JP2019005876A - Operation support apparatus and method for controlling operation support apparatus - Google Patents

Abstract

To provide a motion assisting device that performs motion assisting control individually corresponding to each of a wearer, and a control method for the same.SOLUTION: A motion assisting device 1 includes: a sensor 21 that detects a motion of a wearer wearing the motion assisting device 1; a motor 22 that generates a force for assisting the wearer's motion on the basis of a motion detected by the sensor 21; a recognition part 23 that individually recognizes the wearer wearing the motion assisting device 1; and a control part 24 that controls the force generated by the motor 22, on the basis of the result of recognition by the recognition part 23.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an operation support apparatus and a control method for the operation support apparatus.

  There is an operation support device that is attached to a human and supports the operation of the human (hereinafter referred to as a wearer). For example, when the wearer performs a lifting operation of a heavy object, the movement support device reduces a force that the wearer should generate by generating a part of the force required for the movement. In this way, the movement support device supports (assists) the movement of the wearer by bearing a part of the force generated by the wearer.

  Patent Document 1 discloses a technique in which on / off control of a motion support device or control of a walking assist amount is appropriately performed based on a user's intention.

JP 2010-110564 A

  However, it is assumed that the operation support apparatus is used sequentially by a plurality of people. In that case, it is desired that operation support corresponding to each individual of the wearer is provided. In the technique disclosed in Patent Literature 1, there is a problem that it is impossible to realize operation support corresponding to each individual of the wearer.

  The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide an operation support apparatus that performs operation support control corresponding to each individual of a wearer.

  In order to solve the above-described problem, an operation support apparatus according to an aspect of the present invention includes a sensor that detects an operation of a wearer wearing the operation support apparatus, and the operation based on the operation detected by the sensor. An actuator that generates a force to support the movement of the wearer, a recognition unit that recognizes the individual of the wearer wearing the movement support device, and the actuator that generates based on a recognition result of the recognition unit A control unit for controlling the force.

  According to this, since the operation support apparatus recognizes the wearer's individual by the recognition unit, it is not necessary to input identification information that can identify the wearer's individual. The operation support apparatus can perform operation support according to each individual based on the recognized individual wearer. If it is necessary to input identification information, the identification information must be input every time the wearer wears the motion support device. In this way, the motion support device can perform motion support control corresponding to each individual wearer.

  For example, the recognition unit may recognize the individual of the wearer by biometric recognition, and the control unit may control a force generated by the actuator based on a result of biometric recognition by the recognition unit.

  According to this, the movement support device recognizes the wearer's individual more accurately by biometric recognition performed by the recognition unit. Therefore, the motion support apparatus can perform motion support corresponding to each individual wearer based on a more accurate personal recognition result.

  For example, the control unit has a relational expression indicating the relationship between the direction or magnitude of the operation detected by the sensor and the direction or magnitude of the force generated by the actuator, and is associated with an individual. The relational expression associated with the individual recognized by the recognition unit may be selected from the relational expressions, and the force generated by the actuator may be controlled using the selected relational expression.

  According to this, the motion support device can perform motion support in the motion support mode associated with the wearer individual based on the recognition result of the individual by the recognition unit.

  For example, the operation support device may further include a log output unit that outputs an operation log of the operation support device in association with the individual recognized by the recognition unit.

  According to this, the operation support device outputs a log for each individual of the wearer based on the result of individual recognition by the recognition unit. Thereby, the operation support apparatus can record and manage the log of the operation support apparatus for each individual without requiring the input of explicit identification information by the wearer. The log managed in this way is utilized for managing the use history of the motion support device for each individual of the wearer. More specifically, the calculation of labor consideration using the motion support device or the motion support device is performed. It can be used to calculate rental fees when renting a rent. In addition, if the log managed in this way is subject to non-life insurance that is applied only to accidents that occurred while using the motion support device, was the user actually using the motion support device? It can also be used to confirm whether or not.

  For example, the control unit has a list indicating individuals who can use the motion support device or individuals who cannot use the operation support device, and the individual recognized by the recognition unit by referring to the list It may be determined whether or not the motion support device can be used, and the actuator may be controlled to generate force only when it is determined that the motion support device can be used.

  According to this, the motion support device controls whether or not motion support for the wearer is performed based on the result of individual recognition by the recognition unit. Thereby, the use by the person who is not permitted to use the operation support apparatus can be prohibited.

  For example, the recognition unit uses the wearer's fingerprint, face, body shape, heart rate, myoelectricity, electroencephalogram, gait, personal belongings or password, or a recognition function of an information terminal held by the wearer. The person may be recognized.

  According to this, the motion support apparatus recognizes the wearer's individual by the recognition unit based on more specific information such as the wearer's fingerprint. Thereby, the operation support apparatus can perform operation support corresponding to each individual of the wearer.

  According to another aspect of the present invention, there is provided a method for controlling an operation support apparatus, wherein the operation support apparatus includes a sensor that detects an operation of a wearer wearing the operation support apparatus, and the operation detected by the sensor. An actuator for generating a force for supporting the movement of the wearer based on the control method, the recognition method for recognizing an individual of the wearer wearing the movement support device, and recognition by the recognition step. And a control step for controlling the force generated by the actuator based on the result.

  According to this, there exists an effect similar to the said operation | movement assistance apparatus.

  The motion support apparatus according to the present invention can perform motion support control corresponding to each individual wearer.

FIG. 1 is an external perspective view of an operation support apparatus according to an embodiment. FIG. 2 is an explanatory diagram of operation support by the operation support apparatus according to the embodiment. FIG. 3 is a block diagram illustrating a functional configuration of the drive unit according to the embodiment. FIG. 4 is an explanatory diagram illustrating an example of information used by the recognition unit according to the embodiment for personal recognition. FIG. 5 is an explanatory diagram illustrating a permitted user list held by the control unit according to the embodiment. FIG. 6 is an explanatory diagram of a setting information list held by the control unit according to the embodiment. FIG. 7 is an explanatory diagram of a log output by the log output unit according to the embodiment. FIG. 8 is a flowchart illustrating a method for controlling the operation support apparatus according to the embodiment.

  Each of the embodiments described below shows a preferred specific example of the present invention. The numerical values, shapes, materials, constituent elements, arrangement positions and connecting forms of the constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept of the present invention are described as optional constituent elements that constitute a more preferable embodiment.

  In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted.

(Embodiment)
In the present embodiment, an operation support apparatus that performs operation support control corresponding to each individual wearer will be described. In the following, first, after describing the motion support device, a technique for performing motion support control corresponding to each individual wearer will be described.

  FIG. 1 is an external perspective view of an operation support apparatus 1 according to the present embodiment. FIG. 1 is a diagram illustrating an external appearance of the motion support device 1 when viewed from the back side of the wearer when the motion support device 1 is worn by the wearer. The movement support device 1 supports the movement of the wearer from the squatting position to the standing posture. Note that the configuration of the operation support apparatus 1 illustrated in FIG. 1 is merely an example, and is not limited to this configuration.

  As shown in FIG. 1, the motion support device 1 includes a back plate 10, a back frame 11, a side frame 12, a drive unit 13, a thigh restraint unit 14, a shoulder belt 15, and a connection belt 16. A waist plate 17 and a waist belt 18 are provided.

  The back plate 10 is a plate-like rigid member that is worn on the wearer's back. The back plate 10 is located on the back of the wearer (that is, substantially at the center of the back) when the motion support device 1 is worn by the wearer. The back plate 10 is substantially fixed to the position of the wearer's back by the shoulder belt 15, and the position and angle change according to the movement of the wearer's back. The back plate 10 supports the back frame 11 via a rotation shaft fixed to the back plate 10.

  The back frame 11 is a rod-shaped rigid member that is worn on the wearer's back, and is specifically a linear or curved linear rigid member. The back frame 11 is rotatably supported by a rotation shaft fixed to the back plate 10. The lower end of the back frame 11 contacts the waist plate 17.

  The side frame 12 is a rigid member that extends from the back frame 11 to the vicinity of the side waist of the wearer. The side frame 12 is rotatably supported by a rotation shaft fixed to the back frame 11. A drive unit 13 is attached to a portion of the side frame 12 located in the vicinity of the wearer's side waist.

  The drive unit 13 is a drive device that is mounted on the side waist of the wearer. The drive unit 13 is connected to each of the side frame 12 and the thigh holding unit 14 to form a joint, and generates a force that widens the angle between the two. In other words, the drive unit 13 generates a rotational force in a direction in which the angle formed by the side frame 12 and the thigh holding unit 14 is widened. The function of the drive unit 13 will be described in detail later.

  The thigh restraining part 14 is a rigid member that is worn on the thigh of the wearer. As shown in FIG. 1, the thigh holding portion 14 may be configured by bending a rod-shaped member, or may be configured by a plate-shaped member. The thigh holding part 14 is connected to the driving part 13.

  The thigh holding part 14 is attached to the wearer's thigh and is substantially fixed. When the driving unit 13 is driven in a state where the thigh holding part 14 is substantially fixed to the wearer's thigh, the side frame 12 is erected in a state where the position of the thigh holding part 14 with respect to the wearer is fixed. Rotational force is generated in the body to assist the wearer in stretching his / her waist.

  The shoulder belt 15 is a belt-like flexible member. The shoulder belt 15 is connected to the back plate 10 and is connected to the waist belt 18 from the back plate 10 via the shoulder of the wearer and the front surface of the body. The wearer wears the motion support device 1 by carrying the shoulder belt 15 on the shoulder.

  The connection belt 16 is a belt-like flexible member that connects the back plate 10 and the waist plate 17.

  The waist plate 17 is a rigid member attached to the back side of the waist of the wearer. The waist plate 17 is connected to the connecting belt 16 and is connected to the back plate 10 by the connecting belt 16. Further, the distance from the back plate 10 is maintained by the connecting belt 16. The lower end portion of the back frame 11 contacts the waist plate 17.

  The waist belt 18 is a belt-like flexible member that is worn around the waist of the wearer. The waist belt 18 is connected to a part of the waist plate 17 and is connected to another part of the waist plate 17 around the waist of the wearer. An attachment / detachment mechanism may be provided on a part of the waist belt 18 so that the wearer can easily attach / detach the operation support device 1.

  The shoulder belt 15, the connecting belt 16, and the waist belt 18 may each include an adjustment mechanism that adjusts the length. By adjusting the length of the shoulder belt 15 and the like by the adjustment mechanism, the operation support device 1 can be appropriately attached to the wearer's body, and the force generated by the drive unit 13 can be appropriately transmitted to the wearer. There is.

  The motion support apparatus 1 generates a force that causes the drive unit 13 to widen the angle formed by the side frame 12 and the thigh restraint unit 14, so that the wearer's motion is supported via the back frame 11, the back plate 10, and the shoulder belt 15. The wearer is given a standing force to stand the upper body.

  FIG. 2 is an explanatory diagram of operation support by the operation support apparatus 1 according to the present embodiment. With reference to FIG. 2, the operation support by the operation support apparatus 1 from when the wearer is crouched to when standing up is explained.

  FIG. 2A shows a state where the wearer is in a squatting position. In the state of FIG. 2 (a), the wearer starts an operation to become a three-dimensional force by his / her own power. Specifically, the wearer operates to slightly stretch the bent knee and waist.

  At this time, the sensor of the drive unit 13 detects that the angle between the side frame 12 and the thigh holding unit 14 is rotated. When such rotation is detected, the motor of the drive unit 13 generates rotational forces 41 and 42 in a direction in which the angle formed by the side frame 12 and the thigh holding unit 14 is widened.

  When the rotational force 41 is generated by the drive unit 13, the side frame 12 tends to be displaced in a direction in which the upper body of the wearer is pulled backward. This force is transmitted to the shoulder belt 15 via the back frame 11 and the back plate 10, and acts on the wearer as a force 43 that pushes the shoulder or chest of the wearer from the front side to the back side.

  On the other hand, when the rotational force 42 is generated, the thigh holding portion 14 acts on the wearer as a force 44 that pushes the wearer's thigh downward.

  As described above, when the motion support device 1 applies the forces 43 and 44 to the wearer, the wearer changes from the squatting posture to the middle waist posture.

  FIG. 2 (b) shows a state where the wearer is in the middle waist position. Also in the state of FIG. 2B, the drive unit 13 generates the rotational forces 41 and 42 as in the state of FIG.

  Similar to the case of FIG. 2A, the rotational force 41 generated by the drive unit 13 acts on the wearer as a force 43 that pushes the shoulder or chest of the wearer from the front side to the rear side.

  On the other hand, the rotational force 42 acts on the wearer as a force 44 that pushes the thigh surface of the wearer vertically, that is, a force 44 that pushes slightly backward.

  As described above, when the motion support device 1 applies the forces 43 and 44 to the wearer, the wearer changes from a middle waist posture to a solid posture.

  (C) of FIG. 2 shows the state where the wearer is taking a standing posture. In the state of FIG. 2 (c), the angle formed by the side frame 12 and the thigh restraint 14 detected by the sensor of the drive unit 13 is an angle defined as an angle when the wearer is in a standing posture. The motor of the drive unit 13 stops generating the rotational forces 41 and 42.

  As described above, when the motion support device 1 exerts the forces 43 and 44 on the wearer, the wearer receives the support from the motion support device 1 without generating a great force from the crouching posture. It changes to a three-dimensional posture through a middle waist posture.

  Next, the functional configuration of the drive unit 13 of the operation support apparatus 1 will be described in detail. FIG. 3 is a block diagram showing a functional configuration of the drive unit 13 according to the present embodiment. In the following, a case where the drive unit 13 drives a joint that connects the side frame 12 and the thigh restraint unit 14 will be described as an example. However, the drive unit 13 may be applied to other joints.

  As illustrated in FIG. 3, the operation support apparatus 1 includes a sensor 21, a motor 22, a recognition unit 23, a control unit 24, and a log output unit 25.

  The sensor 21 is a sensor that detects the angle of the joint of the motion support device 1. The sensor 21 detects the motion of the wearer based on the detected joint angle. An example of the sensor 21 is an angle sensor (for example, an encoder) that detects the angle of the joint between the side frame 12 and the thigh restraining portion 14. The sensor 21 detects the direction and magnitude of the movement of the wearer U by detecting a change in the angle of the joint.

  The motor 22 is a motor that generates a force in a direction to widen an angle formed by the side frame 12 and the thigh restraining portion 14, more specifically, rotational forces 41 and 42 (see FIG. 2). The force generated by the motor 22 is controlled by the control unit 24. The motor 22 is an example of an actuator.

  The recognition unit 23 is a processing unit that recognizes the individual of the wearer U wearing the motion support device 1. The recognition unit 23 recognizes the individual of the wearer U using information that can identify the individual of the wearer U. Specifically, the recognition unit 23 recognizes the individual of the wearer U through biometric recognition using a person's physical characteristics or behavioral characteristics. More specifically, the recognizing unit 23 is a fingerprint of the wearer U, a face, a body shape (height, weight, dimensions of a predetermined part of the body), heartbeat, myoelectricity, electroencephalogram, gait, personal belongings or password, or An individual is recognized using a recognition function of an information terminal held by the wearer U.

  The control unit 24 is a control unit that controls the force generated by the motor 22 based on the result of recognition by the recognition unit 23. The control unit 24 includes a motor driver and a processor that adjusts the magnitude of the force generated by the motor 22 and provides the motor driver. The control unit 24 holds setting information associated with each individual of the wearer U, and controls the force generated by the motor 22 based on the setting information held. The setting information includes at least a relational expression indicating a relationship between the direction or magnitude of the motion of the wearer U detected by the sensor 21 and the direction or magnitude of the force generated by the motor 22.

  Specifically, the control unit 24 acquires the direction and magnitude of the movement of the wearer U detected by the sensor 21. And the control part 24 selects the relational expression linked | related with the individual which the recognition part 23 recognized from the some relational expression which it has, and the motor 22 generate | occur | produces using the selected relational expression. Control the power.

  In addition, the control unit 24 holds a list indicating individuals who can use the operation support apparatus 1 or individuals who cannot use the operation support apparatus 1. Then, by referring to the list, it is determined whether or not the individual recognized by the recognition unit 23 can use the motion support device 1, and only when it is determined that the motion support device 1 can be used, the motor 22 generates force. Control.

  The log output unit 25 is a processing unit that outputs an operation log of the operation support apparatus 1 in association with the individual recognized by the recognition unit 23. The format of the log output by the log output unit 25 will be described later.

  FIG. 4 is an explanatory diagram illustrating an example of information used by the recognition unit 23 according to the present embodiment for personal recognition. As shown in FIG. 4, the recognition unit 23, for example, (a) fingerprint, (b) face, (c) cardiac potential, (d) myoelectric potential, (e) gait, (f) authentication by an information terminal. The individual of the wearer U is recognized by the result and (g) the user ID and the password.

  (A) When using recognition by fingerprint, the recognition unit 23 acquires the fingerprint of the wearer U wearing the operation support apparatus 1 using a fingerprint sensor, and acquires the acquired fingerprint and a plurality of pre-owned persons. The individual of the wearer U is recognized by collating with the fingerprint.

  (B) When using recognition by face, the recognition unit 23 acquires a face image of the wearer U wearing the motion support apparatus 1 by a camera, and acquires the acquired face image and a plurality of pre-stored images. The individual of the wearer U is recognized by collating the image of the person's face.

  (C) When using recognition based on an electrocardiogram, the recognizing unit 23 measures the electrocardiogram (electrocardiogram waveform) of the wearer U wearing the operation support apparatus 1 using an electrocardiograph, and changes in the measured electrocardiogram. The person of the wearer U is recognized by collating the aspect of the above and the aspect of fluctuation of the electrocardiograms of a plurality of persons possessed in advance. It should be noted that a numerical value such as a heart rate can also be employed as a variation in the electrocardiographic potential instead of the electrocardiographic waveform.

  (D) When using recognition based on myoelectric potential, the recognizing unit 23 measures the myoelectric potential of the wearer U wearing the motion support device 1 with a myoelectric meter, The individual of the wearer U is recognized by collating with the variation of myoelectric potentials of a plurality of people.

  (E) When the recognition by the gait is used, the recognition unit 23 acquires the angle of the joint detected by the sensor 21. Then, based on the temporal change of the joint angle, the characteristics of the gait of the wearer U (for example, the walking cycle, the stride, the characteristic change of the joint angle during walking, etc.) are acquired. And the individual of the wearer U is recognized by collating with the characteristics of the gaits of a plurality of people possessed in advance. In this case, the recognition unit 23 can use a sensor for obtaining more features of the gait of the wearer U. For example, a pressure sensor installed at a position corresponding to the toe or heel may be employed.

  (F) When using recognition using authentication by an information terminal, the recognition unit 23 acquires authentication information by a user authentication function (for example, pattern lock authentication) of the information terminal held by the wearer U by wireless communication or the like. . Then, the recognition unit 23 recognizes the individual of the wearer U based on the authentication information. The information terminal refers to, for example, an information terminal worn by the wearer U and specifically corresponds to a mobile phone, a smartphone, a smart watch, or an activity meter. The wireless communication employs short-range wireless communication (for example, Bluetooth (registered trademark), ZigBee (registered trademark), Wi-fi (registered trademark)) used for communication within a relatively short distance (for example, about several meters). Can do. Note that it is also possible to recognize the individual of the wearer U when wireless communication with the information terminal is possible instead of the authentication information of the information terminal.

  (G) When using authentication by a user ID and a password, the recognition unit 23 receives an input of a pair of a user ID and a password from the wearer U. And the wearer's U individual is recognized by collating with the group of several user ID and password currently hold | maintained previously.

  In each of the above cases, the recognition unit 23 may include a fingerprint sensor, a camera, an electrocardiograph, or an electromyograph, or may be acquired by an external fingerprint sensor or the like without including the fingerprint sensor. Information may be acquired. When the recognition unit 23 includes a fingerprint sensor or the like, there is an advantage that an individual can be recognized by the operation support device 1 alone without requiring another device. On the other hand, in the case of acquiring information acquired by an external fingerprint sensor or the like, the operation support apparatus 1 only needs to have an interface for receiving information, so that the manufacturing cost corresponding to the provision of the fingerprint sensor or the like can be reduced. There is.

  FIG. 5 is an explanatory diagram of a list held by the control unit 24 according to the present embodiment.

  The list shown in FIG. 5 is an authorized user list 50 including identification information indicating individuals who can use the operation support apparatus 1. The permitted user list 50 indicates that the use of the motion support apparatus 1 by the wearer U whose identification information is A, B, and C is permitted. The control unit 24 determines whether the wearer U recognized by the recognition unit 23 is included in the permitted user list 50, and controls the motor 22 to generate force only when it is determined that the wearer U is included.

  Instead of the permitted user list 50, a prohibited user list (not shown) including identification information indicating individuals who cannot use the operation support apparatus 1 can be used. In this case, the control unit 24 determines whether the wearer U recognized by the recognition unit 23 is included in the prohibited user list, and controls so that the motor 22 generates force only when it is determined that the wearer U is not included. To do.

  FIG. 6 is an explanatory diagram of the setting information list 55 held by the control unit 24 according to the present embodiment.

  The setting information list 55 shown in FIG. 6 includes setting information associated with each of a plurality of wearers (A, B,...) (For example, a file name “Setting_A” of a file describing the setting information). It is a list showing. The setting information includes at least a relational expression that indicates a relationship with the direction or magnitude of the force generated by the motor 22 that is associated with each individual of the wearer U.

  FIG. 7 is an explanatory diagram of the log 60 output by the log output unit 25 according to the present embodiment.

  The log 60 is log information indicating the identification information of the wearer U wearing the motion support device 1, the joint angle, and the force (torque) generated by the motor 22 in time series. For example, in the entry L1 included in the log 60, the wearer A wears the motion support apparatus 1 at the time “January 1, 2017 11:11:11”, and the joint angle is A1. The torque generated by the motor 22 is T1. In addition, the entry L2 included in the log 60 indicates that the wearer B wears the motion support apparatus 1 at the time “January 2, 2017 12:12:12”, and the joint angle is A3. This shows that the torque generated by the motor 22 was T3. As described above, each entry included in the log 60 indicates the state of the motion support device 1 in association with information indicating the wearer U. In addition to the above, the log 60 records machine information (for example, remaining battery level), environment information (operation location, humidity, temperature), user physical information (body temperature, heart rate, etc.), etc. May be.

  The log 60 managed in this way is used for managing the usage history of the motion support device 1 for each individual of the wearer. More specifically, the calculation of labor consideration using the motion support device 1, or This can be used for calculating a rental fee when the operation support apparatus 1 is rented. In addition, the log 60 managed in this way is actually used by the user when the user receives the application of the non-life insurance that is applied only to the accident that occurs when the operation support device is used. It can also be used to confirm whether or not.

  FIG. 8 is a flowchart showing a control method of the operation support apparatus 1 according to the present embodiment.

  In step S <b> 101, the recognition unit 23 recognizes the individual of the wearer U wearing the motion support device 1. As described above, there are various methods for personal recognition such as recognition by fingerprint and recognition by face. Step S101 corresponds to a recognition step.

  In step S <b> 102, the control unit 24 determines whether or not the identification information of the wearer U recognized by the recognition unit 23 in step S <b> 101 is included in the permitted user list 50. If it is determined that the identification information is included in the permitted user list 50 (Yes in step S102), the process proceeds to step S103. If not (No in step S102), the process proceeds to step S111. Note that determination using a prohibited user list may be employed instead of the processing of this step.

  In step S <b> 103, the control unit 24 permits control of the motor 22. Thereafter, the control unit 24 controls the motor 22 to generate a force that supports the operation of the wearer U based on the operation of the wearer U detected by the sensor 21.

  In step S104, the control unit 24 acquires a relational expression including parameters associated with the individual of the wearer U recognized in step S101.

  In step S105, the control unit 24 controls the motor 22 based on the operation of the wearer U detected by the sensor 21 and the relational expression acquired in step S104. At this time, the log output unit 25 may output the wearer U wearing the motion support device 1 at the present time, the angle of the joint, and the force (torque) generated by the motor 22 as a log. In this manner, the logs output by the log output unit 25 are accumulated and correspond to the log 60 shown in FIG. Step S105 corresponds to a control step.

  In step S <b> 111, the control unit 24 prohibits control of the motor 22.

  When step S105 or step S111 is completed, the motion support apparatus 1 ends a series of processes related to support of the motion of the wearer U.

  Through the series of processes shown in FIG. 8, the motion support apparatus 1 recognizes the individual of the wearer U by the recognition unit 23 and performs control according to the recognized individual of the wearer U. As described above, the motion support device 1 performs motion support control corresponding to each individual wearer.

  As described above, since the motion support device according to the present invention recognizes the wearer's individual by the recognition unit, it recognizes the wearer's individual without requiring input of identification information that can identify the wearer's individual. can do. The motion support device can perform motion support based on the recognized individual wearer. If it is necessary to input identification information, the identification information must be input every time the wearer wears the motion support device. In this way, the motion support device can perform motion support control corresponding to each individual wearer.

  In addition, the motion support device recognizes the wearer's individual more accurately through biometric recognition performed by the recognition unit. Therefore, the motion support apparatus can perform motion support corresponding to each individual wearer based on a more accurate personal recognition result.

  In addition, the motion support device can perform motion support in a motion support mode associated with the wearer's individual based on the recognition result of the individual by the recognition unit.

  In addition, the motion support device outputs a log for each individual wearer based on the result of personal recognition by the recognition unit. As a result, the operation support apparatus can record and manage a log for each individual without requiring an explicit input of information by the wearer. The log managed in this way is utilized for managing the use history of the motion support device for each individual of the wearer. More specifically, the calculation of labor consideration using the motion support device or the motion support device is performed. It can be used to calculate rental fees when renting a rent.

  The motion support device controls whether to perform motion support for the wearer based on the result of individual recognition by the recognition unit. Thereby, the use by the person who is not permitted to use the operation support apparatus can be prohibited.

  Further, the motion support device can perform motion support corresponding to each individual of the wearer by recognizing the wearer's individual by the recognition unit based on more specific information.

  Although the operation support apparatus of the present invention has been described based on the embodiment, the present invention is not limited to this embodiment. Unless it deviates from the meaning of this invention, the form which carried out the various deformation | transformation which those skilled in the art can think to this embodiment, and the structure constructed | assembled combining the component in different embodiment is also contained in the scope of the present invention. .

  The present invention can be applied to an operation support apparatus that performs operation support control corresponding to each individual wearer.

DESCRIPTION OF SYMBOLS 1 Operation | movement support apparatus 10 Back plate 11 Back frame 12 Side frame 13 Drive part 14 Thigh restraint part 15 Shoulder belt 16 Connection belt 17 Waist plate 18 Waist belt 21 Sensor 22 Motor 23 Recognition part 24 Control part 25 Log output part 41, 42 Rotational force 43, 44 Force 50 Permitted user list 55 Setting information list 60 Log A, B, U Wearer L1, L2 entry

Claims (7)

An operation support device,
A sensor for detecting a motion of a wearer wearing the motion support device;
An actuator for generating a force for supporting the operation of the wearer based on the operation detected by the sensor;
A recognition unit for recognizing the individual of the wearer wearing the motion support device;
An operation support apparatus comprising: a control unit that controls a force generated by the actuator based on a result of recognition by the recognition unit. The recognizing unit recognizes the individual of the wearer by biometric recognition,
The operation support apparatus according to claim 1, wherein the control unit controls a force generated by the actuator based on a result of biological recognition by the recognition unit. The controller is
A relational expression indicating the relationship between the direction or magnitude of the operation detected by the sensor and the direction or magnitude of the force generated by the actuator is linked to an individual,
2. The relational expression associated with the individual recognized by the recognition unit is selected from a plurality of the relational expressions, and the force generated by the actuator is controlled using the selected relational expression. Or the operation | movement assistance apparatus of 2. The operation support device further includes:
The operation support apparatus according to claim 1, further comprising: a log output unit that outputs an operation log of the operation support apparatus in association with the individual recognized by the recognition unit. The controller is
Possesses a list indicating individuals who can use the operation support device or individuals who cannot use the device,
By referring to the list, it is determined whether or not the individual recognized by the recognition unit can use the motion support device, and only when it is determined that the individual can use the actuator, the actuator generates a force. The operation support apparatus according to any one of claims 1 to 4. The recognition unit, using the wearer's fingerprint, face, body shape, heart rate, myoelectricity, electroencephalogram, gait, personal belongings or password, or a recognition function possessed by the information terminal held by the wearer, The operation support apparatus according to any one of claims 1 to 5, wherein the person is recognized. A method for controlling an operation support device, comprising:
The operation support device includes:
A sensor for detecting a motion of a wearer wearing the motion support device;
An actuator that generates a force that supports the operation of the wearer based on the operation detected by the sensor;
The control method is:
A recognition step for recognizing the individual of the wearer wearing the motion support device;
A control step of controlling a force generated by the actuator based on a result of recognition by the recognition step.

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