WO2011145643A1 - Knee joint power assist device - Google Patents

Knee joint power assist device Download PDF

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Publication number
WO2011145643A1
WO2011145643A1 PCT/JP2011/061393 JP2011061393W WO2011145643A1 WO 2011145643 A1 WO2011145643 A1 WO 2011145643A1 JP 2011061393 W JP2011061393 W JP 2011061393W WO 2011145643 A1 WO2011145643 A1 WO 2011145643A1
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WO
WIPO (PCT)
Prior art keywords
knee joint
power
assist device
power assist
assist
Prior art date
Application number
PCT/JP2011/061393
Other languages
French (fr)
Japanese (ja)
Inventor
永 余
春樹 吉松
Original Assignee
国立大学法人 鹿児島大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 国立大学法人 鹿児島大学 filed Critical 国立大学法人 鹿児島大学
Priority to JP2012515903A priority Critical patent/JP5747357B2/en
Publication of WO2011145643A1 publication Critical patent/WO2011145643A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0137—Additional features of the articulation with two parallel pivots
    • A61F2005/0139—Additional features of the articulation with two parallel pivots geared
    • 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
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • 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
    • A61H2201/5092—Optical sensor

Definitions

  • the present invention relates to a knee joint power assist device that is mounted around a human body, particularly around a knee joint, and assists in muscular strength (power assist) of the knee joint motion when the knee joint is used for the first time when going up and down stairs. .
  • the knee joint plays an extremely important role particularly when attention is paid to actions using the lower body, for example, standing up from walking or chairs, or going up and down stairs. For this reason, it is not uncommon for the knee joint to be overloaded and broken. In many cases, aging or the like deteriorates physical ability and the knee joint does not function properly.
  • a device that passively assists the movement of a supporter or a cane is used. Furthermore, it is expected that not only passive assistance but also active assistance can further reduce the burden on the knee so that daily actions can be performed without difficulty.
  • a so-called power assist system is attracting attention as an active aid for human movement.
  • power assist systems such as a suit that is worn on a person to assist in power, and an external machine that assists human movement.
  • an object of the present invention is to provide a knee joint power assist device that is small and light, has excellent usability and handling properties, and exhibits an effective function.
  • a knee joint power assist device is a knee joint power assist device that is mounted around a knee joint and assists knee joint motion when bending and stretching the knee, and is a drive for generating assist power.
  • the force sensor mechanism acquires the motion information of the knee joint through the self-lock function of the power transmission mechanism.
  • a target speed of the knee joint motion is generated by virtual compliance control, and the target speed is set to the target speed.
  • the drive unit generates assist power.
  • the output portion of the power transmission mechanism may have an instantaneous center movement trajectory that substantially corresponds to a change in the rotation center of the knee joint motion associated with knee bending and stretching. It operates.
  • the power assist unit is disposed on the side of the knee joint, and its output link is fixed along the thigh and shin, and assist power is applied through the link. It is characterized by doing.
  • the device of the present invention it is possible to assist with the optimum amount of force for the operation of the user wearing the device, and in particular, it is possible to assist the bending and extension movements of the knee joint extremely effectively and effectively.
  • the apparatus configuration is compact, and it is small and light, it does not become a burden on the user who wears it, and it is excellent in usability and handling properties, and higher safety is ensured.
  • FIG. 1 is a perspective view showing a schematic configuration when a device according to an embodiment of the present invention is mounted.
  • FIG. 2A is a perspective view illustrating an example of an application target of the apparatus according to the embodiment of the present invention.
  • FIG. 2B is a perspective view illustrating an example of an application target of the apparatus according to the embodiment of the present invention.
  • FIG. 3 is a front perspective view of the power assist unit in the apparatus according to the embodiment of the present invention.
  • FIG. 4 is a rear perspective view of the power assist unit in the apparatus according to the embodiment of the present invention.
  • FIG. 5 is a front perspective view of a main part of the apparatus according to the embodiment of the present invention.
  • FIG. 6 is a rear perspective view of the main part of the apparatus according to the embodiment of the present invention.
  • FIG. 1 is a perspective view showing a schematic configuration when a device according to an embodiment of the present invention is mounted.
  • FIG. 2A is a perspective view illustrating an example of an application target of the apparatus according
  • FIG. 7A is a diagram illustrating an example of a joint structure around a knee and its joint motion.
  • FIG. 7B is a diagram showing an example of a joint structure around the knee and its joint motion.
  • FIG. 8A is a diagram illustrating an instantaneous center and a locus related to knee joint motion.
  • FIG. 8B is a diagram illustrating the instantaneous center and the locus related to the knee joint motion.
  • FIG. 9A is a diagram illustrating the operation of the knee joint corresponding part of the power assist unit in the apparatus according to the embodiment of the present invention in relation to the instantaneous center.
  • FIG. 9B is a diagram showing the operation of the knee joint corresponding part of the power assist unit in the apparatus according to the embodiment of the present invention in relation to the instantaneous center.
  • FIG. 10 is a perspective view showing a main configuration of the apparatus according to the embodiment of the present invention.
  • FIG. 11A is a diagram illustrating a configuration and an operation of a force sensor in the device according to the embodiment of the present invention.
  • FIG. 11B is a diagram showing the configuration and operation of the force sensor in the apparatus according to the embodiment of the present invention.
  • FIG. 12 is a block diagram showing the overall configuration of the apparatus according to the embodiment of the present invention.
  • FIG. 13 is a diagram showing in principle the virtual compliance control in the apparatus according to the embodiment of the present invention.
  • FIG. 14 is a diagram showing a test result of virtual compliance control in the apparatus according to the embodiment of the present invention.
  • FIG. 15 is a perspective view showing a schematic configuration when the apparatus is mounted in the second embodiment of the present invention.
  • FIG. 16 is a front view of a power assist unit in the second embodiment of the present invention.
  • FIG. 17 is a front view of a main part of a power assist unit according to the second embodiment of the present invention.
  • FIG. 18 is a perspective view showing the relationship between the casing and the link of the power assist unit in the second embodiment of the present invention.
  • FIG. 19 is a perspective view showing the periphery of the worm wheel of the power assist unit in the second embodiment of the present invention.
  • FIG. 20 is a graph showing the result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows the measurement result of myoelectric potential when the subject moves the knee joint at his / her will.
  • FIG. 21 is a graph showing a result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows a measurement result of myoelectric potential when the subject moves the knee joint by an external force instead of his / her own will. .
  • FIG. 1 shows a schematic configuration when a power assist device 10 according to an embodiment of the present invention is mounted (a hardware portion of the device according to the embodiment of the present invention is shown as a power assist unit).
  • the apparatus according to the embodiment of the present invention is particularly mounted around the knee joint, and assists in bending and extending movement of the knee joint when rising from a staircase or standing up from a chair as shown in FIGS. 2A and 2B, for example. It is.
  • FIG. 2A and 2B shows a hardware portion of the device according to the embodiment of the present invention.
  • a pair of links 12A and 12B are provided as output members extending from a substantially thin box-shaped casing 11 disposed on the outer side of the knee 1, and the link 12A extends along the side of the thigh 2.
  • the link 12B is mounted along the side of the shin part 3.
  • the links 12A and 12B are respectively fixed to the thigh 2 and the shin 3 by fasteners 13 (see also FIG. 3).
  • the center of the casing 11 is rotationally driven synchronously and interlocked so that the angle ⁇ between the links 12A and 12B changes in size.
  • motors 14 constituting a drive unit for generating assist power are mounted on both ends of the casing 11 on the thigh 2 side and the shin 3 side.
  • the motor 14 is supported via the holder plate 15.
  • the output shaft 14 a of the motor 14 is disposed so as to be orthogonal to the holder plate 15.
  • a worm gear 16 is attached to the output shaft 14a of the motor 14.
  • the worm gear 16 constitutes a power transmission mechanism for transmitting assist power.
  • Each motor 14 (its output shaft 14a) and the worm gear 16 are attached so as to be parallel to the thigh 2 and the shin 3, respectively.
  • the worm wheel 17 constituting the power transmission mechanism is supported in the casing 11 so as to be rotatable around the support shaft 18.
  • the worm gear 16 and the worm wheel 17 mesh with each other, and the output of the motor 14 is transmitted to the worm wheel 17.
  • each of the worm wheels 17 on the thigh 2 side and the shin 3 side is driven separately by a corresponding driving motor 14.
  • gear teeth are formed on the entire circumference of the worm wheel 17 in FIG. 5 and the like, the gear teeth are not necessarily provided on the entire circumference.
  • each worm wheel 17 may have gear teeth formed in a region corresponding to a quarter circumference. This is advantageous for reducing the weight of the member.
  • a connecting gear 19 is attached concentrically with the worm wheel 17 on the inner side of the casing 11 of each worm wheel 17.
  • the connecting gear 19 is a spur gear having a moderately larger diameter than the worm wheel 17, and the thigh 2 side and the shin 3 side mesh with each other.
  • the connecting gear 19 may have a gear tooth formation region of at least about a quarter circumference.
  • the links 12A and 12B are fixed to the worm wheels 17 via brackets 20, respectively.
  • FIG. 7A shows the joint structure around the knee 1.
  • a femoral tibia joint 6 including a femur 4 and a tibia 5
  • a femoral patella joint 8 including a femur 4 and a patella 7.
  • the femoral tibia joint 6 performs a motion in which the rolling motion and the sliding motion between the femur 4 and the tibia 5 are combined.
  • FIG. 7B shows an example of knee joint motion when the knee 1 is bent from the fully extended position where the knee 1 is straightened.
  • the tibia 5 In the initial stage of flexion (I), the tibia 5 mainly rolls around the femur 4 (curved arrow). Thereafter, as the bending angle increases, an element of sliding motion (straight arrow) with respect to the femur 4 of the tibia 5 is added in the middle bending phase (II), resulting in a combined motion of rolling motion and sliding motion. In addition, at the end of flexion (III), the sliding motion is mainly performed. Note that the extension movement of the knee 1 is the reverse of the flexion case. Thus, since the joint motion of the knee 1 is a combined motion of the rolling motion and the sliding motion of the femur 4 and the tibia 5, the rotation center of the joint motion is not constant when viewed through the bending stage.
  • a force sensor mechanism for acquiring movement information of the knee joint is provided.
  • the worm / worm wheel gears (16, 17) are used in the power transmission mechanism as described above. If an attempt is made to move the legs to which the links 12A and 12B are fixed, self-locking is applied, and the movement of the person wearing the apparatus according to the embodiment of the present invention is restricted as it is. For this reason, the load applied in the axial direction of the worm gear 16 is measured when trying to move the leg, not the movement information of the leg displacement, and the knee joint movement is assisted based on such movement information.
  • the motor 14 is fixedly supported via the holder plate 15 as described above.
  • the holder plate 15 is supported at its upper end and lower end by support plates 21 and 22 fixed to the casing 11 side.
  • the holder plate 15 has sufficient strength and rigidity necessary to support the motor 14. In this case, the holder plate 15 is easily deformed by a load from the worm gear 16 as a force sensor mechanism.
  • strain gauge members 23, 23 each having a substantially thin bar shape are attached along the axial direction of the motor 14. A rear end portion of each strain gauge member 23 is pivotally supported by a bearing 24.
  • the strain gauge member 23 is further provided with a strain deformation expanding mechanism. As shown in FIG. 10, a constricted portion 23a is provided near the rear end of each strain gauge member 23, and a strain gauge (not shown in detail) is attached to the constricted portion 23a. When an axial tensile or compressive load is applied to the strain gauge member 23, the deformation is expanded at the constricted portion 23a, and the applied load can be detected with higher accuracy. For example, as shown in FIGS. 10, 11A and 11B, when a load P in the compression direction is applied from the worm gear 16 to the output shaft 14a of the motor 14, the holder plate 15 is first moved by the load P as shown in FIG.
  • FIG. 12 shows the overall configuration of the power assist device 10 including software.
  • the above-described hardware part that is, the electrical components of the power assist unit attached to the human body and the personal computer 100 (hereinafter abbreviated as a personal computer) are connected to each other, and the system of the apparatus according to the embodiment of the present invention is configured.
  • the detection signal of the force sensor 25 including the strain gauge of the strain gauge member 23 on the power assist unit side is input to the A / D board 27 via the amplifier 26.
  • a signal from an encoder 28 attached to the motor 14 is input to the counter 29.
  • a command voltage for the motor 14 is determined based on at least these signals, and the motor 14 is driven via the D / A board 30 and the motor driver 31.
  • virtual compliance control is a control method that operates to escape in the direction in which an external force is applied, and the speed is controlled so as to satisfy the inertia, viscosity, and elasticity virtually set for the measured force. It is to do.
  • a target speed that satisfies a virtual parameter is given by measuring an external force.
  • the target speed is given by the input from the human.
  • the following equation (1) represents a virtual compliance control equation applied to the system of the apparatus according to the embodiment of the present invention.
  • ⁇ n + 1 ⁇ t / I ⁇ ( ⁇ hn ⁇ C ⁇ n ⁇ K ⁇ n ) + ⁇ n (1)
  • ⁇ n + 1 target angular velocity
  • ⁇ n current angular velocity
  • ⁇ n current angle
  • ⁇ t sampling time
  • I virtual moment of inertia
  • C virtual viscosity coefficient
  • K Virtual elastic modulus. Since the apparatus which is embodiment of this invention acquires the input from a person with a force sensor, it can operate
  • Measurement of input torque handled by virtual compliance control is performed by a force sensor using a strain gauge.
  • the value actually acquired by the force sensor is a voltage proportional to the load P in FIG.
  • the load P is a force that acts on the contact point between the worm gear 16 and the worm wheel 17, and is a force that causes self-lock when the force F is applied to the links 12 ⁇ / b> A and 12 ⁇ / b> B coupled to the worm wheel 17.
  • the distance a in FIG. 13 is the radius of the reference circle of the worm wheel 17 to be used and is constant.
  • the test result shown in FIG. 14 was obtained.
  • the vertical axis represents the output voltage and the horizontal axis represents the input force.
  • a target speed by virtual compliance control is finally generated from the input torque estimated from this inclination, and an output voltage as an operation amount can be determined by performing PID control on the target speed.
  • the force sensor mechanism is activated by the self-lock between the worm gear 16 and the worm wheel 17. Based on the load obtained at this time, a target speed of the knee joint motion is generated by virtual compliance control, and the motor 14 is driven and controlled to achieve this target speed, and optimal assist power is applied.
  • the power assist device 10 is attached to assist the user with the optimal amount of force for the operation of the user, and the knee joint flexion and extension motions can be extremely effectively and effectively assisted. it can.
  • the apparatus configuration is compact, and it is small and light, it does not become a burden on the user who wears it, and it is excellent in usability and handling properties, and higher safety is ensured.
  • FIG. 15 shows a schematic configuration when the power assist device 10 according to this embodiment is mounted.
  • a pair of links 12A and 12B are provided as output members extending from a substantially thin box-shaped casing 11 disposed on the outer side near the upper and lower sides of the knee 1, and the link 12A is a side portion of the thigh 2.
  • the link 12 ⁇ / b> B is attached along the side of the shin part 3.
  • These links 12A and 12B are fixed to the thigh 2 and the shin 3 by fasteners 13, respectively.
  • the links 12 ⁇ / b> A and 12 ⁇ / b> B are connected to each other by the coupling plate 32 through the respective casings 11.
  • the casing 11 is equipped with a motor 14 that constitutes a drive unit for generating assist power.
  • the motor 14 is supported via the holder plate 15.
  • the output shaft 14 a of the motor 14 is arranged so as to be orthogonal to the holder plate 15.
  • a worm gear 16 constituting a power transmission mechanism for transmitting assist power is attached to the output shaft 14 a of the motor 14.
  • Each motor 14 (its output shaft 14a) and the worm gear 16 are attached so as to be parallel to the thigh 2 and the shin 3, respectively.
  • the casing 11 includes a pair of casing plates. As shown in FIG. 18, a link 12A (or 12B) extends from one (human body side) casing plate 11A. Further, as shown in FIG. 17, a bearing 34 is attached to a pair of casing plates 11 ⁇ / b> A (only one is shown) via a bearing holder 33.
  • the worm wheel 17 constituting the power transmission mechanism is supported by the support shaft 18 on the coupling plate 32.
  • the worm gear 16 and the worm wheel 17 mesh with each other.
  • the worm wheel 17 is fixed to the coupling plate 32 and the support shaft 18 is rotatably engaged with the bearing 34.
  • it is substantially the same as the case of the said embodiment.
  • the user wearing the power assist device 10 bends or extends the knee 1 to move the leg, so that the self-lock between the worm gear 16 and the worm wheel 17 is the same as in the above-described embodiment.
  • the force sensor mechanism is activated. Based on the load obtained at this time, a target speed of the knee joint motion is generated by virtual compliance control, and the motor 14 is driven and controlled to achieve this target speed, and optimal assist power is applied.
  • the casing 11 side rotates along the outer periphery of the worm wheel 17.
  • the device configuration is simplified and a more compact device can be realized.
  • the myoelectric potential of the knee joint increases when a human moves the knee joint by his / her own will and decreases (or hardly occurs) when it is moved by an external force instead of his / her own will. For this reason, when the power assist device assists the operation of the knee joint, a myoelectric potential is generated, but it is smaller than that when the power assist device is completely moved by one's own will. On the other hand, when the power assist device assists the knee joint movement, but is controlled to reduce the effect, the myoelectric potential is almost the same as when the human has moved the knee joint at his own will. It will be the same. Accordingly, in this verification experiment, the myoelectric potential of the knee of the subject wearing the power assist device was measured, and the effect of the power assist device according to the embodiment of the present invention was verified based on the result.
  • the measurement conditions of myoelectric potential are as follows. (1) A state where the power assist device is operated. (2) A state in which the power assist device is operated so as to obtain an assist effect. (3) A state in which the power assist device is operated so that the assist effect is lowered.
  • the movement of the subject's foot during the measurement of myoelectric potential is as follows. (A) First, the subject sits on a table and puts his feet in the air without applying any force to the feet. (B) Then, the test subject extends his leg in 1 second, and then returns his leg to its original state in 1 second. (C) After that, the subject removes his / her leg for 2 seconds.
  • the operations (a) to (c) are one set, ten sets of operations were performed under each condition, and the myoelectric potentials in the states (1) to (3) were measured.
  • the operations (a) to (c) were executed by external force, and the myoelectric potentials in the states (1) to (3) were measured.
  • the subject wears the power assist device even when the power assist device is not operated. However, in this case, some parts were removed so that the power of the motor was not transmitted to the subject.
  • a 2 kg weight was attached to the subject's foot to facilitate the measurement of the myoelectric potential (that is, the myoelectric potential was increased).
  • the measurement result of myoelectric potential in is shown.
  • FIG. 21 is a graph showing a result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows a measurement result of myoelectric potential when the knee joint is moved by an external force.
  • the myoelectric potential when the power assist device assists the exercise is smaller than the myoelectric potential when the power assist device does not operate. Therefore, it is considered that the power assist device is actually assisting the exercise of the subject.
  • the myoelectric potential when the power assist device is not operated and the myoelectric potential when the assist device is operated so as to reduce the effect were obtained. Therefore, in this case, the movement of the foot by the subject is considered to be almost the same as when the power assist device is not activated.
  • the myoelectric potential when the power assist device assists the exercise is smaller than the myoelectric potential when the power assist device operates so as to reduce the assist effect. From this, it is considered that the power assist device assists the subject's exercise.
  • FIG. 21 when the subject's foot is moved by an external force, the measurement results of the myoelectric potential in the states (1) to (3) are almost equal. Therefore, it is considered that the difference in the magnitude of the myoelectric potential shown in FIG. 20 effectively shows the effect of the power assist device according to the embodiment of the present invention. As described above, it was confirmed that the power assist device according to the embodiment of the present invention operates in accordance with the intention of the person who wears the power assist device.
  • the apparatus of the present invention assists with the most suitable force for the operation of the user wearing the device, and in particular, can assist the knee joint flexion and extension movements extremely effectively and effectively.
  • the apparatus of the present invention has a compact apparatus configuration, and is small and light, so that it does not burden the user who wears the apparatus, and is excellent in usability and handleability, and further secures high safety.

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Abstract

Disclosed is a knee joint power assist device (10) which is attached around the knee joint and which assists the knee joint movement when bending and stretching the knee. The knee joint power assist device (10) is provided with a driving unit (14) for generating assist power, power transmission mechanisms (16, 17) for transmitting the assist power, and a force sensing mechanism for acquiring the knee joint movement information. The driving unit generates assist power on the basis of the knee joint movement information acquired by means of the force sensing mechanism.

Description

膝関節パワーアシスト装置Knee joint power assist device
　本発明は、人体特に膝関節まわりに装着して、階段の上がり降り等をはじめてとして膝関節を使用する際にその膝関節運動を筋力補助（パワーアシスト）するようにした膝関節パワーアシスト装置に関する。 TECHNICAL FIELD The present invention relates to a knee joint power assist device that is mounted around a human body, particularly around a knee joint, and assists in muscular strength (power assist) of the knee joint motion when the knee joint is used for the first time when going up and down stairs. .
　人間が日常的な行動を行うとき、肉体の様々な関節に負担がかかっている。特に下半身を使う行動、例えば歩行や椅子等から立ち上がり、あるいは階段の上り下りに注目すると膝関節は極めて重要な役割を果たしている。そのため膝関節に大きな負担がかかり故障することが少なくない。また、老化等により身体能力が低下し、膝関節が適正に機能しない場合も多い。 ¡When humans perform daily activities, the various joints of the body are burdened. The knee joint plays an extremely important role particularly when attention is paid to actions using the lower body, for example, standing up from walking or chairs, or going up and down stairs. For this reason, it is not uncommon for the knee joint to be overloaded and broken. In many cases, aging or the like deteriorates physical ability and the knee joint does not function properly.
　このように膝関節に問題を抱えているケースが多い。このような問題に対してサポーターや杖等の運動を受動的に補助するものが使用されている。更に、受動的な補助だけでなく能動的に補助することで膝への負担をより減少させ、日常的な行動を無理なく行えるようにすることが期待される。現在、人間の運動を能動的に補助するものとして所謂パワーアシストシステムが注目されている。パワーアシストシステムにはスーツのようなものを人間に装着して力をアシストするものや、外部の機械が人間の動作をアシストするなどがある。 There are many cases where the knee joint has a problem like this. For such a problem, a device that passively assists the movement of a supporter or a cane is used. Furthermore, it is expected that not only passive assistance but also active assistance can further reduce the burden on the knee so that daily actions can be performed without difficulty. At present, a so-called power assist system is attracting attention as an active aid for human movement. There are power assist systems such as a suit that is worn on a person to assist in power, and an external machine that assists human movement.
　なお、従来例えば特許文献１に開示される電動補助装置では、使用者の大腿部に装着される大腿用装着部と、臑部に装着される臑用装着部と、一端部を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、動力伝達腕に屈伸動作の動力を付与する電気モータを有する駆動部と、電気モータ及び駆動部の電源及び制御部とから成り、電源及び制御部は使用者の身体に装着される。 Conventionally, in the electric assist device disclosed in, for example, Patent Document 1, a thigh mounting portion to be mounted on the user's thigh, a heel mounting portion to be mounted on the heel, and one end mounted on the thigh A power transmission arm fixed to the arm and the heel mounting part and the other end connected to be able to bend and extend at the part of the knee joint; and a drive unit having an electric motor for applying power of bending and stretching to the power transmission arm; It consists of a power source and a control unit for an electric motor and a drive unit, and the power source and the control unit are mounted on the user's body.
特開平７－１６３６０７号公報JP-A-7-163607
　人間に装着するタイプの従来のパワーアシストシステムとして、構造的には全身をアシストするものや、下半身をアシストするものなどの比較的大きなものは知られている。しかしながら、小型軽量で装着し易く、且つ所定の局部部位だけをアシストするものは未だ知られていない。また、最も重要な機能として人間の運動意識を同時に察知できるセンシングシステムに関して、筋電流センシングや肢体の重量、重心と慣性モーメント推測可能な手法は知られているが、個人差や服装の加減でセンシングし難く、装着等が不便であるのが実情である。 As a conventional power assist system to be worn by humans, structurally relatively large systems such as those that assist the whole body and those that assist the lower body are known. However, it is not yet known what is small, light and easy to wear and assists only a predetermined local part. As for the sensing system that can simultaneously sense human movement consciousness as the most important function, methods that can estimate muscle current sensing and limb weight, center of gravity and moment of inertia are known, but sensing by individual differences and adjustment of clothes In reality, it is difficult to install and inconvenient.
　本発明はかかる実情に鑑み、小型軽量で使用性や取り扱い性等に優れ、且つ効果的な機能を発揮する膝関節パワーアシスト装置を提供することを目的とする。 In view of such circumstances, an object of the present invention is to provide a knee joint power assist device that is small and light, has excellent usability and handling properties, and exhibits an effective function.
　本発明の膝関節パワーアシスト装置は、膝関節まわりに装着して、膝の曲げ伸ばしの際に膝関節運動をアシストするための膝関節パワーアシスト装置であって、アシストパワーを発生させるための駆動部と、アシストパワーを伝達するためのパワー伝達機構と、膝関節の運動情報を取得するための力覚センサ機構とを具備し、前記力覚センサ機構によって取得した膝関節の運動情報に基づき、前記駆動部がアシストパワーを発生するようにしたことを特徴とする。 A knee joint power assist device according to the present invention is a knee joint power assist device that is mounted around a knee joint and assists knee joint motion when bending and stretching the knee, and is a drive for generating assist power. A power transmission mechanism for transmitting assist power, and a force sensor mechanism for acquiring knee joint motion information, based on the knee joint motion information acquired by the force sensor mechanism, The drive unit generates assist power.
　また、本発明の膝関節パワーアシスト装置において、前記力覚センサ機構は、前記パワー伝達機構におけるセルフロック機能を介してその力覚センサが前記膝関節の運動情報を取得することを特徴とする。 Also, in the knee joint power assist device of the present invention, the force sensor mechanism acquires the motion information of the knee joint through the self-lock function of the power transmission mechanism.
　また、本発明の膝関節パワーアシスト装置において、前記力覚センサ機構によって取得した膝関節の運動情報に基づき、仮想コンプライアンス制御により膝関節運動の目標速度を生成し、この目標速度となるように前記駆動部がアシストパワーを発生することを特徴とする。 Further, in the knee joint power assist device of the present invention, based on the knee joint motion information acquired by the force sensor mechanism, a target speed of the knee joint motion is generated by virtual compliance control, and the target speed is set to the target speed. The drive unit generates assist power.
　また、本発明の膝関節パワーアシスト装置において、前記パワー伝達機構の出力部は、膝の曲げ伸ばしに伴う膝関節運動の回転中心の変化に実質的に対応する瞬間中心の移動軌跡を持つように作動することを特徴とする。 In the knee joint power assist device according to the present invention, the output portion of the power transmission mechanism may have an instantaneous center movement trajectory that substantially corresponds to a change in the rotation center of the knee joint motion associated with knee bending and stretching. It operates.
　また、本発明の膝関節パワーアシスト装置において、パワーアシストユニットが膝関節の側部に配置され、その出力リンクが大腿部及び脛部に沿って固定され、該リンクを介してアシストパワーを付与することを特徴とする。 In the knee joint power assist device of the present invention, the power assist unit is disposed on the side of the knee joint, and its output link is fixed along the thigh and shin, and assist power is applied through the link. It is characterized by doing.
　本発明装置によれば、これを装着した使用者の動作に最適な力量でアシストし、特に膝関節の屈曲及び伸展運動を極めて有効且つ効果的にアシストすることができる。この場合、装置構成がコンパクトであり、小型軽量とすることによりこれを装着する使用者の負担とならず、使用性や取り扱い性等に優れ、更に高い安全性が確保される。 According to the device of the present invention, it is possible to assist with the optimum amount of force for the operation of the user wearing the device, and in particular, it is possible to assist the bending and extension movements of the knee joint extremely effectively and effectively. In this case, since the apparatus configuration is compact, and it is small and light, it does not become a burden on the user who wears it, and it is excellent in usability and handling properties, and higher safety is ensured.
図１は、本発明の実施形態である装置の装着時の概略構成を示す斜視図である。FIG. 1 is a perspective view showing a schematic configuration when a device according to an embodiment of the present invention is mounted. 図２Ａは、本発明の実施形態である装置の適用対象の例を示す斜視図である。FIG. 2A is a perspective view illustrating an example of an application target of the apparatus according to the embodiment of the present invention. 図２Ｂは、本発明の実施形態である装置の適用対象の例を示す斜視図である。FIG. 2B is a perspective view illustrating an example of an application target of the apparatus according to the embodiment of the present invention. 図３は、本発明の実施形態である装置におけるパワーアシストユニットの正面側斜視図である。FIG. 3 is a front perspective view of the power assist unit in the apparatus according to the embodiment of the present invention. 図４は、本発明の実施形態である装置におけるパワーアシストユニットの背面側斜視図である。FIG. 4 is a rear perspective view of the power assist unit in the apparatus according to the embodiment of the present invention. 図５は、本発明の実施形態である装置の要部正面側斜視図である。FIG. 5 is a front perspective view of a main part of the apparatus according to the embodiment of the present invention. 図６は、本発明の実施形態である装置の要部背面側斜視図である。FIG. 6 is a rear perspective view of the main part of the apparatus according to the embodiment of the present invention. 図７Ａは、膝まわりの関節構造及びその関節運動の例を示す図である。FIG. 7A is a diagram illustrating an example of a joint structure around a knee and its joint motion. 図７Ｂは、膝まわりの関節構造及びその関節運動の例を示す図である。FIG. 7B is a diagram showing an example of a joint structure around the knee and its joint motion. 図８Ａは、膝関節運動に係る瞬間中心及びその軌跡を示す図である。FIG. 8A is a diagram illustrating an instantaneous center and a locus related to knee joint motion. 図８Ｂは、膝関節運動に係る瞬間中心及びその軌跡を示す図である。FIG. 8B is a diagram illustrating the instantaneous center and the locus related to the knee joint motion. 図９Ａは、本発明の実施形態である装置におけるパワーアシストユニットの膝関節対応部位の動作を瞬間中心との関係で示す図である。FIG. 9A is a diagram illustrating the operation of the knee joint corresponding part of the power assist unit in the apparatus according to the embodiment of the present invention in relation to the instantaneous center. 図９Ｂは、本発明の実施形態である装置におけるパワーアシストユニットの膝関節対応部位の動作を瞬間中心との関係で示す図である。FIG. 9B is a diagram showing the operation of the knee joint corresponding part of the power assist unit in the apparatus according to the embodiment of the present invention in relation to the instantaneous center. 図１０は、本発明の実施形態である装置の要部構成を示す斜視図である。FIG. 10 is a perspective view showing a main configuration of the apparatus according to the embodiment of the present invention. 図１１Ａは、本発明の実施形態である装置における力覚センサの構成及び作用を示す図である。FIG. 11A is a diagram illustrating a configuration and an operation of a force sensor in the device according to the embodiment of the present invention. 図１１Ｂは、本発明の実施形態である装置における力覚センサの構成及び作用を示す図である。FIG. 11B is a diagram showing the configuration and operation of the force sensor in the apparatus according to the embodiment of the present invention. 図１２は、本発明の実施形態である装置の全体構成を示すブロック図である。FIG. 12 is a block diagram showing the overall configuration of the apparatus according to the embodiment of the present invention. 図１３は、本発明の実施形態である装置における仮想コンプライアンス制御を原理的に示す図である。FIG. 13 is a diagram showing in principle the virtual compliance control in the apparatus according to the embodiment of the present invention. 図１４は、本発明の実施形態である装置における仮想コンプライアンス制御の試験結果を示す図である。FIG. 14 is a diagram showing a test result of virtual compliance control in the apparatus according to the embodiment of the present invention. 図１５は、本発明の第２の実施形態における装置装着時の概略構成を示す斜視図である。FIG. 15 is a perspective view showing a schematic configuration when the apparatus is mounted in the second embodiment of the present invention. 図１６は、本発明の第２の実施形態におけるパワーアシストユニットの正面図である。FIG. 16 is a front view of a power assist unit in the second embodiment of the present invention. 図１７は、本発明の第２の実施形態におけるパワーアシストユニットの要部正面図である。FIG. 17 is a front view of a main part of a power assist unit according to the second embodiment of the present invention. 図１８は、本発明の第２の実施形態におけるパワーアシストユニットのケーシング及びリンクの関係を示す斜視図である。FIG. 18 is a perspective view showing the relationship between the casing and the link of the power assist unit in the second embodiment of the present invention. 図１９は、本発明の第２の実施形態におけるパワーアシストユニットのウォームホイールまわりを示す斜視図である。FIG. 19 is a perspective view showing the periphery of the worm wheel of the power assist unit in the second embodiment of the present invention. 図２０は、本発明の実施形態であるパワーアシスト装置の検証実験の結果を示したグラフであり、被験者が自分の意志で膝関節を動かした場合における筋電位の測定結果を示す。FIG. 20 is a graph showing the result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows the measurement result of myoelectric potential when the subject moves the knee joint at his / her will. 図２１は、本発明の実施形態であるパワーアシスト装置の検証実験の結果を示したグラフであり、被験者が自分の意志ではなく外力によって膝関節が動かされた場合における筋電位の測定結果を示す。FIG. 21 is a graph showing a result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows a measurement result of myoelectric potential when the subject moves the knee joint by an external force instead of his / her own will. .
　以下、図面を参照して、本発明による膝関節運動パワーアシスト装置の好適な実施の形態を説明する。
　図１は、本発明の実施形態であるパワーアシスト装置１０（パワーアシストユニットとして本発明の実施形態である装置のハードウェア部分を示す）の装着時の概略構成を示している。本発明の実施形態である装置は特に膝関節まわりに装着して、例えば図２Ａ，図２Ｂに示すように階段の上り下りや椅子等から立ち上がる際の膝関節の屈曲及び伸展運動をアシストするものである。図１において、膝１の外側部に配置された略薄箱型のケーシング１１から延出する出力部材として一対のリンク１２Ａ，１２Ｂを有し、リンク１２Ａが大腿部２の側部に沿って、リンク１２Ｂが脛部３の側部に沿うように装着される。この場合、リンク１２Ａ，１２Ｂはそれぞれファスナ１３（図３をも参照）によって、大腿部２及び脛部３に固定される。また、リンク１２Ａ，１２Ｂ相互間の角度αが大小変化するようにケーシング１１のセンタに関して同期、連動して回動駆動されるようになっている。 DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a knee joint motion power assist device according to the invention will be described with reference to the drawings.
FIG. 1 shows a schematic configuration when a power assist device 10 according to an embodiment of the present invention is mounted (a hardware portion of the device according to the embodiment of the present invention is shown as a power assist unit). The apparatus according to the embodiment of the present invention is particularly mounted around the knee joint, and assists in bending and extending movement of the knee joint when rising from a staircase or standing up from a chair as shown in FIGS. 2A and 2B, for example. It is. In FIG. 1, a pair of links 12A and 12B are provided as output members extending from a substantially thin box-shaped casing 11 disposed on the outer side of the knee 1, and the link 12A extends along the side of the thigh 2. The link 12B is mounted along the side of the shin part 3. In this case, the links 12A and 12B are respectively fixed to the thigh 2 and the shin 3 by fasteners 13 (see also FIG. 3). In addition, the center of the casing 11 is rotationally driven synchronously and interlocked so that the angle α between the links 12A and 12B changes in size.
　図４～図６に示すようにケーシング１１の大腿部２側及び脛部３側の両端部に、アシストパワーを発生させるための駆動部を構成するモータ１４が搭載される。本実施形態においてモータ１４は、ホルダプレート１５を介して支持される。この場合、モータ１４の出力軸１４ａがホルダプレート１５と直交するように配置される。モータ１４の出力軸１４ａには、この例ではウォームギア１６が取り付けられる。ウォームギア１６は、アシストパワーを伝達するためのパワー伝達機構を構成する。各モータ１４（その出力軸１４ａ）及びウォームギア１６は、大腿部２及び脛部３にそれぞれ平行になるように取り付けられる。 As shown in FIGS. 4 to 6, motors 14 constituting a drive unit for generating assist power are mounted on both ends of the casing 11 on the thigh 2 side and the shin 3 side. In the present embodiment, the motor 14 is supported via the holder plate 15. In this case, the output shaft 14 a of the motor 14 is disposed so as to be orthogonal to the holder plate 15. In this example, a worm gear 16 is attached to the output shaft 14a of the motor 14. The worm gear 16 constitutes a power transmission mechanism for transmitting assist power. Each motor 14 (its output shaft 14a) and the worm gear 16 are attached so as to be parallel to the thigh 2 and the shin 3, respectively.
　また、ケーシング１１内にパワー伝達機構を構成するウォームホイール１７が、その支軸１８のまわりに回転可能に支持される。ウォームギア１６及びウォームホイール１７は相互に噛合しており、モータ１４の出力がウォームホイール１７に伝達される。なお、図５に示されるように大腿部２側及び脛部３側のそれぞれウォームホイール１７は、対応する駆動用のモータ１４によって別個に駆動される。この場合、図５等ではウォームホイール１７の全周にギア歯が形成されているが、必ずしもギア歯が全周に設けられる必要はない。膝関節の屈曲又は伸展運動の際の可動域の少なくとも上限に対応していればよく、即ち各ウォームホイール１７において、ギア歯が１／４円周分の領域に形成されていればよい。これにより部材の軽量化等に有利である。 Also, the worm wheel 17 constituting the power transmission mechanism is supported in the casing 11 so as to be rotatable around the support shaft 18. The worm gear 16 and the worm wheel 17 mesh with each other, and the output of the motor 14 is transmitted to the worm wheel 17. As shown in FIG. 5, each of the worm wheels 17 on the thigh 2 side and the shin 3 side is driven separately by a corresponding driving motor 14. In this case, although gear teeth are formed on the entire circumference of the worm wheel 17 in FIG. 5 and the like, the gear teeth are not necessarily provided on the entire circumference. It suffices if it corresponds to at least the upper limit of the movable range at the time of flexion or extension movement of the knee joint, that is, each worm wheel 17 may have gear teeth formed in a region corresponding to a quarter circumference. This is advantageous for reducing the weight of the member.
　また、図６に示されるように各ウォームホイール１７のケーシング１１内方側にて、ウォームホイール１７と同心に連結ギア１９が取り付けられる。この例では連結ギア１９はウォームホイール１７よりも適度に大径の平歯車とし、大腿部２側及び脛部３側のものが相互に噛合する。なお、連結ギア１９についてもウォームホイール１７の場合と同様に、ギア歯の形成領域として少なくとも１／４円周分程度でよい。また、各ウォームホイール１７にはブラケット２０を介してリンク１２Ａ，１２Ｂがそれぞれ固定される。 Further, as shown in FIG. 6, a connecting gear 19 is attached concentrically with the worm wheel 17 on the inner side of the casing 11 of each worm wheel 17. In this example, the connecting gear 19 is a spur gear having a moderately larger diameter than the worm wheel 17, and the thigh 2 side and the shin 3 side mesh with each other. As with the worm wheel 17, the connecting gear 19 may have a gear tooth formation region of at least about a quarter circumference. The links 12A and 12B are fixed to the worm wheels 17 via brackets 20, respectively.
　ここで、図７Ａは膝１まわりの関節構造を示している。膝関節には、大腿骨４及び脛骨５からなる大腿脛骨関節６と、大腿骨４及び膝蓋骨７からなる大腿膝蓋関節８の２種類の関節がある。このうち膝関節のパワーアシストに直接関係するのは大腿脛骨関節６の動きである。大腿脛骨関節６では、大腿骨４及び脛骨５相互間のころがり運動と滑り運動が複合した運動をする。図７Ｂにおいて、膝１を真っ直ぐ伸ばした完全伸展位から膝１を屈曲する場合の膝関節運動の例を示している。屈曲初期（Ｉ）では主に、脛骨５が大腿骨４のまわりをころがり運動（曲線矢印）する。その後、屈曲角度が増すに従い屈曲中期（ＩＩ）では脛骨５の大腿骨４に対する滑り運動（直線矢印）の要素が加わり、ころがり運動と滑り運動の複合運動となる。更に、屈曲終期（ＩＩＩ）では主に、滑り運動となる。なお、膝１の伸展運動の場合は、屈曲の場合と逆になる。このように膝１の関節運動は、大腿骨４及び脛骨５のころがり運動と滑り運動の複合運動となっているため、屈曲段階を通して見ると関節運動の回転中心は一定ではない。 Here, FIG. 7A shows the joint structure around the knee 1. There are two types of knee joints: a femoral tibia joint 6 including a femur 4 and a tibia 5, and a femoral patella joint 8 including a femur 4 and a patella 7. Of these, the movement of the femoral tibia joint 6 is directly related to the power assist of the knee joint. The femoral tibia joint 6 performs a motion in which the rolling motion and the sliding motion between the femur 4 and the tibia 5 are combined. FIG. 7B shows an example of knee joint motion when the knee 1 is bent from the fully extended position where the knee 1 is straightened. In the initial stage of flexion (I), the tibia 5 mainly rolls around the femur 4 (curved arrow). Thereafter, as the bending angle increases, an element of sliding motion (straight arrow) with respect to the femur 4 of the tibia 5 is added in the middle bending phase (II), resulting in a combined motion of rolling motion and sliding motion. In addition, at the end of flexion (III), the sliding motion is mainly performed. Note that the extension movement of the knee 1 is the reverse of the flexion case. Thus, since the joint motion of the knee 1 is a combined motion of the rolling motion and the sliding motion of the femur 4 and the tibia 5, the rotation center of the joint motion is not constant when viewed through the bending stage.
　上記のように回転中心が複雑に変化する運動において、そのうちの短時間に限定すれば実質的に回転運動とみなすことができ、そのときの回転中心を瞬間中心という。例えば、図８Ａに例示するように膝関節が屈曲又は伸展する際、大腿骨４における２点Ｐ1，Ｐ2がＰ1′，Ｐ2′に移動した場合を考えると、それぞれの点の移動前後で形成される線分の垂直２等分線Ｌ1，Ｌ2相互の交点が瞬間中心Ｏとなる。かかる瞬間中心の移動は、膝関節の運動をサポートする上で極めて重要な動きである。図８Ｂには瞬間中心Ｏの移動軌跡Ｏ1～Ｏnの例を示し、この例のように略半円状を呈する。 In the movement in which the rotation center changes in a complicated manner as described above, if it is limited to a short time, it can be regarded as a rotation movement, and the rotation center at that time is called an instantaneous center. For example, when the knee joint is bent or extended as illustrated in FIG. 8A, when the two points P 1 and P 2 on the femur 4 are moved to P 1 ′ and P 2 ′, the movement of each point is considered. The intersection of the perpendicular bisectors L 1 and L 2 of the line segment formed before and after becomes the instantaneous center O. Such instantaneous center movement is an extremely important movement in supporting the movement of the knee joint. Moment Figure 8B shows an example of movement locus O 1 ~ O n of the center O, having a substantially semicircular shape as in this example.
　本発明の実施形態である装置では具体的には一対のリンク１２Ａ，１２Ｂに連結ギア１９がそれぞれ結合し、例えば図９Ａのように一方のリンク１２Ａが矢印のように回動した場合、図９Ｂのように瞬間中心Ｏ′の移動軌跡Ｏ1′，Ｏ2′，．．．，Ｏn′のように片方の連結ギア１９の形状と実質的に同じ円を描く軌跡となる。膝関節が屈曲又は伸展する際、その膝関節運動の高い再現性が得られる。 In the apparatus according to the embodiment of the present invention, specifically, when the connecting gear 19 is coupled to each of the pair of links 12A and 12B and one link 12A rotates as shown by an arrow as shown in FIG. 9A, for example, FIG. The movement trajectory O 1 ′, O 2 ′,. . . , O n ′ and a locus that draws substantially the same circle as the shape of one of the connecting gears 19. When the knee joint bends or extends, high reproducibility of the knee joint movement is obtained.
　次に、膝関節の運動情報を取得するための力覚センサ機構を具備する。ここで、本発明の実施形態である装置では上述のようにパワー伝達機構においてウォーム／ウォームホイールギア（１６，１７）を使用している。リンク１２Ａ，１２Ｂが固定された脚を動かそうとするとセルフロックがかかってしまい、そのままでは本発明の実施形態である装置を装着する人の運動を拘束してしまう。このため脚の変位の運動情報ではなく、脚を動かそうとした際ウォームギア１６の軸方向にかかる荷重を計測し、そのような運動情報に基づき膝関節運動をアシストするというものである。 Next, a force sensor mechanism for acquiring movement information of the knee joint is provided. Here, in the apparatus according to the embodiment of the present invention, the worm / worm wheel gears (16, 17) are used in the power transmission mechanism as described above. If an attempt is made to move the legs to which the links 12A and 12B are fixed, self-locking is applied, and the movement of the person wearing the apparatus according to the embodiment of the present invention is restricted as it is. For this reason, the load applied in the axial direction of the worm gear 16 is measured when trying to move the leg, not the movement information of the leg displacement, and the knee joint movement is assisted based on such movement information.
　具体的構成において、上述したようにモータ１４はホルダプレート１５を介して、固定支持される。このホルダプレート１５は図１０に示されるようにその上端部及び下端部にて、ケーシング１１側に固定された支持プレート２１，２２によって支持される。ホルダプレート１５はモータ１４を支持するには必要且つ十分な強度剛性を有しているが、この場合力覚センサ機構としてウォームギア１６からの荷重により変形し易い構造となっている。ホルダプレート１５の上端部及び下端部付近にはそれぞれ、モータ１４の軸方向に沿って概略薄板棒状の歪ゲージ部材２３，２３が取り付けられる。各歪ゲージ部材２３の後端部は、ベアリング２４によって軸支される。 In a specific configuration, the motor 14 is fixedly supported via the holder plate 15 as described above. As shown in FIG. 10, the holder plate 15 is supported at its upper end and lower end by support plates 21 and 22 fixed to the casing 11 side. The holder plate 15 has sufficient strength and rigidity necessary to support the motor 14. In this case, the holder plate 15 is easily deformed by a load from the worm gear 16 as a force sensor mechanism. Near the upper end and lower end of the holder plate 15, strain gauge members 23, 23 each having a substantially thin bar shape are attached along the axial direction of the motor 14. A rear end portion of each strain gauge member 23 is pivotally supported by a bearing 24.
　歪ゲージ部材２３には更に歪変形拡大機構が設けられる。図１０に示されるように各歪ゲージ部材２３の後端部付近に括れ部位２３ａを有し、この括れ部位２３ａに歪ゲージ（詳細については図示せず）が装着される。歪ゲージ部材２３に対して軸方向の引張り又は圧縮荷重が付与されると、括れ部位２３ａにてその変形が拡大され、付与された荷重をより高い精度で検出することができる。例えば図１０、図１１Ａ及び図１１Ｂに示したようにウォームギア１６からモータ１４の出力軸１４ａに対して圧縮方向の荷重Ｐがかかった場合、その荷重Ｐにより先ず図１１Ｂのようにホルダプレート１５が曲げ変形し、このホルダプレート１５の変形により更にゲージ部材２３、特にその括れ部位２３ａが外側に拡がるように変形を拡大する。なお、出力軸１４ａに引張り方向の荷重がかかった場合には上記とは逆の変形となる。 The strain gauge member 23 is further provided with a strain deformation expanding mechanism. As shown in FIG. 10, a constricted portion 23a is provided near the rear end of each strain gauge member 23, and a strain gauge (not shown in detail) is attached to the constricted portion 23a. When an axial tensile or compressive load is applied to the strain gauge member 23, the deformation is expanded at the constricted portion 23a, and the applied load can be detected with higher accuracy. For example, as shown in FIGS. 10, 11A and 11B, when a load P in the compression direction is applied from the worm gear 16 to the output shaft 14a of the motor 14, the holder plate 15 is first moved by the load P as shown in FIG. Bending deformation is performed, and the deformation is further expanded by the deformation of the holder plate 15 so that the gauge member 23, particularly the constricted portion 23a, is expanded outward. When a load in the pulling direction is applied to the output shaft 14a, the deformation is the reverse of the above.
　次に、図１２は、ソフトウェアを含めたパワーアシスト装置１０の全体構成を示している。前述したハードウェア部分である、人体に装着されるパワーアシストユニットの電装類とパーソナルコンピュータ１００（以下、パソコンと略す）とが相互に接続され、本発明の実施形態である装置のシステムが構成される。このシステムにおいて、パワーアシストユニット側の歪ゲージ部材２３の歪ゲージを含んでなる力センサ２５の検出信号はアンプ２６を介して、Ａ／Ｄボード２７に入力される。また、モータ１４に付設されたエンコーダ２８からの信号はカウンタ２９に入力される。パソコン１００において、少なくともこれらの信号に基づきモータ１４に対する指令電圧を決定し、Ｄ／Ａボード３０更にはモータドライバ３１を介してモータ１４を駆動するようになっている。 Next, FIG. 12 shows the overall configuration of the power assist device 10 including software. The above-described hardware part, that is, the electrical components of the power assist unit attached to the human body and the personal computer 100 (hereinafter abbreviated as a personal computer) are connected to each other, and the system of the apparatus according to the embodiment of the present invention is configured. The In this system, the detection signal of the force sensor 25 including the strain gauge of the strain gauge member 23 on the power assist unit side is input to the A / D board 27 via the amplifier 26. A signal from an encoder 28 attached to the motor 14 is input to the counter 29. In the personal computer 100, a command voltage for the motor 14 is determined based on at least these signals, and the motor 14 is driven via the D / A board 30 and the motor driver 31.
　本発明の実施形態である装置ではシステム制御方法として、仮想コンプライアンス制御による目標速度の生成を用いてパワーアシストを行う。ここに、仮想コンプライアンス制御とは、外力が作用した方向に逃げるような動作をする制御法であり、計測された力に対して仮想的に設定した慣性、粘性、弾性を満たすように速度を制御するというものである。仮想コンプライアンス制御によれば、外力を測定することで仮想的なパラメータを満たすような目標速度が与えられる。 In the apparatus according to the embodiment of the present invention, as a system control method, power assist is performed using generation of a target speed by virtual compliance control. Here, virtual compliance control is a control method that operates to escape in the direction in which an external force is applied, and the speed is controlled so as to satisfy the inertia, viscosity, and elasticity virtually set for the measured force. It is to do. According to the virtual compliance control, a target speed that satisfies a virtual parameter is given by measuring an external force.
　本発明の実施形態であるシステムでは外力を人間からの入力とすると、人間からの入力によって目標速度が与えられる。この場合、仮想的に設定するインピーダンスを好適に設定することで、人の出力するトルクに応じた運動速度を出力することが可能となる。
　次の（１）式は、本発明の実施形態である装置のシステムに適用される仮想コンプライアンス制御式を表している。

　　ωn+1＝Δｔ／Ｉ・（τhn－Ｃωn－ＫΔθn）＋ωn　　（１）

ここに、ωn+1：目標角速度、ωn：現在角速度、θn：現在角度、Δｔ：サンプリング時間、τhn：人間からの入力、Ｉ：仮想慣性モーメント、Ｃ：仮想粘性係数、Ｋ：仮想弾性係数である。
　本発明の実施形態である装置は、人からの入力を力センサにより取得するので、人が脚を動かそうとする情報に基づき動作することができる。 In the system according to the embodiment of the present invention, when an external force is input from a human, the target speed is given by the input from the human. In this case, it is possible to output an exercise speed according to the torque output by the person by suitably setting the virtually set impedance.
The following equation (1) represents a virtual compliance control equation applied to the system of the apparatus according to the embodiment of the present invention.

ω n + 1 = Δt / I · (τ hn −Cω n −KΔθ n ) + ω n (1)

Here, ω n + 1 : target angular velocity, ω n : current angular velocity, θ n : current angle, Δt: sampling time, τ hn : input from human, I: virtual moment of inertia, C: virtual viscosity coefficient, K: Virtual elastic modulus.
Since the apparatus which is embodiment of this invention acquires the input from a person with a force sensor, it can operate | move based on the information that a person tries to move a leg.
　仮想コンプライアンス制御で扱う入力トルクの計測は、歪ゲージを用いて力センサで行われる。この場合、力センサではトルクを直接計測することができないため、実際に力センサが取得している値は、図１３の荷重Ｐに比例した電圧である。荷重Ｐは、ウォームギア１６及びウォームホイール１７の接触点に作用する力であり、ウォームホイール１７に結合するリンク１２Ａ，１２Ｂに対して力Ｆを加えたときにセルフロックが生じる力である。このとき力Ｆと荷重Ｐの関係は下記（２）式である。

　　ＦＬ＝Ｐａ　　（２）
Measurement of input torque handled by virtual compliance control is performed by a force sensor using a strain gauge. In this case, since the torque cannot be directly measured by the force sensor, the value actually acquired by the force sensor is a voltage proportional to the load P in FIG. The load P is a force that acts on the contact point between the worm gear 16 and the worm wheel 17, and is a force that causes self-lock when the force F is applied to the links 12 </ b> A and 12 </ b> B coupled to the worm wheel 17. At this time, the relationship between the force F and the load P is the following equation (2).

FL = Pa (2)
　本発明の実施形態である装置では、図１３における距離ａは使用するウォームホイール１７の基準円の半径であり、一定である。ある一定のＦＬによって生じるＰの力が入力されたときの力センサの変化を検出することで、その後入力されるであろうＦＬの推定が可能になる。仮想コンプライアンス制御に用いる入力トルクに関して、リンク１２Ａ，１２ＢにかかるモーメントであるＦＬが入力トルクとして適している。 In the apparatus according to the embodiment of the present invention, the distance a in FIG. 13 is the radius of the reference circle of the worm wheel 17 to be used and is constant. By detecting the change of the force sensor when the P force generated by a certain FL is input, it is possible to estimate the FL that will be input thereafter. Regarding the input torque used for virtual compliance control, FL, which is a moment applied to the links 12A and 12B, is suitable as the input torque.
　ここで、ある一定のＦＬに対するセンサの変化を検証するためにセンサに対する線形性試験を行ったところ、図１４に示す試験結果が得られた。図１４のグラフにおいて、縦軸を出力電圧、横軸を入力した力とする。このグラフの傾きを用いることで、センサの出力電圧から入力トルクを推定することが可能になる。そして、最終的にこの傾きから推定した入力トルクから仮想コンプライアンス制御による目標速度を生成し、その目標速度に対してＰＩＤ制御を行うことにより操作量としての出力電圧を決定することができる。 Here, when a linearity test was performed on the sensor in order to verify the change of the sensor with respect to a certain FL, the test result shown in FIG. 14 was obtained. In the graph of FIG. 14, the vertical axis represents the output voltage and the horizontal axis represents the input force. By using the slope of this graph, it is possible to estimate the input torque from the output voltage of the sensor. Then, a target speed by virtual compliance control is finally generated from the input torque estimated from this inclination, and an output voltage as an operation amount can be determined by performing PID control on the target speed.
　上記構成において、パワーアシスト装置１０を装着した使用者が、膝１を曲げあるいは伸ばして脚を動かそうとすると、ウォームギア１６及びウォームホイール１７間のセルフロックにより力覚センサ機構が作動する。このときに得られた荷重に基づき、仮想コンプライアンス制御により膝関節運動の目標速度が生成され、この目標速度となるようにモータ１４が駆動制御され、最適なアシストパワーが付与される。 In the above configuration, when the user wearing the power assist device 10 tries to move the leg by bending or extending the knee 1, the force sensor mechanism is activated by the self-lock between the worm gear 16 and the worm wheel 17. Based on the load obtained at this time, a target speed of the knee joint motion is generated by virtual compliance control, and the motor 14 is driven and controlled to achieve this target speed, and optimal assist power is applied.
　上述したように本発明の実施形態であるパワーアシスト装置１０を装着して、使用者の動作に最適な力量でアシストし、膝関節の屈曲及び伸展運動を極めて有効且つ効果的にアシストすることができる。この場合、装置構成がコンパクトであり、小型軽量とすることによりこれを装着する使用者の負担とならず、使用性や取り扱い性等に優れ、更に高い安全性が確保される。 As described above, the power assist device 10 according to the embodiment of the present invention is attached to assist the user with the optimal amount of force for the operation of the user, and the knee joint flexion and extension motions can be extremely effectively and effectively assisted. it can. In this case, since the apparatus configuration is compact, and it is small and light, it does not become a burden on the user who wears it, and it is excellent in usability and handling properties, and higher safety is ensured.
　次に、本発明による膝関節運動パワーアシスト装置の第２の実施の形態を説明する。なお、上記実施形態の場合と同一又は対応する部材には同一符号を用いるものとする。
　図１５は、この実施形態におけるパワーアシスト装置１０の装着時の概略構成を示している。図１５において、膝１の上下付近の外側部に配置された略薄箱型のケーシング１１から延出する出力部材として一対のリンク１２Ａ，１２Ｂを有し、リンク１２Ａが大腿部２の側部に沿って、リンク１２Ｂが脛部３の側部に沿うように装着される。これらのリンク１２Ａ，１２Ｂはそれぞれファスナ１３によって、大腿部２及び脛部３に固定される。図１６にも示すように、リンク１２Ａ及び１２Ｂはそれぞれのケーシング１１を介して、カップリングプレート３２によって相互に連結される。 Next, a second embodiment of the knee joint motion power assist device according to the present invention will be described. In addition, the same code | symbol shall be used for the same or corresponding member as the case of the said embodiment.
FIG. 15 shows a schematic configuration when the power assist device 10 according to this embodiment is mounted. In FIG. 15, a pair of links 12A and 12B are provided as output members extending from a substantially thin box-shaped casing 11 disposed on the outer side near the upper and lower sides of the knee 1, and the link 12A is a side portion of the thigh 2. The link 12 </ b> B is attached along the side of the shin part 3. These links 12A and 12B are fixed to the thigh 2 and the shin 3 by fasteners 13, respectively. As shown also in FIG. 16, the links 12 </ b> A and 12 </ b> B are connected to each other by the coupling plate 32 through the respective casings 11.
　図１７に示すようにケーシング１１には、アシストパワーを発生させるための駆動部を構成するモータ１４が搭載される。モータ１４は、ホルダプレート１５を介して支持される。モータ１４の出力軸１４ａがホルダプレート１５と直交するように配置される。モータ１４の出力軸１４ａには、アシストパワーを伝達するためのパワー伝達機構を構成するウォームギア１６が取り付けられる。各モータ１４（その出力軸１４ａ）及びウォームギア１６は、大腿部２及び脛部３にそれぞれ平行になるように取り付けられる。 As shown in FIG. 17, the casing 11 is equipped with a motor 14 that constitutes a drive unit for generating assist power. The motor 14 is supported via the holder plate 15. The output shaft 14 a of the motor 14 is arranged so as to be orthogonal to the holder plate 15. A worm gear 16 constituting a power transmission mechanism for transmitting assist power is attached to the output shaft 14 a of the motor 14. Each motor 14 (its output shaft 14a) and the worm gear 16 are attached so as to be parallel to the thigh 2 and the shin 3, respectively.
　ケーシング１１は一対のケーシングプレートを含み、図１８に示すようにその内の一方（人体側）のケーシングプレート１１Ａからリンク１２Ａ（又は１２Ｂ）が延出する。
　また、図１７のように一対のケーシングプレート１１Ａ（一方のみ図示する）にはベアリングホルダ３３を介してベアリング３４が装着される。 The casing 11 includes a pair of casing plates. As shown in FIG. 18, a link 12A (or 12B) extends from one (human body side) casing plate 11A.
Further, as shown in FIG. 17, a bearing 34 is attached to a pair of casing plates 11 </ b> A (only one is shown) via a bearing holder 33.
　カップリングプレート３２には図１９に示されるように、パワー伝達機構を構成するウォームホイール１７が支軸１８により支持される。ウォームギア１６及びウォームホイール１７は相互に噛合する。この場合、本実施形態ではウォームホイール１７はカップリングプレート３２に固定されると共に、支軸１８はベアリング３４と回転可能に係合する。なお、その他の構成については、上記実施形態の場合と実質的に同一である。 As shown in FIG. 19, the worm wheel 17 constituting the power transmission mechanism is supported by the support shaft 18 on the coupling plate 32. The worm gear 16 and the worm wheel 17 mesh with each other. In this case, in this embodiment, the worm wheel 17 is fixed to the coupling plate 32 and the support shaft 18 is rotatably engaged with the bearing 34. In addition, about another structure, it is substantially the same as the case of the said embodiment.
　第２の実施形態において、パワーアシスト装置１０を装着した使用者が、膝１を曲げあるいは伸ばして脚を動かすことで、上述の実施形態の場合と同様にウォームギア１６及びウォームホイール１７間のセルフロックにより力覚センサ機構が作動する。このときに得られた荷重に基づき、仮想コンプライアンス制御により膝関節運動の目標速度が生成され、この目標速度となるようにモータ１４が駆動制御され、最適なアシストパワーが付与される。 In the second embodiment, the user wearing the power assist device 10 bends or extends the knee 1 to move the leg, so that the self-lock between the worm gear 16 and the worm wheel 17 is the same as in the above-described embodiment. Thus, the force sensor mechanism is activated. Based on the load obtained at this time, a target speed of the knee joint motion is generated by virtual compliance control, and the motor 14 is driven and controlled to achieve this target speed, and optimal assist power is applied.
　この例ではウォームホイール１７が固定式であるため、ケーシング１１側がウォームホイール１７の外周に沿って回動する。また、第２の実施形態では装置構成が簡素化され、よりコンパクトな装置を実現することができる。 In this example, since the worm wheel 17 is fixed, the casing 11 side rotates along the outer periphery of the worm wheel 17. In the second embodiment, the device configuration is simplified and a more compact device can be realized.
　次に、本発明の実施形態（実施例）であるパワーアシスト装置の効果の検証実験とその結果について説明する。膝関節の筋電位は、人間が自分の意志によって膝関節を動かした場合には大きくなり、自分の意志ではなく外力によって動かされた場合には小さくなる（または、ほぼ生じない）。このため、パワーアシスト装置が膝関節の動作をアシストする場合には筋電位が発生するが、完全に自分の意志で動かす場合に比較して小さくなる。これに対して、パワーアシスト装置が膝関節の動作をアシストするが、その効果を低減するように制御される場合には、筋電位は、人間が自分の意志で膝関節を動かした場合とほぼ同じとなる。そこで、この検証実験では、パワーアシスト装置を装着した被験者の膝の筋電位を測定し、その結果に基づいて本発明の実施形態であるパワーアシスト装置の効果について検証した。 Next, a verification experiment of the effect of the power assist device according to the embodiment (example) of the present invention and the result thereof will be described. The myoelectric potential of the knee joint increases when a human moves the knee joint by his / her own will and decreases (or hardly occurs) when it is moved by an external force instead of his / her own will. For this reason, when the power assist device assists the operation of the knee joint, a myoelectric potential is generated, but it is smaller than that when the power assist device is completely moved by one's own will. On the other hand, when the power assist device assists the knee joint movement, but is controlled to reduce the effect, the myoelectric potential is almost the same as when the human has moved the knee joint at his own will. It will be the same. Accordingly, in this verification experiment, the myoelectric potential of the knee of the subject wearing the power assist device was measured, and the effect of the power assist device according to the embodiment of the present invention was verified based on the result.
　筋電位の測定条件は、次のとおりである。（１）パワーアシスト装置を作動させた状態。（２）パワーアシスト装置を、アシスト効果が得られる状に作動させた状態。（３）パワーアシスト装置を、アシスト効果が低くなるように作動させた状態。また、筋電位の測定の際における被験者の足の運動は、次のとおりである。（ａ）まず、被験者は台に座り、足に力を入れないで足を宙にぶら下げた状態にする。（ｂ）そして、被験者は１秒で足を伸ばし、その後１秒で足を元の状態に戻す。（ｃ）さらにその後、被験者は２秒間にわたって足の力を抜く。そして、前記（ａ）～（ｃ）の動作を１セットとして、各条件下で１０セットの動作を行い、前記（１）～（３）の状態の筋電位を測定した。また、比較のため、前記（ａ）～（ｃ）の動作を外力によって実行し、その際における前記（１）～（３）の状態の筋電位を測定した。なお、実験条件の統一のため、パワーアシスト装置を作動させない場合であっても、被験者はパワーアシスト装置を装着している。ただし、この場合には、モータの動力などが被験者に伝わらないように、一部の部品を取り外した。また、前記（１）～（３）のすべての測定条件において、被験者の足に重さ２ｋｇの錘を装着し、筋電位を測定しやすくした（すなわち、筋電位が大きくなるようにした）。 The measurement conditions of myoelectric potential are as follows. (1) A state where the power assist device is operated. (2) A state in which the power assist device is operated so as to obtain an assist effect. (3) A state in which the power assist device is operated so that the assist effect is lowered. In addition, the movement of the subject's foot during the measurement of myoelectric potential is as follows. (A) First, the subject sits on a table and puts his feet in the air without applying any force to the feet. (B) Then, the test subject extends his leg in 1 second, and then returns his leg to its original state in 1 second. (C) After that, the subject removes his / her leg for 2 seconds. Then, assuming that the operations (a) to (c) are one set, ten sets of operations were performed under each condition, and the myoelectric potentials in the states (1) to (3) were measured. For comparison, the operations (a) to (c) were executed by external force, and the myoelectric potentials in the states (1) to (3) were measured. In order to unify the experimental conditions, the subject wears the power assist device even when the power assist device is not operated. However, in this case, some parts were removed so that the power of the motor was not transmitted to the subject. In all the measurement conditions (1) to (3), a 2 kg weight was attached to the subject's foot to facilitate the measurement of the myoelectric potential (that is, the myoelectric potential was increased).
　図２０は、本発明の実施形態であるパワーアシスト装置の検証実験の結果を示したグラフであり、被験者が自分の意志で膝関節を動かした場合（＝被験者は足の力を抜いた場合）における筋電位の測定結果を示す。図２１は、本発明の実施形態であるパワーアシスト装置の検証実験の結果を示したグラフであり、外力によって膝関節が動かされた場合における筋電位の測定結果を示す。図２０に示すように、パワーアシスト装置が運動をアシストした場合の筋電位は、作動しない場合の筋電位よりも小さい。したがって、パワーアシスト装置が、実際に被験者の運動をアシストしていると考えられる。また、パワーアシスト装置が作動しない場合の筋電位と、アシストするが効果が低減するように作動した場合の筋電位とは、ほぼ同じ結果が得られた。したがって、この場合には、被験者による足の運動は、パワーアシスト装置が作動しない場合とほぼ同じであると考えられる。そして、パワーアシスト装置が運動をアシストした場合の筋電位は、アシスト効果が低減するように動作した場合の筋電位よりも小さい。このことから、パワーアシスト装置は、被験者の運動をアシストしていると考えられる。なお、図２１に示すように、外力によって被験者の足を運動させた場合には、（１）～（３）の状態における筋電位の測定結果は、ほぼ等しくなる。したがって、図２０に示す筋電位の大きさの差は、本発明の実施形態であるパワーアシスト装置の効果を有効に示していると考えられる。このように、本発明の実施形態であるパワーアシスト装置は、装着する人間の意に沿うように動作することが確認された。 FIG. 20 is a graph showing the results of a verification experiment of the power assist device according to the embodiment of the present invention, in the case where the subject moves the knee joint at his own will (= when the subject removes the foot force). The measurement result of myoelectric potential in is shown. FIG. 21 is a graph showing a result of a verification experiment of the power assist device according to the embodiment of the present invention, and shows a measurement result of myoelectric potential when the knee joint is moved by an external force. As shown in FIG. 20, the myoelectric potential when the power assist device assists the exercise is smaller than the myoelectric potential when the power assist device does not operate. Therefore, it is considered that the power assist device is actually assisting the exercise of the subject. In addition, the myoelectric potential when the power assist device is not operated and the myoelectric potential when the assist device is operated so as to reduce the effect were obtained. Therefore, in this case, the movement of the foot by the subject is considered to be almost the same as when the power assist device is not activated. The myoelectric potential when the power assist device assists the exercise is smaller than the myoelectric potential when the power assist device operates so as to reduce the assist effect. From this, it is considered that the power assist device assists the subject's exercise. As shown in FIG. 21, when the subject's foot is moved by an external force, the measurement results of the myoelectric potential in the states (1) to (3) are almost equal. Therefore, it is considered that the difference in the magnitude of the myoelectric potential shown in FIG. 20 effectively shows the effect of the power assist device according to the embodiment of the present invention. As described above, it was confirmed that the power assist device according to the embodiment of the present invention operates in accordance with the intention of the person who wears the power assist device.
　以上、本発明の実施形態（実施例）について詳細に説明したが、前記実施形態（実施例）は、本発明を実施するにあたっての具体例を示したに過ぎない。本発明の技術的範囲は、前記実施形態（実施例）に限定されるものではない。本発明はその趣旨を逸脱しない範囲において種々の変更が可能であり、それらも本発明の技術的範囲に含まれる。 As mentioned above, although embodiment (Example) of this invention was described in detail, the said embodiment (Example) only showed the specific example in implementing this invention. The technical scope of the present invention is not limited to the above-described embodiment (example). The present invention can be variously modified without departing from the spirit thereof, and these are also included in the technical scope of the present invention.
　上記実施形態では膝関節に本発明を適用する例を説明したが、適用部位もしくは箇所してこれに限らず、例えば肘関節等に対しても適用可能である。 In the above-described embodiment, the example in which the present invention is applied to the knee joint has been described.
　本発明の装置は、これを装着した使用者の動作に最適な力量でアシストし、特に膝関節の屈曲及び伸展運動を極めて有効且つ効果的にアシストすることができる。本発明の装置は、装置構成がコンパクトであり、小型軽量とすることによりこれを装着する使用者の負担とならず、使用性や取り扱い性等に優れ、更に高い安全性が確保される。 The apparatus of the present invention assists with the most suitable force for the operation of the user wearing the device, and in particular, can assist the knee joint flexion and extension movements extremely effectively and effectively. The apparatus of the present invention has a compact apparatus configuration, and is small and light, so that it does not burden the user who wears the apparatus, and is excellent in usability and handleability, and further secures high safety.

Claims (5)

  1. 　膝関節まわりに装着して、膝の曲げ伸ばしの際に膝関節運動をアシストするための膝関節パワーアシスト装置であって、
    　アシストパワーを発生させるための駆動部と、アシストパワーを伝達するためのパワー伝達機構と、膝関節の運動情報を取得するための力覚センサ機構とを具備し、
    　前記力覚センサ機構によって取得した膝関節の運動情報に基づき、前記駆動部がアシストパワーを発生するようにしたことを特徴とする膝関節パワーアシスト装置。     A knee joint power assist device for wearing around a knee joint to assist knee joint movement when bending and stretching the knee,
    A drive unit for generating assist power, a power transmission mechanism for transmitting assist power, and a force sensor mechanism for acquiring motion information of the knee joint,
    The knee joint power assist device, wherein the drive unit generates assist power based on motion information of the knee joint acquired by the force sensor mechanism.
  2. 　前記力覚センサ機構は、前記パワー伝達機構におけるセルフロック機能を介してその力覚センサが前記膝関節の運動情報を取得することを特徴とする請求項１に記載の膝関節パワーアシスト装置。 The knee joint power assist device according to claim 1, wherein the force sensor mechanism acquires motion information of the knee joint through a self-lock function in the power transmission mechanism.
  3. 　前記力覚センサ機構によって取得した膝関節の運動情報に基づき、仮想コンプライアンス制御により膝関節運動の目標速度を生成し、この目標速度となるように前記駆動部がアシストパワーを発生することを特徴とする請求項１に記載の膝関節パワーアシスト装置。 Based on knee joint motion information acquired by the force sensor mechanism, a target speed of knee joint motion is generated by virtual compliance control, and the drive unit generates assist power so as to be the target speed. The knee joint power assist device according to claim 1.
  4. 　前記パワー伝達機構の出力部は、膝の曲げ伸ばしに伴う膝関節運動の回転中心の変化に実質的に対応する瞬間中心の移動軌跡を持つように作動することを特徴とする請求項１に記載の膝関節パワーアシスト装置。 The output unit of the power transmission mechanism operates so as to have an instantaneous center movement locus that substantially corresponds to a change in the rotation center of the knee joint movement accompanying the bending and stretching of the knee. Knee joint power assist device.
  5. 　パワーアシストユニットが膝関節の側部に配置され、その出力リンクが大腿部及び脛部に沿って固定され、該リンクを介してアシストパワーを付与することを特徴とする請求項１に記載の膝関節パワーアシスト装置。 The power assist unit is disposed at a side portion of the knee joint, an output link thereof is fixed along the thigh and the shin, and assist power is applied through the link. Knee joint power assist device.
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