JP5098865B2 - Joint assist device - Google Patents

Description

  The present application relates to a technical field of a joint assist device that electrically assists movement of a joint portion of a human body.

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

  The walking assist device of Patent Document 1 includes a first link fixed to a side surface of an abdominal band wound around the 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. Note that a storage battery for supplying electricity to an electrical component such as an electrical actuator in the walking assist device is carried on the back.

  In addition, since the walking assist device uses an electrical component such as an electric actuator, it is necessary to supply electricity to the electrical component, and wiring for that is always necessary. Usually, this type of device is connected by a connector having contacts exposed to the outside.

JP 2002-301124 A

  However, when the conventional walking assistance device is connected via an electrical contact such as a connector, the connection is not easy for the user, and the electrical contact degree can be increased by repeatedly attaching and detaching. Decreases (increases the resistance value at the contact point), which may cause inefficiency of electricity supply or contact failure.

  In addition, since the walking assistance device is worn on the human body, if it is used for a long time (time), the footrest may become dirty due to dust, sweat, etc. Is not taken into consideration, and when a connector is used, there is a problem that it cannot be washed as it is.

  In addition, since the walking assistance device is worn by the user, it is necessary to reduce the size and weight. However, most of the conventional walking assistance devices are large in size and place an excessive burden on the user.

  Therefore, in order to eliminate an example of such a problem, an object of the present application is to provide a joint assist device having a simple structure that is less likely to cause an electrical failure.

  In order to solve the above-described problem, the joint assist device according to claim 1 is provided with a plurality of drive units each including a storage battery for operating a link mechanism provided in a joint of a user. The apparatus comprises: a communication unit for data communication between the plurality of drive units; and a communication / power supply unit for supplying power to the storage battery or for data communication with the drive unit, the communication unit and the communication / The power supply unit has a common connection for electrically connecting to the drive unit and is detachably connected to the drive unit, and the drive unit and the communication unit or communication / power supply The unit can supply power or perform data communication in a non-contact manner.

  According to this configuration, the joint auxiliary device does not need to provide a connection terminal for connecting each unit for each unit. Therefore, the manufacturing cost can be reduced. In addition, since power can be transmitted or data communication is possible in a non-contact manner, when a connector with a contact that is exposed to the outside is used, corrosion or rust may occur at the contact due to deterioration over time, etc. It is possible to prevent supply from decreasing and occurrence of leakage.

  Further, the joint assist device according to claim 2 is the joint assist device according to claim 1, wherein the control means for controlling the plurality of drive units is one of the plurality of drive units. It is provided in the unit, and the other driving unit is controlled by the control means. According to this configuration, since a plurality of drive units are controlled by one CPU, an operation in which the drive units are synchronized can be easily performed.

  Further, the joint assist device according to claim 3 is the joint assist device according to claim 1 or 2, wherein the drive unit is an electrical connection of the communication unit or the communication / power supply unit to the drive unit. And a charge / discharge switching means for switching a circuit for charging or discharging the rechargeable battery according to the detection result. According to this configuration, charging or discharging of the rechargeable battery can be automatically switched according to the unit connected to the connection unit.

  The joint assist device according to claim 4 is the joint assist device according to any one of claims 1 to 3, wherein a connection method between the drive unit and the communication / power supply unit is mounted on a core. It is a system that can arrange the coils facing each other, generate an induced voltage in the other coil by applying a voltage to one coil, and supply power from one coil side to the other coil side in a non-contact manner. It is characterized by. According to this configuration, it is possible to transmit electric power without contact.

  Further, the joint assist device according to claim 5 is the joint assist device according to any one of claims 1 to 4, wherein the communication unit and the drive unit are connected when the joint assist device is operated. When supplying power to the storage battery, the communication / power supply unit is connected, and necessary data is transmitted from the communication / power supply unit to the drive unit when the power is supplied. According to this configuration, data necessary for supplying power is transmitted to the drive unit together, so that the trouble of separately transmitting data can be saved.

  A joint assist device according to claim 6 is the joint assist device according to any one of claims 1 to 5, wherein the drive unit and the communication / power supply unit are connected to charge the storage battery. Is provided with display control means for displaying the state of charge. According to this configuration, the state of charge of the storage battery can be visually confirmed, so there is no fear of overcharging or insufficient charging.

  A joint assist device according to a seventh aspect is the joint assist device according to the fourth aspect, further comprising a heat radiating means for radiating heat generated around the core by the supply of the electric power. According to this configuration, it is possible to prevent the circuits around the core from being deteriorated by heat.

  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 joint assist device is mounted on a user's knee, FIG. 2 is a state diagram when the joint assist device is used, and FIG. 3 is an example of an electrical connection between an external communication / power feeding unit and a drive unit. FIG. 4 is a configuration diagram of an external communication / power supply unit used at the time of power supply or data communication, FIG. 5 is a diagram for explaining an example of electrical connection between the drive unit and the external communication / power supply unit, FIG. 6 is an electrical configuration diagram when the joint assist device is used, and FIG. 7 is an electrical configuration diagram during power feeding in the joint assist device. In addition, embodiment described below is embodiment at the time of applying this application as the joint assistance apparatus S which assists the motion of the joint in the knee part of a human body.

  As shown in FIGS. 1 and 2, the joint assist device S of the present embodiment includes a pair of drive units 10 that are respectively attached to the user's feet by a fixing tool 6 such as a magic tape (registered trademark) or a band. Yes. As shown in FIG. 1, a link mechanism portion 3 attached to a joint portion of a user's knee portion 5 is attached to the drive unit 10.

  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.

  As shown in FIG. 3, the communication unit 20 includes a communication head 25 including communication terminals 24 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.

  As shown in FIG. 4, the joint assisting device S transmits or feeds predetermined information (for example, a control program for operating the drive unit 10) to the drive unit 10. A unit 30 is provided. The external communication / power supply unit 30 is connected to a PC main body (hereinafter referred to as “external terminal 31”) for generating predetermined information, for example, an AC power source, and converts the AC power source into a DC power source. A power supply / external terminal communication device main body 35 for supplying data to the drive unit 10 and transmitting data generated by the external terminal 31 that is electrically connected to the external terminal 31 is provided. . The external communication / power supply unit 30 functions as the communication / power supply unit of the present application.

  The power supply / external terminal communication device main body 35 includes a cable 39 for electrical connection with the drive unit 10, and as shown in FIG. 5, a communication terminal 36 capable of communicating data without contact at both ends of the cable 39. And a communication / power supply head 38 including a power supply unit 37 capable of supplying power without contact.

  The hole 10b in the housing 10a of the drive unit 10 can be inserted into the communication / power supply head 38, and the communication / power supply head 38 can be attached to and detached from the hole 10b. Yes.

  Therefore, the communication head 25 and the communication / power feeding head 38 have a common external shape, and can be easily replaced with the hole 10b according to the application.

  On the other hand, as shown in FIGS. 3 and 5, the drive unit 10 includes a communication / power receiving head 15 capable of receiving power or communicating predetermined data inside the housing 10 a. The communication / power feeding head 38 or the communication head 25 is inserted into the hole 10b of the housing 10a of the drive unit 10 depending on the application, and either of the communication / power feeding head 38 or the communication head 25 is inserted. One of them is electrically connected to the communication / power receiving head 15 in a non-contact manner. Specifically, as shown in FIG. 2, when operating the joint assist device S, the communication unit 20 is connected to the drive unit 10 via the communication head 25, and one drive unit (left foot drive unit 11) and the other The drive unit (right foot drive unit 12) can communicate data via the communication unit 20. As shown in FIGS. 4 and 5, the external communication / power supply unit 30 is connected to the communication / power supply head when supplying power to the drive unit 10 and changing a control program used for controlling the drive unit 10. The power supply unit 30 is connected to the drive unit 10 via the external communication / power supply unit 30, and power can be supplied to the drive unit 10, and data communication can be performed between the external terminal 31 and the drive unit 10.

  Further, as shown in FIGS. 6 and 7, the drive unit 10 includes the motion detection unit 16 that detects the motion of the user's foot and the link mechanism unit 3 according to the detection result of the motion detection unit 16. The drive unit 17 for driving and the storage battery 18 for supplying electricity to the drive unit 17, and either one of the left and right foot drive units 11, 12 attached to both feet must be electrically controlled. Is provided with a control unit 19 for overall control.

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

  Although not shown, the DC 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 DC 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 DC motor, and assists the motion of the joint in a user's knee part 5. FIG.

  Although not shown, the motion detection unit 16 is configured to include a plurality of pressure sensors, for example. The said pressure sensor is each arrange | positioned at the toe and heel part of the shoe sole which a user wears. The motion detection unit 16 detects a load generated on the shoe sole due to the weight shift of the user as an operation signal indicating the user's motion state. The detected operation signal Sf is transmitted to the control unit 19.

  The control unit 18 includes a central processing unit (CPU) 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 controlling the joint assisting device S as a whole. In addition, the control part 18 of this embodiment functions as a detection means of this application, a charge / discharge switching means, and a display control means.

  Specifically, the control unit 18 generates a drive signal Sh for driving and controlling the DC motor based on the operation signal Sf detected by the operation detection unit 16 of both the left and right drive units 11 and 12. Specifically, as shown in FIG. 6, for example, the control unit 18 specifies the degree of load applied to the sole due to the weight shift of the user based on the operation signal Sf detected by the pressure sensor, and performs the specification. Driving to control the driving of the DC motor, such as the rotational direction and rotational speed of the DC motor, by estimating the movement direction of the user based on the load applied to the sole of the user and estimating the movement of the joint A signal Sh is generated and the drive signal Sh is transmitted to the drive unit 17.

  At the time of power feeding, the control unit 18 receives the induced voltage generated by the magnetic coupling between the communication / power feeding head 38 of the power feeding / external terminal communication device body 35 and the communication / power receiving head 15 and charges the storage battery 18. Furthermore, necessary data to be transmitted from the communication terminal 36 of the power supply / external terminal communication device main body 35 is received using the communication terminal 24 of the drive unit 11 and stored in a storage unit (not shown) or received. Rewrite the control program based on the data.

  Further, the control unit 18 detects an electrical connection of the communication unit 20 or the power supply / external terminal communication device main body 35 to the drive unit 11, and depending on the detection result, charging or discharging of the rechargeable battery is performed. Switch the circuit for. Specifically, when the communication unit 20 is connected, discharging is performed to drive the drive unit 17, while when the power supply / external terminal communication device body 35 is connected, power is supplied to the storage battery. Switch the internal circuit to charge to supply.

  Moreover, the control part 18 detects the electrical storage state of electric power while charging a storage battery, and performs display control for displaying the charge state of the storage battery visually. As shown in FIG. 4, the power supply / external terminal communication device main body 35 is provided with a display unit for displaying the charging state. By this display control, for example, the display unit may be insufficiently charged. If the charging is completed, green is displayed.

  Next, power supply or data communication operation between the communication / power receiving head and the communication / power supply head, or the communication head will be described.

  As shown in FIG. 5, the communication / power receiving head 15 and the communication / power feeding head 38 include cores 15a and 37a made of a magnetic material, and power receiving or power feeding coils 15b and 37b attached to the cores 15a and 37a. And communication terminals 15c and 36 for transmitting and receiving information. An annular groove is formed in the cores 15a and 37a, and the ring-shaped power receiving or feeding coils 15b and 37b are placed and attached to the grooves.

  The communication terminals 15c and 36 are provided around the cores 15a and 37a. The communication terminals 15c and 36 are configured using, for example, an IR-phototransistor or an IR-LED.

  On the other hand, the communication head 25 includes a communication terminal 24 for performing data communication, as shown in FIG. The communication terminal 24 is positioned at a predetermined position corresponding to the communication terminal 15 c provided in the communication / power receiving head 15. The communication terminals 15c and 36 are configured using, for example, an IR-phototransistor or an IR-LED.

  Further, the communication terminals 15c, 24, 36, the cores 15a, 37a, and the power receiving or feeding coils 15b, 37b are molded with a predetermined resin or the like to have a waterproof function, and are provided with a waterproof function.

  When power supply and data communication are performed with respect to the drive unit 10 using the power supply / external terminal communication device main body 35, the communication / power supply head 15 is provided with the communication / power supply head 38 as shown in FIG. Connected. At this time, the power feeding coil 37b is superimposed on the power receiving coil 15b, and the power receiving coil 15b and the power feeding coil 37b are disposed in close proximity and in parallel to each other, so that the electromagnetic wave is provided between the power feeding coil 37b and the power receiving coil 15b. An induction circuit is configured. In this state, when a power feeding signal is supplied to the power feeding coil 37b based on an instruction from the control unit 18, an induced electromotive force (induced voltage) corresponding to the magnitude is generated in the power receiving coil 15b, and the power receiving coil Power is supplied to the storage battery 30 from 15b.

  On the other hand, in a state where the power feeding coil 37b and the power receiving coil 15b are overlapped with each other, both the communication terminals 36 and 15c are also close to each other and arranged opposite to each other on the same axis. Therefore, data can be communicated between the communication terminals 36 and 15c. In this embodiment, infrared is used as a communication method, but it may be wireless.

  In addition, it is preferable to arrange | position so that the distance of the feeding coil 37b and the receiving coil 15b, and communication terminals 36 and 15c may adjoin, for example to about 2 millimeters.

  Further, when data communication is performed between the left and right foot drive units 11 and 12, a communication head 25 is connected to the communication / power receiving head 15 of the drive unit 10 as shown in FIG. As a result, the two communication terminals 15c and 24 are close to each other and are disposed opposite to each other on the same axis, so that data can be communicated between the two communication terminals 15c and 24.

  Next, an operation example of the joint assisting device S will be described with reference to FIGS.

  First, when the user activates the joint assisting device S using a start switch (not shown), as shown in FIG. 6, the motion signal detected by the motion detection unit 16 of the drive units 11 and 12 attached to both feet. Sf is transmitted to the control unit 19. The control unit 19 generates a drive signal Sh based on the operation signal Sf and the control program, and transmits the drive signal Sh to the drive units 17 of both the drive units 11 and 12. Specifically, the drive signal Sh is directly transmitted from the control unit 19 to the drive unit 17 of the right foot drive unit 11, and the drive signal Sh is transmitted to the drive unit 17 of the left foot drive unit 12 via the communication unit 20. Is sent.

  Then, the rotation of the DC motor is controlled based on the drive signal Sh, and the link mechanism unit 3 operates to assist the movement of the user's joint.

  On the other hand, during power feeding, the communication unit 20 is removed from the drive unit 10, and the power supply / external terminal communication device main body 35 is electrically connected to the drive unit 10. At this time, for example, the power supply signal Sa is transmitted to the power supply / external terminal communication device main body 35 by the control unit 19 of the drive unit 10 to start the power supply operation.

  First, the power supply / external terminal communication device main body 35 converts the power supply signal Sa into a pulsed power supply signal Sc having a preset frequency based on the power supply signal Sa from the control unit 19 of the drive unit 10. The power supply signal Sc is supplied to the power supply coil 37 b of the power supply head 20. The preset frequency can be changed depending on the specifications of the power feeding coil 37b and the power receiving coil 15b.

  When the power supply signal Sc is supplied to the power supply coil 37b, an electromagnetic induction circuit is formed between the power supply coil 37b and the power reception coil 15b, and an induced electromotive force corresponding to the magnitude is generated in the power reception coil 15b. A power reception signal Sd is output from the power reception coil 15b to the storage battery 30, and the storage battery 30 is charged with predetermined power.

  On the other hand, when it is necessary to perform data communication, data is transmitted from the external terminal 31 to the communication terminal 36 of the communication / power feeding head 38 when power is supplied to the storage battery. The control unit 19 receives the data at the communication terminal 15c of the communication / power receiving head 15, and stores the data in the storage unit or the like, or rewrites the control program based on the data.

  The communication head 25, the communication / power receiving head 15, and the communication / power feeding head 38 are provided with predetermined circuits and electric wires as necessary, but these circuits and electric wires are also molded with resin or the like, The contacts are not exposed.

  In addition, the housing | casing which comprises the joint assistance apparatus S is kept airtight, and the waterproof measure is taken so that water may not penetrate | invade inside. In addition, it is preferable that a part to be attached to the leg rest is provided with a countermeasure against water in consideration of washing by the user.

  The joint auxiliary device S configured as described above eliminates the need to use a contact point exposed to the outside such as a connector, and is easily detachable and waterproofed. Even if it is washed, corrosion or rust is generated at the contact as in the prior art, and the supply of power can be reduced and the occurrence of leaks can be prevented.

  In addition, in the case of a method of transmitting power using a coil as in this embodiment, heat is generated by transmitting power. Since the heat becomes a factor of deteriorating the power transmission efficiency, it is preferable to include a heat radiating means for radiating the heat. Specifically, when the core is attached to the substrate, a heat sink may be provided on the opposite surface of the core-side substrate. In addition, at least a part of the housing may be made of a material having a high heat capacity such as aluminum, and heat generated around the core may be released to the outside.

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

It is a state figure at the time of mounting | wearing a joint assistance apparatus to a user's knee part. It is a state figure at the time of use of a joint auxiliary device. It is a figure for demonstrating the example of an electrical connection of an external communication / electric power feeding unit and a drive unit. It is a block diagram of the external communication / power supply unit used at the time of electric power feeding or data communication. It is a figure for demonstrating the example of an electrical connection of a drive unit and an external communication / electric power feeding unit. It is an electrical block diagram at the time of use of a joint auxiliary device. It is an electrical block diagram at the time of the electric power feeding in a joint assistance apparatus.

Explanation of symbols

S joint assist device 3 link mechanism unit 10 drive unit 20 communication unit 30 external communication / power supply unit

Claims (7)

In a joint assisting device having a plurality of drive units with built-in storage batteries for operating a link mechanism provided in a user's joint,
A communication unit for data communication between the plurality of drive units;
A communication / power supply unit for supplying power to the storage battery or for data communication with the drive unit;
The communication unit and the communication / power supply unit have a common connection for electrically connecting to the drive unit and are detachably connected to the drive unit, and the drive unit, A joint assist device capable of supplying power or data communication in a non-contact manner with a communication unit or a communication / power supply unit.   Control means for controlling a plurality of the drive units is provided in one of the plurality of drive units, and the other drive units are controlled by the control means. Item 8. The joint assist device according to Item 1. The drive unit is
Detection means for detecting an electrical connection of the communication unit or the communication / power supply unit to the drive unit;
The joint assisting device according to claim 1, further comprising charge / discharge switching means for switching a circuit for charging or discharging the rechargeable battery according to the detection result.   The drive unit and the communication / power supply unit are connected in such a manner that coils mounted on a core are arranged opposite to each other, and an induced voltage is generated in the other coil by applying a voltage to one coil. The joint assisting device according to any one of claims 1 to 3, wherein a power can be supplied in a non-contact manner from one side to the other coil side.   When operating the joint assist device, the communication unit and the drive unit are connected, and when supplying power to the storage battery, the communication / power supply unit is connected, and when the power is supplied, the communication / power supply unit is connected. The necessary data is transmitted to the drive unit from the joint assisting device according to any one of claims 1 to 4.   6. The display control means for displaying the state of charge when the drive unit and the communication / power supply unit are connected and charging the storage battery. The joint assist device according to 1.   The joint assisting device according to claim 4, further comprising a heat radiating unit that radiates heat generated around the core by the supply of electric power.

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