lower link 16R. The ground sensor 24R detects the right leg leaving timing and the ground timing.
- the left leg device 12L is attached to the outside of the left leg along the thigh from the user's thigh.
- the left leg device 12L has basically the same structure as the right leg device 12R. That is, the left leg device 12L includes an upper link 14L and a lower link 16L. The two links are connected rotatably at a position outside the left knee.
- the left leg device 12L includes an encoder 20L, an inclination angle sensor 22L, and a ground sensor 24L.
- the encoder 20L detects the angle of the user's left knee joint
- the tilt angle sensor 22L detects the angle of the user's left hip joint.
- the knee joint angle and the hip joint angle mean a rotation angle around the pitch axis.
- the pitch axis corresponds to an axis extending in the body side direction of the user.
- the ground sensor 24L detects the user's left leg leaving timing and ground timing.
- the left leg device 12L also includes a motor 26 and a controller 30.
- the motor 26 is provided in a mechanical joint that connects the upper link 14L and the lower link 16L, and is located outside the user's left knee joint.
- the motor 26 can rotate the lower link 16L with respect to the upper link 14L. That is, the motor 26 can apply torque to the user's left knee joint.
- the controller 30 controls the motor 26 based on the output of each sensor. In other words, the left leg device 12L adjusts the angle by applying torque to the left knee joint of the user by the motor 26.
- the walking assist device 10 is worn from the user's thigh along the lower leg.
- the walking assist device 10 includes a motor 26 that applies torque to the user's left knee joint to adjust the angle thereof, and sensors 20R, 22R, 24R, 20L, 22L, and 24L that detect movements of both legs of the user.
- the sensors 20R, 22R, and 24R attached to the right leg may be collectively referred to as “leg motion sensors”.
- the walking assist device 10 further includes a headphone 40 and an arm motion sensor 42.
- the arm motion sensor 42 is an acceleration sensor.
- the arm motion sensor 42 is attached to the user's left arm, and detects the number of times the left arm is swung and the speed of the swing.
- the output of the arm motion sensor 42 is sent to the controller 30.
- the headphone 40 converts the electrical signal sent from the controller 30 into sound and transmits the signal sent from the controller 30 to the user.
- FIG. 2 shows a block diagram inside the controller 30.
- the controller 30 includes a target pattern generation module 34, a notification module 32, and a motor driver 36.
- the modules 32, 34, and 36 are the CPU of the controller 30 as hardware, and instructions executed by the CPU are described in a program stored in the controller 30.
- the target pattern generation module 34 acquires a change with time of the knee joint angle of the right leg during the one-step movement period based on the signal of the leg movement sensor (a sensor group attached to the right leg).
- the “one-step operation period” corresponds to a period from the right leg's getting-off timing to the next getting-off timing.
- the controller 30 determines the bed leaving timing based on a signal from the ground sensor 24R attached to the right leg.
- FIG. 3 shows a walking motion in a half cycle (from the right leg leaving the floor to the left leg getting out).
- the time of one cycle is indicated by a symbol Td.
- the solid line indicates the right leg, and the broken line indicates the left leg.
- symbol (a) of FIG. 3 has shown the arrangement
- the symbol (b) in FIG. 3 shows the arrangement of the legs at the timing when the knee joint of the right leg that has left the floor is most bent.
- the symbol (c) in FIG. 3 shows the arrangement of the legs at the timing when the right leg lands.
- FIG. 3 shows the arrangement of the legs at the timing when the left leg leaves the floor.
- FIG. 3 shows that time elapses from (a) to (d).
- reference numerals 102, 104, and 106 in FIG. 3 represent the hip joint, knee joint, and ankle joint of the right leg, respectively.
- the graph drawn on the lower side of FIG. 3 shows the change over time of the joint angle ⁇ of the right knee.
- symbols T1, T2, T3, and T4 respectively indicate the timing when the right foot leaves the floor, the timing when the right knee joint bends the most, the timing when the right leg reaches the ground, and the timing when the left leg leaves the floor. Yes.
- the graph of FIG. 3 shows the arrangement of the legs at the timing when the left leg leaves the floor.
- FIG. 3 shows that time elapses from (a) to (d).
- reference numerals 102, 104, and 106 in FIG. 3 represent the hip joint, knee joint, and ankle joint of the right leg, respectively.
- timing T2 corresponds to the maximum value
- timing T3 corresponds to the minimum value. Since the second half of one walking cycle can be obtained in the same manner, the description is omitted.
- the target pattern generation module 34 stores the obtained temporal change pattern of the right knee joint angle as the target pattern of the left knee joint.
- the timing at which the controller 30 drives the left leg device 12L according to the target pattern is synchronized with the timing at which the left leg leaves the floor. That is, the temporal pattern of the right knee joint angle from the timing T1 (corresponding to the right leg leaving timing) to T4 (corresponding to the left leg leaving timing) is the left starting from the left leg leaving timing (that is, the timing T4).
- Adopted as a leg assist target pattern That is, the controller 30 adjusts the left knee joint angle by controlling the motor 26 so as to follow the temporal change pattern of the right knee joint.
- the controller 30 controls the motor 26 so that the rotation angles of the upper link 14L and the lower link 16L follow the temporal change pattern of the right knee joint. Note that the rotation angles of the upper link 14L and the lower link 16L represent the left knee joint angle of the user.
- the generated target pattern is sent to the motor driver 36.
- the motor driver 36 receives a signal from a sensor attached to the left leg.
- the motor driver 36 can specify the left leg leaving timing T4 based on the signal of the left leg ground sensor 24L.
- the motor driver 36 starts motor control based on the target pattern from this timing T4.
- the target pattern is also sent from the target pattern generation module to the notification module 32.
- the notification module 32 stores timing detection conditions in advance. This timing detection condition specifies the timing when the waveform of the target pattern becomes an extreme value (maximum value or minimum value) and the start timing of the target pattern. In the example of FIG. 3, timing T1 (start timing), timing T2 (timing at which the maximum value is reached), and timing T3 (timing at which the minimum value is taken) are specified.
- the timings T2 and T3 are specified as the elapsed time from the start timing T1 of the target pattern. These timings are timings at which the waveform of the target pattern changes greatly, and correspond to change timings. More precisely, these change timings correspond to the timing at which the rotation direction (change direction with time) of the target joint angle is reversed.
- the notification module 32 operates in synchronization with the motor driver 36. While the motor driver 36 controls the motor 26 in accordance with the target pattern, the notification module 32 outputs a sound that informs the arrival of the timing through the headphones 40 prior to the specified change timing.
- the timing (notification timing) at which the notification module 32 outputs sound will be described with reference to FIG.
- FIG. 4 shows a graph (waveform) schematically showing a target pattern for two periods.
- a symbol (A) in FIG. 4 indicates the posture of the left leg at each change timing.
- Reference numerals 102, 104, and 106 in FIG. 4A indicate a hip joint, a knee joint, and an ankle joint, respectively.
- Reference numeral (C) in FIG. 4 indicates the waveform of the sound to be output. It should be noted that FIG. 4 schematically shows the movement of the leg, and does not accurately represent the change with time of the actual knee joint angle.
- Timing T11 indicates the start timing of the first period, and is also the timing at which the knee joint angle becomes the minimum value ⁇ 1.
- Timing T12 indicates the timing at which the knee joint angle reaches the maximum value ⁇ 2 in the first period.
- Timing T13 indicates the start timing of the second period, and is also the timing at which the knee joint angle becomes the minimum value ⁇ 1.
- Timing T14 indicates the timing at which the knee joint angle reaches the maximum value ⁇ 2 in the second period.
- Timing T15 indicates the start timing of the third period.
- the notification module identifies these timings from the target pattern. As described above, the controller 30 specifies the timing at which the target pattern becomes at least one of the minimum value and the maximum value as the change timing.
- the motor driver 36 controls the motor 26 so that the joint angle of the left knee follows the target pattern.
- the notification module 32 outputs sound from the headphones 40 at a notification timing that precedes the identified timing by a time W. That is, the specified change timing arrives immediately after the notification module 32 outputs the sound. In other words, the notification module 32 notifies the user of the arrival of the change timing before the motor is controlled at the specified change timing.
- FIG. 4C explains the effect of sound output.
- the walking assist device 10 outputs a sound prior to the timing T11 by a time W.
- Timing T11 corresponds to an operation start timing that is one of the change timings. The user who hears this sound knows that the motor 26 of the walking assistance device 10 will start to drive soon.
- the walking assistance device 10 outputs a sound at a notification timing that precedes the time T12 by a time W.
- Timing T12 corresponds to the timing at which the knee joint angle, which is one of the change timings, becomes maximum. The user who hears this sound knows that the motor 26 will begin to reverse soon. In this way, the user of the walking assistance device 10 can know the timing at which the drive pattern, particularly the drive pattern changes greatly, before the device is driven. Therefore, the user can imagine in advance how his / her leg is moved by the walking assist device 10, and the user is less likely to feel anxiety.
- the sound pattern informing the arrival of the specified change timing is not limited to the pattern shown in FIG.
- a modification of the sound pattern is shown in FIG.
- Reference numerals (A) and (B) in FIG. 5 are the same as those in FIG. Reference numeral (C) in FIG. 5 shows a first modification.
- Reference numeral (D) in FIG. 5 represents a second modification.
- the pitch becomes shorter as the specified change timing approaches.
- the sound pulse 112 shown in FIG. 5D represents that the volume increases as the specified change timing approaches.
- the notification timing can also be stated as follows. As illustrated in FIGS. 4 and 5, the walking assist device 10 outputs a sound that informs the arrival of the next extreme value (change timing) while the target joint angle is monotonously increasing or monotonically decreasing. More preferably, the walking assistance device 10 outputs a sound that informs the arrival of the change timing immediately before the specified change timing arrives.
- the configuration of the walking assistance device of this embodiment is the same as that of the previous embodiment. Only the processing of the notification module 32 is different. Therefore, the description of the configuration of the walking assistance device of the second embodiment is omitted.
- the walking assist device of this embodiment does not specify the timing to be notified in the target pattern. Instead, a sound pattern having a temporal waveform similar to the temporal waveform of the target pattern is generated. This sound pattern is referred to as a “notification pattern”. An example of the notification pattern will be described with reference to FIG.
- a symbol (C) in FIG. 6 shows a graph 114 of the notification pattern.
- the graph 114 also shows the waveform of the notification pattern.
- symbol (C) of FIG. 6 shows has shown the frequency of sound. That is, the graph of FIG. 6C means a tone having a higher tone as the graph shifts upward.
- the waveform of the notification pattern is similar to the waveform of the target pattern.
- the notification module 32 outputs a sound based on the notification pattern before the motor driver 36 drives the motor according to the target pattern. In other words, after the output of the sound based on the notification pattern is finished, the walking assistance device 10 starts walking assistance.
- the user hears a sound having a waveform similar to the waveform of the target pattern prior to assisting.
- the user can imagine in advance the target pattern, i.e., how his / her legs are moved, from the sound waveform.
- the function of the arm motion sensor 42 provided in the walking assistance device 10 shown in FIG. 1 will be described.
- the arm motion sensor 42 functions as an HMI (Human Machine Interface). For example, when the arm motion sensor 42 detects two consecutive arm swings, the walking assist device 10 starts operating. Further, when the arm motion sensor 42 detects again two consecutive arm swings, the walking assist device 10 stops operating. That is, the arm motion sensor 42 serves as a power switch of the walking assist device 10.
- HMI Human Machine Interface
- the arm motion sensor 42 detects the speed of arm swing.
- the controller 30 corrects the cycle Td of the target pattern according to the speed detected by the arm motion sensor 42. For example, when the user swings his / her arm quickly, the target pattern cycle Td decreases. When the user slowly swings his / her arm, the target pattern cycle Td increases. Such a function is effective when gradually increasing (or decreasing) the walking speed. When the walking speed is increased, the speed of the next step of the non-healthy leg is slightly higher than the speed of the step of the normal leg.
- the function of the arm motion sensor 42 is effective when the speed of one step of a healthy leg is different from the speed of one step of a non-healthy leg.
- the notification module 32 specifies the notification timing or the notification pattern based on the corrected target pattern.
- an upper link fixed to a proximal part of one joint of a leg and a lower link fixed to a distal part of the joint are positioned coaxially with the rotation axis of the joint. It has a two-link mechanism connected by a rotary joint.
- the left knee joint is an example of “one joint”
- the thigh is an example of “proximal site”
- the lower leg is an example of “distal site”.
- the temporal waveform of the target pattern is the same as the temporal waveform of the joint angle of the healthy leg (one leg).
- the walking assist device generates a target pattern indicating a temporal waveform of a joint angle from getting out of the healthy leg (one leg) to landing.
- a wearable device including an actuator is attached to a non-healthy leg (the other leg), and assists one step of the non-healthy leg following the step of the healthy leg according to the target pattern.
- the walking assistance device generates a target pattern from the movement of one step of one leg and repeats a cycle of assisting the other leg.
- the walking assistance device may store a predetermined target pattern instead of generating the target pattern based on the movement of one leg.
- the walking assistance device 10 may assist the joints of both legs.
- the technology disclosed in this specification is also suitable for a user's walking training apparatus in which both legs cannot be moved freely.
- the walking training apparatus adjusts the joint angle of both legs of a user with a predetermined walking pattern (target pattern) by a motor-mounted device that is mounted on each leg of the user.
- the walking training apparatus to which the present technology is applied can notify the user of the motion pattern (target pattern) of both legs prior to driving of the actuator. Since the user can know the operation of the actuator prior to driving the actuator, the user can use the walking assist device with peace of mind.
- the walking assist device of the example gave a notice stimulus to the user with sound.
- the walking assistance device may give a notice stimulus by vibration instead of sound.
- the walking assist device may include a head mounted display and display the waveform shown in FIG. 6C on the display.
- the walking assistance device may transmit the change pattern or the notification pattern to the user by any one of sound stimulation, visual stimulation, and tactile stimulation.
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Abstract
Description
(1)装着型デバイスは、脚の一つの関節の近位側部位に固定される上部リンクと、その関節の遠位側部位に固定される下部リンクがその関節の回転軸と同軸に位置する回転関節で連結されている2リンク機構を有する。実施例における左膝関節が「一つの関節」の一例であり、大腿が「近位側部位」の一例であり、下腿が「遠位側部位」の一例である。
(2)目標パターンの経時的波形は、健常脚(一方の脚)の関節角の経時的波形と同じである。
(3)歩行補助装置は、健常脚(一方の脚)の離床から着床までの関節角の経時的波形を示す目標パターンを生成する。アクチュエータを備えた装着型デバイスは、非健常脚(他方の脚)に取り付けられ、健常脚の一歩に続く非健常脚の一歩の動作を、目標パターンに従って補助する。歩行補助装置は、一方の脚の一歩の動作から目標パターンを生成し、他方の脚を補助するサイクルを繰り返す。
12R、12L:装着型デバイス
14R、14L:上部リンク
16R、16L:下部リンク
20R、20L:エンコーダ
22R、22L:傾斜角センサ
24R、24L:接地センサ
26:モータ
30:コントローラ
32:報知モジュール
40:ヘッドフォン
42:腕動作センサ
Claims (6)
- 使用者の歩行を補助する歩行補助装置であり、
使用者の脚に取り付けて当該脚の関節角を調整する装着型デバイスと、
目標関節角の経時的変化を示す目標パターンに使用者の関節角が追従するように装着型デバイスを制御するように構成されているコントローラと、を備えており、
コントローラは、目標パターンにおける目標関節角の経時的変化が予め定められている条件を満たす変化タイミングを特定し、特定された変化タイミングに先立って変化タイミングの到来を使用者に報知するように構成されていることを特徴とする歩行補助装置。 - 一方の脚の動きを検出する脚動作センサを備えており、
コントローラは、一方の脚の動きから他方の脚の目標パターンを生成し、他方の脚の関節角を調整する装着型デバイスを、生成された目標パターンに基づいて制御することを特徴とする請求項1に記載の歩行補助装置。 - コントローラは、目標パターンが極小値と極大値の少なくともいずれか一方となるタイミングを前記変化タイミングとして特定することを特徴とする請求項1に記載の歩行補助装置。
- 使用者の腕の動きを検出する腕動作センサを備えており、
コントローラは、腕動作センサの検出結果に基づいて目標パターンを補正し、補正された目標パターンに基づいて変化タイミングを特定することを特徴とする請求項1に記載の歩行補助装置。 - 使用者の歩行を補助する歩行補助装置であり、
使用者の脚に取り付けて当該脚の関節角を調整する装着型デバイスと、
目標関節角の経時的変化を示す目標パターンに使用者の関節角が追従するように装着型デバイスを制御するコントローラと、を備えており、
コントローラが、目標パターンの経時的変化に対応する波形の報知パターンを生成し、目標パターンに従って装着型デバイスを制御するのに先立って、報知パターンに基づく刺激を使用者に与えるように構成されていることを特徴とする歩行補助装置。 - 報知パターンの波形は、目標パターンの経時変化の波形と相似であることを特徴とする請求項5に記載の歩行補助装置。
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US13/126,031 US8674838B2 (en) | 2008-10-28 | 2009-10-22 | Walking assist device |
CN2009801404279A CN102176886A (zh) | 2008-10-28 | 2009-10-22 | 行走辅助装置 |
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JP2008276309A JP4506890B2 (ja) | 2008-10-28 | 2008-10-28 | 歩行補助装置 |
JP2008-276309 | 2008-10-28 |
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JP (1) | JP4506890B2 (ja) |
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