JP4132997B2 - Arcuate tube actuator and joint motion support device using the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an arcuate tube actuator and a joint motion support device using the same.
[0002]
[Prior art]
Excessive rest / bed for treatment, conversely, causes secondary disorders such as joint contracture, muscle weakness, and disuse syndrome such as osteoporosis. As a preventive measure, for example, in the rehabilitation of stroke patients, walking training of nurses and one-on-one has started to be adopted from daily life early after surgery without using a wheelchair. The effect of significantly increasing the rate has been confirmed.
[0003]
However, the burden on the nurse who directly assists (supports) the support leg / free leg movement of a patient who requires walking support as described above is extremely heavy and cannot meet the needs.
[0004]
[Problems to be solved by the invention]
Therefore, various actuators have been developed as actuators for supporting the patient's body movement as described above, but many of them are heavy, have a large degree of protrusion, narrow the body movable range, and are difficult to wear. Had a point.
[0005]
On the other hand, the present inventors have conducted research with the goal of developing wearable fluid power that can provide walking support adapted to the individual ability of patients in order to promote independent walking of patients and reduce the burden on nurses. . As an example, there is a wearable fluid control system that takes advantage of the lightness and flexibility of fluid, particularly air, and the present inventors have already developed a drive system design method for an arm and finger that emphasizes a feeling of wearing using a Wound Tube Actuator. [Reference 1: Tsukakoshi, Kitagawa, Kamada, “Realization of wearable fluid power using Wound TubeActuator”, SI Society of Instrument and Control Society, 305-306 (2001), Reference 2: Kitagawa , Tsukakoshi, Kamada, “Development of Wearable Fluid Power Using a Wound Tube Actuator (1st Report, Operating Characteristics of Actuator)”, Spring 2001 Fluid Fluid System Lecture, 103-105 (2001)].
[0006]
As a design index of a comfortable actuator, the present inventors have introduced “wear feeling index I _w ” (0 <I _w <1) shown in the following formula (1) (Reference Document 1).
[0007]
I _w = [(ψ ₁ / ψ ₀ ) + (d ₀ / d ₁ ) + (m ₀ / m ₁ )] / 3 (1)
This is the sum of the ratios of the movable range (ψ), protrusion degree (d), and weight (m) before and after wearing, and the closer the average value is to 1, the better the feeling of wearing close to the natural body before wearing. Means you can.
[0008]
Therefore, attention has been paid to the effectiveness of a flat tube that can be worn around the body as a body driving actuator that increases the wearing feeling index I _W (Reference Document 2). This is composed of a urethane tube 101 whose cross section is previously crushed as shown in FIG. 9 (b), and when the inside is pressurized with air as shown in FIG. 9 (a), FIG. 9 (c) shows. As shown in the figure, the urethane tube 101 'swells with almost no change in the cross-sectional circumference, so that the pressure resistance is high and efficient force transmission is possible.
[0009]
This device is a fluid pressure actuator that wraps around the circumference of the human arm and lower limbs, so it is difficult to buckle and can generate a large force, but it is difficult to wear because it can be used on the heel when worn on the lower limbs. There was a problem.
[0010]
In view of the above situation, the present invention focuses on a knee drive system that requires the largest movable range in the lower limbs in order to develop into walking support, and an arcuate tube actuator excellent in wearability and energy efficiency, and An object of the present invention is to provide a joint motion support device using the same.
[0011]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides
[1] In an arcuate tube actuator, by bundling a tube that has a hollow cross section and has a flat shape in a state where no fluid is pressurized to the inside while folding back so that the flat surfaces of the flat portions overlap. An arcuate shape is formed, and the fluid pressure in the tube is increased so that the arcuate shape can be preserved and deformed in the direction of increasing its thickness.
[0012]
[2] In the arcuate tube actuator according to [1], a spacer for securing the fluid path is inserted into the arcuate tube so as not to seal the fluid path at a folded portion of the arcuate tube. It is characterized by that.
[0013]
[3] The arcuate tube actuator according to [2], wherein the spacer is a linear body or a small tube.
[0014]
[4] In the arcuate tube actuator according to the above [1], the tube is a thermoplastic tube, and the cross-section has a flat shape in advance, and when the inside is pressurized with a fluid, the cross-sectional length does not change and swells, It is characterized by high pressure resistance and efficient transmission of force.
[0015]
[5] The arcuate tube actuator according to the above [1], further comprising an elastic restraining body for knitting the tube to maintain the outer shape of the tube.
[0016]
[6] The arcuate tube actuator according to [1], further comprising a fixing portion that is bonded in a longitudinal direction in which the tubes are stacked.
[0017]
[7] In an articulation support device using an arcuate tube actuator, a tube having a flat cross-section and a flat shape in a state where no fluid is pressurized therein is overlapped with a flat surface of the flat portion. An arcuate tube actuator that is formed into an arcuate shape by being bundled while being folded back, and that can be deformed in the direction of increasing its thickness while preserving the arcuate shape by changing the fluid pressure in the tube, It is arranged above and below the joint part, and the joint part is provided with a bending / extension support means for supporting the bending / extension of the joint part.
[0018]
[8] In the joint motion support device using the arcuate tube actuator according to [7], the joint portion is a knee joint portion, and the joint motion support device is a bow disposed above and below the knee joint portion. A fluid system supplied to the tube actuator, a bending / extension control mechanism, and an electronic control device for controlling the fluid system to operate the bending / extension control mechanism.
[0019]
[9] In the joint motion support device using the arcuate tube actuator according to [8], a hydraulic mat provided on a sole is provided, and the bending and stretching control mechanism becomes a supporting leg phase by the operation of the hydraulic mat. If the movement is detected, the knee joint is locked and the knee joint is fixed. If the movement of the hydraulic mat is detected to be a swinging leg phase, the lock is released and the knee joint is driven to move. It is characterized by providing support.
[0020]
[10] The joint motion assisting apparatus using the arcuate tube actuator according to [8], further including a pressure sensor provided on a sole, wherein the bending / extension control mechanism is detected to be a supporting leg phase by the pressure sensor. When it is locked, the knee joint is fixed, and when it is detected by the pressure sensor that it becomes a swing leg phase, the lock is released and the knee joint is driven to support the movement of the knee joint during walking. It is characterized by.
[0021]
According to the above-described arcuate tube actuator and the joint motion support device of the present invention described above, the weight of the arcuate tube is light and the curvature of the arcuate tube matches the body shape of the mounting portion because of the simple structure in which the inside of the tube is pressurized with fluid. By molding so as to make it possible, it is possible to support physical movements with minimal protrusion. By wrapping a belt or the like around the outer circumference of the arcuate tube, the displacement can be increased, so that the movable range of the body is not narrowed and the wearing is extremely easy.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail.
[0023]
FIG. 1 is a configuration diagram of an arcuate tube actuator showing an embodiment of the present invention. FIG. 1 (a) is a top view showing a state in which the arcuate tube actuator is mounted on a human body, and FIG. FIG. 2 is a diagram showing the arcuate tube actuator, and FIG. 2 (a) shows the arcuate tube actuator before pressurization (a contracted state). FIG. 2 (b) is a view showing the arcuate tube actuator after being pressed (swelled state), and FIG. 2 (c) is a cross-sectional view taken along line AA of FIG. 2 (b).
[0024]
In these drawings, reference numeral 1 denotes an arcuate tube actuator (Arch Tube Actuator (ATA)), and 1A denotes an elastic thread-like catching body that braids the arcuate tube actuator 1 in the vertical direction, and holds the outer shape of the arcuate tube actuator 1. be able to. Various methods can be employed for knitting the thread-like binding body 1A. Moreover, although it mentions later (refer FIG. 4), you may make it hold | maintain without using a thread-like trapping body. 2 is a part of the human body to which the arcuate tube actuator 1 is attached, 3 is a wire that responds to the contracted state 1 ′ and the inflated state 1 ″ of the arcuate tube actuator 1, and 4 is the arcuate tube actuator 1. The lower plate 5 is an upper plate that holds the arcuate tube actuator 1.
[0025]
In this embodiment, as shown in FIG. 1 and FIG. 2, an arcuate tube actuator (ATA) 1 is configured in which a spirally wound Wound Tube Actuator (WTA) is bent for each semicircle. The Compared with a peripheral winding type WTA, ATA1 does not have to pass through a part of the body, and thus has an advantage of being easy to mount.
[0026]
In addition, the tube is a thermoplastic tube (for example, urethane), the cross-section has a flat shape in advance, and when the inside is pressurized with air, the cross-sectional length does not change, so the pressure resistance is high, and Efficient force transmission can be performed.
[0027]
FIG. 3 is a configuration diagram (substitute photograph) of an arcuate tube actuator showing a second embodiment of the present invention, FIG. 3 (a) is a perspective view before pressurizing the arcuate tube, and FIG. 3 (b) is an illustration. FIG. 3C is a perspective view of the arcuate tube after pressurization, and FIG. 3C is a perspective view showing a human body mounting surface of the arcuate tube.
[0028]
A point to be noted when manufacturing the arcuate tube actuator 1 is that it is desirable to use a material that is not easily broken because the air path may be blocked by simply bending the tube.
[0029]
Further, as a measure for preventing the air path from being interrupted, it is desirable that a linear body (or a small tube) 6 is inserted therein as a spacer so that the air path of the arcuate tube is always secured.
[0030]
For example, an ATA1 having an outer diameter of 150 mm and an inner diameter of 110 mm can generate an output of about 230 kgf at 6 atmospheres. However, in a part that requires a large movable range such as a knee, the displacement amount can be amplified even if the force is reduced. Desired.
[0031]
In such a case, the displacement enlargement method (Wire-Expander) using the wire 3 is effective. That is, as shown in FIG. 1, it has a speed-increasing effect proportional to the number of wires passing through, and is also useful for preventing buckling of ATA1 and assisting uniform displacement of ATA1.
[0032]
FIG. 4 is a cross-sectional view of a holding mechanism for an arcuate tube actuator according to another embodiment of the present invention, and FIG. 4 (a) shows the holding mechanism for the arcuate tube actuator when not pressurized by a fluid. (B) shows the holding mechanism of the arcuate tube actuator in a state pressurized by the fluid.
[0033]
As shown in these figures, a fixing portion 8 is provided between the arcuate tubes 7 that are folded back and laminated with an adhesive (or double-sided adhesive tape) along the longitudinal direction of the arcuate tubes 7. ing.
[0034]
By fixing the space between the adjacent arcuate tubes 7 with an adhesive or the like in this way, the arcuate tube 7 can be held without being knitted by the thread-like binding body.
[0035]
Next, changes in the joint angles of the legs during walking will be described.
[0036]
In order to clarify the movable range and characteristics of the actuator required for walking support, the angle change of the ankle joint during one cycle during walking was measured with a potentiometer attached to each joint. The result at the time of a horizontal surface walk by a healthy person is shown in FIG.
[0037]
As can be seen from this figure, in the knee joint with the largest range of movement, there is almost no change in angle in the supporting leg phase, so as an efficient walking aid, the knee joint is fixed in the supporting leg phase and extremely large torque is applied. It is considered effective to drive only the swing phase that is not required.
[0038]
Such energy saving and low-torque driving for walking support not only help to extend the operation time outdoors, but also lead to a reduction in tube size in the indoor where there are a lot of energy sources, and the wearing feeling index I _W It is possible to realize an actuator configuration that increases
[0039]
However, it is clear from FIG. 5 that a minute angular displacement of the knee joint is required at the start and end of the supporting leg phase. For this reason, it is considered effective not to fix the knee joint completely, but to use a spring that allows a slight angular displacement.
[0040]
6 is an overall configuration diagram of a joint motion support device using an arcuate tube actuator showing an embodiment of the present invention, and FIG. 7 is a configuration diagram of a bending and stretching control mechanism of the joint motion support device for the knee joint. FIG. 7A is a diagram showing the operation of the free leg joint motion support device, and FIG. 7B is a diagram showing the operation of the support leg joint motion support device.
[0041]
In these drawings, 10 is a mounting device for an articulation support device, 11 is a knee joint, 12 is an upper arcuate tube actuator (ATA), 13 is a lower arcuate tube actuator (ATA), and 14 is a knee joint. A bending / extension control mechanism, 15 is a rotation axis of the knee joint, 16 is a first rotation plate having a first connecting rod 18, 17 is a second rotation plate having second connecting rods 19 and 20, and 21 is a rotation of the knee joint. A brake arm fixed to the shaft 15, 22 is a first wire hung on the tip of the upper arcuate tube actuator 12 and the second connecting rod 19, and 23 is a lower arcuate tube actuator 13 and the brake arm 21. A second wire to be hung. The second connecting rod 20 connects the lower arcuate tube actuator 13 and the second rotating plate 17.
[0042]
Further, an electronic control device 30 is disposed around the waist, and the electronic control device 30 is provided with a CPU (Central Processing Unit) 31, a memory 32, an input interface 33, an output interface 34, and the like.
[0043]
Further, a hydraulic mat 35 is provided on the sole of the foot, and the bending / extension control mechanism 14 of the knee joint portion 11 can be locked. A fluid tank 36 is also arranged around the waist, and the ATA 12 and 13 can be pressurized and depressurized in accordance with the operation of the electromagnetic valve switch 37. The operation data of the electromagnetic valve switch 37 may be taken into the electronic control device 30 from the input interface 33, and the bending / extension control mechanism 14 may be electromagnetically locked based on the operation data.
[0044]
Thus, the upper ATA 12 and the lower ATA 13 are arranged around the knee joint 11, and the knee joint bending / extension control mechanism 14 is arranged in the knee joint 11.
[0045]
Hereinafter, the principle of self-weight lock type knee joint control will be described.
[0046]
Based on these principles, it is possible to support the knee joint driving during walking using the above-described arcuate tube actuator with energy saving.
[0047]
As shown in FIG. 7B, the hydraulic mat 35 mounted on the sole increases the internal pressure simultaneously with the start of the supporting leg phase from the free leg phase and becomes a pressure source of the locking mechanism of the knee joint flexion / extension control mechanism 14. The knee joint flexion / extension control mechanism 14 is locked, and the knee joint is fixed. A pressure sensor 38 may be provided in place of the hydraulic mat 35, and data from the pressure sensor 38 may be taken into the electronic control unit 30 to perform electromagnetic control of the knee joint bending / extension control mechanism 14.
[0048]
Next, the pressure reduction in the hydraulic mat 35 acts as a start signal for the swing leg phase to release the lock of the knee joint bending / extension control mechanism 14 and the solenoid valve switch 37 is turned on to turn the air pressure from the fluid tank 36 on. To bend the knee joint. The knee joint flexion / extension control mechanism 14 will be described in detail below.
[0049]
The upper and lower ATAs 12 and 13 in FIG. 7 are mounted by the mounting device 10 of the joint motion support device so that the knee joint portion 11 is sandwiched from both sides, and each of the joint motion support devices is centered on the knee joint rotation axis 15. The first and second rotary plates 16 and 17 that can rotate together, one brake arm 21, and two ATAs 12 and 13 are configured. As shown in FIG. 7A, in the swing leg phase, the upper ATA 12 is pressurized (inflated), whereby the first rotating plate 16 fixed to the thigh joint is fixed to the first thigh joint. 2 is rotated to bend the knee joint portion 11, and conversely, as shown in FIG. 7B, when the upper ATA 12 is decompressed (contracted) in the supporting leg phase, The knee joint 11 rotates in the opposite direction so as to extend. Further, in the support leg phase, a lock function works by pressurizing the hydraulic mat 35, and the brake arm 21 and the first rotating plate 16 are integrated. Therefore, when the knee joint part 11 is bent, the second wire 23 attached to the brake arm 21 tends to contract the lower ATA 13. The lower ATA13 is kept under a relatively high pressure without any pneumatic energy entering and exiting through the free leg / support leg, so it acts as a spring with a high elastic modulus and there is a slight displacement, but there is sufficient weight It is possible to generate a rotational reaction force sufficient to support Furthermore, it is considered effective to adjust the internal pressure of the lower ATA 13 in the supporting leg phase when ascending and descending the stairs.
[0050]
FIG. 8 is a block diagram of an articulation support device using an arcuate tube actuator according to another embodiment of the present invention, and FIG. 8 (a) is a diagram showing the operation of the articulation support device for free legs. (B) is a figure which shows operation | movement of the joint-movement assistance apparatus of a support leg.
[0051]
In this embodiment, a four-link mechanism 43 having auxiliary tension springs 41 and 42 is used as the knee joint bending / extension control mechanism 14, and the upper arcuate tube actuator 48 is supported by two vertical plates 44A and 44B. In addition to assembling, a connecting plate 45 is provided at the lower part, and similarly, a supporting plate for the lower arcuate tube actuator 49 is assembled by two vertical plates 46A and 46B, and a connecting plate 47 is provided at the upper part thereof. .
[0052]
Therefore, in the case of the swing phase, the upper ATA 48 is not pressurized, and the lower ATA 49 is pressurized to drive the knee joint strongly. On the other hand, in the support phase, the upper ATA 48 is pressurized and the lower ATA 49 is Secure the knee joint without applying pressure. The other parts are the same as the structure of the knee joint flexion / extension control mechanism shown in FIGS.
[0053]
Moreover, in the said Example, a tube actuator should just be an arcuate shape (a hollow shape is also included), and various changes can be performed about the lamination | stacking method and winding method.
[0054]
In addition, this invention is not limited to the said Example, A various deformation | transformation is possible based on the meaning of this invention, and these are not excluded from the scope of the present invention.
[0055]
【The invention's effect】
As described above in detail, according to the present invention, the following effects can be obtained.
[0056]
(A) An arcuate tube actuator with good wearability that can be easily attached / detached without taking an unreasonable posture by forming it into a shape that matches the shape of the body wearing part. Can be realized.
[0057]
(B) The arcuate tube is a thermoplastic tube, and the cross section has a flat shape in advance, and when the inside is pressurized with air, the length of the cross section swells without changing. Can be communicated.
[0058]
(C) Since the captive body having elasticity that braids the tube in order to maintain the outer shape of the arcuate tube is provided, the arcuate tube actuator can maintain the shape without breaking.
[0059]
(D) By fixing between adjacent arcuate tubes by an adhesive means, the arcuate tubes can be held without being knitted with a thread-like catching body.
[0060]
(E) By attaching a bending / extension support means using an arcuate tube actuator to a joint part of a human body, it is possible to support the bending / extending movement of the joint part.
[0061]
(F) By attaching a bending / extension support means using an arcuate tube actuator to the knee joint part of the human body, it is possible to support the flexion / extension movement of the knee joint part during walking.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an arcuate tube actuator showing an embodiment of the present invention.
FIG. 2 is a view showing an arcuate tube actuator showing an embodiment of the present invention.
FIG. 3 is a structural diagram (substitute photograph) of an arcuate tube actuator showing a second embodiment of the present invention.
FIG. 4 is an explanatory view of a holding mechanism of an arcuate tube actuator showing another embodiment of the present invention.
FIG. 5 is a diagram showing a result of measuring an angle change of an ankle joint in one cycle during walking with a potentiometer attached to each joint in order to clarify the movable range and characteristics of an actuator required for walking support.
FIG. 6 is an overall configuration diagram of a joint motion support device using an arcuate tube actuator showing an embodiment of the present invention.
FIG. 7 is a configuration diagram of a bending / stretching control mechanism of a joint motion support device using an arcuate tube actuator showing an embodiment of the present invention.
FIG. 8 is a configuration diagram of an articulation support device using an arcuate tube actuator according to another embodiment of the present invention.
FIG. 9 is a configuration diagram of a conventional tube actuator.
[Explanation of symbols]
1 Arcuate tube actuator (ATA)
1A Trapping body having elasticity 1 'Arcuate tube actuator contracted (no pressure applied)
1 ″ Arcuate tube actuator inflated (pressurized)
2 Part of human body 3 Wire 4 Lower plate 5 Upper plate 6 Linear body (may be a small tube)
7 Arcuate tube 8 Fixing part 10 Mounting device 11 for joint motion support device Knee joint parts 12, 48 Upper arcuate tube actuators 13, 49 Lower arcuate tube actuator 14 Bending / extension control mechanism 15 Knee joint rotation axis 16 First Rotating plate 17 Second rotating plate 18 First connecting rod 19, 20 Second connecting rod 21 Brake arm 22 First wire 23 Second wire 30 Electronic control unit 31 CPU (Central Processing Unit)
32 Memory 33 Input interface 34 Output interface 35 Hydraulic mat 36 Fluid tank 37 Solenoid valve switch 38 Pressure sensor 41, 42 Auxiliary spring 43 Four link mechanisms 44A, 44B; 46A, 46B Two vertical plates 45, 47 Connecting plate

Claims (10)

A tube having a hollow cross section and having a flat shape in a state where no fluid is pressurized to the inside is formed into an arcuate shape by bundling it while folding back so that the flat surfaces of the flat portions overlap, An arcuate tube actuator characterized in that by increasing the fluid pressure in the tube, the arcuate shape can be deformed while preserving the arcuate shape and increasing its thickness. 2. The arcuate tube actuator according to claim 1, wherein a spacer for securing the fluid path is inserted into the arcuate tube so as not to seal the fluid path at a folded portion of the arcuate tube. Arcuate tube actuator to do. The arcuate tube actuator according to claim 2, wherein the spacer is a linear body or a small tube. 2. The arcuate tube actuator according to claim 1, wherein the tube is a thermoplastic tube, the cross section has a flat shape in advance, and when the inside is pressurized with a fluid, the cross section length does not change and the pressure resistance is high. An arcuate tube actuator characterized by performing efficient force transmission. 2. The arcuate tube actuator according to claim 1, further comprising an elastic catcher that braids the tube to maintain the outer shape of the tube. 2. The arcuate tube actuator according to claim 1, further comprising a fixing portion bonded in a longitudinal direction in which the tubes are stacked. A tube that has a hollow cross section and is flattened in a state where no fluid is pressurized therein is bundled while being folded back so that the flat surfaces of the flat portions overlap, and is formed into an arcuate shape. An arcuate tube actuator that can be deformed in the direction of increasing the thickness while preserving the arcuate shape by changing the fluid pressure inside is arranged above and below the joint part of the human body. An articulation support device using an arcuate tube actuator, characterized by comprising a flexion / extension support means for supporting flexion / extension of a part. 8. The joint motion support device using an arcuate tube actuator according to claim 7, wherein the joint portion is a knee joint portion, and the joint motion support device is an arcuate tube actuator disposed above and below the knee joint portion. A joint motion support device using an arcuate tube actuator, comprising: a fluid system to be supplied; a bending / extension control mechanism; and an electronic control device for controlling the fluid system to operate the bending / extension control mechanism. 9. The joint motion support apparatus using an arcuate tube actuator according to claim 8, further comprising a hydraulic mat provided on a sole, wherein the bending / extension control mechanism is detected to become a supporting leg phase by the operation of the hydraulic mat. To lock the knee joint, and when the movement of the hydraulic mat detects that the swing leg phase is detected, the lock is released and the knee joint is driven to assist the movement of the knee joint during walking. A joint motion support device using an arcuate tube actuator. 9. The joint motion support device using the arcuate tube actuator according to claim 8, further comprising a pressure sensor provided on a sole, wherein the bending / extension control mechanism is locked when it is detected that the pressure sensor is a supporting leg phase. Then, the knee joint is fixed, and when it is detected that the swinging phase is detected by the pressure sensor, the movement of the knee joint during walking is performed by releasing the lock and driving the knee joint. Joint motion support device using an arcuate tube actuator.

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