WO2017187660A1 - Dispositif d'assistance au mouvement - Google Patents

Dispositif d'assistance au mouvement Download PDF

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Publication number
WO2017187660A1
WO2017187660A1 PCT/JP2016/086478 JP2016086478W WO2017187660A1 WO 2017187660 A1 WO2017187660 A1 WO 2017187660A1 JP 2016086478 W JP2016086478 W JP 2016086478W WO 2017187660 A1 WO2017187660 A1 WO 2017187660A1
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WO
WIPO (PCT)
Prior art keywords
myoelectric potential
user
signal
assisting device
detection unit
Prior art date
Application number
PCT/JP2016/086478
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English (en)
Japanese (ja)
Inventor
ヨッヘン ダメラウ
ヨバーナ ヨビーチュ
Original Assignee
ボッシュ株式会社
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 ボッシュ株式会社 filed Critical ボッシュ株式会社
Publication of WO2017187660A1 publication Critical patent/WO2017187660A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A61B5/316—Modalities, i.e. specific diagnostic methods
    • A61B5/389—Electromyography [EMG]
    • 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
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to an operation assisting device used by being worn on a human body.
  • motion assist devices that assist human motion such as walking motion and bending and stretching motion of limbs are known.
  • the motion assisting device is used by being worn on the human body, and assists the user's motion by operating in accordance with the movement of the user's limbs.
  • the motion assisting device includes an arm member that can be rotated around a rotation shaft that is arranged corresponding to a joint portion of the body, and the arm member is rotated by an actuator so that the arm member is fixed. Assist the operation of the part.
  • Such a motion assisting device can be used in various situations, for example, as a device that assists not only a disabled person or an elderly person but also a healthy person.
  • Non-Patent Document 1 human movement is realized by contraction of human skeletal muscles. As skeletal muscle contracts, the muscle fibers cause electrical activity in response to stimulation of motor neurons. Motor neurons and the muscle fibers that are innervated by the motor neurons are considered functional structures called motor units (MUs).
  • the electrical activity of skeletal muscle can be observed by placing electrodes on the surface of the skin. This technique is known as electromyography, and the observed electrical signal is myoelectric potential.
  • a myoelectric potential sensor for acquiring a surface electromyogram is attached on the skin covering a desired muscle as a detection target of myoelectric potential.
  • an electrode used in the myoelectric potential sensor there are a wet electrode and a dry electrode.
  • both wet and dry electrodes there may be practical problems.
  • an adhesive for fixing the electrode to the skin or a conductive gel in a wet electrode may cause skin irritation and allergic symptoms.
  • the conductive gel in the wet electrode may cause deterioration in signal quality as it dries.
  • both wet and dry electrodes may come off the skin surface due to sweat or muscle contraction, in order to avoid this, remove the hair at the electrode attachment position, or remove alcohol from the electrode before attaching the electrode. It is necessary to clean the skin with a cleaning solution.
  • Non-Patent Document 2 as an electrode used for controlling an exoskeleton robot or an electrode used for monitoring a daily biological signal, non-contact Type electrostatic myoelectric potential sensors have been proposed.
  • the electrode is mounted on the user's skin by the user or professional staff each time the motion assist device is used, and after each use of the motion assist device. Removed.
  • the installation and removal of the electrodes is an operation that requires a considerable amount of time.
  • the quality of the detected myoelectric potential signal greatly depends on the position of the myoelectric potential sensor electrode with respect to the myofiber. Therefore, the user or professional staff had to ensure that the electrodes were accurately placed at approximately the same position each time.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a new and improved technique capable of reducing the time required for mounting and removing electrodes and ensuring the position of electrodes. It is to provide a motion assisting device.
  • a wearing tool that has a joint part that is attached to a human body of a user and that connects the first member and the second member so as to be relatively rotatable.
  • An actuator that relatively rotates the second member and the second member, a signal detection unit that is provided on clothes or underwear worn by the user and detects a biological signal of the user, and drive control of the actuator based on the detected biological signal
  • an operation assisting device provided with a control unit for performing the above.
  • a signal detection unit for detecting a biological signal of a desired muscle is provided on clothes or underwear worn by the user. Therefore, when the user wears or removes clothes or the like, the signal detection unit is arranged and removed, and the time required for arranging and removing the electrodes can be shortened.
  • the signal detection unit since the signal detection unit is provided in the clothes or the underwear, the electrodes can be disposed at substantially the same position with respect to the human body when the clothes or the like are worn. Therefore, the variation in the quality of the biological signal for each use of the motion assist device is reduced, and the quality of the myoelectric potential signal can be improved.
  • the biological signal may be a myoelectric signal.
  • the signal detection unit may be arranged corresponding to the position on the motor unit that is the detection target of the myoelectric potential signal.
  • the signal detection unit may include at least one surface myoelectric potential detection electrode arranged on the motor unit.
  • At least a part of the signal detection unit may be sewn on clothes or underwear while being covered with embroidery.
  • At least part of the signal detection unit may be accommodated in an accommodation pocket provided in clothes or underwear.
  • the signal detection unit may be a capacitance type sensor.
  • FIG. 1 It is a schematic diagram which shows the structural example of the operation assistance apparatus concerning embodiment of this invention. It is a side view which shows the structural example of the operation assistance apparatus concerning the embodiment. It is explanatory drawing which shows the example of the clothes provided with the myoelectric potential sensor. It is explanatory drawing which shows the example of the myoelectric potential sensor fixed to clothes. It is explanatory drawing which shows the example which accommodated the myoelectric potential sensor in the accommodation pocket of clothes. It is explanatory drawing which shows the example which provided the some accommodation pocket in clothing.
  • FIG. 1 is a diagram of a user H wearing the motion assisting device 1 as viewed from the front
  • FIG. 2 is a diagram of the user H wearing the motion assisting device 1 as viewed from the side (left side).
  • the motion assisting device 1 is a device for assisting the back-and-forth motion of the left and right legs such as walking motion or stair climbing motion, and is also called a so-called exoskeleton robot.
  • the motion assisting device 1 includes a wearing tool 10, a rotary actuator 21, a myoelectric potential sensor 31, and a control unit 25.
  • the wearing tool 10 includes a waist mounting portion 13, a fixing belt 11, an arm portion 23, a thigh mounting portion 17, and a fixing belt 15.
  • the waist mounting portion 13, the arm portion 23, and the thigh mounting portion 17 are formed of, for example, a resin material and have a predetermined degree of rigidity. Therefore, the waist mounting part 13, the arm part 23, and the thigh mounting part 17 are not easily deformed.
  • the fixing belt 11 and the fixing belt 15 may be formed of a woven fabric, a knitted fabric, a resin, or the like so that the tightening degree of the fixing belts 11 and 15 can be changed according to the physique of the user H, and may be deformable.
  • the waist attachment portion 13 is attached to the waist portion of the user H and fixed by the fixing belt 11.
  • the waist mounting portion 13 is an example of a first member
  • the fixing belt 11 is an example of a first fixing portion.
  • the fixing belt 11 is attached to the waist mounting portion 13 by a fixing tool such as a hook-and-loop fastener or a snap button.
  • the fixing belt 11 includes, for example, a connecting tool such as a buckle or a hook-and-loop fastener. By connecting the connecting tool, the fixing belt 11 can be wound around the waist and the waist mounting part 13 can be fixed.
  • the fixed belt 11 may include a length adjuster such as an adjuster that can adjust the length by folding the belt.
  • the joint part 20 is provided in the part located in the side part of the human body among the waist mounting parts 13.
  • the joint portion 20 is provided so as to correspond to the position of the hip joint of the user H.
  • the arm part 23 and the waist mounting part 13 are connected so as to be relatively rotatable.
  • the arm part 23 is an example of a second member.
  • the arm part 23 may be rotatably supported with respect to a rotation shaft (not shown) provided in the joint part 20.
  • the arm portion 23 extends downward from the joint portion 20, and a thigh attachment portion 17 is provided on the lower side of the arm portion 23.
  • the thigh mounting portion 17 is configured as a part of the arm portion 23.
  • the thigh mounting portion 17 is mounted below the thigh of the user H's legs, and is fixed by the fixing belt 15.
  • the fixing belt 15 is attached to the thigh mounting portion 17 by a fixing tool such as a hook-and-loop fastener or a snap button, for example.
  • the fixing belt 15 has a connecting tool such as a buckle or a hook-and-loop fastener, and the fixing belt 15 is wound around the thigh by connecting the connecting tool, so that the thigh mounting part 17 can be fixed.
  • the fixed belt 15 may be provided with a length adjuster such as an adjuster capable of adjusting the length by folding the belt.
  • the thigh mounting portion 17 and the fixing belt 15 are an example of a second fixing portion.
  • Rotation actuator 21 is provided in joint 20.
  • a stepping motor or a brushless motor is used.
  • the rotary actuator 21 may include a speed reducer.
  • the rotary actuator 21 is not limited to an actuator using a rotary rotary motor, and may be an actuator including a linear motor and a rotation mechanism.
  • the motion assisting device 1 has a myoelectric potential sensor 31 for detecting the myoelectric potential signal of the user H.
  • the myoelectric potential sensor 31 corresponds to the signal detection unit in the present invention.
  • the myoelectric potential sensor 31 includes two surface myoelectric potential detection electrodes (hereinafter simply referred to as “surface electrodes”) disposed on the upper left and right hips of the user H. The two surface electrodes are respectively disposed on the upper portions of the left and right collars.
  • the position of the myoelectric potential sensor 31 is determined in advance according to the exercise unit (muscle) corresponding to the muscle force assisted by the motion assisting device 1, and the clothes or underwear (hereinafter simply referred to as “clothes”) that the user H wears. 50). That is, the myoelectric potential sensor 31 is not individually attached directly to the human body of the user H, but is disposed on the skin surface of the human body at the same time by wearing the clothes 50.
  • the number of surface electrodes may be one, or three or more.
  • the motion assisting device 1 is a device that assists the user H's leg movement back and forth
  • the surface electrodes of these myoelectric potential sensors 31 detect the myogenic potential of the user's H gluteus muscle when worn. Arranged at possible positions. At this time, the two electrodes of each myoelectric potential sensor 31 may be arranged as close as possible. Furthermore, the two electrodes of each myoelectric potential sensor 31 may be arranged along the direction of the myofibers of the motor unit. Thereby, the myoelectric potential of the same muscle fiber is easily detected, and the difference between the two detection values can be obtained to reduce noise.
  • FIG. 3 shows an example of a garment 50 provided with myoelectric potential sensors 31L and 31R.
  • FIG. 3 is a view of the garment 50 as viewed from the back side.
  • the myoelectric potential sensors 31L and 31R are arranged on the upper left and right hips along the direction of the muscle fibers of the gluteus maxims.
  • Such myoelectric potential sensors 31L and 31R may be provided inside the garment 50, for example. Since the myoelectric potential sensors 31L and 31R are provided inside the garment 50, the distance between the myoelectric potential sensors 31L and 31R and the greater gluteus muscle is reduced, and the myoelectric potential signal detection accuracy is improved.
  • one end of an electrical wiring having a connector at the other end is connected to the myoelectric potential sensors 31L and 31R, and the connector is connected to the control unit 25, whereby the myoelectric potential sensors 31L and 31R and the control unit 25 are connected.
  • Signal transmission / reception may be enabled.
  • the myoelectric sensors 31L and 31R and the control unit 25 may be capable of transmitting and receiving signals by wireless communication.
  • the myoelectric potential sensors 31L and 31R for example, capacitive sensors are used.
  • the electrostatic capacitance type myoelectric potential sensors 31L and 31R the electrostatic capacitance changes according to the detected myoelectric potential, and the change in the electrostatic capacitance is converted into an electrical signal and output.
  • the capacitance type myoelectric potential sensors 31L and 31R the myoelectric potential of a desired muscle can be detected without directly contacting the surface of the skin. Therefore, the myoelectric potential signal can be detected not only when the myoelectric potential sensors 31L and 31R are provided not only on the garment 50 but also on the garment.
  • the myoelectric potential sensors 31L and 31R include, for example, an electrode unit, an oscillation circuit, and an output circuit. Further, the myoelectric potential sensors 31L and 31R may include an AD converter and an amplifier.
  • the electrode part of the myoelectric potential sensor 31 may be, for example, a monopolar, bipolar, or tripolar electrode, and may be an array type or matrix type electrode.
  • the myoelectric potential sensor 31 may be sewn and fixed to the clothes 50, for example.
  • FIG. 4 is an explanatory diagram showing an example in which a myoelectric potential sensor is sewn and fixed to the garment 50. 4 is a plan view showing the back side (human body side) of the garment 50 to which the myoelectric potential sensor is fixed, and the II cross section of the plan view is shown below.
  • the electrode part 51 and the IC chip 55 constituting the myoelectric potential sensor are sewn to the clothing 50.
  • the entire surface of the electrode portion 51 is covered with embroidery.
  • the wiring part 53 that electrically connects the electrode part 51 and the IC chip 55 is also covered with embroidery.
  • the myoelectric potential sensor 31 can be provided on the garment 50 in various modes other than being sewn on the garment 50.
  • FIG. 5 shows an example in which the myoelectric potential sensors 31L and 31R are accommodated in the accommodation pocket 58 provided in the clothes 50.
  • the accommodation pocket 58 is provided in advance corresponding to the arrangement position of the myoelectric potential sensors 31L and 31R.
  • the accommodation pocket 58 may be provided on either the front side or the back side of the garment 50.
  • the size of the accommodating pocket 58 is preferably substantially the same as the outer shape of the myoelectric potential sensors 31L and 31R. In this case, at least the electrode portion of the myoelectric potential sensors 31L and 31R may be accommodated in the accommodation pocket 58.
  • the garment 50 in which the myoelectric potential sensors 31L and 31R are arranged in the accommodation pocket 58, the garment 50 may be provided with a plurality of accommodation pockets 58 so that the arrangement positions of the myoelectric potential sensors 31L and 31R can be selected.
  • FIG. 6 shows an example in which a storage pocket 59 on the lower side is added to the garment 50 shown in FIG.
  • the lower accommodation pockets 59 are provided on the left and right sides along the muscle fibers of the biceps femoris.
  • the myoelectric potential sensors 31L and 31R may be disposed in the upper accommodation pocket 58, and the myoelectric potential sensors 31L and 31L are disposed in the lower accommodation pocket 59. 31R may be arranged. Alternatively, the user H may arrange the myoelectric potential sensors 31L and 31R in the upper and lower accommodation pockets 58 and 59, respectively.
  • the accommodation pocket may be provided on the front side.
  • the myoelectric potential sensor can be disposed at an appropriate position for each user H or according to the assisting operation. Thereby, a desired auxiliary operation can be appropriately obtained.
  • the electrode part When the electrode part is covered with embroidery or accommodated in the accommodation pockets 58 and 59, the electrode part may be a wet electrode or a dry electrode. In this case, even if a wet electrode is used, since the electrode portion does not directly contact the human skin, it is possible to prevent skin inflammation and the development of allergic symptoms.
  • control pack 26 is provided on the back side of the waist mounting portion 13.
  • a control unit 25 is accommodated in the control pack 26.
  • the control unit 25 acquires a myoelectric potential signal detected by the myoelectric potential sensor 31, performs arithmetic processing, and outputs a drive command to the rotary actuator 21.
  • the control unit 25 includes an electronic component such as a CPU and a storage element, and is electrically connected to the myoelectric potential sensor 31 and the rotary actuator 21 through electric wiring (not shown).
  • the control unit 25 and the myoelectric potential sensor 31 or the rotary actuator 21 may be connected by wireless communication means.
  • the myoelectric potential signal generated with the operation of the user H is detected by the myoelectric potential sensor 31, and the control unit 25 calculates the required assisting force based on the amplitude of the myoelectric potential signal. Further, the drive torque of the rotary actuator 21 is determined by the control unit 25 based on the requested auxiliary force and transmitted to the rotary actuator 21. As a result, the rotary actuator 21 is driven to rotate, and the arm portion 23 rotates, thereby generating an assisting force for the longitudinal movement of the user H's leg.
  • the myoelectric potential sensor 31 that detects the myoelectric potential signal accompanying the operation of the user H is provided on the clothes or the underwear 50 worn by the user H. .
  • the myoelectric potential sensor 31 is also arrange
  • an adhesive that fixes the myoelectric potential sensor 31 on the skin is not used, skin irritation, allergic symptoms, and the like are not caused.
  • the myoelectric potential sensor 31 is attached in advance to a predetermined position of the clothes or the undergarment 50 in accordance with the exercise unit (muscle) corresponding to the operation of the auxiliary target,
  • the arrangement position of the potential sensor 31 is not greatly shifted. Therefore, appropriate assistance in accordance with the intention of the user H is realized by the motion assisting device 1.
  • the degree of freedom of the arrangement position of the myoelectric potential sensor 31 can be increased.
  • the rotary actuator 21 is accommodated in the joint portion 20, but the present invention is not limited to such an example.
  • the rotary actuator 21 may be disposed at a position away from the joint unit 20 and rotate the arm unit 23 via a power transmission mechanism.
  • the rotary actuator 21 may be accommodated in a control pack 26 provided on the back side of the waist mounting portion 13. Alternatively, it may be accommodated together with the control unit 25 in a backpack carried by the user H.
  • the myoelectric potential sensor 31 may be provided on the clothing 50 or the like so as to be disposed along the quadriceps muscle on the front side of the thigh.
  • the noise can be reduced by executing the process of amplifying the difference between the two sensor values for all the sensor values. Thereby, the assist of the operation
  • the motion assisting device 1 is configured as a device that assists the user H's back and forth movement of both legs, but the present invention is not limited to this example.
  • the motion assisting device 1 may be a device that assists the user H in the longitudinal motion of one leg.
  • the joint part 20, the arm part 23, and the thigh attachment part 17 are provided only in any one of right and left.
  • the movement assisting device 1 is not limited to a device that assists the front and back movement of the thigh, and may be a device that assists the calf movement around the knee joint or a device that assists the movement of the arm. There may be.
  • a myoelectric potential sensor is provided on clothes or underwear worn by the user on the upper body.
  • the motion assisting device 1 includes the myoelectric potential sensor as the signal detection unit, and detects the myoelectric potential signal of the user H by the myoelectric potential sensor to control the driving of the rotary actuator 21.
  • the signal detection unit may be a sensor that detects a biological signal other than the myoelectric potential signal.
  • the biological signal include, but are not limited to, an electroencephalogram, a skin electroencephalogram, an electric skin reaction, or a nerve potential.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • Molecular Biology (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'assistance au mouvement qui, tout en réduisant une temporisation, permet une commande adéquate en fonction des mouvements d'un utilisateur. Ce dispositif d'assistance au mouvement est doté d'un harnais portable qui est porté par un utilisateur et qui comporte une articulation reliant un premier élément et un second élément de manière à permettre une rotation relative, un actionneur qui crée une rotation relative entre le premier élément et le second élément, une unité de détection de signal présente sur un vêtement ou un sous-vêtement porté par l'utilisateur et qui détecte un signal de potentiel myoélectrique de l'utilisateur, et une unité de commande qui effectue une commande d'entraînement de l'actionneur sur la base du signal de potentiel myoélectrique détecté.
PCT/JP2016/086478 2016-04-28 2016-12-08 Dispositif d'assistance au mouvement WO2017187660A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-090017 2016-04-28
JP2016090017 2016-04-28

Publications (1)

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WO2017187660A1 true WO2017187660A1 (fr) 2017-11-02

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PCT/JP2016/086478 WO2017187660A1 (fr) 2016-04-28 2016-12-08 Dispositif d'assistance au mouvement

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7384336B2 (ja) 2022-04-19 2023-11-21 群馬県 圧力・近接センサおよび圧力・近接センサシートおよび着座位置検出システム。

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003339908A (ja) * 2002-05-24 2003-12-02 Advanced Telecommunication Research Institute International トレーニング装置
JP2008501376A (ja) * 2004-06-04 2008-01-24 ユニヴェルシテ リブル ドゥ ブリュッセル 患者の肢筋挙動の監視に適応された医療装置
JP2009261735A (ja) * 2008-04-25 2009-11-12 Ritsumeikan 静電容量型電極を用いた筋電の計測装置および計測方法
WO2010029966A1 (fr) * 2008-09-10 2010-03-18 国立大学法人筑波大学 Instrument à porter permettant de mesurer des signaux biologiques, et dispositif d’aide au mouvement à porter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003339908A (ja) * 2002-05-24 2003-12-02 Advanced Telecommunication Research Institute International トレーニング装置
JP2008501376A (ja) * 2004-06-04 2008-01-24 ユニヴェルシテ リブル ドゥ ブリュッセル 患者の肢筋挙動の監視に適応された医療装置
JP2009261735A (ja) * 2008-04-25 2009-11-12 Ritsumeikan 静電容量型電極を用いた筋電の計測装置および計測方法
WO2010029966A1 (fr) * 2008-09-10 2010-03-18 国立大学法人筑波大学 Instrument à porter permettant de mesurer des signaux biologiques, et dispositif d’aide au mouvement à porter

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7384336B2 (ja) 2022-04-19 2023-11-21 群馬県 圧力・近接センサおよび圧力・近接センサシートおよび着座位置検出システム。

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