JP6765989B2 - Long leg orthosis with actuator - Google Patents

Description

The present invention relates to a long leg orthosis with an actuator.

Long leg orthoses that support the knee joint are used as walking aids or rehabilitation devices for people with disabilities or those who are paralyzed due to stroke, etc., and electric motors that assist the movement of the legs, etc. A long leg orthosis with an actuator to which an actuator unit including the driving body of the above is attached has also been proposed (see Patent Documents 1 to 3 below).

Specifically, the conventional long leg brace with an actuator is attached to the thigh side brace worn on the user's thigh and rotatably connected to the user's lower leg and the thigh side brace. A crus side orthosis, an actuator attached to the crus side orthosis that can apply an auxiliary force around the crus to the crus side orthosis, and a crus angle sensor that detects the rotation angle of the lower leg around the crus with respect to the thigh. And a control device that controls the operation of the actuator, and the control device is configured to execute the operation control of the actuator based on a detection signal from the crus angle sensor.

That is, in the conventional long leg device with an actuator, the movement of the lower leg (the angle around the knee joint of the lower leg with respect to the thigh), which is a controlled target portion to which the assisting force is applied by the actuator, is detected by the lower leg angle sensor, and the lower leg The operation of the actuator is controlled so that the assisting force of the magnitude and the direction calculated based on the movement of the actuator is applied to the lower leg.

However, in the case of paralysis due to stroke, etc., although the thigh walking motion (thigh anteroposterior swing motion around the hip joint) can be performed relatively normally, the lower leg walking motion (lower leg anteroposterior swing around the knee joint) can be performed relatively normally. Dynamic movement) is often not performed normally.

In such a case, the conventional long leg orthosis with an actuator controls the operation of the actuator based on the movement of the lower leg, which cannot perform a normal walking motion, and cannot provide an accurate walking assist force. There was a risk.

The phase of the thigh is based on the detection result of the imparting unit that applies the assisting force, the control unit that controls the operation of the imparting unit, the detection unit that detects at least one of the hip joint angle and the hip joint angular velocity, and the detection result of the detection unit. A walking assist device including a calculation unit for calculating an angle and configured such that the control unit controls the operation of the imparting unit based on the phase angle has been proposed (see Patent Document 4 below).

However, the walking assist device described in Patent Document 4 also detects the movement of the controlled target portion to which the assisted force should be applied, and based on the detection result, imparts the assisted force to the thigh which is the controlled target portion. It controls the operation of the unit, and is based on the same technical idea as the long leg orthosis with an actuator described in Patent Documents 1 to 3.

Japanese Patent No. 5724312 Japanese Patent No. 5799608 Japanese Patent No. 5386253 Japanese Unexamined Patent Publication No. 2016-002408

The present invention has been made in view of such a prior art, and is a long leg device provided with an actuator capable of imparting a walking assist force around the knee joint to the lower leg, and allows the lower leg to walk normally. It is an object of the present invention to provide a long leg device with an actuator that can provide an appropriate walking assist force to the lower leg according to the walking state during the walking cycle even for a user who has difficulty in walking.

In order to achieve the above object, the present invention is attached to a thigh side device worn on the user's thigh and rotatably connected to the user's lower leg and the user's hip joint. The lower leg side device, the actuator attached to the thigh side device and capable of applying an assisting force around the knee joint to the lower leg side device, and the angle relationship related to the hip joint angle which is the anteroposterior swing angle of the user's thigh. The thigh posture detecting means is provided with a thigh posture detecting means capable of detecting a signal and a control device for controlling the operation of the actuator, and the thigh posture detecting means includes a three-axis angular velocity sensor for detecting the angular velocity of the thigh and a three-axis for detecting the acceleration of the thigh. The control device has an acceleration sensor, and the control device has a high frequency component of a first Euler angle calculated based on angular velocity data from the triaxial angular velocity sensor at one sampling point and the triaxial acceleration at the one sampling point. The total oiler angle is calculated by adding the low frequency components of the second oiler angle calculated based on the acceleration data from the sensor, and the hip joint angle calculated from the total oiler angle and the hip joint angle velocity calculated from the hip joint angle. preparative the calculated femoral phase angle of one of the sampling points on the basis of, stored in advance in the control unit, the auxiliary power control showing the relationship between the assist force to be applied to the lower leg side brace femoral phase angle The thigh phase angle at the one sampling point is applied to the data to calculate the auxiliary force to be applied to the lower leg side device at the one sampling point, and the actuator is operated so that the auxiliary force is output. While performing control, the operation of the actuator is prohibited when the vector length defined by the hip joint angle and the hip joint angle velocity used in calculating the thigh phase angle is smaller than a predetermined threshold. Provide long hip joints with actuators.

Preferably, the control device is configured to plot the hip joint angle and hip joint angular velocity used in calculating the thigh phase angle to create a trajectory diagram representing the periodic movement of the thigh for each walking cycle.

Preferably, when the control device detects the completion of one walking cycle, it uses a minimum square method to use a predetermined phase pattern function representing a change pattern of the thigh phase angle with respect to the walking cycle based on the thigh phase angle at all sampling points. The thigh phase angle at one sampling point in the current walking cycle is calculated and overwritten, and the thigh at the corresponding sampling point in the past walking cycle calculated by the phase pattern function stored at that time. The modified thigh phase angle at the one sampling point is calculated by modifying based on the phase angle, the modified thigh phase angle is applied to the assisting force control data, and the lower leg side fitting at the one sampling point. It is configured to calculate the auxiliary force to be given to .

Preferably, before Symbol control apparatus, when the current walking cycle is complete, configured so that to calculate the phase pattern function based on the modified femoral phase angle at all sampling points.

According to the long leg device with an actuator according to the present invention, the control device has a high frequency component of the first Euler angle calculated based on the angular velocity data from the triaxial angular velocity sensor at one sampling point and the one sampling point. The total oiler angle is calculated by adding the low frequency components of the second oiler angle calculated based on the acceleration data from the three-axis acceleration sensor in the above, and the hip joint angle and the hip joint angle calculated from the total oiler angle. The thigh phase angle is calculated based on the hip joint angular velocity calculated from the above, and the auxiliary force control data indicating the relationship between the thigh phase angle and the auxiliary force to be applied to the lower leg side device, which is stored in advance in the control device, is used. Since the thigh phase angle is applied to calculate the auxiliary force to be applied to the lower leg side device at this sampling point, and the operation control of the actuator is executed so that the auxiliary force is output. Even for a user who has difficulty in walking the lower leg normally, it is possible to provide an appropriate walking assisting force to the lower leg according to the walking state during the walking cycle. Further, the control device is configured to prohibit the operation of the actuator when the vector length defined by the hip joint angle and the hip joint angular velocity used in calculating the thigh phase angle is smaller than a predetermined threshold value. Therefore, it is possible to effectively prevent the actuator unit from operating unexpectedly even though the walking operation has not been started.

FIG. 1 is a perspective view of a long leg orthosis with an actuator according to an embodiment of the present invention. FIG. 2 is a partial front view of the long leg orthosis. FIG. 3 is a partially disassembled perspective view of the long leg orthosis, showing a state seen from the outside in the user width direction. FIG. 4 is a partially disassembled perspective view of the long leg orthosis, showing a state seen from the inside in the user width direction. FIG. 5 is an exploded perspective view of the thigh frame and the crus frame in the long leg orthosis. FIG. 6 is a partial vertical sectional view of the actuator unit in the long leg orthosis. FIG. 7 is an end view taken along the line VII-VII in FIG. FIG. 8 is a block diagram for calculating the hip joint angle in the long leg orthosis. FIG. 9 is a trajectory diagram obtained by plotting the hip joint angle θ and the hip joint angular velocity ω calculated by the control device in the long leg orthosis over one walking cycle. FIG. 10 is a graph in which the thigh phase angle φ calculated by the control device is plotted for each walking cycle. FIG. 11 is a schematic diagram showing the transition of the walking state during one walking cycle. FIG. 12 is a graph showing an example of auxiliary force control data stored in advance in the control device, which shows the relationship between the walking state during one walking cycle and the auxiliary force to be output by the actuator unit. FIG. 13 is a flowchart of an actuator operation control mode executed by the control device.

Hereinafter, an embodiment of a long leg orthosis with an actuator according to the present invention will be described with reference to the accompanying drawings.
1 and 2 show a perspective view and a partial front view of the long leg orthosis 1 according to the present embodiment, respectively.
Further, FIGS. 3 and 4 show partially disassembled perspective views of the long leg orthosis user 1 as viewed from the outer side and the inner side in the width direction, respectively.

The long leg device 1 is a device worn by a person with a disability or a user who has hemiplegia due to a stroke or the like for walking assistance or for rehabilitation, and is worn by the attached actuator unit 100. It is configured to be able to provide walking assistance to the lower leg.

Specifically, as shown in FIGS. 1 to 4, the long leg orthosis 1 includes a thigh side orthosis 10 attached to the user's thigh, a lower leg side orthosis 30 attached to the user's lower leg, and the thigh side orthosis. It is equipped with an actuator unit 100 which is attached to 10 and can apply an auxiliary force around the knee joint to the lower leg orthosis 30.

In the present embodiment, the thigh-side orthosis 10 has a thigh-mounted body 15 mounted on the user's thigh and a thigh frame 20 connected to the thigh-mounted body 15.

The thigh-mounted body 15 can take various forms as long as it can be worn on the user's thigh.
In the present embodiment, as shown in FIG. 1, the thigh mounting body 15 has a tubular shape having a mounting hole sized so that the user's thigh can be inserted and the thigh is fitted.

As shown in FIGS. 1 to 4, the thigh frame 20 has a first thigh frame 20 (1) extending vertically along the user's thigh on the lateral side in the width direction of the user.

In the present embodiment, as shown in FIGS. 1 to 4, the thigh frame 20 is further sandwiched between the user's thigh inserted into the thigh mounting body 10 and the first thigh frame 20 (1). It has a second thigh frame 20 (2) extending vertically along the user's thigh on the inner side in the width direction of the user so as to face each other.

In the present embodiment, the crus side orthosis 30 has a crus attachment body 35 attached to the user's lower leg and a crus frame 40 connected to the crus attachment body 35.

The lower leg attachment body 35 can take various forms as long as it can be attached to the lower leg of the user.
In the present embodiment, as shown in FIG. 1, the lower leg mounting body 35 has a tubular shape having a mounting hole sized so that the user's lower leg can be inserted and fits the lower leg.

As shown in FIGS. 1 to 4, the lower leg frame 40 has a first lower leg frame 40 (1) extending up and down along the user's lower leg on the outer side in the width direction of the user.

In the present embodiment, as shown in FIGS. 1 to 4, the lower leg frame 40 further sandwiches the lower leg of the user inserted into the lower leg mounting body 30 with the first lower leg frame 40 (1). It has a second lower leg frame 40 (2) extending vertically along the user's lower leg on the inner side in the width direction of the user so as to face each other.

In the present embodiment, the lower leg side orthosis 30 further includes a foot attachment 65 on which the user rests his / her foot and a foot frame 60 that supports the foot attachment 65 and is connected to the lower leg frame 40. have.

The lower leg side orthosis 30 is rotatably connected to the thigh side orthosis 10 around the user's knee joint.
That is, the lower leg frame 40 is rotatably connected to the thigh frame 20 around the swing axis X of the user's knee joint.

As described above, in the present embodiment, the thigh frame 20 has the first and second thigh frames 20 (1) and 20 (2), and the lower leg frame 40 is the first and second lower leg frames 40. It has (1) and 40 (2).

Therefore, the first lower leg frame 40 (1) is rotatably connected to the first thigh frame 20 (1) around the swing axis X, and the second lower leg frame 40 (2) is connected to the second thigh frame 20. It is rotatably connected to (2) around the swing axis X.

FIG. 5 shows an exploded perspective view of the thigh frame 20 and the lower leg frame 40.
As shown in FIG. 5, the thigh frame 20 is fixed to the thigh frame main body 21 extending in the vertical direction by pin connection or welding so as to sandwich the lower end portion of the thigh frame main body 21. It has a pair of connecting pieces 22a and 22b.

The pair of connecting pieces 22a and 22b are an outer connecting piece 22a located on the side away from the user's leg from the thigh frame main body 21 and an inner connecting piece 22a located on the side closer to the user's leg than the thigh frame main body 21. It has a piece 22b.

The lower leg frame 40 is connected to the pair of connecting pieces 22a and 22b so as to be rotatable around the swing axis X in a state of being inserted between the pair of connecting pieces 22a and 22b.

Specifically, the pair of connecting pieces 22a and 22b and the upper part of the lower leg frame 40 are formed with mounting holes 23 and 43 coaxially with the swing axis X along the user width direction.

The first thigh frame 20 (1) and the first lower leg frame 40 (1) located on the side where the actuator unit 100 is mounted (outside in the user width direction from the user's corresponding leg) are first. It is rotatably connected around the swing axis X via the rotary connector 50 (1).

The first rotary connector 50 (1) has a first female screw member 51 (1) and a first male screw member 55 (1) that are separably connected to each other in the mounting holes 23 and 43. Have.

The first female screw member 51 (1) has a tubular portion 52 inserted into the mounting hole 23 from the side of the inner connecting piece 22b, and the tubular portion 52 at a position closer to the user's leg than the mounting hole 23. It has a flange portion 53 extending outward in the radial direction from the above, and the tubular portion 52 is formed with a screw hole that opens to the free end side.

The first male screw member 55 (1) has a tubular portion 56 inserted into the mounting hole 23 from the side of the outer connecting piece 22a and the tubular portion at a position separated from the user's leg from the mounting hole 23. It has an engaging protrusion 57 extending from 56.

The tubular portion 56 of the first male screw member 55 (1) is formed with a male screw that is screwed into the screw hole of the first female screw member 51 (1) in the mounting holes 23 and 43. There is.

By screwing the male screw formed in the first male screw member 55 (1) and the female screw of the first female screw member 51 (1) into the mounting holes 23 and 43, the first lower leg The frame 40 (1) is swingably connected to the first thigh frame 20 (1).

The second thigh frame 20 (2) and the second lower leg frame 40 (2), which are located inward in the user width direction from the user's corresponding leg, are via the second rotary connector 50 (2). It is rotatably connected around the swing axis X.

The second rotary connector 50 (2) has a second female screw member 51 (2) and a second male screw member 55 (2) that are separably connected to each other in the mounting holes 23 and 43. Have.

The second female screw member 51 (2) has the same configuration as the first female screw member 51 (1).

The second male screw member 55 (2) has a tubular portion 56 inserted into the mounting hole 23 from the side of the outer connecting piece 22a and the tubular portion 56 on the inner side in the user width direction from the mounting hole 23. It has a flange portion 58 extending radially outwardly from the.

The tubular portion 56 of the second male screw member 55 (2) is formed with a male screw that is screwed into the screw hole of the second female screw member 51 (2) in the mounting holes 23 and 43. There is.

By screwing the male screw formed in the second male screw member 55 (2) and the female screw of the second female screw member 51 (2) into the mounting holes 23 and 43, the second lower leg The frame 40 (2) is swingably connected to the second thigh frame 20 (2).

Reference numeral 53a in FIG. 5 is a radial outer protrusion provided on the flange portion 53, and the female screw member 51 is connected to the inner side by engaging with a recess formed in the inner connecting piece 22b. It is held so that it cannot rotate relative to the piece 22b (that is, the thigh frame 20) around the axis.

In the present embodiment, as shown in FIGS. 1 to 4, the long leg orthosis 1 is further locked to prohibit the rotation of the lower leg frame 40 with respect to the thigh frame 20 around the swing axis X. It has a member 70.

The lock member 70 surrounds the thigh frame 20 and the lower leg frame 40 to connect both frames 20 and 40, and the lower leg frame 40 rotates relative to the thigh frame 20 about the swing axis X. The locked state (states shown in FIGS. 1 to 4) and the thigh frame 20 and the lower leg frame 40 are disconnected from each other, and the lower leg frame 40 swings with respect to the thigh frame 20. It is configured to be in a release state that allows relative rotation around the axis X.

In the present embodiment, the lock member 70 is a first lock member 70 (1) located outside in the user width direction acting on the first thigh frame 20 (1) and the first lower leg frame 40 (1). It has 1) and a second lock member 70 (2) located inside in the user width direction acting on the second thigh frame 20 (2) and the second lower leg frame 40 (2).

Further, in the present embodiment, as shown in FIG. 5, the upper end surface 45 of the lower leg frame 40 (the end surface facing the thigh frame 20) is said to go from one side to the other side around the swing axis X. The inclined surface is such that the radial distance from the swing axis X increases, and the lower end surface 25 of the thigh frame 20 (the end surface facing the lower leg frame 40) corresponds to the upper end surface 45 of the lower leg frame 40. It is said to be an inclined surface.

With such a configuration, the lower leg frame 40 is allowed to rotate only on one side (the direction in which the user's lower leg bends with respect to the thigh) around the swing axis X with respect to the thigh frame 20, and moves to the other side. Allows the lower leg to extend with respect to the thigh, but does not rotate any further.

FIG. 6 shows a partial vertical sectional view of the actuator unit 100.
As shown in FIGS. 1 to 4 and 6, the actuator unit 100 includes an upper frame 120, a lower frame 340 rotatably connected to the upper frame 120 around the coaxial support axis Y, and the lower frame 340. A driving body 110 such as an electric motor that generates a driving force for rotating the shaft axis Y, an upper connecting body 360 that connects the upper frame 340 to the thigh frame 20, and the pivot axis Y. A rotation center coupling body 180 positioned coaxially with the swing axis X and a lower coupling body 370 are provided.

The upper frame 120 and the lower frame 340 are provided with an upper frame mounting hole 120a and a lower frame mounting hole 140a, which are arranged coaxially with the pivot axis Y, respectively.

A rotary connecting shaft 151 is fixed to the lower frame mounting hole 140a, and the rotary connecting shaft 151 is rotatably supported by the upper frame mounting hole 120a via a bearing member 155. As a result, the lower frame 340 is rotatably connected to the upper frame 120 around the pivot axis Y.

The drive body 110 has a drive source 111 such as an electric motor and a transmission mechanism 115 that transmits the drive force generated by the drive source 111 to the lower frame 340.

The drive source 111 is fixed to the outer surface of the upper frame 120.
In the present embodiment, as shown in FIG. 6, the drive source 111 is fixed to the outer surface of the upper frame 120 with the output shaft 111a extending downward.

In the present embodiment, as shown in FIG. 6, the transmission mechanism 115 includes a drive-side bevel gear 116 supported by the output shaft 111a so as not to rotate relative to the output shaft 111a, and the lower frame 340 around the pivot axis Y. It is provided with a driven side bevel gear 117 meshed with the driving side bevel gear 116 in a state of being connected to the lower frame 340 so as to rotate integrally.

The actuator unit 100 can have a sensor (not shown) for detecting the rotation angle around the axis of the rotation connection shaft 151, and the rotation angle around the axis of the rotation connection shaft 151 by the sensor. Can be detected to recognize the swing angle of the lower frame 340 around the pivot axis Y.

As shown in FIGS. 3 and 4, the upper connecting body 360 is parallel to the pivot axis Y and opens outward in the user width direction (direction of the upper frame 120) of the first thigh frame 20 (1). ), And an engaging pin 362 provided in the upper frame 120 so as to be able to engage with the engaging hole 361.

In the present embodiment, the upper connecting body 360 is provided with a locking mechanism.
As shown in FIG. 4, the locking mechanism is movable back and forth along the radial direction from the outer surface of the engaging pin 362, and the engaging position is projected outward in the radial direction from the outer surface of the engaging pin. A convex portion 366 capable of taking a released position retracted into the engaging pin, an urging member (not shown) for urging the convex portion 366 toward the engaging position, and the engaging pin 362. A recess (not shown) provided in the engaging hole so as to engage with the convex portion 366 in a state of being engaged in the engaging hole 361, and the urging member in response to an artificial operation from the outside. It has a release operation unit 367 that pushes the convex portion 366 to the release position against the urging force of the above.

As shown in FIGS. 4 and 6, the rotation center connecting body 180 is located on the first thigh frame 20 (1) or the first lower leg frame 40 (1) so as to be located coaxially with the swing axis X. ), And the actuator-side rotation center connecting member 185 provided on the upper frame 120 or the lower frame 340 so as to be located coaxially with the pivot axis Y. Have.

In the present embodiment, the engaging convex portion 27 in the first rotation connecting tool 50 (1) acts as the fitting side rotation center connecting member.

The actuator-side rotation center connecting member 185 has an actuator-side concave-convex engaging portion 185a that is detachably engaged with the fitting-side rotating center connecting member (the engaging convex portion 57 in the present embodiment). are doing.

In the present embodiment, as shown in FIG. 6, the brace-side rotation center connecting member (in the present embodiment, the engaging convex portion 57) is detachable and rotates around the axis to the upper frame 120. An engaging recess that can be engaged is formed, and the engaging recess acts as the actuator-side concave-convex engaging portion 185a.

As shown in FIGS. 3, 4 and 6, the lower connecting body 370 is the first lower leg frame in response to a movement in which the lower frame 340 rotates about the pivot axis Y with respect to the upper frame 120. The lower frame 340 is connected to the first lower leg frame 40 (1) so that the 40 (1) rotates about the swing axis X with respect to the first thigh frame 20 (1).

Specifically, as shown in FIG. 6, the lower frame 340 has a base end portion 341 rotatably connected to the upper frame 120 via the rotation connecting shaft 151 and the base end portion 341 and the base. It has a tip portion 345 extending from the end portion 341 toward the side close to the first lower leg frame 40 (1).

As shown in FIG. 6 and the like, in the present embodiment, the base end portion 341 supports the driven side bevel gear 117 so as to rotate integrally around the pivot axis Y, whereby the driving body The driven side bevel gear 117 and the base end portion 341 are integrally rotated around the pivot axis Y by the rotational power from 110.
In the present embodiment, the base end portion 341 has a flat plate shape along a substantially vertical direction.

As shown in FIGS. 4 and 6, the tip portion 345 forms a facing surface whose tip surface 346 faces the outer surface of the first lower leg frame 40 (1) facing outward in the user width direction.
The tip surface 346 has a predetermined length with respect to the width direction D corresponding to the width direction (that is, the user front-rear direction) of the first lower leg frame 40 (1).
In the present embodiment, the tip portion 345 has a flat plate shape along a substantially horizontal shape, and the tip surface 346 has a substantially rectangular shape.

As shown in FIGS. 4 and 6, the lower connecting body 370 is engaged with a support hole 371 formed in the tip portion 345 and an engagement pin 372 housed in the support hole 371 so as to be retractable. It has an urging spring 373 that urges the pin 372 and an engaging arm 375 provided at the tip portion 345.

The support hole 371 opens in the widthwise intermediate region of the facing surface and extends in a direction substantially orthogonal to the outer surface of the first lower leg frame 40 (1).

The engaging pin 372 can take a protruding position where the tip protrudes from the facing surface and a retracted position where the tip of the engaging pin 372 enters the support hole 371 so as to be separated from the first lower leg frame 40 (1) from the protruding position. Is accommodated in the support hole 371 so as to be movable in the axial direction.

The urging spring 373 urges the engaging pin 371 toward a protruding position.
In the present embodiment, the urging spring 373 is inserted between the base end portion of the engaging pin 371 and the bottom surface of the support hole 371.

Specifically, in the present embodiment, the support hole 371 is formed in the tip portion 345 so that one end side opens to the facing surface and the other end side opens to the back surface opposite to the facing surface. The other end side of the support hole 371 is closed by a closing plate 348 fixed to the back surface of the tip portion 345. In this case, the closing plate 348 forms the bottom surface of the support hole 371.

The engaging arm 375 has an axially extending portion 376 extending along the pivot axis Y from the facing surface to the side close to the first lower leg frame 40 (1).
The axial extending portion 376 is said so that the first lower leg frame 40 (1) can be arranged between the axial extending portion 376 and the engaging pin 372 with respect to the width direction of the lower frame 340. The widthwise separation distance from the engaging pin 372 is set.

That is, the engaging pin 372 and the axial extending portion so that the first lower leg frame 40 (1) can be located between the engaging pin 372 and the axial extending portion 376 with respect to the user front-rear direction. The widthwise separation distance between the 376s is set to be larger than the width of the first lower leg frame 40 (1).

Here, the operation of attaching the lower frame 340 to the first lower leg frame 40 (1) by the lower connecting body 370 will be described.
FIG. 7 shows an end view taken along the line VII-VII in FIG.

When connecting the lower frame 340 to the first lower leg frame 40 (1) by the lower connecting body 370, first, the engaging pin 372 is moved to the retracted position against the urging force of the urging spring 373. While positioning, the actuator unit 100 is positioned with respect to the long lower limb orthosis body until the position where the first lower leg frame 40 (1) overlaps with the axial extending portion 376 with respect to the direction along the pivot axis Y. Move relative to the Y direction.

At this time, preferably, the engagement pin 372 can be moved to the retracted position via the outer surface of the first lower leg frame 40 (1).
That is, the actuator unit 100 is moved so that the engaging pin 372 moves from the protruding position to the retracted position while the outer surface of the first lower leg frame 40 (1) is in contact with the engaging pin 372. It can be moved relative to the first lower leg frame 40 (1) in the proximity direction.
This state is shown by a broken line in FIG.

When the lower frame 340 is rotated in the direction of connecting the pivot axis Y (clockwise in FIG. 7) from the state shown by the broken line in FIG. 7, the engaging pin 372 and the first lower leg frame 40 are formed. The contact with (1) is released, and the engaging pin 372 is positioned from the retracted position to the protruding position by the urging force of the urging spring 373.

As a result, the first lower leg frame 40 (1) is sandwiched by the engaging pin 372 and the axial extending portion 376 in the width direction (user front-rear direction) of the lower frame 340 (FIG. 7). (See solid line), in a state where the lower frame 340 can move relative to the first lower leg frame 40 (1) in the longitudinal direction of the frame, and around the pivot axis Y with respect to the upper frame 120 of the lower frame 340. An interlocking state in which the first lower leg frame 40 (1) is rotated around the swing axis X with respect to the thigh frame 20 appears in conjunction with the rotation operation.

The lower frame 340 connected to the first lower leg frame 40 (1) by the lower connecting body 370 can be removed by performing the operation opposite to that at the time of mounting.
That is, when the lower frame 340 is connected to the first lower leg frame 40 (1) by the lower connecting body 370, the engaging pin 372 is positioned at a protruding position by the urging force of the urging spring 373. Has been done.

While pushing the engaging pin 372 at this protruding position to the retracted position against the urging force of the urging spring 373 by an artificial operation force, the lower frame 340 is pushed around the pivot axis Y in the release direction (in FIG. 7). Is rotated counterclockwise) to reveal a state in which the tip end portion of the engagement pin 372 is in contact with the outer surface of the first lower leg frame 40 (1) (the state of the broken line in FIG. 7).

After that, the lower frame 340 can be removed from the first lower leg frame 40 (1) by relatively moving the first lower leg frame 40 (1) and the lower frame 340 in a direction away from each other. ..

Preferably, the engaging arm 375 extends from the axially extending portion 376 in a direction close to the engaging pin 372 with respect to the width direction W of the facing surface, and the lower frame 340 is the first lower leg frame 40 ( It is assumed that the width direction extending portion 377 facing the inner side surface (side surface facing inward in the user width direction) of the first lower leg frame 40 (1) in a state of being connected to 1) is included.

The widthwise extending portion 377 includes the engaging pin 372, the tip surface 346 on which the first lower leg frame 40 (1) forms the facing surface, the axial extending portion 376, and the widthwise extending portion. The axial separation distance from the tip surface 346 is larger than the thickness of the first lower leg frame 40 (1) so that it can be arranged in the holding space 370S (see FIG. 4) surrounded by 377. It is composed of.

By providing the engaging arm 375 with the widthwise extending portion 377, the lower frame 340 is connected to the first lower leg frame 40 (1) by the lower connecting body 370. And the first lower leg frame 40 (1) can be effectively prevented from relatively moving in a direction away from each other along the pivot axis Y direction, whereby the lower frame 340 is unexpectedly said to be the first. 1 It is possible to effectively prevent detachment from the lower leg frame 40 (1).

In the present embodiment, the engaging arm 375 has first and second engaging arms 375 (1) and 375 (2) provided on one side and the other side in the width direction of the facing surface, respectively. The lower frame 340 can be connected to the first lower leg frame 40 (1) by rotating the lower frame 340 around the pivot axis Y in any direction from the state shown by the broken line in FIG. It has become like.

Further, in the present embodiment, as shown in FIG. 7, the swing axis X is the center of the first crus frame 40 (1) in the width direction (user front-rear direction), and the first crus frame 40 It is deviated to one side in the width direction (user front-back direction) of (1). In FIG. 7, the swing axis X is displaced rearward with respect to the center in the width direction of the first lower leg frame 40 (1) in the front-back direction of the user.

In such a case, the engaging pin 372 is arranged at the center of the lower frame 40 in the width direction (user front-rear direction), and the engaging arm 375 sandwiches the engaging pin 372 in the lower frame. By configuring the 40 to have the first and second engaging arms 375 (1) and 375 (2) located on one side and the other side (front side and rear side in the front-rear direction of the user) in the width direction. The actuator unit 100 can be attached to either the left foot side or the right foot side of the long leg orthosis 1.

That is, when the actuator unit 100 is mounted on the left foot side of the long leg orthosis 1, the first lower leg frame 40 (1) is attached by the engaging pin 372 and the first engaging arm 375 (1). On the other hand, when the actuator unit 100 is mounted on the right foot side of the long leg orthosis 1, the first lower leg frame 40 (1) is provided by the engaging pin 372 and the second engaging arm 375 (2). Can be sandwiched.

In the present embodiment, as shown in FIG. 7, the actuator unit 100 is formed by the engaging pin 372 and the first engaging arm 375 (1) located forward in the front-rear direction of the user. 1 When the lower leg frame 40 (1) is mounted so as to sandwich it, but it is desired to increase the rotation angle for rotating the first lower leg frame 40 (1) with respect to the first thigh frame 20 (1). Is to mount the actuator unit 100 so as to sandwich the first lower leg frame 40 (1) by the engaging pin 372 and the second engaging arm 375 (2) located rearward in the user front-rear direction. Can be done.

That is, when the first lower leg frame 40 (1) is sandwiched between the engaging pin 372 and the first engaging arm 375 (1) located forward in the front-rear direction of the user, the initial posture of the lower frame 340 (the said). The posture of the lower frame 340 when the user takes a substantially upright posture with the actuator unit 100 attached, and the posture shown by the solid line in FIG. 7) is a horizontal posture (posture when viewed from the inside in the user width direction). The posture shown by the broken line in FIG. 7) is rotated clockwise by a predetermined angle α around the pivot axis Y.

Here, considering the movement of the left leg when the user wears the long leg device 1 with the actuator unit 100 on the left leg and walks, the movement of the lower leg to be flexed with respect to the thigh is described above. The first lower leg frame 40 (1) rotates clockwise with respect to the first thigh frame 20 (1) when viewed from the inside in the user width direction.

Therefore, in the initial posture in which the actuator unit 100 is attached to the long lower limb equipment 1, the lower frame 340 is viewed from the horizontal posture (the posture shown by the broken line in FIG. 7) when viewed from the inside in the user width direction. Assuming that the crus axis Y is rotated clockwise by a predetermined angle α, the range in which the lower leg can be pushed in the bending direction with respect to the thigh to assist the user in bending the knee, that is, the lower frame When the 340 is viewed from the inside in the user width direction, the rotation range in which the pivot axis line Y can be rotated in the clockwise direction is narrowed by the predetermined angle α with respect to the horizontal posture.

On the other hand, the actuator unit 100 is mounted so as to sandwich the first lower leg frame 40 (1) between the engaging pin 372 and the second engaging arm 375 (2) located rearward in the user front-rear direction. Then, in the initial posture (the posture in which the user is substantially upright), the lower frame 340 changes from the horizontal posture (the posture shown by the broken line in FIG. 7) to the pivot axis when viewed from the inside in the user width direction. The posture is rotated Y by a predetermined angle α in the counterclockwise direction.

Therefore, the range in which the pushing force can be applied in the direction of bending the knee to assist the user's walking motion, that is, when the lower frame 340 is viewed from the inside in the user width direction, rotates in the clockwise direction of the pivot axis Y. The range of rotation that can be performed can be expanded by the predetermined angle α with reference to the horizontal posture.

Here, the control structure of the long leg orthosis 1 according to the present embodiment will be described.
The long leg orthosis 1 according to the present embodiment is configured to control the operation of the actuator unit 100 that applies a walking assisting force to the lower leg based on the posture of the user's thigh.
That is, the long leg orthosis 1 detects the movement of the thigh different from the lower leg which is the control target part, and applies a walking assist force to the lower leg which is the control target part based on the movement of the thigh. It is configured to control the operation of.

Specifically, as shown in FIGS. 1 and 3, the long leg orthosis 1 includes a thigh posture detecting means 510 capable of detecting an angle-related signal related to a user's thigh swing angle, and an actuator unit 100. It is provided with a control device 500 that controls operation control.

The thigh posture detecting means 510 is configured to detect the angle-related signal at a plurality of sampling points at predetermined predetermined timings and transmit it to the control device 500 during one walking cycle.

The control device 500 includes a calculation unit including a control calculation means that executes calculation processing based on a signal input from the thigh posture detection means 510, an artificial operation member, or the like, and a ROM that stores a control program, control data, and the like. A non-volatile storage means that stores the set values and the like in a state where they are not lost even when the power is turned off, and a RAM that temporarily holds the data generated during the calculation by the calculation unit. It is equipped with a storage unit including and the like.

The control device 500 calculates the thigh phase angle at the one sampling point based on the angle-related signal at one sampling point, and the thigh phase angle and the lower leg stored in advance in the control device 500. The thigh phase angle at the one sampling point is applied to the auxiliary force control data indicating the relationship with the magnitude of the auxiliary force to be applied to the side device, and the auxiliary force to be applied to the lower leg side device 30 at the one sampling point. It is configured to calculate the magnitude of the force and execute the operation control of the actuator unit 100 so that the auxiliary force of the magnitude is output.
That is, the control device 500 is applied to the thigh phase angle calculating means for calculating the thigh phase angle at the one sampling point, the thigh phase angle, and the lower leg side fitting based on the angle-related signal at one sampling point. The assisting force to be applied to the lower leg side device 30 at the one sampling point by applying the thigh phase angle calculated by the thigh phase angle calculating means to the assisting force control data indicating the relationship between the magnitudes of the assisting force to be performed. Acts as an auxiliary force calculation means for calculating the magnitude of the actuator unit and an actuator operation control means for executing operation control of the actuator unit 100 so that the auxiliary force of the magnitude calculated by the auxiliary force calculation means is output. It is configured as follows.

In this way, by executing the operation control of the actuator unit 100 that applies a walking assist force to the lower leg based on the phase angle of the thigh, accurate walking is performed even for a user who has hemiplegia due to a stroke or the like. Auxiliary force can be supplied.

That is, the conventional walking assist device configured to apply the walking assist force by the actuator unit detects the movement of the controlled target portion to which the assist force is applied by the actuator unit, and based on the detection result, the actuator unit. It is configured to control the operation of.

For example, in a conventional walking assist device that supplies a walking assist force to the thigh, the operation of an actuator that applies the walking assist force to the thigh is controlled based on the detection result of the movement of the thigh. ..
Further, in the conventional walking assist device that supplies the walking assisting force to the lower leg, the operation of the actuator that applies the walking assisting force to the lower leg is controlled based on the detection result of the movement of the lower leg. ..

However, in the case of patients with hemiplegia due to stroke, etc., although the thigh walking motion (back and forth swinging motion around the hip joint) can be performed relatively normally, the lower leg walking motion (back and forth swinging motion around the knee joint) Can often not be done normally.

When trying to give a walking assisting force to the lower leg to such a patient, the walking assisting force is applied to the lower leg based on the movement of the lower leg, which cannot perform a normal walking motion in the conventional walking assisting device. Since the operation of the provided actuator is controlled, there is a possibility that an accurate walking assist force cannot be provided.

On the other hand, the long leg orthosis 1 according to the present embodiment is configured to control the operation of the actuator unit 100 that applies a walking assisting force to the lower leg based on the thigh phase angle as described above. Has been done.
Therefore, even when the user has hemiplegia due to a stroke or the like, it is possible to supply an accurate walking assist force to the lower leg.

The thigh posture detecting means 510 may have various forms such as a gyro sensor, an acceleration sensor, and a rotary encoder as long as the thigh swing angle (hip joint angle) can be detected directly or indirectly.
For example, the thigh posture detecting means 510 can be configured to have only an acceleration sensor. In this case, walking is performed from the acceleration (or position) and speed of the acceleration sensor without calculating the hip joint angle. The phase angle inside can be calculated.
In the long leg device 1 according to the present embodiment, the thigh posture detecting means 510 has a triaxial angular velocity sensor (gyro sensor) 511 (see FIG. 8 below) capable of detecting the angular velocity of the thigh. The control device 500 is configured to calculate the hip joint angle by integrating the angular velocity of the thigh detected by the triaxial angular velocity sensor 511.

In this way, by calculating the hip joint angle based on the angular velocity detected by the three-axis angular velocity sensor 511, the degree of freedom in designing the long leg orthosis 1 is increased as compared with the configuration in which the hip joint angle is detected by the rotary encoder. Can be improved.

That is, when the hip joint angle is detected by the rotary encoder, the relative movement angle between the torso side detector fixed to the torso and the thigh side detector fixed to the thigh so as to swing integrally with the thigh is determined. Therefore, it is necessary to attach both detectors so that the solid side detector and the thigh side detector are not displaced with respect to the torso and the thigh, respectively.

On the other hand, according to the method of calculating the hip joint angle based on the angular velocity detected by the 3-axis angular velocity sensor 511, the degree of freedom in designing the long leg orthosis 1 is improved without being subject to the above-mentioned restrictions. Can be made to.

FIG. 8 shows a block diagram of a method for calculating the hip joint angle.
As shown in FIG. 8, in the long leg orthosis 1 according to the present embodiment, the thigh posture detecting means 510 has a 3-axis acceleration sensor 515 in addition to the 3-axis angular velocity sensor 511.

In this case, the control device 500 is a second Euler calculated based on the high frequency components of the first Euler angles calculated based on the angular velocity data from the three-axis angular velocity sensor 511 and the acceleration data from the three-axis acceleration sensor 515. The total Euler angles are calculated by adding the low frequency components of the angles, and the thigh phase angles are calculated based on the hip joint angles calculated from the total Euler angles and the hip joint angular velocities calculated from the hip joint angles. Will be done.

Specifically, as shown in FIG. 8, the control device 500 inputs angular velocity data based on the sensor coordinate axes from the triaxial angular velocity sensor 511 at predetermined sampling times, and uses a predetermined conversion formula for the angular velocity data. It is converted into angular velocity data (Euler angular velocity) showing the correlation between the sensor coordinate axis and the global coordinate axis (spatial coordinate axis based on the vertical direction).
Then, the control device 500 calculates the first Euler angles by integrating the angular velocity data (Euler angular velocity).

Preferably, the control device 500 uses the angular velocity data input from the triaxial angular velocity sensor 511 when stationary, and uses the angular velocity data with reference to the sensor coordinate axes input from the triaxial angular velocity sensor 511 at predetermined sampling times. Drift removal can be performed.

Further, the control device 500 inputs acceleration data with reference to the sensor axis from the 3-axis acceleration sensor 515 at predetermined sampling intervals via the low-pass filter 520, and inputs the acceleration data and the gravitational acceleration when stationary. Based on this, the second oiler angle indicating the correlation between the sensor coordinate axis and the global coordinate axis (spatial coordinate axis with reference to the vertical direction) is calculated from the acceleration data input via the low pass filter 520.

The control device 500 is obtained by adding up the high frequency components of the first Euler angles obtained through the high-pass filter 530 and the low frequency components of the second Euler angles obtained via the low-pass filter 535. Calculate the hip joint angle θ from the unit vectors showing the total Euler angles and the orientation of the thighs.

Preferably, the control device 500 detects heel contacts based on the acceleration data from the acceleration sensor 515, and at the time of heel contact detection, the corrected Euler angles calculated from the angular velocity data from the triaxial angular velocity sensor 511 are combined with the Euler angles. By adding to the corners, drift can be removed.

The thigh phase angle φ is calculated by the following method.
The control device 500 calculates the hip joint angle θn at the nth sampling point Sn (n is an integer of 1 or more) from the walking cycle reference timing among the sampling points at predetermined intervals, and differentiates the sampling points. The hip joint angular velocity ωn at the point Sn is calculated.

After that, the control device 500 calculates the thigh phase angle φn (= −Arctan (ωn / θn)) at the sampling point Sn based on the hip joint angle θn at the sampling point Sn and the hip joint angle velocity ωn.

FIG. 9 shows a trajectory diagram obtained by plotting the walking state defined by the hip joint angle θ and the hip joint angular velocity ω over one walking cycle.
As shown in FIG. 9, the hip phase angle φ determined by the hip joint angle θ and the hip joint angular velocity ω is defined to change between 0 and 2π in one walking cycle.

Specifically, the hip joint angles when the thighs are positioned anteriorly and posteriorly to the user's body axis are set to "positive" and "negative", respectively, and the hip joint angular velocities when the thighs are swung forward and posteriorly. Are "positive" and "negative", respectively.

Under this condition, assuming that the phase angle in the state where the hip joint angle is maximum in the "positive" direction and the hip joint angular velocity is "zero" (point P in FIG. 9) is 0, the walking region A1 (hip joint angle θ) in FIG. 9 is The walking region from the state where the hip joint angular velocity ω is the maximum in the "positive" direction to the state where the hip joint angle θ is "zero" and the hip joint angular velocity ω is the maximum in the "negative" direction) is the phase angle. Corresponds to 0 to π / 2.

Further, the walking region A2 in FIG. 9 (from the state where the hip joint angle θ is “zero” and the hip joint angular velocity is maximum in the “negative” direction to the maximum in the hip joint angle in the “negative” direction and the hip joint angular velocity is “zero”. The walking region up to the state where becomes) corresponds to the phase angle π / 2 to π.

Further, the walking region A3 in FIG. 9 (from the state where the hip joint angle θ is maximum in the “negative” direction and the hip joint angular velocity ω is “zero”, the hip joint angle θ is “zero” and the hip joint angular velocity ω is “positive”. The walking region up to the maximum state in the direction) corresponds to a phase angle of π to 3π / 2.

Further, the walking region A4 in FIG. 9 (from the state where the hip joint angle θ is “zero” and the hip joint angular velocity is maximum in the “positive” direction to the maximum in the hip joint angle “positive” direction and the hip joint angular velocity is “zero”. The walking region up to the state of becoming) corresponds to a phase angle of 3π / 2 to 2π.

The sampling interval of the thigh posture detecting means 510 is determined so that a plurality of sampling points are included in one walking cycle, and the control device 500 calculates the thigh phase angle φ for each sampling point.

FIG. 10 shows a graph in which the thigh phase angle φ calculated by the control device 500 is plotted for each walking cycle.
In FIG. 10, the thigh phase angle φ in the four walking cycles of the first walking cycle C1 to the fourth walking cycle C4 is plotted.

Here, the control device 500 is provided with assistive force control data indicating the relationship between the thigh phase angle φ and the magnitude (including direction) of the walking assistive force by the actuator unit 100 to be output to the lower leg in advance. It is remembered.
The auxiliary force control data is set for each user and for each degree of rehabilitation of each user by experiments or the like.

That is, when the control device 500 calculates the thigh phase angle φn at one sampling point Sn, the thigh phase angle φn is applied to the auxiliary force control data, and the walking state defined by the thigh phase angle φn is obtained. At that time, the magnitude (including the direction) of the walking assisting force to be output by the actuator unit 100 is acquired, and the operation control of the actuator unit 100 is performed so that the walking assisting force of the magnitude (including the direction) is output. To execute.

As described above, the walking state in one walking cycle can be recognized based on the thigh phase angle φ, and therefore, the walking motion of the lower leg is normal by controlling the operation of the actuator unit 100 based on the thigh phase angle. It is possible to provide an appropriate walking assist force to the lower leg even for a user who has difficulty in performing the procedure.

Here, the walking assisting force required for walking motion will be described.
FIG. 11 shows a schematic diagram of a walking state that changes during one walking cycle.
As shown in FIG. 11, one walking cycle includes a heel contact period (a period before and after the stepped leg touches the floor) X1 including a heel contact time point in which the heel touches the ground on the front side of the user's body axis, and after the heel contact. Standing from the end of the stance phase (the period during which the contacted lower limbs move backward relative to the body) X2 and the stance phase X2, in which the heel-contacted leg is moved relative to the posterior side while being in contact with the ground. It includes a swing phase X3 in which the former leg is pulled up and relatively moved forward.

FIG. 12 shows an example of the change pattern of the assisting force defined by the assisting force control data.
In the example shown in FIG. 12, the assisting force control data is a first torque pattern for preventing knee breakage by rotating the lower leg side device 30 around the knee joint in the knee extension direction in the heel contact period X1. In Y1 and the stance phase X2, the lower leg side device 30 is rotated around the knee joint in the knee extension direction to prevent knee breakage, and a second torque pattern Y2 is erected from the end of the stance phase X2. In the initial stage X3a of the swing phase X2 in which the leg is pulled up and relatively moved to the front side, the lower leg side fitting 30 is rotated around the knee joint in the knee flexion direction to assist the leg pulling. It includes Y3 and a fourth torque pattern Y4 that rotates the lower leg side device 30 around the knee joint in the knee extension direction in the latter stage X3b of the swing stage X3.

In this way, by controlling the operation of the actuator unit 100 using the assisting force control data representing the relationship between the thigh phase angle φ and the walking assisting force, it is possible to perform appropriate walking assistance according to the user. ..

Preferably, the control device 500 uses the thigh phase angle φn calculated at one sampling point Sn in the current walking cycle as the thigh phase angle at the corresponding sampling point Sn in the past walking cycle that has already been completed. The corrected phase angle φ (ave) corrected by using the above can be calculated, and the corrected phase angle φ (ave) can be applied to the auxiliary force control data to control the operation of the actuator unit 100.

According to such a configuration, even if the thigh phase angle φn (current) calculated at one sampling point Sn in the current walking cycle contains a large error for some reason, the same sampling point in the past walking cycle Since it is corrected (equalized) by using the thigh phase angle φn (past) at Sn, it is possible to smoothly supply the assisting force.

Specifically, the corrected phase angle φ (ave) can be calculated by the following method.
The control device 500 calculates and stores the thigh phase angle φ at each of all sampling points included in one walking cycle.
Then, when the control device 500 detects the completion of one walking cycle, the control device 500 uses a least squares method of a predetermined phase pattern function representing a change pattern of the thigh phase angle φ with respect to the walking cycle based on the thigh phase angle φ at all sampling points. Is calculated using.

The phase pattern function is, for example,
φ (x) = a + bx + cx ² + dx ³ + ex ⁴ + fx ⁵
Can be.
Then, the control device 500 is configured to calculate the coefficients a to f of the phase pattern function by using the least squares method based on the thigh phase angles at all sampling points each time one walking cycle is completed. Will be done.

The completion of one walking cycle can be determined, for example, by whether or not the control device 500 has returned to the preset walking cycle reference timing of the walking state defined by the hip joint angle and the hip joint angular velocity.

In the example shown in FIG. 12, the heel contact is set as the walking cycle reference timing.
In this way, by using the heel contact as the walking cycle reference timing, it is possible to accurately grasp the timing when the walking assisting force is required during the walking cycle.

The timing of heel contact can be recognized by various methods.
For example, when the hip joint angular velocities when the thigh is swinging toward the anterior side and the posterior side with respect to the user's body axis are positive and negative, respectively, the hip joint angular velocity calculated by the control device 500 is calculated. It can be configured to recognize the time point advanced by a predetermined phase angle Δα from the timing of transition from the positive value to zero (P in FIG. 9) as the heel contact time point.

Instead, the long leg device 1 is provided with a heel contact detecting means for detecting the heel contact, and the control device 500 recognizes the timing detected by the heel contact detecting means as the heel contact time point, and at that timing. It is also possible to configure the thigh phase angle φ to be recognized as the heel contact phase angle.

When the acceleration sensor 515 is provided as in the long leg orthosis 1 according to the present embodiment, the acceleration sensor 515 can also be used as the heel contact detecting means.
Instead of this, it is also possible to separately provide a pressure sensor capable of detecting the ground contact of the heel, and to make the pressure sensor act as the heel contact detecting means.

When the completion of one walking cycle is detected in this way, the control device 500 calculates the phase pattern function based on the phase angle in the walking cycle that has already been completed, including the most recently completed walking cycle.

Specifically, when the walking cycle C1 in FIG. 10 is completed, the control device 500 is based on the thigh phase angle φ at all sampling points in the walking cycle C1.
φ (x) (C1) = a (1) + b (1) x + c (1) x ² + d (1) x ³ + e (1) x ⁴ + f (1) x ⁵
Is calculated, and the φ (x) (C1) is stored as a phase pattern function of the thigh phase angle.

When the walking cycle C2 is completed, the control device 500 determines the thigh phase angle at the sampling point in the walking cycle C2 and the thigh phase angle at the sampling point in the walking cycle C1.
φ (x) (C2) = a (2) + b (2) x + c (2) x ² + d (2) x ³ + e (2) x ⁴ + f (2) x ⁵
Is calculated, and the φ (x) (C2) is overwritten and saved as a phase pattern function of the thigh phase angle.

Specifically, in the second and subsequent walking cycles, the control device 500 stores the thigh phase angle φn (current) at the sampling point Sn in the current walking cycle (for example, walking cycle C2) and at that time. The average value of the thigh phase angle φn (past) at the sampling point Sn in the past walking cycle calculated by the phase pattern function φ (x) (C1) is corrected at the sampling point Sn. ).

When the current walking cycle (for example, walking cycle C2) is completed, the control device 500 calculates the phase pattern function (for example, φ (x) (C2)) based on the corrected thigh phase angle at all sampling points. ,save.

The current walking cycle and the past walking are taken as the average value of the thigh phase angle φn (current) at the sampling point Sn in the current walking cycle and the thigh phase angle φn (past) at the corresponding sampling point Sn in the past walking cycle. It is also possible to use a calculated value obtained by averaging the thigh phase angles in all walking cycles including the cycle under equal conditions, or the thigh phase angle φn (current) of the current walking cycle is weighted and averaged. It is also possible to use the calculated calculated value, or it is also possible to use the calculated value calculated by weighting the thigh phase angle φn (past) in the past walking cycle and calculating the average.
Furthermore, it is also possible to correct the thigh phase angle of the current walking cycle by using only the thigh phase angle at the sampling point in the predetermined walking cycle of the past walking cycle.

In the present embodiment, the modified thigh phase angle is used as the thigh phase angle applied to the assisting force control data.
For example, assuming that the current walking cycle is the walking cycle C3 and the thigh phase angle at the sampling point Sn in the current walking cycle C3 is φn (C3), the control device 500 is stored at that time. Using the phase pattern function (φ (x) (C2) in this example), calculate the thigh phase angle φn (C2) at the sampling point Sn in the past walking cycle, and calculate the thigh phase angle φn (C3) and thigh phase angle. The modified thigh phase angle at the sampling point Sn is calculated based on φn (C2).

The control device 500 applies the modified thigh phase angle calculated in this way to the auxiliary force control data, and the magnitude of the auxiliary force to be output by the actuator unit 100 at the sampling point Sn in the current walking cycle C3. (And the direction) is acquired, and the operation control of the actuator unit 100 is performed.

According to such a configuration, even if the thigh phase angle calculated at one sampling point in the current walking cycle (walking cycle C3 in the above example) contains a large error for some reason, it is the same in the past walking cycle. Since it is corrected (equalized) using the thigh phase angle at the sampling point, it is possible to supply an accurate auxiliary force by the actuator unit 100.

FIG. 13 shows the flow of the actuator operation control mode executed by the control device 500.

The control device 500 activates the actuator operation control mode in response to an activation signal input.
The start signal is input in response to a user's artificial operation on an artificial operation member such as a start button, for example.

When the actuator operation control mode is activated, the control device 500 sets the hip joint angle θn at the one sampling point Sn based on the angle-related signal at one sampling point Sn from the thigh posture detecting means 510. It is calculated (step S11), and the hip joint angular velocity ωn at the one sampling point Sn is calculated based on the hip joint angle θn (step S12).

The control device 500 calculates the thigh phase angle φn at the one sampling point Sn based on the hip joint angle θn and the hip joint angular velocity ωn (step S13).

Here, preferably, the control device 500 can determine whether or not the vector length of the vector Vn (see FIG. 9) defined by the hip joint angle θn and the hip joint angular velocity ωn exceeds a predetermined threshold value (see FIG. 9). Step S14).

By providing the step S14, it is possible to effectively prevent the actuator unit 100 from operating even though the walking operation has not been started.
That is, a user with hemiplegia or the like tends to change his / her posture in a slight range contrary to his / her intention before starting the walking motion.
Such a slight attitude change is detected as a vector having a short vector length.

Therefore, by determining that the walking motion is performed only when the vector length of the vector Vn (see FIG. 9) defined by the hip joint angle θn and the hip joint angular velocity ωn exceeds a predetermined threshold value, the walking motion is performed. It is possible to effectively prevent the actuator unit 100 from operating unexpectedly even though the operation has not been started.

If NO in step S14, the control device 500 determines that the walking operation is not performed, and returns to step S11 without operating the actuator unit 100.

When the step S14 is YES, the control device 500 has the thigh phase angle φn (curren) at the sampling point Sn in the current walking cycle calculated in the step S13 in the past walking cycle that has already been completed. The thigh phase angle φn (past) at the corresponding sampling point Sn is used for correction, and the corrected phase angle φn (ave) is calculated (step S15).
For example, when the control device 500 already calculates and overwrites the phase pattern function based on the walking data in the past walking cycle at each end of the walking cycle, the thigh phase at the sampling point Sn in the current walking cycle. The modified phase angle φn (ave) at the sampling point Sn can be calculated based on the angle φn (curren) and the thigh phase angle at the sampling point Sn in the past walking cycle obtained based on the phase pattern function.

By providing the step S15, even if the thigh phase angle calculated at one sampling point in the current walking cycle contains a large error for some reason, the thigh phase angle at the same sampling point in the past walking cycle Since it is corrected (equalized) by using, it is possible to supply an appropriate walking assisting force according to the walking stage.

The control device 500 detects whether or not a heel contact has been made (step S16), and if step S16 is YES (that is, if a heel contact has been made), the corrected phase angle calculated in step S15. Is stored as the heel contact phase angle corresponding to the heel contact (step S17), and the process proceeds to step S18.

In step S18, the control device 500 calculates the phase angle deviation between the modified phase angle φ (ave) calculated in step S15 and the heel contact phase angle stored in step S17.
That is, in step 18, the control device 500 converts the modified phase angle calculated in step S15 into a phase angle with the heel contact as the control reference timing.
In this way, by using the heel contact as the control reference timing, it is possible to more appropriately grasp the walking stage (walking state) during the walking cycle.

When shifting to step 18 via step 17, the phase angle deviation becomes zero.
On the other hand, when the process proceeds to step 18 by bypassing step 17, that is, when step 16 is NO, the corrected phase angle calculated in step 15 and the heel contact phase stored at that time in step S18. The deviation from the angle is the phase angle deviation.

The control device 500 applies a phase angle deviation to the "assist torque / phase angle" data stored in advance, and determines the magnitude and direction of the walking assist force to be output by the actuator unit 100 at the sampling point Sn. It is acquired (step S19), and the actuator unit is operated so that the walking assist force in the magnitude and direction thereof is output (step S20).

The control device 500 determines whether or not one walking cycle has ended (step S21), and if it determines that one walking cycle has ended, the phase using the least squares method with respect to the corrected phase angle. The pattern function is calculated and stored (step S22).
If one walking cycle has not ended, step S22 is bypassed.

The control device 500 determines whether or not the end signal of the actuator operation control mode is input (step S23), returns to step S11 if there is no input of the end signal, and when the end signal is input. Exits the control mode.
The end signal is input according to the user's artificial operation on the artificial operation member such as the end button.

1 Long leg brace 10 Thigh side brace 30 Crus side brace 100 Actuator unit 500 Control device 510 Thigh posture detection means 511 3-axis angular velocity sensor 515 3-axis acceleration sensor

Claims (4)

Attached to the thigh side device attached to the user's thigh, the lower leg side device attached to the user's lower leg and rotatably connected to the thigh side device around the user's knee joint, and the thigh side device. An actuator capable of applying an assisting force around the knee joint to the lower leg side device, a thigh posture detecting means capable of detecting an angle-related signal related to the hip joint angle, which is the anteroposterior swing angle of the user's thigh, and the above. Equipped with a control device that controls the operation of the actuator
The thigh posture detecting means includes a triaxial angular velocity sensor that detects the angular velocity of the thigh and a triaxial acceleration sensor that detects the acceleration of the thigh.
The control device uses the high frequency component of the first Euler angle calculated based on the angular velocity data from the triaxial angular velocity sensor at one sampling point and the acceleration data from the triaxial acceleration sensor at the one sampling point. The total oiler angle is calculated by adding up the low frequency components of the second oiler angle calculated based on the above , and based on the hip joint angle calculated from the total oiler angle and the hip joint angle velocity calculated from the hip joint angle. The thigh phase angle at the sampling point of is calculated, and the above-mentioned one sampling is performed on the auxiliary force control data that is stored in advance in the control device and indicates the relationship between the thigh phase angle and the auxiliary force to be applied to the lower leg side device. by applying the femoral phase angle at point, the calculated assistance force to be applied to the lower leg side brace in one sampling point, while the assisting force to perform the operation control of the actuator so as to be output When the vector length defined by the hip joint angle and the hip joint angle velocity used in calculating the thigh phase angle is smaller than a predetermined threshold value, the operation of the actuator is prohibited. .. The control device in claim 1, characterized in that to create a trajectory diagram representing the cyclic operation of the femoral hip joint angle and walking every cycle by plotting the hip joint angular velocity used for calculating the femoral phase angle The described long hip joint with actuator. Before SL controller calculated using detects the completion of one gait cycle, based on the thigh phase angle at all sampling points, a least square method a predetermined phase pattern function representing the variation pattern of the thigh phase angle for walking period The thigh phase angle at one sampling point in the current walking cycle is overwritten and saved, and the thigh phase angle at the corresponding sampling point in the past walking cycle calculated by the phase pattern function stored at that time. The modified thigh phase angle at the one sampling point is calculated, the modified thigh phase angle is applied to the assisting force control data, and the modified thigh phase angle is applied to the lower leg side device at the one sampling point. The long leg device with an actuator according to claim 1 or 2 , wherein the assisting force to be calculated is calculated. The long leg orthosis with an actuator according to claim 3 , wherein the control device calculates the phase pattern function based on the corrected thigh phase angle at all sampling points when the current walking cycle is completed .