JP6310059B2 - Mobility aid - Google Patents

Description

  The present invention relates to a movement assist device that assists the movement of a user.

  As a type of movement assist device, one disclosed in Patent Document 1 is known. As shown in FIG. 1 of Patent Document 1, the movement assist device (walking assist device) includes a movable body that is movable, and a support portion that is provided in the movable body and supports the user. And means for reducing the rate of change of the speed of the moving body relative to the change of the force acting on the support portion from the user when the speed of the moving body increases. According to this movement assisting device, even when a strong force is applied to the support portion by the user's tripping, the moving body can be prevented from moving rapidly, and the possibility that the user is left behind is reduced.

International Publication No. WO 98/41182

  The movement assist device described in Patent Document 1 described above includes means for reducing the rate of change in the speed of the moving body with respect to the change in the force acting on the support portion from the user when the speed of the moving body increases. ing. However, even if the speed of the moving body increases, the user may not leave the moving body. In this case, when braking is applied to the moving body, the user and the moving body are too close to each other, which may cause the user to feel uncomfortable.

  The present invention has been made in order to solve the above-described problems, and a movement assistance that assists the movement of the user without causing a sense of incongruity to the user while maintaining the user and the movement assist device at an appropriate distance. An object is to provide an apparatus.

  In order to solve the above problems, a movement assist device according to the present invention is a movement assist device that assists the movement of a user, and includes a base that includes a plurality of wheels and is capable of traveling, and is provided on the base. A holding unit that supports the user, a detection device that is provided in the holding unit and detects a weight distribution received from the user, a braking device that applies braking force to any of the wheels, and an acquisition unit that acquires the weight distribution from the detection device And a center-of-gravity position deriving unit for deriving the center-of-gravity position of the user in the front-rear direction along the traveling direction of the base from the weight distribution acquired by the acquiring unit, and the center-of-gravity position deriving unit during the traveling of the base And a braking control unit that controls the braking device to apply a braking force using the position of the center of gravity.

  According to this, the movement assist device uses the position of the center of gravity in the front-rear direction of the user along the traveling direction of the base, which is derived from the weight distribution received by the holding unit from the user while the base is traveling. Thus, the braking device is controlled to apply a braking force. Therefore, it is possible to apply a braking force so that the position of the center of gravity of the user with respect to the holding unit and the movement assisting device is maintained within a predetermined range. As a result, the movement assist device assists the movement of the user without giving the user a sense of incongruity while maintaining the user and the movement assist device at an appropriate distance.

It is the figure seen from the right side of one Embodiment of the movement assistance apparatus by this invention. It is the figure seen from the upper direction around the holding | maintenance part shown in FIG. It is the figure seen from the right side of the outline | summary of the internal structure of the assistance robot in the expansion | extension state shown in FIG. It is the figure seen from the back of the outline | summary of the internal structure of the assistance robot in the expansion | extension state shown in FIG. It is sectional drawing which shows the holding | maintenance part shown in FIG. 1, especially a detection apparatus. It is a block diagram which shows the assistance robot shown in FIG. It is the figure which looked at the user who is supported and supported by the holding | maintenance part from the right side. It is the figure which looked at the user standing up supported by the holding | maintenance part from the right side. It is the figure which looked at the user who is supported by the holding | maintenance part and is walking in the attitude | position with an elbow from the right side. 7 is a flowchart showing a control program (running (walking) permission / refusal determination) executed by the control device shown in FIG. 6. 7 is a flowchart showing a control program (running (walking) assistance) executed by the control device shown in FIG. 6. It is a figure for demonstrating distribution of the force which a holding part receives from a user, and a user's gravity center position.

  Hereinafter, an assistance robot which is an embodiment of a movement assist device according to the present invention will be described. The assistance robot 10 is an assistance robot for supporting a part of the body of the user M1 (for example, the upper body) to assist standing, sitting, and movement. As shown in FIGS. 1 to 4, the assistance robot 10 includes a base 11, an actuator 12, a holding unit 13, a handle 14, an operation device 15, a storage device 16, and a control device 17.

  The base 11 includes a base 21 and a base cover 22. The base 21 is formed in a substantially U shape in plan view that opens rearward (leftward in FIG. 1). Specifically, the base 21 is a connecting frame 21c that connects the left and right frames 21a and 21b and one end of the left and right frames 21a and 21b (in this embodiment, the front end (right direction in FIGS. 1 and 3)). It has. The left and right frames 21a and 21b are arranged at an interval necessary for the user M1 to enter.

The base 21 includes a plurality of wheels 21d, 21e, 21h, and 21i and can travel. Specifically, left and right drive wheels 21d and 21e are provided at the rear ends of the left and right frames 21a and 21b, respectively, and left and right drive wheel motors 21f and 21g (drive sources) that drive the left and right drive wheels 21d and 21e, respectively. ) Is built-in. The assistance robot 10 travels by left and right drive wheels 21d and 21e respectively driven by left and right drive wheel motors 21f and 21g (drive sources). The left and right drive wheel motors 21f and 21g are braking devices BK that apply braking force to the wheels 21d and 21e among the wheels 21d, 21e, 21h, and 21i. The braking device BK is a regenerative brake that uses the left and right drive wheel motors 21f and 21g as a generator. The left and right drive wheel motors 21f and 21g are drive motors provided on the base 21 and capable of driving the wheels 21d and 21e among the wheels 21d, 21e, 21h and 21i. Further, it is desirable that the left and right drive wheel motors 21f and 21g can idle when the user M1 pushes the assisting robot 10 by hand.
The assistance robot 10 may be configured by omitting the left and right drive wheel motors 21f and 21g so as to be moved by being pushed by the user. In this case, it is preferable to provide another type of braking device (for example, a braking device provided in a bicycle, a motorcycle, or an automobile). Other types of braking devices are preferably configured to be automatically braked.

Left and right driven wheels 21h and 21i are provided at the front ends of the left and right frames 21a and 21b, respectively. The left and right driven wheels 21h and 21i can rotate according to the traveling direction of the assistance robot 10.
As shown in FIG. 1, the base cover 22 is a cover that covers the base 21 from above. Similar to the base 21, the base cover 22 is formed in a substantially U shape in plan view that opens rearward.

  The actuator 12 (30) is composed of a slide part 31 and a tilting part 32. The slide part 31 moves the holding part 13 up and down with respect to the base 21. The tilting part 32 tilts the holding part 13 with respect to the base 21.

  The slide part 31 (40) includes left and right slide parts 41 and. As shown in FIG. 4, the left slide part 41 includes a slide base 41a, a first slide part 41b, and a second slide part 41c. The base of the left slide part 41 is attached to the left frame 21 a of the base 21. That is, the slide base 41a is attached to the base 21 so as to be inclined at a predetermined angle (for example, 80 degrees) to the front side. The first slide portion 41b slides in the longitudinal direction (axial movement direction) with respect to the slide base portion 41a, and is configured to be substantially accommodated in the slide base portion 41a when contracted. The second slide portion 41c slides in the longitudinal direction (axial movement direction) with respect to the first slide portion 41b, and is configured to be substantially accommodated in the first slide portion 41b when contracted. Yes.

  An arm portion 43 extending rearward is attached to the upper end of the second slide portion 41c. In the present embodiment, the arm portion 43 is orthogonal to the longitudinal direction of the left slide portion 41. A holding portion 13 is rotatably attached to the distal end portion of the arm portion 43.

  Furthermore, the slide part 31 includes a drive motor 45 that slides the first and second slide parts 41b and 41c. The output of the drive motor 45 is configured to be transmitted to the second belt 48 via the speed change mechanism 46 and the first belt 47. The second belt 48 is mounted on the pulley 48a and the pulley 48b. The pulley 48a is rotatably attached to the lower end portion of the slide base 41a. The pulley 48b is rotatably attached to the upper end portion of the slide base 41a. A lower end portion of the first slide portion 41 b is fixed to the second belt 48.

  The third belt 49 is mounted on the pulley 49a and the pulley 49b. The pulley 49a is rotatably attached to the lower end portion of the first slide portion 41b. The pulley 49b is rotatably attached to the upper end portion of the first slide portion 41b. A lower end portion 41 c 1 of the second slide portion 41 c is fixed to one side of the third belt 49. An upper end 41 a 1 of the slide base 41 a is fixed to the other side of the third belt 49.

  The left slide part 41 includes a slide cover 41d that covers the first slide part 41b and the second slide part 41c. The slide cover 41d is formed in a cylindrical shape. The slide cover 41d may be configured by one cylindrical body, or may be configured by a two-stage slide type in which two cylindrical bodies slide.

  As shown in FIGS. 3 and 4, the right slide part 42 includes a slide base part 42 a, a first slide part 42 b, and a second slide part 42 c, similar to the left slide part 41. The base of the right slide part 42 is attached to the right frame 21 b of the base 21. An arm part 44 extending rearward is attached to the upper end of the second slide part 42c. The holding portion 13 is rotatably attached to the distal end portion of the arm portion 44.

  Furthermore, the output of the drive motor 45 is configured to be transmitted to the second belt 52 via the speed change mechanism 46 and the first belt 51. The second belt 52 is mounted on the pulley 52a and the pulley 52b. The pulley 52a is rotatably attached to the lower end portion of the slide base portion 42a. The pulley 52b is rotatably attached to the upper end portion of the slide base portion 42a. A lower end portion of the first slide portion 42 b is fixed to the second belt 52.

The third belt 53 is mounted on the pulley 53a and the pulley 53b. The pulley 53a is rotatably attached to the lower end portion of the first slide portion 42b. The pulley 53b is rotatably attached to the upper end portion of the first slide portion 42b. A lower end portion 42 c 1 of the second slide portion 42 c is fixed to one side of the third belt 53. An upper end 42 a 1 of the slide base 42 a is fixed to the other side of the third belt 53.
The right slide part 42 includes a slide cover 42d that covers the first slide part 42b and the second slide part 42c. The slide cover 42d is configured similarly to the slide cover 41d.

  When the drive motor 45 is driven in the forward direction, the second belt 48 is rotated, and the first slide portion 41b extends along the axial direction with respect to the slide base portion 41a. At the same time, the third belt 49 is rotated as the first slide portion 41b is raised, and the second slide portion 41c extends along the axial direction with respect to the first slide portion 41b. The extension operation of the left slide part 41 is the same in the right slide part 42.

  On the other hand, when the drive motor 45 is driven in the opposite direction, the second belt 48 is rotated in the opposite direction to that during extension, and the first slide portion 41b contracts in the axial direction with respect to the slide base portion 41a. At the same time, as the first slide portion 41b is lowered, the third belt 49 is rotated in the opposite direction to the extension, and the second slide portion 41c contracts along the axial direction with respect to the first slide portion 41b. The contraction operation of the left slide part 41 is the same in the right slide part 42. Thereby, the holding unit 13 is moved up and down with respect to the base 21.

  The tilting part 32 includes left and right tilting parts 32a and 32b. The left tilting part 32a includes a drive motor 32a1, a conversion mechanism 32a2, and an output rod 32a3. The conversion mechanism 32a2 incorporates a ball screw, for example, and converts the rotation output of the drive motor 32a1 into a linear motion and outputs it to the output rod 32a3. The output rod 32a3 advances and retreats in the axial direction with respect to the conversion mechanism 32a2. The drive motor 32a1 and the conversion mechanism 32a2 are attached to the lower end portion of the second slide portion 41c. The left tilting part 32a is attached so as to be tiltable with respect to the second slide part 41c. The output end of the output rod 32a3 is attached to the front end portion of the holding portion 13 so as to be tiltable.

  The right tilt portion 32b includes a drive motor 32b1, a conversion mechanism 32b2, and an output rod 32b3, like the left tilt portion 32a. The drive motor 32b1 and the conversion mechanism 32b2 are attached to the lower end portion of the second slide portion 42c. The right tilting part 32b is attached so as to be tiltable with respect to the second slide part 42c. The output end of the output rod 32b3 is attached to the front end portion of the holding portion 13 so as to be tiltable.

  When the drive motor 32a1 is driven in the forward direction, the output rod 32a3 advances (extends) in the output direction. At the same time, when the drive motor 32b1 is driven in the forward direction, the output rod 32b3 advances (extends) in the output direction. As a result, the holding portion 13 rotates (tilts back) in the counterclockwise direction (in FIGS. 1 and 3) around the rotation axis A1. On the other hand, when the drive motor 32a1 is driven in the reverse direction, the output rod 32a3 moves backward (shrinks). At the same time, when the drive motor 32b1 is driven in the forward direction, the output rod 32b3 retracts (shrinks). As a result, the holding unit 13 rotates (tilts forward) in the clockwise direction (in FIGS. 1 and 3) about the rotation axis A1. As a result, the holding unit 13 is tilted with respect to the base 21.

  The holding part 13 can move at least up and down and tilt with respect to the base 21. The rear end portion of the holding portion 13 is attached so as to be rotatable around the rotation axis A1 of the tip portions of the arm portions 43 and 44. The front end portion of the holding portion 13 is adjusted to a predetermined angle with respect to the horizontal plane by the tilting portion 32 and is supported at that position. The holding unit 13 holds a part of the body of the user M1 (for example, the upper body) and assists standing, sitting, and walking (moving).

  For example, the holding unit 13 is a member that supports the upper body of the user M1 when facing the user M1 in the standing operation and the sitting operation. As shown in FIG. 2, the holding portion 13 is formed in a substantially U shape in plan view that opens in the rear direction (downward in FIG. 2). The holding portion 13 is configured in a state where two plate members 61 and 62 formed in a substantially U shape in plan view are overlapped. Between the plate member 61 and the plate member 62, as shown in FIG. 5, the detection apparatus 63 which detects the weight distribution received from the user M1 is provided.

  The detection device 63 includes a plurality of pressure sensors 63a. In the present embodiment, the pressure sensor 63 a is disposed at the four corners of the holding unit 13. Two pressure sensors 63a are provided on the left and right along the front-rear direction (left-right direction in FIG. 5) of the user M1. The pressure sensor 63a provided in the front direction of the user M1 is the front pressure sensor 63af. The pressure sensor 63a provided in the rear direction of the user M1 is the rear pressure sensor 63ar. The pressure sensor 63a detects the amount of strain of the strain generating body that changes due to a change in load as a voltage change, or when pressure is applied to the silicon chip, the gauge resistance changes according to the deflection and is converted into an electrical signal. For example, a semiconductor pressure sensor. In addition, you may make it the detection apparatus 63 be comprised with a planar pressure sensor.

  A pair of elbow rest pads 64, 64 are provided at the rear end portion of the upper surface of the holding portion 13. A pair of handles 14 and 14 are provided at the front end portion of the upper surface of the holding portion 13. The handles 14 and 14 are respectively held by the left and right hands of the user M1. The handles 14 and 14 may be provided with a contact sensor (not shown) for detecting gripping, or may be provided with a stop switch (not shown) for stopping the assisting robot 10.

  An operating device 15 is provided at the front end of the upper surface of the holding unit 13. The operation device 15 includes a display unit 15a that displays an image and an operation unit 15b that receives an input operation from the user M1 or an assistant. The display unit 15a includes a liquid crystal display, and displays an operation mode selection screen of the assisting robot 10 and the like. The operation unit 15b includes a cursor key for moving the cursor up and down, left and right, a cancel key for canceling input, a determination key for determining selection contents, and the like, and is configured to allow a user to input an instruction. The operation device 15 includes a display function of the display unit 15a and an input function of the operation unit 15b, and may be configured by a touch panel that operates the device by pressing a display on the screen.

  As shown in FIG. 1, a cover 65 is attached to the lower surface of the holding portion 13 downward. The cover 65 is formed in a plate shape and a fan shape, and closes a gap between the holding portion 13 and the arm portion 43 (or the arm portion 44).

  The control device 17 performs control related to posture deformation, travel and braking of the assisting robot 10. As shown in FIG. 6, the control device 17 includes the above-described detection device 63 (pressure sensor 63a), left and right drive wheel motors 21f and 21g (drive motor: brake device (regenerative brake)), and drive (slide). A motor 45, driving (tilting) motors 32a1 and 32b1, an operating device 15, a storage device 16, and a guide device 18 are connected. The control device 17 has a microcomputer (not shown), and the microcomputer includes an input / output interface, a CPU, a RAM, and a ROM (all not shown) connected via a bus.

The guidance device 18 guides the state of the assistance robot 10 and the posture of the user M1 to the surrounding people including the user M1 and the assistant by voice and display. The guidance device 18 may be a speaker that outputs voice, or a display device such as an LCD or LED that displays characters, graphics, and the like.
The assistance robot 10 further includes an inclination detection sensor 19 (corresponding to an inclination detection device) that detects an inclination (inclination angle) of the traveling road surface on which the base 21 travels, that is, an inclination angle θ with respect to a horizontal plane. The inclination detection sensor 19 is provided on the base 21. The inclination detection sensor 19 is composed of, for example, a gyro sensor that can detect angular velocity.

  Next, the operation of the assistance robot 10 configured as described above will be described. The standing-up operation and the sitting operation of the assistance robot 10 will be described with reference to FIGS. The assistance robot 10 moves (or is moved) to a position where it faces the user M1. Then, the assistance robot 10 provides guidance to the user M1 “hold the handle”. When the user M1 grips the handle 14 with both hands, the assistance robot 10 performs an erection operation to erect the user M1 in order to detect that the handle 14 is gripped by the contact sensor.

  When the standing-up operation is started, the assistance robot 10 holds the upper body of the seated user M1 by the holding unit 13 (see FIG. 7). Then, the assistance robot 10 raises the user M1 while holding the upper body (see FIG. 8). As shown in FIG. 8, the assistance robot 10 assists the user M1 in a standing state. The user M1 walks and moves while holding the elbow on the upper surface of the holding portion 13 and being held by the holding portion 13 (see FIG. 9).

  Further, walking assistance (movement assistance) for the user M1 by the assistance robot 10 configured as described above will be described. First, control (running permission / inhibition control) before walking assistance is started will be described with reference to the flowchart of FIG. When a start switch (not shown) is turned on, the control device 17 repeatedly executes a program corresponding to the above flowchart every predetermined short time (control cycle time).

Each time the control device 17 starts executing the program in step S100 in FIG. 10, it determines in step S102 whether or not the assisting robot 10 is stopped. Specifically, the control device 17 determines that the assisting robot 10 is stopped when there is no detection value of the encoders built in the left and right drive wheel motors 21f and 21g. If the assistance robot 10 is not stopped, the control device 17 determines “NO” in step S102, advances the program to step S112, and temporarily ends this flowchart. Thereby, when the assistance robot 10 is not stopped, the control device 17 executes the travel permission / inhibition determination of the assistance robot 10.
On the other hand, when the assistance robot 10 is stopped, the control device 17 determines “YES” in step S102, advances the program to step S104 and subsequent steps, and determines whether the assistance robot 10 is permitted to run.

  In step S104, the control device 17 acquires weight distribution from the detection device 63 (acquisition unit). In step S106, the control device 17 derives the center of gravity position Pg in the front-rear direction of the seated user M1 from the weight distribution acquired in step S104 (a center of gravity position deriving unit). The center-of-gravity position Pg is the position in the front-rear direction of the center of gravity of the upper body Xa of the user M1, and does not include the position in the height direction or the left-right direction.

  Derivation of the gravity center position Pg will be described with reference to FIG. A case where the center of gravity Pg of the upper half of the user M1 is between the front pressure sensor 63af and the rear pressure sensor 63ar will be described. The length Lb is a distance between the centers of the front pressure sensor 63af and the rear pressure sensor 63ar. The length L1 is a distance between the rear pressure sensor 63ar and the gravity center position Pg (only the front-rear direction component). The length L2 is a distance (only the front-rear direction component) between the gravity center position Pg and the front pressure sensor 63af.

  The force applied to the upper body Xa is the weight Wa and the vertical drag Na from the plate member 61. The force applied to the plate member 61 is the weight Wb, the reaction (−Na) of the vertical drag Na from the plate member 61, the vertical drag Nr from the rear pressure sensor 63ar, and the vertical drag Nf from the front pressure sensor 63af.

The normal force Nr is expressed by the following formula 1.
(Equation 1)
Nr = (1/2) .Wb + (L2 / Lb) .Wa
The normal force Nf is expressed by the following formula 2.
(Equation 2)
Nf = (1/2) .Wb + (L1 / Lb) .Wa
By subtracting Equation 2 from Equation 1 and deleting Wb, Equation 3 below is derived.
(Equation 3)
Nr-Nf = ((Lb-2L1) / Lb) .Wa
When the above equation 3 is developed and the length L1 is expressed by the length Lb, the upper body weight Wa, the vertical drag Nr of the rear pressure sensor 63ar, and the vertical drag Nf of the front pressure sensor 63af, the following equation 4 is obtained. become.
(Equation 4)
L1 = (Lb / 2). (1- (Nr-Nf) / Wa)

  Thus, the length L1 which is the longitudinal component of the gravity center position Pg is the length Lb which is the center-to-center distance between the rear pressure sensor 63ar and the front pressure sensor 63af, the upper body weight Wa, and the rear pressure sensor 63ar. Can be derived from the normal force Nr, which is the detected value of, and the normal force Nf, which is the detected value of the front pressure sensor 63af. That is, the gravity center position Pg can be derived from the detection value of the rear pressure sensor 63ar and the detection value of the front pressure sensor 63af. The upper body weight Wa is expressed by Nr + Nf−Wb. The weight Wb of the plate member 61 is preferably stored in the storage device 16 in advance.

  The description returns to the flowchart of FIG. In step S108, the control device 17 compares the previously derived center-of-gravity position Pg of the user M1 with the predetermined range Sa. That is, the control device 17 determines whether the gravity center position Pg of the user M1 is within the predetermined range Sa, ahead of the predetermined range Sa, or behind the predetermined range Sa. Specifically, the control device 17 determines whether or not the length L1 is within a predetermined range Sa. The predetermined range Sa is, for example, a range from Lb / 4 to (3/4) · Lb with reference to the center of the rear pressure sensor 63ar.

  When the gravity center position Pg is within the predetermined range Sa, the control device 17 advances the program to step S110 and permits the start of traveling. Thereafter, the control device 17 advances the program to step S112, ends this flowchart, and can start running.

  When the gravity center position Pg is behind the predetermined range Sa, the control device 17 advances the program to step S114 and prohibits the start of traveling. In step S116, the control device 17 drives the actuator 12 to tilt the holding unit 13 forward by a predetermined amount. Thereby, since the upper body of the user M1 tilts forward, the gravity center position Pg can be moved forward. In addition, the control device 17 may drive the guide device 18 to notify the user M1 that the upper body is moved forward. Thereby, since the user M1 moves the upper body forward (or tilts forward), the center-of-gravity position Pg can be moved forward. Until the gravity center position Pg falls within the predetermined range Sa, the control device 17 repeatedly executes the processes of steps S100-108, 114, and 116.

  When the gravity center position Pg is ahead of the predetermined range Sa, the control device 17 advances the program to step S118 and prohibits the start of traveling. In step S120, the control device 17 drives the actuator 12 to tilt the holding unit 13 backward by a predetermined amount. Thereby, since the upper body of the user M1 tilts backward, the gravity center position Pg can be moved backward. Further, the control device 17 may drive the guide device 18 to notify the user M1 that the upper body is moved backward. Thereby, since the user M1 moves the upper body backward (or tilts backward), the gravity center position Pg can be moved backward. The control device 17 repeatedly executes the processes of steps S100-108, 118, and 120 until the center of gravity position Pg falls within the predetermined range Sa.

  As described above, the control device 17 is in the standing state before being started, that is, the base 21 is stopped and is assisted by the assistance robot 10 derived by step S106 (center of gravity position deriving unit). When the gravity center position Pg of the user M1 is within the predetermined range Sa, the travel of the base 21 is permitted (step S110), while the gravity center position Pg derived by step S106 (centroid position deriving unit) is the predetermined value. If it is out of the range Sa, the base 21 is prohibited from traveling (steps S114, 118) (steps S110, 114, 118: travel permission control unit).

  Further, the control device 17 is a user who is standing by being assisted by the assistance robot 10, which is derived by step S <b> 106 (center of gravity position deriving unit) before the start of traveling, that is, the base 21 is stopped. When the gravity center position Pg of M1 is outside the predetermined range Sa, the actuator 12 is controlled so that the gravity center position Pg derived by step S106 (centroid position deriving unit) falls within the predetermined range Sa. Is tilted (steps S116 and 120: second control unit). According to this, the assistance robot 10 can more appropriately and reliably execute preparation for the user M1 to start running (walking).

  Next, walking assistance running is demonstrated along the flowchart of FIG. When a start switch (not shown) is turned on, the control device 17 repeatedly executes a program corresponding to the above flowchart every predetermined short time (control cycle time).

The control device 17 determines whether or not there is a travel (walking) permission in step S202 every time execution of the program is started in step S200 of FIG. If the travel (walking) permission is not granted, the control device 17 determines “NO” in step S202, advances the program to step S216, and temporarily ends this flowchart. Thereby, when there is no running (walking) permission, the control device 17 does not start walking assistance by the assistance robot 10 (that is, running is prohibited).
On the other hand, when there is permission for running (walking), the control device 17 determines “YES” in step S202, advances the program to step S204 and subsequent steps, and executes walking assistance by the assisting robot 10.

  In step S204, the control device 17 acquires a weight distribution from the detection device 63 (acquisition unit), similarly to step S104. Further, in step S206, similarly to step S106, the control device 17 derives the center of gravity position Pg in the front-rear direction of the seated user M1 from the weight distribution acquired in step S204 (a center of gravity position deriving unit). .

  The control device 17 acquires an inclination angle from the inclination detection sensor 19 (step S208), and sets a predetermined range according to the acquired inclination angle (predetermined range setting unit: step S210). For example, a predetermined range (the predetermined range Sa) when the tilt angle is 0 is stored in the storage device 16 as a reference predetermined range. The control device 17 acquires the predetermined range Sa when the inclination angle is 0 from the storage device 16, and when the inclination angle is a positive value (uphill), the control device 17 moves the predetermined range Sa forward by a predetermined amount (inclination). It is moved by a value corresponding to the corner). When the inclination angle is a negative value (downhill), the control device 17 moves the predetermined range Sa backward by a predetermined amount (a value corresponding to the inclination angle).

  In step S212, the control device 17 determines the center of gravity position Pg of the user M1 previously derived in step S206 and the predetermined range Sa previously set in step S210 (predetermined range when the inclination angle is 0). ). That is, the control device 17 determines whether the gravity center position Pg of the user M1 is within the predetermined range Sa, ahead of the predetermined range Sa, or behind the predetermined range Sa. Specifically, the control device 17 determines whether or not the length L1 is within a predetermined range Sa.

  When the gravity center position Pg is within the predetermined range Sa, the control device 17 advances the program to step S214 and controls the braking device BK so as not to apply the braking force. The control device 17 does not apply regenerative braking without using the left and right drive wheel motors 21f, 21g as a generator. Therefore, the user M1 who is walking while being supported by the assisting robot 10 can continue walking while the distance from the assisting robot 10 is optimally maintained.

  If the gravity center position Pg is behind the predetermined range Sa, the control device 17 advances the program to step S218 and controls the braking device BK to apply the braking force. The control device 17 applies regenerative braking using the left and right drive wheel motors 21f and 21g as a generator. As a result, when the movement of the center of gravity of the user M1 is delayed with respect to the movement of the assistance robot 10, the braking device BK applies a braking force to the assistance robot 10, so that the distance between the user M1 and the assistance robot 10 increases. Can be suppressed.

  When the gravity center position Pg is ahead of the predetermined range Sa, the control device 17 advances the program to step S220 and controls the braking device BK to apply the braking force. The control device 17 applies regenerative braking using the left and right drive wheel motors 21f and 21g as a generator. Accordingly, when the center of gravity of the user M1 moves faster than the assistance robot 10, the braking device BK applies a braking force to the assistance robot 10, so that the distance between the user M1 and the assistance robot 10 approaches. Can be suppressed. Therefore, the user M1 who is walking while being supported by the assisting robot 10 maintains the user M1 and the assisting robot 10 at an appropriate distance even if the distance from the assisting robot 10 is likely to increase or decrease. be able to.

  As described above, the control device 17 is derived by step S206 (the center-of-gravity position deriving unit) when the base 21 is traveling while assisting the user M1 supported by the holding unit 13 and walking. Using the center of gravity position Pg, control is performed so that the braking device BK applies a braking force (steps S214, 218, 220: braking control unit).

  Furthermore, the control device 17 (braking control unit) assists the user M1 who is walking supported by the holding unit 13 while the base 21 is traveling, step S206 (gravity position deriving unit). When the center of gravity position Pg derived by the above is within the predetermined range Sa, control is performed so that the braking device BK does not apply the braking force (step S214), while the position is derived by step S206 (the center of gravity position deriving unit). When the gravity center position Pg is outside the predetermined range Sa, the braking device BK is controlled to apply the braking force (steps S218 and 220).

  Note that, when the gravity center position Pg is in the predetermined range Sa and the gravity center position Pg is behind the range Sb narrower than the predetermined range Sa, the control device 17 performs the actuator similarly to step S116 described above. 12 may be driven to tilt the holding portion 13 forward by a predetermined amount, or the guide device 18 may be driven to notify the user M1 that the upper body is to be moved forward. Further, when the center of gravity position Pg is in the predetermined range Sa and the center of gravity position Pg is ahead of the range Sb narrower than the predetermined range Sa, the control device 17 similarly to step S120 described above, 12 may be driven to tilt the holding unit 13 backward by a predetermined amount, or the guide device 18 may be driven to notify the user M1 that the upper body is moved backward. Thereby, the user M1 who walks while being supported by the assistance robot 10 can be assisted and walk so that the center of gravity position becomes an appropriate position.

  As is clear from the above-described embodiment, the assistance robot 10 (movement assistance device) according to this embodiment is an assistance robot 10 that assists the movement of the user M1, and includes a plurality of wheels 21d, 21e, 21h, and 21i. A base 21 that can travel, a holding part 13 that is provided on the base 21 and supports the user M1, a detection device 63 that is provided on the holding part 13 and detects a weight distribution received from the user M1, and wheels Based on the braking device BK that applies a braking force to 21h and 21i, the control device 17 that acquires the weight distribution from the detection device 63 (step S204: acquisition unit), and the weight distribution acquired by the acquisition unit, the travel of the base 21 The control device 17 (step S206: center of gravity position deriving unit) for deriving the center of gravity position Pg of the user M1 in the front-rear direction along the direction and the center of gravity position derivation while the base 21 is traveling Using the center of gravity position Pg derived by the controller 17 to the brake device BK is controlled to impart a braking force: includes (step S212,214,218,220 braking control unit), a.

  According to this, the assisting robot 10 is derived from the weight distribution received by the holding unit 13 from the user M1 while the base 21 is traveling, and is in the front-rear direction of the user M1 along the traveling direction of the base 21. The center of gravity position Pg is used to control the braking device BK to apply a braking force. Therefore, it is possible to apply the braking force so that the gravity center position Pg of the user M1 with respect to the holding unit 13 and the assisting robot 10 is maintained within the predetermined range Sa. As a result, the assistance robot 10 assists the movement of the user M1 without making the user M1 feel uncomfortable while maintaining the user M1 and the assistance robot 10 at an appropriate distance.

In the assistance robot 10 according to the present embodiment, the control device 17 (steps S212, 214, 218, and 220: braking control unit) is derived by step S206 (center of gravity position deriving unit) while the base 21 is traveling. If the center of gravity position Pg is within the predetermined range Sa, the braking device BK is controlled not to apply the braking force (step S214), while the center of gravity position Pg derived by step S206 (center of gravity position deriving unit). Is outside the predetermined range Sa, the brake device BK is controlled to apply a braking force (steps S218 and 220).
According to this, during the movement of the user M1 by the assistance robot 10, a braking force is applied so that the holding portion 13 and thus the gravity center position Pg of the user M1 with respect to the assistance robot 10 is reliably maintained within the predetermined range Sa. It becomes possible.

The assisting robot 10 according to the present embodiment further includes driving motors 21f and 21g provided on the base 21 and capable of driving the wheels 21h and 21i. The braking device BK uses the driving motors 21f and 21g as generators. Regenerative brake to be used.
According to this, with a simple configuration, it is possible to apply a braking force so that the gravity center position Pg of the user M1 with respect to the holding unit 13 and thus the assistance robot 10 is maintained within the predetermined range Sa.

In the assistance robot 10 according to the present embodiment, the control device 17 (steps S110, 114, and 118: the travel permission / rejection control unit) is derived by the step S106 (the center of gravity position deriving unit) when the base 21 is stopped. If the center of gravity position Pg is within the predetermined range Sa, the base 21 is allowed to travel (step S110), while the center of gravity position Pg derived by step S106 (center of gravity position deriving unit) is the predetermined range Sa. If it is outside, the traveling of the base 21 is prohibited (steps S114 and 118).
According to this, the assistance robot 10 can start the movement assistance of the user M1 more appropriately.

The assisting robot 10 according to the present embodiment further includes an inclination detection sensor 19 (inclination detection device) that detects the inclination of the traveling road surface on which the base 21 travels, and the control device 17 is detected by the inclination detection sensor 19. The predetermined range Sa is set according to the inclination of the traveling road surface (step S210: predetermined range setting unit).
According to this, the center of gravity position Pg of the user M1 with respect to the holding unit 13 and thus the assistance robot 10 is maintained within the predetermined range Sa without depending on the inclination of the traveling road surface on which the base 21 travels. Power can be applied.

In addition, the control device 17 starts traveling at the center of gravity position Pg derived by step S206 or step S106 (center of gravity position deriving unit) at the time when the base 21 starts traveling in steps S212, 214, 218, and 220 described above. If the traveling center of gravity position, which is the center of gravity position Pg derived by step S206 (the center of gravity position deriving unit) while the base 21 is traveling, is not separated from the center of gravity position by a predetermined amount, the braking device BK applies a braking force. On the other hand, if the center of gravity position during travel is a predetermined amount away from the travel center of gravity position, control is performed so that the braking device BK applies a braking force (steps S218 and 220). You may do it. In this case, instead of the process of step S212, it may be determined whether or not the running center of gravity position is away from the running start center of gravity position by a predetermined amount.
According to this, in consideration of the state of the center of gravity position at the start of traveling, the center of gravity Pg of the user M1 with respect to the holding unit 13 and the assistance robot 10 is within the predetermined range Sa while the assistance robot 10 is moving the user M1. Therefore, it is possible to apply a braking force so as to be reliably maintained.

  In addition, this invention is applicable to movement assistance apparatuses other than an assistance robot, for example, a walker. In this case, as described above, the walker includes a base 21 that can run with wheels, a holding part 13 that is provided on the base 21 and supports the user M1, and a user M1 that is provided on the holding part 13 from the user M1. It includes at least a detection device 63 that detects the weight distribution received and a braking device BK that applies a braking force to any of the wheels.

  Further, in the above-described embodiment, the holding unit 13 is formed in a table shape and is a type in which the elbow of the user M1 is placed on the upper surface, but instead, the user M1 has an upper surface on the holding unit 13. A type in which an attachment that can be placed on the side is placed and the side of the user M1 is placed on the attachment may be used.

  DESCRIPTION OF SYMBOLS 10 ... Assistance robot, 11 ... Base part, 12,112 ... Actuator, 13 ... Holding part, 14 ... Handle, 16 ... Storage device, 17 ... Control device (acquisition part, center-of-gravity position deriving part, braking control part, travel permission control part) , Predetermined range setting unit), 18 ... guide device, 19 ... tilt detection sensor (tilt detection device), 21 ... base, 21d, 21e, 21h, 21i ... wheels, 21f, 21g ... left and right drive wheel motors (for driving) Motor), 63 ... detecting device, BK ... braking device, M1 ... user.

Claims (7)

A movement assist device for assisting a user's movement,
A base having a plurality of wheels and capable of traveling;
A holding portion that is provided on the base and supports the user;
A detection device that is provided in the holding unit and detects a weight distribution received from the user;
A braking device for applying a braking force to any of the wheels;
An acquisition unit for acquiring the weight distribution from the detection device;
A center-of-gravity position deriving unit for deriving a center-of-gravity position in the front-rear direction of the user along the traveling direction of the base from the weight distribution acquired by the acquisition unit;
A braking control unit that controls the braking device to apply the braking force using the center of gravity position derived by the center of gravity position deriving unit while the base is running. A movement assistance device.   The braking control unit controls the braking device not to apply the braking force when the center of gravity derived by the gravity center position deriving unit is within a predetermined range while the base is running. On the other hand, when the barycentric position derived by the barycentric position deriving unit is out of a predetermined range, the braking device controls to apply the braking force. Auxiliary device. A drive motor provided on the base and capable of driving any of the wheels;
The movement assisting device according to claim 1, wherein the braking device is a regenerative brake using the driving motor as a generator. The base is a stopped, when the center-of-gravity position derived by the gravity center position deriving section is within Jo Tokoro range, allows the travel of the base, whereas, by the center-of-gravity position deriving unit If the derived barycentric position is out of the predetermined range, according to claim 1 Symbol placement movement assisting apparatus characterized in that it further comprises a travel permission control unit, which inhibits the travel of the base. An inclination detecting device for detecting an inclination of a traveling road surface on which the base travels;
5. The movement assist device according to claim 2 , further comprising: a predetermined range setting unit that sets the predetermined range according to the inclination of the traveling road surface detected by the inclination detection device. .   The braking control unit is derived by the center-of-gravity position deriving unit while the base is traveling from a travel start center-of-gravity position that is a center of gravity position derived by the center-of-gravity position deriving unit when the base starts to travel. When the running center of gravity position, which is the center of gravity position, is not separated by a predetermined amount, the braking device is controlled so as not to apply the braking force, while the traveling center of gravity position is separated from the traveling start center of gravity position by a predetermined amount. 2. The movement assisting device according to claim 1, wherein the braking device is controlled to apply the braking force.   A movement assist device for assisting a user's movement,
  A base having a plurality of wheels and capable of traveling;
  A holding portion that is provided on the base and supports the user;
  A detection device that is provided in the holding unit and detects a weight distribution received from the user;
  A braking device for applying a braking force to any of the wheels;
  An acquisition unit for acquiring the weight distribution from the detection device;
  A braking control unit that controls the braking device to apply the braking force by using the weight distribution acquired by the acquisition unit while the base is running; Mobility aid.

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