Wearable action-assist device, and method and program for controlling wearable action-assist device

The technology of a motion assisting device and a control method is applied in the direction of appliances, applications, manufacturing tools, etc. that help people walk, and can solve problems such as incompatibility of the wearer

Active Publication Date: 2006-09-27
UNIV OF TSUKUBA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in the wearable motion assisting device of Non-Patent Document 1, since it is necessary to start the process for generating power to the actuator after the myoelectric signal from the wearer is detected, there is a difference in power supply timing. The wearer's movement is late, which brings the wearer a significant sense of incongruity

Method used

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  • Wearable action-assist device, and method and program for controlling wearable action-assist device
  • Wearable action-assist device, and method and program for controlling wearable action-assist device
  • Wearable action-assist device, and method and program for controlling wearable action-assist device

Examples

Experimental program
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Effect test

no. 1 approach

[0076] (A) Composition of wearable motion assistance device

[0077] The wearable motion assisting device of the first embodiment includes: a motion assisting wearer having an actuator; a biosignal sensor for detecting biosignals of the wearer; and a biosignal processing device for obtaining nerve transmission signals and muscle potential signals from the biosignals ; The voluntary control device, which uses the nerve transmission signal and the muscle potential signal to generate an instruction signal for causing the actuator to generate power following the wearer's will; The current corresponding to the signal and the myoelectric signal is transmitted and supplied to the actuator. Among them, in the case where the actuator is to generate a power assist rate corresponding to the state of the task to be performed by the wearer, it is also necessary to set the physical quantity related to the wearer's motion in the wearable motion assisting device. A physical quantity sensor f...

no. 2 approach

[0119] (A) Composition of wearable motion assistance device

[0120] Such as Figure 13 As shown, the wearable motion assisting device of the second embodiment includes: a motion assisting wearer 2 with an actuator 201; a biological signal sensor 221 for detecting the biological signal a of the wearer 1; A physical quantity sensor 13; and a voluntary control device 14 that generates a command signal d (voluntary command signal d1) for causing the actuator 201 to generate power following the will of the wearer 1 using the biosignal a detected by the physical quantity sensor 13. In addition, it also includes: a database 6, storing each reference parameter of a series of minimum action units (states) constituting each action figure of the wearer 1 classified as a task; The physical quantity and the reference parameters stored in the database 6 estimate the state of the task of the wearer 1, and generate a command signal d (self-discipline command signal d2) for causing the actua...

no. 1 example

[0142] Figure 19 Graphs showing experimental results in the case of adding a pulse current corresponding to a nerve transmission signal in the first embodiment, the graph of (a) shows a change in the rotation angle θ of the knee, the graph of (b) Showing the variation of the amplified biosignal, the graph of (c) shows the torque of the knee actuator. Figure 20 The graph of (a) shows the experimental results in the case of not adding the pulse current corresponding to the nerve transmission signal in the first embodiment, the graph of (a) shows the change of the rotation angle θ of the knee, and the graph of (b) Showing the variation of the amplified biosignal, the graph of (c) shows the torque of the knee actuator.

[0143] This example is an example for illustrating the effects of the first embodiment. When the wearer starts to perform the knee joint stretching action from the state of relaxing on the chair, the condition where the nerve transmission signal b is used as t...

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Abstract

A wearable action-assist device for assisting the wearer to act or doing an action for the wearer (1) comprises an action-assist wearable tool (2) having an actuator (201) to give the wearer a mechanical force, a biosignal sensor (221) for detecting a biosignal of the wearer (1), a biosignal processing means (3) for obtaining, from the biosignal (a) detected by the biosignal sensor, a neurotransmitting signal (b) to move the musculoskeletal system of the wearer (1) and a muscle potential signal (c) generated when a muscle activity occurs , a voluntary control means (4) for generating, using the obtained neurotransmitting signal (b) and muscle potential signal (c), a command signal (d) to generate a mechanical force reflecting the intention of the wearer (1) in the actuator (201), and a drive current generating means (5) for producing, according to the command signal (d), currents corresponding to the neurotransmission signal (b) and the muscle potential signal (c) respectively and supplying them to the actuator (201).

Description

technical field [0001] The present invention relates to a wearable motion assisting device that assists or acts on behalf of a wearer, a control method and a program for controlling the wearable motion assisting device, and particularly relates to a wearable motion assisting device that can suppress a sense of discomfort to the wearer, a wearing motion assisting device, and a wearable motion assisting device. A control method of an auxiliary device and a control program. Background technique [0002] Even actions that normal people can easily perform are often difficult for disabled or elderly people. So far, various auxiliary devices have been developed and put into practical use for these people. Among such assistive devices, there are devices such as wheelchairs or nursing beds that the wearer sits on and switch to drive actuators such as motors to assist insufficient strength, and wearable devices that are worn on the human body and operate according to the wearer's wis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H3/00A61F2/72B25J5/00A61B5/0488
Inventor 山海嘉之
Owner UNIV OF TSUKUBA
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