WO2011078104A1 - Two-legged passive walker - Google Patents
Two-legged passive walker Download PDFInfo
- Publication number
- WO2011078104A1 WO2011078104A1 PCT/JP2010/072859 JP2010072859W WO2011078104A1 WO 2011078104 A1 WO2011078104 A1 WO 2011078104A1 JP 2010072859 W JP2010072859 W JP 2010072859W WO 2011078104 A1 WO2011078104 A1 WO 2011078104A1
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- WIPO (PCT)
- Prior art keywords
- upper body
- leg
- passive
- biped
- walker
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B11/00—Hand-propelled vehicles not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/002—Appliances for aiding patients or disabled persons to walk about with attached or incorporated article carrying means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
Definitions
- the present invention relates to a passive walker, and more particularly to a two-legged passive walker having two legs.
- Non-Patent Document 1 proposes a passive walker with four legs, which realizes walking on a flat ground by a human assisting the passive walker. In this, humans are skillfully producing appropriate assist power. In addition, humans and walker are in sync with nature, and their gaits are almost the same.
- Assistance can be reduced if the walking movement efficiency can be increased in this assist flat ground walking.
- the present invention is a two-legged passive walker with two legs, and the purpose of this two-legged passive walker is to increase walking movement efficiency and reduce assist power.
- the present invention is a two-legged passive walker that walks with the assistance of a human, and is connected to a waist axis so as to be rotatable, and a thigh that rotates relatively via a knee joint. It has two legs with a lower leg and an assist jig for walking the biped passive walker, and a person assists the biped passive walker using the assist jig.
- the biped passive walking machine is further connected to the waist axis, and has a body whose center of gravity is above the waist axis in a walking state. To do.
- FIG. 1 It is a figure which shows the structure of the biped passive walking machine which concerns on one Embodiment of this invention. It is the figure which looked at the biped passive walking machine shown in FIG. 1 from the diagonally backward side. It is the figure which looked at the upper body 2 shown in FIG. 1 from back. It is a figure which shows that it has the structure which attaches the roller 7 to the lower part of the upper body 2, and does not prevent the movement of the back surface urethane sheet 4b. It is a figure which shows the structure which detects the collision of the knee stopper 9 with the PVDF film 13. FIG. It is a figure which shows the simple 2 link model which simulated the support leg and the upper body.
- FIG. 1 schematically shows a passive walking leg type robot (two-legged passive walking machine) used in this embodiment.
- the passive walking leg type robot has two legs 1 each having an arc-shaped foot 11 at the tip of each leg, an upper body 2, an assist jig 3, a front urethane sheet 4a, a back urethane sheet 4b, A knee stopper 9 is provided to prevent overextension of the knee.
- FIG. 2 shows a view of the biped passive walking machine shown in FIG.
- the two legs 1 are rotatably connected to the waist shaft 15.
- a waist joint 16 is configured by a portion that rotatably connects the two legs 1 with the waist shaft 15.
- Each leg 1 includes a thigh 1a and a crus 1b that rotate relative to each other via a knee joint (portion connected by a knee axis) 1c.
- the length of the thigh 1a is, for example, 40 cm
- the length of the crus 1b is, for example, 42 cm.
- the upper body 2 and the assist jig 3 are connected (freely rotated) to the waist shaft 15 between the thighs 1a of the two legs 1, respectively.
- the center of gravity of the upper body 2 is, for example, 150 mm above the waist axis 15 in the walking state.
- a urethane sheet 4 is stretched around the upper body 2 and the thigh 1a of the leg 1.
- the walking is performed from behind the passive walking leg type robot with the assist jig 3.
- humans can also easily stabilize the left and right.
- Front urethane sheet 4a and the back urethane sheet 4b have the following effects.
- Front urethane sheet 4a effect of promoting swinging out in the early stage of the free leg. Prevents backward tilt (curvature) in the later stage of the support leg.
- Back urethane sheet 4b Adjusted to an appropriate stride in the late stage of the free leg. Upper body effect at the beginning of the support leg.
- the free leg means a leg floating from the ground
- the support leg means a leg on the ground.
- Each of the front urethane sheet 4a and the back urethane sheet 4b is firmly fixed to the thigh 1a of the leg 1 with a bolt or the like at one end side, and is attached to the upper body via a slider 5. Moreover, the back urethane sheet 4b is connected to the back of the thigh 1a simulating a human body structure. The back urethane sheet 4b generates tension when the slider 5 hits the fixed stopper 6 shown in FIG. Here, as shown in FIG.
- the roller 7 is attached to the lower part of the upper body 2 so as not to prevent the movement of the back urethane sheet 4b, and although not shown, when not hitting the fixed stopper 6
- the slider 5 is lifted upward by a spring so that the urethane sheet 4 does not play.
- the upper body 2 shown in FIG. 3 is viewed from the rear, and depending on whether the leg 1 is a supporting leg or a free leg, by a mechanism as shown in the state where the back urethane sheet 4b is not attached, The action of the tension of the back urethane sheet 4b is switched.
- the slider 5 to which the back urethane sheet 4b is fixed is movable in the vertical direction in FIG. 3, and when it hits either the movable stopper 8 or the fixed stopper 6, the back urethane sheet 4b generates tension.
- the movable stopper 8 is at the top, and generates a larger tension even at the same hip flexion angle.
- the back urethane sheet 4b needs to determine an appropriate stride in the later stage of the free leg and create an upper body effect at the initial stage of the support leg across the landing, but the desired tension characteristics are not always the same. Absent. Specifically, the latter requires stronger tension.
- the servo 10 is operated to move the movable stopper 8 via the link mechanism (FIG. 3). Move left).
- the slider 5 since the slider 5 is already in contact with the fixed stopper 6 in the later stage of the free leg, the wedge-shaped movable stopper 8 is pushed and inserted (just before landing). Thereby, stronger tension characteristics can be obtained in the initial stage of the support leg.
- the front urethane sheet 4a is configured to generate tension when it hits the fixed stopper.
- the movable urethane stopper as described above is not provided for the front urethane sheet 4a only with the fixed stopper.
- the roller provided at the lower part of the upper body 2 is configured not to prevent the front urethane sheet 4a from moving.
- the following describes the walking motion of the biped passive walker having the above-mentioned configuration along a series of movements from the start of walking to the stop of walking.
- the thigh 1a of the leg 1 is decelerated by gravity, so that the knee joint 1c of the leg 1 is changed from flexion to extension, and the knee stopper 9 collides when the knee joint becomes straight.
- This collision is detected by the PVDF film 13, and the servo 10 operates.
- the movable stopper 8 is inserted between the fixed stopper 6 and the slider 5 by the operation of the servo 10. In this state, the leg 1 collides with the ground, and the swing leg period is switched to the support leg period.
- the upper body 2 In the latter stage of the support leg, the upper body 2 tries to tilt backward, but is restrained by the tension of the front urethane sheet 4a.
- the walking speed is adjusted with the strength of the assist force.
- the assist force is increased, the swinging speed of the leg 1 is promoted and the walking speed is increased.
- the assist force is weakened, the walking speed is reduced.
- the assist force is gradually weakened, the stride becomes smaller, and it is finally possible to stop walking with both legs aligned.
- the walking movement efficiency can be increased and the assist force can be reduced.
- walking assist One role of walking assist is to push the legs forward on flat ground.
- the kinetic energy must exceed the potential energy until the hip joint reaches the highest point, or this potential barrier needs to be lowered in some form.
- FIG. 6 shows a simple two-link model that simulates the support leg and the upper body.
- the equation of motion is obtained as in Equation 1.
- the vehicle As the support leg falls forward, the vehicle is decelerated (d ⁇ 1 / dt ⁇ 0) and accelerated (d ⁇ 1 / dt> 0). If the upper body (a 2 > 0) is included, these decelerations and accelerations are performed. The size of becomes smaller. In other words, it can be understood that the potential barrier is lowered. Furthermore, the speed immediately before landing is reduced, and the collision with the floor surface is reduced.
- the joint angle was calculated using a high speed camera. However, the shooting speed is 500 [frame / s], and the frame size is 1024 ⁇ 512 [pixels].
- the assist force was measured by a 6-axis force sensor attached in the middle of the assist jig.
- FIG. 7 shows the assist force in the horizontal direction in a one-step section immediately after landing and immediately before landing.
- a spike-like pressing force is generated immediately after landing and around 0.6 [s].
- Each of these has a shape in which a human has received a reaction caused by a collision with a floor surface and a collision with a knee stopper. This is not intentional assistance by humans, but is supported from behind, resulting in the generation of assist force.
- the collision with the floor surface is suppressed to about half with the upper body, although the knee collision is almost the same level.
- the maximum forward tilt angle of the upper body is about 6 [deg], and it tilts forward 2 degrees during one walking cycle (bimodal).
- the reaction acted on the upper body because the timing of the collision between the forward tilt and the knee stopper of the free leg coincides.
- the body is tilted forward by about 5 [deg], and when the swing leg knee becomes straight, the upper body rises vertically from the forward tilt.
- the waist torque works so as to suppress the forward tilt of the upper body and become straight.
- the urethane sheet on the front surface of the supporting leg is stretched to prevent the upper body from being tilted backward (curved).
- the front urethane sheet contracts to promote swinging of the free leg.
- the consumed energy W and the movement efficiency Ct are expressed as Equation 4 and Equation 5, respectively.
- the movement efficiency is improved by about 35% by adding the upper body. This is considered to be due to the generation of effective assist force by humans in addition to the upper body effect.
- a strain gauge 12 is attached to the fixed part of the roller 7 to measure the tension of the urethane sheet 4, thereby automatically adjusting the tension of the urethane sheet 4. Good.
- the urethane sheet 4 is not limited to a sheet shape, and may have a round cross section. From the function thereof, the slider 5 to which it is fixed hits either the movable stopper 8 or the fixed stopper 6. Any member may be used as long as it produces tension, for example, an elastic member. In that case, a hard rubber may be used instead of urethane.
- a two-legged passive walking machine may be configured as a legged transporter.
- the upper body 2 is configured as a loading platform 2 on which a load 14 can be mounted as shown in the figure.
- it may be the structure which hooks a load even if it is not a loading platform.
- the urethane sheets 4a and 4b are omitted as in FIG.
- FIGS. 12 and 13 show another embodiment in which the biped passive walking machine is configured as a legged transporter.
- a transport handle 3 is attached as an assist jig 3 on the back side of the back plate in the loading platform 2, that is, on the back surface of the loading platform 2 (more specifically, a position slightly above the center of the back surface of the loading platform 2).
- the loading platform is connected to the waist axis between the two legs.
- the legged carrier shown in this example has a brake mechanism.
- the brake is hydraulic. As shown in FIGS. 12 and 13, the brake handle 20 is attached to the transport handle 3, and the brake mechanism 21 is attached to the knee joint 1c (see FIG. 12) or the waist joint 16 (see FIG. 13). It is attached, and a rotational resistance can be generated in the knee joint 1c or the waist joint 16.
- the brake mechanism 21 may be attached to both the knee joint 1c and the waist joint 16.
- the carrier carries the load 14 on the carrier and holds the transport handle 3.
- the load can be transported easily while walking. In the experiment, we have successfully transported 5 kg of luggage.
- the transporter By operating the transport handle 3, the transporter can easily stabilize the left and right, change the direction, etc. like a unicycle, and can transport various routes. Further, the distance between the two legs (adjustable) is about 15 cm, and it is possible to carry a narrow place. Moreover, it is suitable for transporting rough terrain such as steps and grooves, which is difficult with a wheeled transporter.
- the carrier can adjust or stop the movement of the knee joint 1c and / or the hip joint 16 by operating the brake handle 20. This makes it possible to easily adjust the stride and hold the posture when stopped.
- 11 to 13 is a mechanism in which a platform is installed on a passive walking machine having two legs and a load is loaded on the platform, and the carrier pushes the handle. Carrying luggage while walking a legged carrier.
- this leg-type transporter By using this leg-type transporter, you can transport obstacles by stepping over obstacles such as steps, staircases, etc., which are difficult with carry bags, trolleys, unicycles, etc., gaps between trains and platforms, pipes, etc. be able to.
- the slender legs placed under the baggage occupy a small area and do not disturb people.
- the legged transport device it is possible to carry a load, and further, the number of legs of the passive walker is reduced from four to two, thereby reducing the occupied area and improving the mobility such as turning. Can be. By these, the user can carry a load easily while walking only by pushing.
- the present invention is a two-legged passive walker that walks with the assistance of a person, and includes a thigh and a lower leg that are rotatably connected to a waist axis and rotate relatively via a knee joint.
- a leg and an assist jig for walking the biped passive walker, so that a person walks by assisting the biped passive walker using the assist jig The biped passive walking machine is further configured to have an upper body that is connected to the waist axis and has a center of gravity located above the waist axis in a walking state.
- the present invention can perform stable walking by adopting a configuration in which elastic members are stretched around the thighs of the upper body and the two legs.
- the elastic members stretched around the thighs of the upper body and the two legs promote swinging of the leg in the early stage of the free leg, and swing out of the leg in the late stage of the free leg.
- the amount is suppressed, the forward tilt of the upper body is suppressed in the initial stage of the support leg, and the backward tilt of the upper body is suppressed in the late stage of the support leg.
- each of the elastic members stretched around the thigh is attached to the upper body via a slider, and generates tension when the slider hits a stopper provided on the upper body. Further, it is preferable that a roller is attached to the upper body so as not to hinder the movement of the elastic member.
- the present invention provides a mechanism for switching the action of the tension of the elastic member on the back stretched behind the thigh depending on whether the leg is the supporting leg stage or the swinging leg stage. This is preferable because stronger tensile properties can be obtained.
- the above-described two-legged passive walking machine can be used as a legged carrier.
- the assist jig is connected to the waist axis, and when a biped passive walking machine is used as a legged transporter, the assist jig can be a transport handle attached to the back of the loading platform. .
- a brake mechanism that causes rotational resistance to the hip joint and / or the knee joint that rotatably connects the two legs with the waist axis. It is preferable that a brake handle for operating the brake mechanism is attached to the transport handle.
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Abstract
Provided is a two-legged passive walker comprising: two legs (1), each leg being connected pivotally to the hip shaft and having a femur section (1a) and a crus section (1b) that rotate relative to one another through a connection mechanism which constitutes the knee joint; an upper body (2) connected to the hip shaft and of which the center of gravity is located above the hip shaft while the walker is being walked; and an assistance fixture (3) connected to the hip shaft for making the two-legged passive walker walk. The two-legged passive walker is made to walk by being assisted by a person with the use of the assistance fixture.
Description
本発明は、受動歩行機に関し、特に脚を2本とした2脚受動歩行機に関するものである。
The present invention relates to a passive walker, and more particularly to a two-legged passive walker having two legs.
受動歩行の研究を平地歩行に展開する場合、解析やシミュレーションにより適切な関節トルクの導出を図ったり、アクチュエータを有する実機の開発を行うことがほとんどである。これに対し、非特許文献1では、脚を4本とした受動歩行機とし、ヒトが受動歩行機をアシストすることで平地歩行を実現したものが提案されている。この中で、ヒトは巧みに適切なアシスト力を生み出している。また、ヒトと歩行機は自然と同調し、両者の歩容はほとんど同じになっている。
When developing passive walking research on flat ground walking, most of the time, it is necessary to derive appropriate joint torque through analysis and simulation, or to develop actual machines with actuators. On the other hand, Non-Patent Document 1 proposes a passive walker with four legs, which realizes walking on a flat ground by a human assisting the passive walker. In this, humans are skillfully producing appropriate assist power. In addition, humans and walker are in sync with nature, and their gaits are almost the same.
このアシスト平地歩行において、歩行の移動効率を高めることができれば、アシスト力を低減することが可能である。
Assistance can be reduced if the walking movement efficiency can be increased in this assist flat ground walking.
本発明は、脚を2本とした2脚受動歩行機とし、この2脚受動歩行機において、歩行の移動効率を高め、アシスト力を低減することを目的とする。
The present invention is a two-legged passive walker with two legs, and the purpose of this two-legged passive walker is to increase walking movement efficiency and reduce assist power.
上記目的を達成するため、本発明は、人のアシストにより歩行を行う2脚受動歩行機であって、腰軸に回転可能に連結され、膝関節を介して相対的に回転する大腿部と下腿部を備えた2本の脚と、当該2脚受動歩行機を歩行させるためのアシスト治具と、を有し、人が前記アシスト治具を用いて当該2脚受動歩行機をアシストすることによって歩行を行うように構成されており、当該2脚受動歩行機は、さらに、前記腰軸に連結され、歩行状態において重心位置が前記腰軸より上方にある上体を有することを特徴とする。
In order to achieve the above object, the present invention is a two-legged passive walker that walks with the assistance of a human, and is connected to a waist axis so as to be rotatable, and a thigh that rotates relatively via a knee joint. It has two legs with a lower leg and an assist jig for walking the biped passive walker, and a person assists the biped passive walker using the assist jig. The biped passive walking machine is further connected to the waist axis, and has a body whose center of gravity is above the waist axis in a walking state. To do.
これによれば、上体を設けることにより、歩行の移動効率を高め、アシスト力を低減することができる。
According to this, by providing the upper body, it is possible to improve the walking movement efficiency and reduce the assist force.
図1に、本実施形態で使用した受動歩行脚式ロボット(2脚受動歩行機)を模式的に示す。受動歩行脚式ロボットは、それぞれの脚先端に円弧状の足11を備えた2本の脚1と、上体2と、アシスト治具3と、前面ウレタンシート4aと、背面ウレタンシート4bと、膝の過伸展を防ぐ膝ストッパー9を備えていている。
FIG. 1 schematically shows a passive walking leg type robot (two-legged passive walking machine) used in this embodiment. The passive walking leg type robot has two legs 1 each having an arc-shaped foot 11 at the tip of each leg, an upper body 2, an assist jig 3, a front urethane sheet 4a, a back urethane sheet 4b, A knee stopper 9 is provided to prevent overextension of the knee.
図2に、図1に示す2脚受動歩行機を斜め後方から見た図を示す。2本の脚1は、腰軸15に回転可能に連結されている。腰軸15で2本の脚1を回転可能に連結する部分により腰関節16を構成している。それぞれの脚1は、膝関節(膝軸で連結する部分)1cを介して相対的に回転する大腿部1aと下腿部1bを備えている。なお、大腿部1aの長さは例えば40cm、下腿部1bの長さは例えば42cmである。
FIG. 2 shows a view of the biped passive walking machine shown in FIG. The two legs 1 are rotatably connected to the waist shaft 15. A waist joint 16 is configured by a portion that rotatably connects the two legs 1 with the waist shaft 15. Each leg 1 includes a thigh 1a and a crus 1b that rotate relative to each other via a knee joint (portion connected by a knee axis) 1c. The length of the thigh 1a is, for example, 40 cm, and the length of the crus 1b is, for example, 42 cm.
上体2とアシスト治具3は、それぞれ2本の脚1の大腿部1aの間で腰軸15に連結(自由回転)されている。上体2の重心位置は歩行状態において腰軸15から例えば150mm上方にある。また、上体2と脚1の大腿部1aの前後にウレタンシート4を張った構造となっている。
The upper body 2 and the assist jig 3 are connected (freely rotated) to the waist shaft 15 between the thighs 1a of the two legs 1, respectively. The center of gravity of the upper body 2 is, for example, 150 mm above the waist axis 15 in the walking state. Further, a urethane sheet 4 is stretched around the upper body 2 and the thigh 1a of the leg 1.
歩行は、アシスト治具3を持って受動歩行脚式ロボットの後方より行う。ここで、左右の安定化もヒトが容易に行うことができる。
The walking is performed from behind the passive walking leg type robot with the assist jig 3. Here, humans can also easily stabilize the left and right.
なお、前面ウレタンシート4aと背面ウレタンシート4bは以下のような効果を有する。
前面ウレタンシート4a:遊脚初期に振り出しを促進する効果。支持脚後期での後傾(のけ反り)防止。
背面ウレタンシート4b:遊脚後期に適切な歩幅に調整。支持脚初期での上体効果。 Thefront urethane sheet 4a and the back urethane sheet 4b have the following effects.
Front urethane sheet 4a: effect of promoting swinging out in the early stage of the free leg. Prevents backward tilt (curvature) in the later stage of the support leg.
Backurethane sheet 4b: Adjusted to an appropriate stride in the late stage of the free leg. Upper body effect at the beginning of the support leg.
前面ウレタンシート4a:遊脚初期に振り出しを促進する効果。支持脚後期での後傾(のけ反り)防止。
背面ウレタンシート4b:遊脚後期に適切な歩幅に調整。支持脚初期での上体効果。 The
Back
なお、遊脚は、地面から浮いている脚をいい、支持脚は、地面についている脚をいう。
In addition, the free leg means a leg floating from the ground, and the support leg means a leg on the ground.
前面ウレタンシート4aと背面ウレタンシート4bのそれぞれは、一端側が脚1の大腿部1aにボルト等でしっかりと固定され、上体にはスライダ5を介して取り付けられている。また、人体構造を模擬して、背面ウレタンシート4bは大腿部1aの後方に接続されている。背面ウレタンシート4bは、スライダ5が図3に示す固定ストッパー6に当たると張力を発生する。ここで、図4に示すように、上体2の下部にローラ7を取り付けて背面ウレタンシート4bの可動を妨げない工夫がしてあり、また、図示していないが、固定ストッパー6に当たっていない時に、ウレタンシート4が遊ばないようにスライダ5はバネによって上方に吊り上げられている。
Each of the front urethane sheet 4a and the back urethane sheet 4b is firmly fixed to the thigh 1a of the leg 1 with a bolt or the like at one end side, and is attached to the upper body via a slider 5. Moreover, the back urethane sheet 4b is connected to the back of the thigh 1a simulating a human body structure. The back urethane sheet 4b generates tension when the slider 5 hits the fixed stopper 6 shown in FIG. Here, as shown in FIG. 4, the roller 7 is attached to the lower part of the upper body 2 so as not to prevent the movement of the back urethane sheet 4b, and although not shown, when not hitting the fixed stopper 6 The slider 5 is lifted upward by a spring so that the urethane sheet 4 does not play.
本実施形態では、図3上体2を後方から見た図で、背面ウレタンシート4bが取り付けられていない状態のものに示すような機構により、脚1が支持脚期か遊脚期かによって、背面ウレタンシート4bの張力の作用を切換える。
In the present embodiment, the upper body 2 shown in FIG. 3 is viewed from the rear, and depending on whether the leg 1 is a supporting leg or a free leg, by a mechanism as shown in the state where the back urethane sheet 4b is not attached, The action of the tension of the back urethane sheet 4b is switched.
背面ウレタンシート4bが固定されたスライダ5は、図3の上下方向に移動可能で、可動ストッパー8あるいは固定ストッパー6のいずれかに当たると背面ウレタンシート4bが張力を発生する。図からわかるように、可動ストッパー8の方が上部にあり、同一の腰屈曲角でもより大きな張力を発生する。
The slider 5 to which the back urethane sheet 4b is fixed is movable in the vertical direction in FIG. 3, and when it hits either the movable stopper 8 or the fixed stopper 6, the back urethane sheet 4b generates tension. As can be seen from the figure, the movable stopper 8 is at the top, and generates a larger tension even at the same hip flexion angle.
背面ウレタンシート4bは、遊脚後期に適切な歩幅を決定し、着地をはさんで支持脚初期に上体効果を生み出す必要があるが、両者で望まれる張力特性が必ずしも同一であるとは限らない。具体的には、後者の方がより強力な張力が必要となる。
The back urethane sheet 4b needs to determine an appropriate stride in the later stage of the free leg and create an upper body effect at the initial stage of the support leg across the landing, but the desired tension characteristics are not always the same. Absent. Specifically, the latter requires stronger tension.
そこで、本実施形態では、図5に示すPVDFフィルム(検知手段)13で膝ストッパー9の衝突を検知した時点で、サーボ10を作動させてリンク機構を介して可動ストッパー8を移動させる(図3の場合、左方向に移動)。このとき、遊脚後期で既に固定ストッパー6にスライダ5が当たっているので、くさび状の可動ストッパー8がこれを押し広げて挿入される(着地直前)。これにより、支持脚初期には、より強力な張力特性が得られる。
Therefore, in this embodiment, when the collision of the knee stopper 9 is detected by the PVDF film (detecting means) 13 shown in FIG. 5, the servo 10 is operated to move the movable stopper 8 via the link mechanism (FIG. 3). Move left). At this time, since the slider 5 is already in contact with the fixed stopper 6 in the later stage of the free leg, the wedge-shaped movable stopper 8 is pushed and inserted (just before landing). Thereby, stronger tension characteristics can be obtained in the initial stage of the support leg.
なお、図示しないが、前面ウレタンシート4aも固定ストッパーに当たると張力を発生する構成となっている。しかし、前面ウレタンシート4aに対しては固定ストッパーのみで上記したような可動ストッパーは設けられていない。また、背面ウレタンシート4bと同様、上体2の下部に設けたローラにより前面ウレタンシート4aの可動を妨げない構成となっている。
Although not shown, the front urethane sheet 4a is configured to generate tension when it hits the fixed stopper. However, the movable urethane stopper as described above is not provided for the front urethane sheet 4a only with the fixed stopper. Further, like the back urethane sheet 4b, the roller provided at the lower part of the upper body 2 is configured not to prevent the front urethane sheet 4a from moving.
上記構成を有する2脚受動歩行機の歩行動作に関して、歩行開始から歩行停止まで一連の動きに沿って以下に述べる。
The following describes the walking motion of the biped passive walker having the above-mentioned configuration along a series of movements from the start of walking to the stop of walking.
まず、両脚を揃えて立っている2脚受動歩行機を左右いずれかに傾けながら、後方よりアシスト力を加える。これにより、片方の脚1が支持脚期として地面を支持し、もう片方の脚1が地面から浮いて、遊脚期として膝を屈曲しながら前方に振り出され、歩行が開始される。
First, apply the assist force from the back while tilting the two-legged passive walking machine standing with both legs aligned. As a result, one leg 1 supports the ground as a supporting leg period, the other leg 1 floats off the ground, and swings forward while bending the knee as a free leg period, and walking is started.
遊脚初期では、前面ウレタンシート4aの張力で脚1の振り出しが促進する。脚1がある程度前方に振り出されると、脚1と背面ウレタンシート4bを介して接続されたスライダ5が固定ストッパー6に当たり、背面ウレタンシート4bが張力を発生する。これにより、振り出し量を抑え、遊脚後期に適切な歩幅を決定する。
In the initial stage of the free leg, swinging out of the leg 1 is promoted by the tension of the front urethane sheet 4a. When the leg 1 is swung forward to some extent, the slider 5 connected to the leg 1 via the back urethane sheet 4b hits the fixed stopper 6, and the back urethane sheet 4b generates tension. Thereby, the amount of swing is suppressed, and an appropriate stride is determined in the later stage of the swing leg.
遊脚後期では、脚1の大腿部1aが重力により減速することで,当該脚1の膝関節1cが屈曲から伸展に転換し、膝関節が真直ぐになると膝ストッパー9の衝突が起きる。この衝突をPVDFフィルム13で検知し、サーボ10が作動する。サーボ10の動作により、固定ストッパー6とスライダ5の間に可動ストッパー8が挿入される。この状態で当該の脚1が地面と衝突し、遊脚期から支持脚期に切り換る。
In the late stage of the free leg, the thigh 1a of the leg 1 is decelerated by gravity, so that the knee joint 1c of the leg 1 is changed from flexion to extension, and the knee stopper 9 collides when the knee joint becomes straight. This collision is detected by the PVDF film 13, and the servo 10 operates. The movable stopper 8 is inserted between the fixed stopper 6 and the slider 5 by the operation of the servo 10. In this state, the leg 1 collides with the ground, and the swing leg period is switched to the support leg period.
支持脚初期では、上体2は前方に傾斜し、背面ウレタンシート4bがより大きな張力を生みだし、前傾を抑制し上体姿勢を一定に保とうとする。この張力は、上体姿勢を一定にする腰トルクと等価的に働くので、ポテンシャルバリアが低くなり(後述する運動解析(数式3)を参照)、アシスト力の低減につながる(上体効果)。
In the initial stage of the support leg, the upper body 2 is inclined forward, and the rear urethane sheet 4b generates a larger tension, thereby suppressing the forward inclination and trying to keep the upper body posture constant. Since this tension acts equivalently to the waist torque that keeps the body posture constant, the potential barrier is lowered (see motion analysis (Equation 3) described later) and leads to a reduction in assist force (body effect).
支持脚後期では、上体2は後傾しようとするが、前面ウレタンシート4aの張力で抑える。
In the latter stage of the support leg, the upper body 2 tries to tilt backward, but is restrained by the tension of the front urethane sheet 4a.
遊脚期および支持脚期の動作を繰り返すことで、2脚受動歩行機の歩行を継続させることができる。
繰 り 返 す By repeating the movements during the swing phase and the support leg phase, it is possible to continue walking with the biped passive walking machine.
歩行速度の調整は、アシスト力の強弱で行う。アシスト力を強くすると、脚1の振り出し速度が促進されて歩行速度が上がる。逆に、アシスト力を弱めると歩行速度が減速する。徐々にアシスト力を弱めると歩幅が小さくなり、最終的に両脚を揃えて歩行を停止させることができる。
The walking speed is adjusted with the strength of the assist force. When the assist force is increased, the swinging speed of the leg 1 is promoted and the walking speed is increased. Conversely, if the assist force is weakened, the walking speed is reduced. When the assist force is gradually weakened, the stride becomes smaller, and it is finally possible to stop walking with both legs aligned.
本実施形態では、2脚受動歩行機に上体2を設けることにより、歩行の移動効率を高め、アシスト力を低減することができる。以下、この点について説明する。
In the present embodiment, by providing the upper body 2 on the biped passive walking machine, the walking movement efficiency can be increased and the assist force can be reduced. Hereinafter, this point will be described.
歩行アシストの一つの役割は、平地において脚を前方へ倒すことである。ここで、前方に倒れるためには、運動エネルギーが、腰関節が最高点になるまでのポテンシャルエネルギーを上回るか、このポテンシャルバリアを何らかの形で下げる必要がある。
One role of walking assist is to push the legs forward on flat ground. Here, in order to fall forward, the kinetic energy must exceed the potential energy until the hip joint reaches the highest point, or this potential barrier needs to be lowered in some form.
図6に支持脚と上体を模擬した簡単な2リンクモデルを示す。ここで、上体の質量m2が脚の質量m1に比べて十分大きいものとするとき、運動方程式は数式1のように得られる。
FIG. 6 shows a simple two-link model that simulates the support leg and the upper body. Here, when the mass m 2 of the upper body is sufficiently larger than the mass m 1 of the leg, the equation of motion is obtained as in Equation 1.
さて、歩幅が等しくなるようにアシストを行い、上体の有無による違いの検証実験を行った。なお、関節角度は高速度カメラを用いて算出した。ただし、撮影速度は500[frame/s]、フレームサイズは1024×512[pixels]とする。アシスト力は、アシスト治具の途中に取り付けた6軸力覚センサにより計測した。
Assistance was made so that the strides were equal, and a verification experiment was conducted to check the difference depending on the presence or absence of the upper body. The joint angle was calculated using a high speed camera. However, the shooting speed is 500 [frame / s], and the frame size is 1024 × 512 [pixels]. The assist force was measured by a 6-axis force sensor attached in the middle of the assist jig.
着地直後から着地直前までの一歩区間における水平方向のアシスト力を図7に示す。図7からわかるように、着地直後および0.6[s]前後にスパイク状の押し付け力が発生している。これらは、それぞれ床面との衝突および膝ストッパーとの衝突による反動をヒトが受け止めた形となっている。これは、ヒトによる意図的なアシストではないが、後方から支えていることから、結果的にアシスト力の発生となっている。ここで、上体の有無で比較すると、膝衝突に関してはほぼ同レベルであるにも関わらず、床面との衝突に関しては上体付きでは半分程度に抑えられている。
FIG. 7 shows the assist force in the horizontal direction in a one-step section immediately after landing and immediately before landing. As can be seen from FIG. 7, a spike-like pressing force is generated immediately after landing and around 0.6 [s]. Each of these has a shape in which a human has received a reaction caused by a collision with a floor surface and a collision with a knee stopper. This is not intentional assistance by humans, but is supported from behind, resulting in the generation of assist force. Here, when compared with the presence or absence of the upper body, the collision with the floor surface is suppressed to about half with the upper body, although the knee collision is almost the same level.
図8、図9および図10に、それぞれ支持脚の角度、上体の角度および支持脚の腰関節トルクを示す。ただし、トルクは前後のウレタンシートの張力から算出している。図8からわかるように、ポテンシャルバリアが下がったことから、上体有りの場合、支持脚の角速度(図では傾き)があまり低下することなく、腰関節が頂点(支持脚角度0[deg])を越えている。頂点では、上体無しと比べて、角速度に2倍程度の差が生じている。さらに、10[deg]付近で上体有りの場合は支持脚の加速が大きくなっている。
8, 9 and 10 show the angle of the support leg, the angle of the upper body and the hip joint torque of the support leg, respectively. However, the torque is calculated from the tension of the front and rear urethane sheets. As can be seen from FIG. 8, when the upper body is present because the potential barrier has been lowered, the angular velocity (inclination in the figure) of the support leg does not decrease so much and the hip joint is at the apex (support leg angle 0 [deg]). Is over. At the apex, there is a difference of about twice in the angular velocity compared to the case without the upper body. Furthermore, when the upper body is present in the vicinity of 10 [deg], the acceleration of the support leg is increased.
図9からわかるように、上体の挙動は、最大前傾角度が約6[deg]であり、1歩行周期中に2度前傾している(2峰性)。なお、再前傾と遊脚の膝ストッパーとの衝突のタイミングが一致していることから、その反動が上体に作用したと考えられる。ヒトの場合は、一旦、5[deg]程前傾し、遊脚膝が真直ぐになるころ、前傾から鉛直へ上体が起き上がってくる。
As can be seen from FIG. 9, the maximum forward tilt angle of the upper body is about 6 [deg], and it tilts forward 2 degrees during one walking cycle (bimodal). In addition, it is thought that the reaction acted on the upper body because the timing of the collision between the forward tilt and the knee stopper of the free leg coincides. In the case of humans, the body is tilted forward by about 5 [deg], and when the swing leg knee becomes straight, the upper body rises vertically from the forward tilt.
図10からわかるように、支持脚背面のウレタンシートが張った状態で、上体の前傾を抑制して真直ぐになるように腰トルクが働いている。その後、支持脚前面のウレタンシートが張ることで上体の後傾(のけ反り)を防止している。なお、脚が切り換わり遊脚になって床面からの拘束が解かれると、前面のウレタンシートが収縮することにより遊脚の振り出しが促進される。
As can be seen from FIG. 10, in the state where the urethane sheet on the back of the support leg is stretched, the waist torque works so as to suppress the forward tilt of the upper body and become straight. Thereafter, the urethane sheet on the front surface of the supporting leg is stretched to prevent the upper body from being tilted backward (curved). When the leg is switched to become a free leg and the restraint from the floor surface is released, the front urethane sheet contracts to promote swinging of the free leg.
消費エネルギーWおよび移動効率Ctは、それぞれ数式4および数式5のように表される。
The consumed energy W and the movement efficiency Ct are expressed as Equation 4 and Equation 5, respectively.
なお、上記実施形態において、図4に示すように、ローラ7の固定部品に歪ゲージ12を取り付けてウレタンシート4の張力を計測し、それによってウレタンシート4の張力を自動調整するようにしてもよい。
In the above embodiment, as shown in FIG. 4, a strain gauge 12 is attached to the fixed part of the roller 7 to measure the tension of the urethane sheet 4, thereby automatically adjusting the tension of the urethane sheet 4. Good.
また、ウレタンシート4は、シート状のものに限らず、断面丸形状のものでもよく、またその機能からして、それが固定されたスライダ5が可動ストッパー8あるいは固定ストッパー6のいずれかに当たったときに張力を発生するような部材、例えば弾性部材であればよく、その場合、ウレタンでなく硬めのゴムを用いたものであってもよい。
In addition, the urethane sheet 4 is not limited to a sheet shape, and may have a round cross section. From the function thereof, the slider 5 to which it is fixed hits either the movable stopper 8 or the fixed stopper 6. Any member may be used as long as it produces tension, for example, an elastic member. In that case, a hard rubber may be used instead of urethane.
また、図11に示すように、2脚受動歩行機を脚式運搬機として構成してもよい。この場合、上体2は図に示すように荷物14を搭載できる荷台2として構成されている。また、荷台でなくても荷物を引っ掛けるような構成となっていてもよい。なお、図11は、図2と同様、ウレタンシート4a、4b等を省略したものとなっている。
Further, as shown in FIG. 11, a two-legged passive walking machine may be configured as a legged transporter. In this case, the upper body 2 is configured as a loading platform 2 on which a load 14 can be mounted as shown in the figure. Moreover, it may be the structure which hooks a load even if it is not a loading platform. In FIG. 11, the urethane sheets 4a and 4b are omitted as in FIG.
さらに、図12、図13に、2脚受動歩行機を脚式運搬機として構成した他の実施形態を示す。この実施形態では、荷台2における背板の裏側つまり荷台2の背面(より具体的には荷台2の背面の中央よりやや上部の位置)に、アシスト治具3として運搬ハンドル3が取り付けられている。荷台は2本の脚の間で腰軸に連結されている。
Further, FIGS. 12 and 13 show another embodiment in which the biped passive walking machine is configured as a legged transporter. In this embodiment, a transport handle 3 is attached as an assist jig 3 on the back side of the back plate in the loading platform 2, that is, on the back surface of the loading platform 2 (more specifically, a position slightly above the center of the back surface of the loading platform 2). . The loading platform is connected to the waist axis between the two legs.
この例に示す脚式運搬機は、ブレーキ機構を有している。ブレーキは油圧式であり、図12、図13に示すように、ブレーキハンドル20が運搬ハンドル3に取り付けられ、ブレーキ機構21は膝関節1c(図12参照)あるいは腰関節16(図13参照)に取り付けられ、膝関節1cあるいは腰関節16に回転抵抗を生じさせることができる。なお、ブレーキ機構21は、膝関節1cと腰関節16の両方に取り付けられていてもよい。
The legged carrier shown in this example has a brake mechanism. The brake is hydraulic. As shown in FIGS. 12 and 13, the brake handle 20 is attached to the transport handle 3, and the brake mechanism 21 is attached to the knee joint 1c (see FIG. 12) or the waist joint 16 (see FIG. 13). It is attached, and a rotational resistance can be generated in the knee joint 1c or the waist joint 16. The brake mechanism 21 may be attached to both the knee joint 1c and the waist joint 16.
運搬者は、荷台に荷物14を搭載し、運搬ハンドル3を把持する。運搬ハンドル3を介して後方より脚式運搬機を押すことで、歩行させながら荷物を楽に運搬することができる。実験では、5kgの荷物の運搬に成功している。
The carrier carries the load 14 on the carrier and holds the transport handle 3. By pushing the legged transporter from behind via the transport handle 3, the load can be transported easily while walking. In the experiment, we have successfully transported 5 kg of luggage.
運搬者は、運搬ハンドル3を操作することで、1輪車のように左右の安定化や方向転換などを容易に行うことができ、様々な経路を運搬して行くことができる。また、2本の脚の間隔(調整可能)は15cm程度であり、狭隘な場所を運搬することが可能となっている。また、車輪式運搬機では困難な段差、溝などの不整地の運搬に適している。
By operating the transport handle 3, the transporter can easily stabilize the left and right, change the direction, etc. like a unicycle, and can transport various routes. Further, the distance between the two legs (adjustable) is about 15 cm, and it is possible to carry a narrow place. Moreover, it is suitable for transporting rough terrain such as steps and grooves, which is difficult with a wheeled transporter.
運搬者は、ブレーキハンドル20を操作することで、膝関節1cおよび/または腰関節16の動きを調節したり、止めたりすることができる。これにより、歩幅の調整や停止時の姿勢保持を容易に行うことができる。
The carrier can adjust or stop the movement of the knee joint 1c and / or the hip joint 16 by operating the brake handle 20. This makes it possible to easily adjust the stride and hold the posture when stopped.
図11~図13に示す脚式運搬機は、2本の脚を有する受動歩行機に荷台を設置し、その上に荷物を搭載して運搬する機構であり、しかも、運搬者がハンドルを押して脚式運搬機を歩行させながら、荷物を運搬するものである。
11 to 13 is a mechanism in which a platform is installed on a passive walking machine having two legs and a load is loaded on the platform, and the carrier pushes the handle. Carrying luggage while walking a legged carrier.
この脚式運搬機を用いることにより、キャリーバッグ、台車、一輪車などでは困難な階段などの段差、列車とホームとの間の隙間などの溝、パイプなどの障害物を踏破し、荷物を運搬することができる。また、荷物の下方に配置された細身の脚は占有面積が小さく、人ごみなどでも邪魔にならない。
By using this leg-type transporter, you can transport obstacles by stepping over obstacles such as steps, staircases, etc., which are difficult with carry bags, trolleys, unicycles, etc., gaps between trains and platforms, pipes, etc. be able to. In addition, the slender legs placed under the baggage occupy a small area and do not disturb people.
したがって、本実施形態に係る脚式運搬機によれば、荷物を搭載することを可能とし、さらに受動歩行機の脚を4本から2本にして占有面積の低減、旋回など機動性を高めたものとすることができる。これらにより、使用者は押すだけで、歩行しながら荷物を楽に運搬することができる。
Therefore, according to the legged transport device according to the present embodiment, it is possible to carry a load, and further, the number of legs of the passive walker is reduced from four to two, thereby reducing the occupied area and improving the mobility such as turning. Can be. By these, the user can carry a load easily while walking only by pushing.
以下、上記実施形態から把握できる発明について述べる。本発明は、人のアシストにより歩行を行う2脚受動歩行機であって、腰軸に回転可能に連結され、膝関節を介して相対的に回転する大腿部と下腿部を備えた2本の脚と、当該2脚受動歩行機を歩行させるためのアシスト治具と、を有し、人が前記アシスト治具を用いて当該2脚受動歩行機をアシストすることによって歩行を行うように構成されており、当該2脚受動歩行機は、さらに、前記腰軸に連結され、歩行状態において重心位置が前記腰軸より上方にある上体を有することを特徴とする。
The invention that can be grasped from the above embodiment will be described below. The present invention is a two-legged passive walker that walks with the assistance of a person, and includes a thigh and a lower leg that are rotatably connected to a waist axis and rotate relatively via a knee joint. A leg and an assist jig for walking the biped passive walker, so that a person walks by assisting the biped passive walker using the assist jig The biped passive walking machine is further configured to have an upper body that is connected to the waist axis and has a center of gravity located above the waist axis in a walking state.
これによれば、上体を設けることにより、歩行の移動効率を高め、アシスト力を低減することができる。
According to this, by providing the upper body, it is possible to improve the walking movement efficiency and reduce the assist force.
また、本発明は、前記上体と前記2本の脚のそれぞれの大腿部の前後に弾性部材が張られた構成とすることにより、安定した歩行を行うことができる。
In addition, the present invention can perform stable walking by adopting a configuration in which elastic members are stretched around the thighs of the upper body and the two legs.
具体的には、前記上体と前記2本の脚のそれぞれの大腿部の前後に張られた弾性部材は、遊脚初期では前記脚の振り出しを促進し、遊脚後期では前記脚の振り出し量を抑制し、支持脚初期では前記上体の前傾を抑制し、支持脚後期では前記上体の後傾を抑制する。
Specifically, the elastic members stretched around the thighs of the upper body and the two legs promote swinging of the leg in the early stage of the free leg, and swing out of the leg in the late stage of the free leg. The amount is suppressed, the forward tilt of the upper body is suppressed in the initial stage of the support leg, and the backward tilt of the upper body is suppressed in the late stage of the support leg.
この場合、前記大腿部の前後に張られた弾性部材のそれぞれは、前記上体にスライダを介して取り付けられており、当該スライダが前記上体に設けられたストッパに当たると張力を発生する構成とするのが好ましく、さらに、前記上体にローラが取り付けられて前記弾性部材の可動を妨げないようになっているのが好ましい。
In this case, each of the elastic members stretched around the thigh is attached to the upper body via a slider, and generates tension when the slider hits a stopper provided on the upper body. Further, it is preferable that a roller is attached to the upper body so as not to hinder the movement of the elastic member.
また、本発明は、前記脚が支持脚期か遊脚期かによって前記大腿部の後ろに張られた背面の弾性部材の張力の作用を切換える機構を有するようにすれば、支持脚初期に、より強力な張力特性を得ることができ、好ましい。
In addition, the present invention provides a mechanism for switching the action of the tension of the elastic member on the back stretched behind the thigh depending on whether the leg is the supporting leg stage or the swinging leg stage. This is preferable because stronger tensile properties can be obtained.
さらに、本発明は、前記上体が荷物を搭載できる荷台として構成されていれば、上記した2脚受動歩行機を脚式運搬機として用いることができる。
前記アシスト治具は、前記腰軸に連結されたものとする他、2脚受動歩行機が脚式運搬機として用いられる場合には、前記荷台の背面に取り付けられた運搬ハンドルとすることができる。 Further, in the present invention, if the upper body is configured as a loading platform on which a load can be loaded, the above-described two-legged passive walking machine can be used as a legged carrier.
The assist jig is connected to the waist axis, and when a biped passive walking machine is used as a legged transporter, the assist jig can be a transport handle attached to the back of the loading platform. .
前記アシスト治具は、前記腰軸に連結されたものとする他、2脚受動歩行機が脚式運搬機として用いられる場合には、前記荷台の背面に取り付けられた運搬ハンドルとすることができる。 Further, in the present invention, if the upper body is configured as a loading platform on which a load can be loaded, the above-described two-legged passive walking machine can be used as a legged carrier.
The assist jig is connected to the waist axis, and when a biped passive walking machine is used as a legged transporter, the assist jig can be a transport handle attached to the back of the loading platform. .
さらに、2脚受動歩行機が脚式運搬機として用いられる場合には、前記腰軸で前記2本の脚を回転可能に連結する腰関節および/または前記膝関節に回転抵抗を生じさせるブレーキ機構を有し、前記ブレーキ機構を操作するためのブレーキハンドルが前記運搬ハンドルに取り付けられている構成とするのが好ましい。
Further, when a two-leg passive walking machine is used as a legged transporter, a brake mechanism that causes rotational resistance to the hip joint and / or the knee joint that rotatably connects the two legs with the waist axis. It is preferable that a brake handle for operating the brake mechanism is attached to the transport handle.
1 脚
1a 大腿部
1b 下腿部
1c 膝関節
2 上体
3 アシスト治具
4a 前面ウレタンシート(弾性部材)
4b 背面ウレタンシート(弾性部材)
5 スライダ
6 固定ストッパー
7 ローラ
8 可動ストッパー
9 膝ストッパー
10 サーボ
11 円弧足
12 歪ゲージ
13 PVDFフィルム
14 荷物
15 腰軸
16 腰関節
20 ブレーキハンドル
21 ブレーキ機構 1 leg 1a thigh 1b lower leg 1c knee joint 2 upper body 3 assist jig 4a front urethane sheet (elastic member)
4b Back urethane sheet (elastic member)
5Slider 6 Fixed stopper 7 Roller 8 Movable stopper 9 Knee stopper 10 Servo 11 Arc foot 12 Strain gauge 13 PVDF film 14 Luggage 15 Lumbar axis 16 Lumbar joint 20 Brake handle 21 Brake mechanism
1a 大腿部
1b 下腿部
1c 膝関節
2 上体
3 アシスト治具
4a 前面ウレタンシート(弾性部材)
4b 背面ウレタンシート(弾性部材)
5 スライダ
6 固定ストッパー
7 ローラ
8 可動ストッパー
9 膝ストッパー
10 サーボ
11 円弧足
12 歪ゲージ
13 PVDFフィルム
14 荷物
15 腰軸
16 腰関節
20 ブレーキハンドル
21 ブレーキ機構 1
4b Back urethane sheet (elastic member)
5
Claims (10)
- 人のアシストにより歩行を行う2脚受動歩行機であって、
腰軸に回転可能に連結され、膝関節を介して相対的に回転する大腿部と下腿部を備えた2本の脚と、
当該2脚受動歩行機を歩行させるためのアシスト治具と、を有し、
人が前記アシスト治具を用いて当該2脚受動歩行機をアシストすることによって歩行を行うように構成されており、
当該2脚受動歩行機は、さらに、前記腰軸に連結され、歩行状態において重心位置が前記腰軸より上方にある上体を有することを特徴とする2脚受動歩行機。 A biped passive walker that walks with the assistance of a person,
Two legs having a thigh and a lower leg that are rotatably connected to the waist axis and rotate relatively via a knee joint;
An assist jig for walking the biped passive walker,
A person is configured to walk by assisting the biped passive walker using the assist jig,
The biped passive walking machine further includes an upper body that is connected to the waist axis and has a center of gravity located above the waist axis in a walking state. - 前記上体と前記2本の脚のそれぞれの大腿部の前後に弾性部材が張られていることを特徴とする請求項1に記載の2脚受動歩行機。 2. The biped passive walking machine according to claim 1, wherein an elastic member is stretched around the thigh of each of the upper body and the two legs.
- 前記上体と前記2本の脚のそれぞれの大腿部の前後に張られた弾性部材は、
遊脚初期では前記脚の振り出しを促進し、
遊脚後期では前記脚の振り出し量を抑制し、
支持脚初期では前記上体の前傾を抑制し、
支持脚後期では前記上体の後傾を抑制することを特徴とする請求項2に記載の2脚受動歩行機。 Elastic members stretched around the thighs of the upper body and the two legs,
In the initial stage of the free leg,
In the latter part of the swing leg, the swinging amount of the leg is suppressed,
In the initial stage of the support leg, the forward tilt of the upper body is suppressed,
The biped passive walker according to claim 2, wherein the upper body is prevented from tilting backward in the later stage of the supporting leg. - 前記大腿部の前後に張られた弾性部材のそれぞれは、前記上体にスライダを介して取り付けられており、当該スライダが前記上体に設けられたストッパに当たると張力を発生するようになっていることを特徴とする請求項2または3に記載の2脚受動歩行機。 Each of the elastic members stretched around the thigh is attached to the upper body via a slider, and generates tension when the slider hits a stopper provided on the upper body. The two-legged passive walking machine according to claim 2 or 3, wherein
- 前記上体にローラが取り付けられて前記弾性部材の可動を妨げないようになっていることを特徴とする請求項4に記載の2脚受動歩行機。 The biped passive walking machine according to claim 4, wherein a roller is attached to the upper body so as not to hinder the movement of the elastic member.
- 前記脚が支持脚期か遊脚期かによって前記大腿部の後ろに張られた背面の弾性部材の張力の作用を切換える機構を有することを特徴とする請求項4または5に記載の2脚受動歩行機。 The biped according to claim 4 or 5, further comprising a mechanism for switching an action of a tension of a back elastic member stretched behind the thigh depending on whether the leg is a supporting leg stage or a swing leg stage. Passive walker.
- 前記上体が荷物を搭載できる荷台として構成されていることを特徴とする請求項1ないし6のいずれか1つに記載の2脚受動歩行機。 The two-legged passive walking machine according to any one of claims 1 to 6, wherein the upper body is configured as a loading platform on which a load can be loaded.
- 前記アシスト治具は、前記腰軸に連結されていることを特徴とする請求項1ないし7のいずれか1つに記載の2脚受動歩行機。 The two-legged passive walking machine according to any one of claims 1 to 7, wherein the assist jig is connected to the waist axis.
- 前記アシスト治具は、前記荷台の背面に取り付けられた運搬ハンドルであることを特徴とする請求項7に記載の2脚受動歩行機。 The biped passive walking machine according to claim 7, wherein the assist jig is a transport handle attached to a back surface of the loading platform.
- 前記腰軸で前記2本の脚を回転可能に連結する腰関節および/または前記膝関節に回転抵抗を生じさせるブレーキ機構を有し、
前記ブレーキ機構を操作するためのブレーキハンドルが前記運搬ハンドルに取り付けられていることを特徴とする請求項7または9に記載の2脚受動歩行機。 A brake mechanism that causes rotation resistance to the hip joint and / or the knee joint that rotatably connects the two legs with the waist axis;
The biped passive walker according to claim 7 or 9, wherein a brake handle for operating the brake mechanism is attached to the transport handle.
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