JP2010017464A - Walking assist device - Google Patents

Abstract

The present invention provides a walking assistance device that can make a walking of a user with a foot disorder close to a normal walking.
A walking assist device S of the present application is based on a link mechanism unit 3 for bending and extending a user's knee joint, a drive motor for operating the link mechanism unit, and a walking pattern stored in advance. A walking assistance device S comprising a rotational speed control means 19 for controlling the rotation of the drive motor, further comprising a walking pattern acquisition means for acquiring a walking pattern of one of the legs in the user's walking; The rotation control means controls rotation of the drive motor based on the acquired walking pattern.
[Selection] Figure 3

Description

  The present invention relates to a technical field of a walking assistance device that assists a user's walking.

  In recent years, a walking assist device has been designed to help prevent muscle weakness by assisting elderly people and victims with weak muscle strength by walking, raising and lowering stairs, standing up from a sitting position, and sitting up from a standing position. Exists (see, for example, Patent Document 1).

  The auxiliary device of Patent Document 1 includes a first link fixed to a side surface of an abdominal band wound around a user's abdomen, and a second link fixed to a side surface of a leg pad wound around the user's thigh. Are connected by an electric actuator, and the second link is swung back and forth with respect to the first link by the electric actuator, thereby assisting the movement of the user's thigh.

  In this type of walking assistance device, the operation of the electric actuator is controlled in advance by a control program.

JP 2002-301124 A

  However, the conventional walking assist device is used for a healthy person and compensates for muscular strength that is insufficient when a load is applied to the human body, such as raising and lowering stairs. For example, when adapted to a user with a disability Various deficiencies arise. For example, when walking on a normal road, the walking assist function does not operate. Therefore, when a user with a disability uses the conventional walking assist device, the walking assist function does not operate even if a walking disability occurs.

  Therefore, in order to solve an example of such a problem, an object of the present application is to provide a walking assistance device that can make a walking of a user with a foot disorder close to a normal walking.

  In order to solve the above-described problem, the walking assist device according to claim 1 is prestored with a link mechanism unit that bends and extends a user's knee joint, a drive motor that operates the link mechanism unit, and the like. A rotation control means for controlling the rotation of the drive motor based on the walking pattern, and a walking pattern acquisition means for acquiring a walking pattern of one of the legs in the walking of the user Further, the rotation control means controls rotation of the drive motor based on the acquired walking pattern.

  The walking assist device according to claim 2 is the walking assist device according to claim 1, further comprising a rotation speed adjusting means for adjusting a rotation speed of the drive motor, and acquired by the walking pattern acquiring means. The walking pattern is calculated based on the rotation state of the drive motor adjusted by the user.

  According to such a configuration, since the link mechanism unit sequentially operates in a walking pattern according to the user, the walking state of the disabled foot is changed to a normal walking state while making the user aware of the appropriate walking pattern. You can get closer.

  Further, the walking assist device according to claim 3 is the walking assist device according to claim 1, wherein the walking assist device is used by a user who has a disability in one leg and has a disability. First walking pattern acquisition means for acquiring the walking pattern of the foot, and second walking pattern acquisition means for acquiring the walking pattern of a healthy foot, wherein the rotation control means includes the first walking pattern The drive motor is rotationally controlled so as to approach the second walking pattern from a pattern. According to this configuration, the user can gradually walk with a normal foot walking pattern, so that the rehabilitation effect can be remarkably felt.

  Further, the walking assist device according to claim 4 is the walking assist device according to any one of claims 1 to 3, wherein the walking pattern is an angle of a joint of a knee portion when the foot is swung forward. Includes a swing phase in which flexion and extension are performed in the range of 0 to 75 degrees, and a stance phase in which the angle of the joint is flexed and extended in the range of 0 to 25 degrees when swinging the foot backward. It is characterized by being configured. According to this configuration, the walking pattern can be easily defined.

  The best mode for carrying out the present application will be described below with reference to the drawings. FIG. 1 is a state diagram when a walking assistance device is mounted on a user, FIG. 2 is a state diagram when a driving unit is mounted on both feet of the user, FIG. 3 is a configuration diagram of the walking assistance device, and FIG. 4 is a walking pattern. 4A is a diagram showing the relationship between the knee joint bending angle and the elapsed time for one step when a pedestrian walks at a predetermined speed, FIG. 4B. FIG. 4A is a diagram showing a waveform obtained from the angular velocity of the knee joint based on FIG. 4A, FIG. 4C is a diagram showing a signal example of a drive motor based on the waveform of FIG. 4B, and FIG. It is a figure which shows a walking pattern. In addition, embodiment described below is embodiment at the time of applying this application as the walk assistance apparatus S which assists the user's knee joint in a walk.

  As illustrated in FIGS. 1 and 2, the walking assist device S of the present embodiment includes a pair of drive units 10 that are respectively attached to both legs of a user by a fastener 6 such as a magic tape (registered trademark) or a band. Yes. As shown in FIG. 1, the drive unit 10 is attached with a link mechanism portion 3 that is attached to a joint portion of the knee portion 5 of the user and that bends and extends the knee joint.

  As shown in FIG. 1, the link mechanism 3 is wound around, for example, a first link 3 a attached to the side surface of the upper leg rest 4 wound around the user's thigh and the user's lower leg. A second link 3b attached to the side surface of the lower leg rest 7, and a third link 3c that obtains power from the drive unit 10 and swings the second link 3b in the front-rear direction with respect to the first link 3a. Consists of.

  The first link 3a is attached so as to extend from the user's lower back side to the knee 5 side, and the second link 3b is attached so as to extend from the user's knee 5 side to the tip (ground) side of the foot. The first link 3a and the second link 3b are connected so as to be rotatable in the vicinity of the knee portion 5 of the user. Moreover, the edge part of the 3rd link 3c is connected with the center vicinity of the said 2nd link 3b.

  Although the upper leg rest 4 and the lower leg rest 7 are not shown, each includes a pair of leg rest members, and the leg rest members surround the user's thigh and crus. It arrange | positions so that it may cover and is attached by the fixing tool 6 so that attachment or detachment is possible.

  The upper and lower leg rests 4 and 7 are formed by molding, for example, PP resin, and a stretchable sponge member or the like is attached to a portion in contact with the user's thigh. .

  In addition, as shown in FIG. 2, a communication unit 20 for data communication between the drive units 11 and 12 can be attached to and detached from the drive unit 11 for the left foot and the drive unit 12 for the right foot that are attached to both feet. It is attached. The communication unit 20 includes a cable 21 and a relay box 22 that accommodates a communication board, a battery, and the like disposed in the middle of the cable 21, and is fastened to a user's waist by a fixing tool such as a belt 23. It is attached.

  In addition, the communication unit 20 includes a communication head 25 including communication terminals that can communicate data without contact at both ends of the cable 21. On the other hand, the housing 10a of the drive unit 10 has a hole 10b into which the communication head 25 can be inserted, and the communication head 25 can be attached to and detached from the hole 10b.

  On the other hand, as shown in FIG. 3, the drive unit 10 includes a communication head 14 capable of receiving power or communicating predetermined data inside the housing 10 a. And the communication head 25 is inserted in the hole 10b which the housing | casing 10a of the drive unit 10 has, is electrically connected without contact, and data communication is possible.

  Further, as shown in FIG. 3, the drive unit 10 includes a drive unit 17 that drives the link mechanism unit 3 and a storage battery 18 that supplies electricity to the drive unit 17. In either one of the units 11 and 12, a storage unit 15 that stores a predetermined reference walking pattern, an operation unit 16 that is operated by a user, and each unit that requires electrical control are integrated. A control unit 19 for controlling is provided.

  The operation unit 16 is operated by the user, and includes a start button, a rotation speed adjustment toggle for adjusting the operation speed of the link mechanism unit, and the like. Note that the rotation speed adjustment toggle of the operation unit 16 of the present embodiment functions as the rotation speed adjustment means of the present application.

  Although not shown, the drive unit 17 includes a drive motor (DC motor) having a rotation mechanism and a drive control unit that drives and controls the drive motor at a predetermined rotation direction and speed.

  Although not shown, the drive motor is connected to the third link 3c via a gear box whose rotation shaft includes a predetermined gear group. Then, the rotational driving force obtained by rotating the rotating shaft of the driving motor is converted into a linear motion via the gear group and transmitted to the third link 3c, and the driving force is transmitted to the second link 3b. It is like that. And the 2nd link 3b is rock | fluctuated to the front-back direction with respect to the 1st link 3a with the rotation direction of a DC motor, assists the motion of the joint in a user's knee part 5, and assists a user's walk.

  The control unit 19 includes a CPU (Central Processing Unit) mainly having a calculation function, a working RAM, and a ROM that stores various data and programs. The CPU executes various programs stored in the ROM, for example, thereby controlling both the drive unit and each unit, and overall control of the walking assist device S. The control unit 19 of the present embodiment functions as a walking pattern acquisition unit, a rotation control unit, a first walking pattern acquisition unit, and a second walking pattern acquisition unit of the present application.

  Specifically, the control unit 19 receives an activation request for activating the walking assist device S by the operation of the operation unit 16 by the user, and drives (rotates) the drive motor based on the walking pattern stored in the storage unit 15 in advance. ) A drive signal Sh for control is generated. More specifically, as shown in FIG. 3, for example, the control unit 19 receives a drive motor activation request by a user's operation of the operation unit 16 (pressing a start button) and becomes a reference from the storage unit 15. A walking pattern is acquired, a driving signal Sh for driving and controlling the driving motor such as a rotation direction and a rotation speed of the driving motor is generated based on the walking pattern, and the driving signal Sh is transmitted to the driving unit 17.

  When the operation speed of the link mechanism unit 3 is adjusted by the user using the rotation speed adjustment toggle of the operation unit 16, the control unit 19 controls the rotation speed of the drive motor according to the degree of adjustment. In such a case, the control unit 19 calculates a walking pattern based on the rotation state of the drive motor adjusted by the user, stores the walking pattern in the storage unit, and drives based on the adjusted walking pattern. Control the rotation speed of the motor.

  Here, the walking pattern will be described with reference to FIG. FIG. 4A is an example showing the relationship between the knee joint bending angle and the elapsed time for one step when a pedestrian walks at a predetermined speed.

  As shown in FIG. 4 (a), the phase of the walking cycle when the pedestrian moves forward at a predetermined speed is roughly divided into a swing phase and a stance phase. In the swing phase, the foot moves away from the ground and moves forward (swings the foot forward), and the knee joint bends and extends from about 0 ° to a maximum of about 75 °. On the other hand, in the stance phase, the foot is placed on the ground and kicks the ground (the foot is swung back), and the knee joint bends and extends from 0 ° to a maximum of about 25 °.

  FIG. 4B is a waveform in which the rotational speed (angular velocity) of the knee joint per hour is obtained based on the bending angle of the knee joint with respect to the elapsed time shown in FIG. 4A. These are waveforms obtained by approximating the waveform shown in FIG. 4B to the rotation signal of the drive motor. FIG. 4C shows an example of a signal for controlling the drive motor, and represents the walking pattern of this embodiment. As described above, the waveform shown in FIG. 4C is a waveform in which the operation of the knee joint in walking shown in FIG. 4A is associated with the rotation signal of the drive motor. Based on this waveform, the duty ratio of the drive motor is continuously changed to control the rotational speed of the drive motor, and the link mechanism unit 3 is operated.

  As shown in FIG. 5, the walking is performed by repeating the swing phase and the stance phase, and when one leg is in the swing phase, the other leg is almost in the stance phase. . Therefore, the phase of the walking pattern of the other foot (right foot) is shifted from the walking pattern of one foot (left foot) by a predetermined period (almost the free leg period).

  That is, the rotation of the drive motor for operating the link mechanism 3 attached to the left and right feet is controlled by the control unit 19 so that the other drive motor is shifted from the one drive motor by a predetermined period of the walking pattern. Be controlled.

  According to the walking assist device S configured in this way, it is particularly useful for rehabilitating a leg of a user who has a disorder on one leg. That is, when there is an obstacle in one leg, the user can not understand the stepping timing in particular, but according to the walking assist device S of the present embodiment, the link mechanism unit 3 is forced to operate. This is because the foot moves naturally and the stepping-on timing is acquired naturally. In addition, the user can adjust the period of the walking pattern (the number of rotations of the drive motor) according to the severity of the pedestrian's obstacle, and when the period of the walking pattern is adjusted by the user, the adjusted walking Since the drive motor is controlled by the pattern, the link mechanism unit 3 can be operated according to the severity of the failure of the user.

  Further, in the present embodiment, the rotation of the drive motor is controlled in two steps: a predetermined walking pattern and a walking pattern adjusted by the user. Since the user may not be able to adapt even if the link mechanism is operated, the user first controls the drive motor with the current obstacle walking pattern using the rotation speed adjustment toggle. The drive motor is controlled by the walking pattern of the foot, and the control unit 19 acquires the walking pattern in these two actions. At first, the rotation of the driving motor is controlled based on the current walking pattern of the disabled foot, and gradually You may make it control a rotation of a drive motor by changing a value so that it may approximate to a normal foot walking pattern.

  In this way, the user can gradually walk with a normal foot walking pattern, so that the rehabilitation effect can be remarkably felt.

  Next, an operation example of the walking assist device S will be described.

  First, the user activates the walking assist device S using a start switch (not shown). The control unit 19 generates a drive signal Sh for driving the drive motor based on the walking pattern stored in advance in the storage unit, and transmits the drive signal Sh to the drive unit 17 of the drive units 11 and 12. And rotation of a drive motor is controlled based on the said drive signal Sh, and a user's walk is assisted by the link mechanism part 3 operating | moving.

  When the user adjusts the operation speed of the link mechanism unit 3 using the rotation speed adjustment toggle, the control unit 19 controls the rotation speed of the drive motor according to the degree of adjustment.

  At that time, the control unit 19 calculates a walking pattern based on the adjusted rotation state of the drive motor, and calculates the walking pattern for generating the driving signal Sh from the walking pattern stored in advance. Switch to the pattern.

  Then, the rotation of the drive motor is controlled by the drive signal Sh generated based on the calculated walking pattern.

  In the walking assist device S configured in this manner, since the link mechanism unit 3 sequentially operates in a walking pattern according to the user, the walking state of the disabled foot can be determined while making the user aware of the appropriate walking pattern. Can be close to normal walking.

  In addition, this embodiment is one form and is not limited to this form. For example, although the storage battery is provided for each drive unit, it may be provided in either one. Moreover, although it is necessary to operate both the drive units 11 and 12 in synchronization, the control unit 19 may be provided in each of the drive units 11 and 12.

It is a state figure at the time of attaching a walk auxiliary device to a user. It is a state figure at the time of mounting a drive unit on a user's both feet. It is a block diagram of a walking assistance apparatus. FIG. 4A is a diagram illustrating a walking pattern, and FIG. 4A is a diagram illustrating a relationship between a knee joint bending angle and an elapsed time for one step when a pedestrian walks at a predetermined speed. FIG. 4B is a diagram showing a waveform obtained by determining the angular velocity of the knee joint based on FIG. 4A, and FIG. 4C is a diagram showing an example of a signal of the drive motor based on the waveform of FIG. It is a figure which shows the walking pattern of both feet.

Explanation of symbols

S walking assist device 3 link mechanism unit 10 drive unit 19 control unit

Claims (4)

A link mechanism for bending and extending a user's knee joint; a drive motor for operating the link mechanism; and a rotation control means for controlling the rotation of the drive motor based on a pre-stored walking pattern. A walking assist device provided,
A walking pattern acquisition means for acquiring a walking pattern of one of the legs in the user's walking;
The rotation control means includes
A walking assist device that controls the rotation of the drive motor based on the acquired walking pattern. A rotation speed adjusting means for adjusting the rotation speed of the drive motor;
The walking assist device according to claim 1, wherein the walking pattern acquired by the walking pattern acquisition unit is calculated based on a rotation state of a drive motor adjusted by the user. The walking assist device is used for a user with a disability in one leg,
First walking pattern acquisition means for acquiring a walking pattern of the leg with a disability;
A second walking pattern acquisition means for acquiring a healthy foot walking pattern;
The walking assist device according to claim 1, wherein the rotation control unit controls the rotation of the drive motor so as to approach the second walking pattern from the first walking pattern. The walking pattern is
When swinging the foot forward, the knee joint angle bends and extends in the range of 0-75 degrees, and when swinging the foot backward, the joint angle is 0-25 degrees The walking assist device according to any one of claims 1 to 3, further comprising a stance period in which bending and extension are performed in a range.

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