Joining device, joining device control method, joining device control program, and storage medium storing said control program

Abstract

A control unit (10) of an electric prosthetic leg (1) controls a motor (M) on the basis of a target torque value, which is a target torque value relating to the torque of an expansion / contraction device (200), in a loaded state, namely a standing phase, and controls the motor (M) on the basis of a target position value, which is a target torque value relating to the torque of the expansion / contraction device (200), in a non-loaded state, namely a leg raising phase. The position target value is the target value of the position of the expansion / contraction device (200).

Description

Technical Field

[0001] The present invention relates to a joint device, a knee joint device, a control method of the joint device, a control program of the joint device and a storage medium storing the control program. Background Art

[0002] In the past, as an example of a knee joint device, there is known a prosthetic leg device that is mounted on the leg of a robot or a person whose limb has been amputated due to an accident or disease. For example, Patent Document 1 describes an electric prosthetic leg that is equipped with a transmission having two power transmission paths with different speed ratios in order to smoothly climb and descend stairs. It is described that in this electric prosthetic leg, when the knee joint mechanism is extended in a state where a load is applied to the electric prosthetic leg when climbing stairs, and when the knee joint mechanism is extended in a state where no load is applied, the power transmission path is changed.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2021 / 251500 Summary of the invention

[0006] Problems to be solved by the invention

[0007] In such a joint device, there is room for research on how to perform control in specific usage states such as a loaded state in which a load is applied and a non-loaded state in which a load is not applied.

[0008] The present invention provides a joint device capable of being properly controlled in both a load-bearing state and a non-load-bearing state, a control method for the joint device, a control program for the joint device, and a storage medium storing the control program.

[0009] Solutions to Solve Problems

[0010] The present invention is a joint device, which comprises:

[0011] first component;

[0012] The second component;

[0013] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0014] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0015] The expansion and contraction device includes a power source, a power transmission unit for transmitting power from the power source, and a control unit for controlling the power source.

[0016] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0017] The control unit performs the following control:

[0018] (A) When in the load-bearing state described above,

[0019] controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0020] (B) when in said non-weight-bearing position,

[0021] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0022] In addition, the present invention is a joint device, which comprises:

[0023] first component;

[0024] The second component;

[0025] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0026] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0027] The expansion and contraction device includes a power source, a power transmission unit for transmitting power from the power source, an intermittent mechanism disposed on a power transmission path of the power transmission unit and switching between disconnection and connection of power on the power transmission path, and a control unit for controlling the power source and the intermittent mechanism.

[0028] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0029] The control unit performs the following control:

[0030] (A) When in the load-bearing state described above,

[0031] Controlling the intermittent mechanism to a connected state in which the power transmission path is connected, and controlling the power source to not generate power or to stop;

[0032] (B) when in said non-weight-bearing position,

[0033] The intermittent mechanism is controlled to be in a cutoff state in which the power transmission path is cut off, and the power source is controlled to not generate power or to be stopped.

[0034] In addition, the present invention is a control method for a joint device, wherein the joint device comprises:

[0035] first component;

[0036] The second component;

[0037] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0038] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0039] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0040] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0041] The control method comprises the following steps:

[0042] (A) When in the load-bearing state described above,

[0043] controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0044] (B) when in the non-weight-bearing position,

[0045] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0046] In addition, the present invention is a control program for a joint device, wherein the joint device comprises:

[0047] first component;

[0048] The second component;

[0049] a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0050] An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein:

[0051] The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source.

[0052] The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received.

[0053] The control program causes the computer to execute the following steps:

[0054] (A) When in the load-bearing state described above,

[0055] controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0056] (B) when in the non-weight-bearing position,

[0057] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0058] Furthermore, the present invention is a computer-readable storage medium storing the control program.

[0059] Effects of the Invention

[0060] According to the present invention, appropriate control can be performed regardless of whether the vehicle is in a load-bearing state or a non-load-bearing state. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 This is a perspective view of the electric prosthetic leg 1 according to the first embodiment, as seen obliquely from the front.

[0062] Figure 2 It is an exploded perspective view of the electric prosthetic leg 1 .

[0063] Figure 3 is a cross-sectional view of the electric prosthetic leg 1 .

[0064] Figure 4 is a cross-sectional view of the telescopic device 140 .

[0065] Figure 5 1 is a cross-sectional view of the main parts showing the electric prosthetic leg 1 in a bent state.

[0066] Figure 6 1 is a cross-sectional view of the main parts showing the electric prosthetic leg 1 in the maximum bending state.

[0067] Figure 7 It is a cross-sectional view of a two-way clutch.

[0068] Figure 8 It is a perspective view of the retainer 282 .

[0069] Fig. 9 2 are diagrams showing the operation of the operating mechanism 240, (A) is a diagram showing that the intermittent portion 212 and the intermittent portion 222 are in the OFF state, (B) is a diagram showing that the intermittent portion 212 is in the OFF state and the intermittent portion 222 is in the ON state, and (C) is a diagram showing that the intermittent portion 212 is in the ON state and the intermittent portion 222 is in the OFF state.

[0070] Fig.10 (A) is a cross-sectional view showing the intermittent portion 222 in an OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0071] Fig.11 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the OFF state to the ON state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0072] Fig.12 (A) is a cross-sectional view showing a forward rotation activation state of the intermittent portion 222 , and (B) is a diagram showing a position of the operating lever 241 at this time.

[0073] Fig.13 (A) is a cross-sectional view showing the inversion activated state of the intermittent portion 222 , and (B) is a diagram showing the position of the operating lever 241 at this time.

[0074] Fig.14 (A) is a cross-sectional view showing that the intermittent portion 222 is operated from the ON state to the OFF state, and (B) is a diagram showing the position of the operating lever 241 at this time.

[0075] Fig.15 is a cross-sectional view of an electric prosthetic leg 1 according to a second embodiment.

[0076] Fig.16 is a functional block diagram of the electric prosthetic leg 1 .

[0077] Fig.17 The diagram shows the motion of a person and an electric prosthetic leg when climbing stairs (stair climbing motion).

[0078] Fig.18 The diagram shows the motion of a person and an electric prosthetic leg when walking on flat ground (flat ground walking motion).

[0079] Fig.19 (A) is a diagram for explaining the angle of the knee joint, (B) is a diagram for explaining the angle of the thigh, and (C) is a diagram for explaining the angle of the calf.

[0080] Fig. 20 is a table summarizing the stages and control methods in the step-up mode and the flat and step-down modes.

[0081] Fig.21 This is a diagram for explaining torque control.

[0082] Fig. 22 This is a diagram used to illustrate the early stage of leg raising_method 1.

[0083] Fig.23 This is a diagram used to illustrate the early stage of leg raising_method 2.

[0084] Fig.24 It is a diagram used to illustrate the later stages of the leg raise.

[0085] Fig.25 A diagram for explaining the transition between repetitive movements in the early leg raising stage, the late leg raising stage, and the standing stage.

[0086] Fig.26 1 is a diagram showing an example of an electric circuit 16 connecting a battery B and a motor M.

[0087] Fig. 27 This is a table for explaining the states of the switch SW1, transistors Tr1 to Tr3, and the motor M in each walking mode.

[0088] Fig.28 This is a table for explaining the on / off states of the transistors Tr1 to Tr3 corresponding to the weight of the user. DETAILED DESCRIPTION

[0089] Hereinafter, an electric prosthetic leg as an embodiment of the joint device of the present invention will be described with reference to the accompanying drawings. In addition, in the following description, the front-back direction, the left-right direction, and the up-down direction are defined based on the user of the electric prosthetic leg. In the accompanying drawings, the front of the electric prosthetic leg is represented as Fr, the rear is represented as Rr, the left side is represented as L, the right side is represented as R, the top is represented as U, and the bottom is represented as D.

[0090] like Figures 1 to 4 As shown, the electric prosthetic leg 1 of this embodiment is a prosthetic leg installed on the leg of a person without a knee, and comprises: a below-knee side component 110 located below the knee; an above-knee side component 120 installed on the thigh and located above the knee; a knee joint mechanism 130 connecting the below-knee side component 110 and the above-knee side component 120 so that the angle between the two can be changed; an expansion and contraction device 200 capable of expanding and contracting the angle between the below-knee side component 110 and the above-knee side component 120; a mechanical stopper mechanism 150 for mechanically limiting the range of change of the angle between the below-knee side component 110 and the above-knee side component 120; a buffer mechanism 160 for buffering the impact of the mechanical stopper mechanism 150; a sensor device 270; and a battery B for supplying power to the expansion and contraction device 200 and the like.

[0091] The above-knee member 120 includes a connector 121 connected to a receiving cavity (not shown) and an above-knee base 126. The connector 121 is mounted on an upper wall 125 of the above-knee base 126. The receiving cavity is a connecting member provided on the thigh, and the above-knee member 120 is integrated with the thigh by connecting the connector 121 to the receiving cavity.

[0092] The below-knee side component 110 comprises: a box-shaped main frame 111 with openings at the top and rear; side covers 112 covering the left and right side surfaces of the main frame 111; a detachable rear cover 113 that can open and close and cover the rear opening of the main frame 111; and a connector 122 mounted on the lower surface of the main frame 111.

[0093] The above-knee member 120 is provided on the upper portion of the main frame 111 of the below-knee member 110 via a connecting shaft 135 constituting the knee joint mechanism 130 , and the leg portion 114 extending downward is connected to a joint 122 of the main frame 111 .

[0094] In the space formed by the above-knee side member 120 and the below-knee side member 110, an expansion and contraction device 200 capable of expanding and contracting the angle between the below-knee side member 110 and the above-knee side member 120 is provided. The expansion and contraction device 200 is a telescopic device 140 capable of expanding and contracting the angle between the below-knee side member 110 and the above-knee side member 120 by telescoping. The telescopic device 140 extends in the up-down direction, and one side of the extension direction is mechanically connected to the above-knee side member 120, and the other side of the extension direction is mechanically connected to the below-knee side member 110, and the details will be described later. In addition, "mechanical connection" is a concept including a structure that is directly connected and a structure that is connected via other components.

[0095] like Figure 3 and Figure 4 As shown, the telescopic device 140 includes: a motor M that outputs rotational power; a transmission T that transmits the power of the motor M; a spindle unit SP that is connected to the transmission T in a manner that can transmit power and converts the rotational power output from the transmission T into translational motion (telescopic motion); a first intermittent mechanism 210 and a second intermittent mechanism 220 provided on the transmission T; an operating mechanism 240 that performs switching operations on the first intermittent mechanism 210 and the second intermittent mechanism 220; and a control unit 10 that controls the motor M and simultaneously operates the operating mechanism 240 to control the first intermittent mechanism 210 and the second intermittent mechanism 220.

[0096] The motor M is, for example, a permanent magnet motor, and is disposed behind and above the transmission T, and the spindle unit SP is disposed in front and above the transmission T. The spindle unit SP is disposed on the opposite side of the motor M relative to the transmission T in the power transmission path. The motor M is a gear mechanism built-in motor having a motor body 171 and a gear mechanism 172 for reducing the output rotation of the motor body 171. The spindle unit SP has a spindle 173 formed with an external thread and a sleeve 174 formed with an internal thread, and the sleeve 174 performs translational motion along the axis of the spindle 173 by the rotation of the spindle 173.

[0097] Specifically, the main shaft 173 receives the rotational power of the motor M transmitted by the transmission T and performs rotational motion. On the other hand, the sleeve 174 is supported by the unit housing 250 in a manner that it cannot rotate but can move up and down. Therefore, when the main shaft 173 receives the rotational power of the motor M transmitted by the transmission T and rotates to one side, the sleeve 174 moves translationally away from the transmission T, and when the main shaft 173 rotates to the other side, the sleeve 174 moves translationally toward the transmission T. In addition, sometimes the translational movement of the sleeve 174 away from the transmission T is referred to as an extension action of the main shaft unit SP, and conversely, sometimes the translational movement of the sleeve 174 toward the transmission T is referred to as a shortening action of the main shaft unit SP.

[0098] That is, the distance between the sleeve 174 and the transmission T is expanded and contracted according to the rotation direction of the main shaft 173. The upper end of the sleeve 174 is connected to the above-knee side member 120 via the link member 175. The distance between the sleeve 174 and the transmission T is expanded and contracted according to the rotation direction of the main shaft 173, thereby rotating the below-knee side member 110 and the above-knee side member 120 around the connecting shaft 135. As a result, the angle between the above-knee side member 120 and the below-knee side member 110 is changed.

[0099] Here, the angle between the above-knee component 120 and the below-knee component 110 is defined by a first imaginary line L1 and a second imaginary line L2, wherein the first imaginary line L1 connects the center of the connection shaft 135 of the knee joint mechanism 130 and the joint 121 of the above-knee component 120, and the second imaginary line L2 passes through the center of the connection shaft 135 of the knee joint mechanism 130 and the below-knee component 110 and extends downward in the vertical direction. Among the angles between the below-knee component 110 and the above-knee component 120 centered on the connection shaft 135 of the knee joint mechanism 130, one side of a circle is a first angle θ1, and the other side is a second angle θ2. When the second angle θ2 is the smaller of the first angle θ1 and the second angle θ2, the angle on the popliteal side of the user of the electric prosthetic leg 1 (popliteal angle) becomes the second angle θ2. The first angle θ1 takes a value of about 175 [deg] to 300 [deg], and the second angle θ2 takes a value of about 60 [deg] to 185 [deg].

[0100] Figure 3 The knee joint mechanism 130 is shown in an extended state, with the first angle θ1 being approximately 175 degrees and the second angle θ2 being approximately 185 degrees. Figure 5 1 is a cross-sectional view of a main part showing the electric prosthetic leg 1 in a bent state. The first angle θ1 is about 240 degrees, and the second angle θ2 is about 120 degrees. Figure 6 It is a cross-sectional view of the main part showing the electric prosthetic leg 1 in the maximum bending state, the first angle θ1 is about 300 [deg], and the second angle θ2 is about 60 [deg].

[0101] In addition, the expansion and contraction device 200 of the present embodiment converts the rotational motion into the telescopic motion through the main shaft unit SP of the telescopic device 140, thereby expanding and contracting the telescopic device 140, and at the same time, the angle between the below-knee side component 110 and the above-knee side component 120 is expanded and reduced. However, it is also possible not to provide a telescopic (movement) part like the telescopic device 140 (main shaft unit SP), but to provide a gear meshing mechanism (etc.) between the below-knee side component 110 and the above-knee side component 120, so that the angle between the below-knee side component 110 and the above-knee side component 120 is expanded and reduced.

[0102] return Figure 3 and Figure 4The transmission T includes: a first speed change mechanism T1 having a first speed change portion for transmitting the power of the motor M to the spindle unit SP at a first speed change ratio; and a second speed change mechanism T2 having a second speed change portion for transmitting the power of the motor M to the spindle unit SP at a second speed change ratio different from the first speed change ratio. The first speed change mechanism T1 and the second speed change mechanism T2 are switched between a power disconnection state and a power connection state by the intermittent mechanisms 210 and 220.

[0103] According to such a transmission T, by having two power transmission paths with different speed ratios, it is possible to switch the extension and flexion movement speeds and the generated power in the knee joint mechanism 130. As long as the first speed ratio and the second speed ratio are different, the first speed change mechanism T1 and the second speed change mechanism T2 may be either a speed reduction mechanism and the other a speed increase mechanism, or either a constant speed mechanism and the other a speed reduction mechanism or a speed increase mechanism, or both may be speed reduction mechanisms, or both may be speed increase mechanisms.

[0104] The first speed ratio is a ratio of the speed after the speed change, which is the speed on the opposite side (spindle unit SP side) of the first speed change mechanism T1 to the motor M side than the first speed change part, to the speed before the speed change, which is the speed on the motor M side than the first speed change part in the first speed change mechanism T1. The second speed ratio is a ratio of the speed after the speed change, which is the speed on the opposite side (spindle unit SP side) of the second speed change mechanism T2 to the motor M side than the second speed change part in the second speed change mechanism T2, to the speed before the speed change, which is the speed on the motor M side than the second speed change part in the second speed change mechanism T2.

[0105] For example, when the first speed ratio of the first speed change mechanism T1 is less than 1, the rotation speed of the opposite side of the motor M (the spindle unit SP side) is lower than the rotation speed of the motor M side, and the torque increases. When the second speed ratio of the second speed change mechanism T2 is greater than 1, the rotation speed of the opposite side of the motor M (the spindle unit SP side) is higher than the rotation speed of the motor M side, and the torque decreases. In this embodiment, the first speed ratio is set to be less than 1, the second speed ratio is greater than 1, and the first speed change mechanism T1 is arranged at a lower position than the second speed change mechanism T2.

[0106] The first speed change mechanism T1 and the second speed change mechanism T2 include: a first shaft 181, which is rotatably arranged on the lower extension line of the output shaft 172a of the gear mechanism part 172; and a second shaft 182, which is rotatably arranged on the lower extension line of the main shaft 173 of the main shaft unit SP. The first shaft 181 is connected to the output shaft 172a of the gear mechanism part 172 of the motor M via a coupling 187 that allows axial center error so as to be rotatable as a whole. The second shaft 182 is connected to the main shaft 173 of the main shaft unit SP so as to be rotatable as a whole. In addition, although the second shaft 182 of the present embodiment is integrated with the main shaft 173 of the main shaft unit SP, the second shaft 182 may also be connected to the main shaft 173 of the main shaft unit SP using a spline fitting or a coupling.

[0107] The first speed change mechanism T1 includes a first speed change portion composed of a first drive gear 183 and a first driven gear 184 that mesh with each other. The first drive gear 183 is supported on the first shaft 181 in a manner that allows integral rotation, and the first driven gear 184 is supported on the second shaft 182 in a manner that allows relative rotation. The rotation axes of the first driven gear 184 and the second shaft 182 coincide with each other. The first speed change mechanism T1 of this embodiment is a speed reduction transmission mechanism in which the diameter of the first drive gear 183 is smaller than the diameter of the first driven gear 184, and can enable the main shaft unit SP to perform telescopic action at a low speed and high torque.

[0108] The second speed change mechanism T2 has a second speed change part composed of a second drive gear 185 and a second driven gear 186 that mesh with each other. The second drive gear 185 is supported on the first shaft 181 in a manner that allows it to rotate as a whole, and the second driven gear 186 is supported on the second shaft 182 in a manner that allows it to rotate relatively. The rotation axes of the second driven gear 186 and the second shaft 182 are consistent with each other. The second speed change mechanism T2 of this embodiment is a speed increase transmission mechanism in which the diameter of the second drive gear 185 is larger than that of the second driven gear 186, and can enable the main shaft unit SP to perform telescopic movements at high speed and low torque. In addition, in this embodiment, the second speed change mechanism T2 is arranged on the upper side of the first speed change mechanism T1, but the second speed change mechanism T2 can also be arranged on the lower side of the first speed change mechanism T1. In addition, the first shaft 181 and the second shaft 182 of this embodiment are respectively formed as a whole from the beginning, but they can also be connected (combined) as a whole after the upper and lower gear support parts are formed separately.

[0109] The first intermittent mechanism 210 includes an intermittent portion 212 disposed between the first driven gear 184 and the second shaft 182. The second intermittent mechanism 220 includes an intermittent portion 222 disposed between the second driven gear 186 and the second shaft 182. These intermittent portions 212, 222 have a common structure and are configured to be switchable between a cut-off state for cutting off power transmission and a power transmittable state for transmitting rotational power in both one direction and another direction. In addition, the details of the intermittent portions 212, 222 will be described later.

[0110] The operating mechanism 240 includes an operating rod 241 provided so as to be able to intermittently operate the intermittent portions 212 and 222 , and a servo motor 242 which linearly moves the operating rod 241 .

[0111] The second shaft 182 is a hollow shaft having an internal space S2 extending in the direction of the rotation axis (also referred to as the up-down direction), and the operating rod 241 is arranged in the internal space S2. The operating rod 241 is provided with a rack 241a at the lower end exposed from the internal space S2. The operating rod 241 is supported by bearings B4 and B5 arranged in the internal space S2 so as not to rotate relative to the rack 241a but to move forward and backward in an integrated manner in the direction of the rotation axis. The lower end of the second shaft 182 is screwed with a cover member 188 having an insertion hole for the operating rod 241 to be inserted. The cover member 188 prevents foreign matter from invading the internal space S2 and facilitates the replacement of the operating rod 241. The pinion 243 provided on the output shaft 242a of the servo motor 242 meshes with the rack 241a, and the position of the operating rod 241 in the up-down direction is switched according to the drive of the servo motor 242. Small diameter parts 241b1, 241b2 and large diameter parts 241c1 to 241c3 are formed on the outer periphery of the operating rod 241, and the small diameter parts 241b1, 241b2 and large diameter parts 241c1 to 241c3 intermittently operate the intermittent parts 212 and 222 according to the position of the operating rod 241. The operating mechanism 240 will be described in detail later.

[0112] like Figures 3 to 5 As shown, the unit housing 250 includes an upper housing 251, a middle housing 252, and a lower housing 253. These upper housing 251, middle housing 252, and lower housing 253 are formed independently of each other.

[0113] The upper housing 251 accommodates the spindle unit SP.

[0114] The second drive gear 185 , the second driven gear 186 , the first drive gear 183 , the first driven gear 184 , the intermittent parts 212 and 222 , and a part of the operating mechanism 240 are accommodated in a space S1 formed by the intermediate housing 252 and the lower housing 253 .

[0115] The unit case 250 has a three-stage structure of an upper case 251 , an intermediate case 252 , and a lower case 253 , and can not only house the transmission T and the spindle unit SP, but also unitize the telescopic device 140 including the motor M.

[0116] In addition, the unit case 250 is attached to the main frame 111 via a bracket (not shown).

[0117] like Figure 3 , Figure 5 and Figure 6 As shown, the mechanical stopper mechanism 150 includes a stopper member 151 provided on the below-knee member 110, and a first contact portion 152 and a second contact portion 153 provided on the above-knee base 126 of the above-knee member 120. Figure 3 In the state shown (the second angle θ2 is about 185 degrees), the first abutting portion 152 abuts against the stopper 151, thereby restricting the knee joint mechanism 130 from bending in the reverse direction. Figure 6 In the state shown (the second angle θ2 is about 60 degrees), the second abutment portion 153 abuts against the stop member 151, thereby limiting the further bending of the knee joint mechanism 130 from the maximum bending state. Figure 6 The maximum bending state is shown.

[0118] The buffer mechanism 160 is provided on the side of the above-knee member 120, and includes a pressing portion 162 that can press the upper end of the link member 175 by the urging force of a spring 161 (for example, a compression coil spring). The lower end of the link member 175 is rotatably connected to the sleeve 174 of the spindle unit SP via a first rotating portion 176, and the upper end of the link member 175 is rotatably connected to the above-knee member 120 via a second rotating portion 177. A cam portion 178 is formed at the upper end of the link member 175. The cam portion 178 continuously includes a small diameter outer peripheral portion 178a having a small radius with the second rotating portion 177 as the center, a large diameter outer peripheral portion 178b having a long distance from the second rotating portion 177, and a connecting outer peripheral portion 178c that connects the small diameter outer peripheral portion 178a and the large diameter outer peripheral portion 178b without a step.

[0119] like Figure 5 and Figure 6 As shown, when the knee joint mechanism 130 is bent, the pressing portion 162 faces the small diameter outer peripheral portion 178a of the cam portion 178, so the pressing portion 162 is separated from the cam portion 178. Figure 3As shown, the knee joint mechanism 130 is extended according to the shortening action of the spindle unit SP. When approaching the mechanical stop position on the extended side, the opposing position of the pressing portion 162 and the cam portion 178 moves from the connecting outer peripheral portion 178c to the large diameter outer peripheral portion 178b. Accompanying this, the cam portion 178 abuts against the pressing portion 162, and the large diameter outer peripheral portion 178b overcomes the force of the spring 161 and pushes the pressing portion 162. In other words, the cam portion 178 is pressed in the return direction by the force of the spring 161. As a result, the force of the spring 161 becomes a resistance, and the impact when the first abutting portion 152 abuts against the stopper 151 is buffered.

[0120] Next, refer to Figure 7 The details of the intermittent portions 212 , 222 and the operating mechanism 240 are described in detail in the following figures.

[0121] The intermittent parts 212 and 222 have a common structure and are configured to be switchable between a cut-off state in which power transmission is cut off and a power transmittable state in which rotational power in both one direction and another direction can be transmitted. Figure 7 As shown, each intermittent portion 212, 222 of the present embodiment is constituted by using a two-way clutch 280 having a forced free function. The two-way clutch 280 includes: a plurality of (three in the present embodiment) rollers 281 disposed between the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the gears 184, 186; a retainer 282 that retains the plurality of rollers 281 at a predetermined interval; a plurality of (three in the present embodiment) pins 283 that penetrate the second shaft 182 in the radial direction and are operated by the operating mechanism 240 to a forced free position and a forced free release position; and a plurality of (three in the present embodiment) guides 284 that are provided on the retainer 282 and limit the relative rotation position of the retainer 282 relative to the second shaft 182 when the pins 283 are in the forced free position. The rollers 281 may be balls or wedges.

[0122] The radial interval A between the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 is smaller than the diameter B of the roller 281. In addition, flat portions 182a are formed at predetermined intervals in the circumferential direction on the outer circumferential portion of the second shaft 182, and the interval A is larger than the diameter B at the circumferential center of the flat portion 182a.

[0123] That is, when the roller 281 is maintained at the circumferential center of the flat portion 182a, the roller 281 does not mesh with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (non-engaged state), allowing relative rotation between the second shaft 182 and the gears 184 and 186 (forced free state).

[0124] On the other hand, in a state where the roller 281 is allowed to move circumferentially relative to the second shaft 182, the roller 281 is engaged with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the gears 184 and 186 (engaged state), and the second shaft 182 and the gears 184 and 186 are connected in a manner that allows them to rotate as a whole in two directions (forced free release state).

[0125] like Figure 8 As shown, the retainer 282 is annular and rotatable relative to the second shaft 182 and the gears 184 and 186 , and has a plurality of roller retaining portions 282 a for retaining the rollers 281 and a plurality of guide retaining portions 282 b for retaining the guides 284 .

[0126] In addition, a plurality of rubber balls 282c are embedded at predetermined intervals in the circumferential direction on the outer peripheral surface of the retainer 282. These rubber balls 282c cause appropriate friction between the gears 184, 186 and the retainer 282, thereby preventing accidental idling in the forced free release state. In addition, the component causing friction between the gears 184, 186 and the retainer 282 is not limited to the rubber balls 282c, and may also be an O-ring.

[0127] return Figure 7 The pin 283 has a conical convex portion 283a at the radially outer end portion, and the guide 284 has a conical concave portion 284a that fits (engages) with the convex portion 283a at the radially inner end surface. When the convex portion 283a of the pin 283 fits with the concave portion 284a of the guide 284, the relative rotation position of the retainer 282 with respect to the second shaft 182 is positioned at a predetermined position where the retainer is in a forced free state by the guiding action of the pin 283 and the guide 284.

[0128] like Fig. 9 As shown, the first large diameter portion 241c1, the first small diameter portion 241b1, the second large diameter portion 241c2, the second small diameter portion 241b2 and the third large diameter portion 241c3 are formed in sequence from the top at a predetermined length and interval. The operating rod 241 is configured to simultaneously control the two intermittent portions 212 and 222, but may also be configured separately for each intermittent portion 212 and 222.

[0129] In the following description, refer to Fig. 9 The operation of the operating mechanism 240 for simultaneously controlling the intermittent portions 212 and 222 will be described.

[0130] like Fig. 9 As shown, the intermittent portions 212 and 222 are switched between a forced free state (hereinafter referred to as an OFF state as appropriate) and a forced free released state (hereinafter referred to as an ON state as appropriate) by an operating mechanism 240 .

[0131] When the operating rod 241 of the operating mechanism 240 is in Fig. 9 When the intermittent portion 212 is in the upper position shown in (A), the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 222 outwardly, and the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 212 outwardly, thereby setting the intermittent portion 212 and the intermittent portion 222 to the OFF state.

[0132] In addition, when the operating rod 241 of the operating mechanism 240 is in Fig. 9 When in the intermediate position shown in (B), the first small diameter portion 241b1 allows the pin 283 of the intermittent portion 222 to return in the inner diameter direction, and at the same time the third large diameter portion 241c3 pushes the pin 283 of the intermittent portion 212 in the outer diameter direction, thereby setting the intermittent portion 222 to the ON state and the intermittent portion 212 to the OFF state.

[0133] In addition, when the operating rod 241 of the operating mechanism 240 is in Fig. 9 When the intermittent portion 222 is in the lower position shown in (C), the first large diameter portion 241c1 pushes the pin 283 of the intermittent portion 222 in the outer diameter direction, and the second small diameter portion 241b2 allows the pin 283 of the intermittent portion 212 to return in the inner diameter direction, thereby setting the intermittent portion 222 to the OFF state and the intermittent portion 212 to the ON state.

[0134] Next, taking the intermittent portion 222 as an example, refer to Figures 10 to 14 The operation of the two-way clutch 280 will be described. In the following example, the intermittent portion 222 is Fig. 9 The following explanation will take the case where (A) is transferred to (C) via (B) as an example.

[0135] like Fig.10 As shown in (A) and (B), in a state where the second large diameter portion 241c2 of the operating lever 241 pushes the pin 283 of the intermittent portion 222 in the outer diameter direction, the convex portion 283a of the pin 283 is engaged with the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position. In this state, the roller 281 is held at the circumferential center portion of the flat portion 182a, so the roller 281 does not mesh with the outer circumferential surface of the second shaft 182 and the inner circumferential surface of the second driven gear 186, and the relative rotation of the second shaft 182 and the second driven gear 186 is allowed. The OFF state is achieved.

[0136] Fig.11 (A) and (B) show the state where the operating lever 241 moves from the position where the second large diameter portion 241c2 pushes the pin 283 of the intermittent portion 222 outward in the outer diameter direction to the position where the first small diameter portion 241b1 allows the pin 283 to return inward in the inner diameter direction. Fig.11Although the pin 283 has moved in the inner diameter direction, in fact, when the second shaft 182 and the second driven gear 186 generate relative rotation, the guide member 284 of the retainer 282 that rotates in conjunction with the second driven gear 186 uses the inclined surface of the recess 284a to push the pin 283 back in the inner diameter direction.

[0137] like Fig.12 As shown in (A) and (B), when the second shaft 182 and the second driven gear 186 generate relative rotation in the forward direction as indicated by the arrow in the figure, in a state where the pin 283 is allowed to return in the inner diameter direction, the retainer 282 that rotates in conjunction with the second driven gear 186 moves the roller 281 in the forward direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and a forward activation state occurs in which the second shaft 182 and the second driven gear 186 rotate integrally in the forward direction.

[0138] like Fig.13 As shown in (A) and (B), when the second shaft 182 and the second driven gear 186 generate relative rotation in the reverse direction indicated by the arrow in the figure while the pin 283 is allowed to return in the inner diameter direction, the retainer 282 that rotates in conjunction with the second driven gear 186 moves the roller 281 in the reverse direction relative to the second shaft 182. As a result, the roller 281 meshes with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and a reverse activation state occurs in which the second shaft 182 and the second driven gear 186 rotate integrally in the reverse direction.

[0139] like Fig.14 As shown in (A) and (B), when the operating lever 241 moves from the position where the first small diameter portion 241b1 allows the pin 283 of the intermittent portion 222 to return in the inner diameter direction to the position where the first large diameter portion 241c1 pushes the pin 283 in the outer diameter direction, the convex portion 283a of the pin 283 is engaged with the concave portion 284a of the guide 284, and the relative rotation position of the retainer 282 with respect to the second shaft 182 is fixed at a predetermined position in a positioning state by the guiding action of the pin 283 and the guide 284. In this state, the roller 281 is held at the circumferential center of the flat portion 182a, so the roller 281 does not mesh with the outer peripheral surface of the second shaft 182 and the inner peripheral surface of the second driven gear 186, and the relative rotation of the second shaft 182 and the second driven gear 186 is allowed. The OFF state is achieved.

[0140] In the above embodiment, the intermittent parts 212, 222 and the operating mechanism 240 are arranged on the second shaft 182 side, but it can also be as follows Fig.15That is, in the electric prosthetic leg 1 of the second embodiment, the intermittent portion 212 of the first intermittent mechanism 210 is disposed between the first drive gear 183 and the first shaft 181, and the intermittent portion 222 of the second intermittent mechanism 220 is disposed between the second drive gear 185 and the first shaft 181. The other structures are basically the same or similar to those of the first embodiment, so the electric prosthetic leg 1 of the first embodiment will also be taken as an example for description below.

[0141] like Fig.16 As shown, the sensor device 270 includes a knee joint angle sensor 271 provided in the knee joint mechanism 130 (connecting shaft 135 ), a load sensor 272 built into the joint 122 , and an inertial measurement unit (IMU) 273 mounted on a substrate (not shown) arranged near the motor M.

[0142] The knee joint angle sensor 271 detects the knee joint angle (θ [deg]). Fig.19 As shown in (A), the knee joint angle (θ [deg]) is the angle between the extension line L11 of the upper knee side component 120 passing through the connecting shaft 135 and the lower knee side component 110. In other words, the knee joint angle θ is the angle obtained by subtracting the aforementioned second angle θ2 from 180 [deg], and is the supplementary angle of the second angle θ2. When the lower knee side component 110 is located in a position forward of the extension line L11, the knee joint angle θ takes a negative value, and when the lower knee side component 110 is located in a position backward of the extension line L11, the knee joint angle θ takes a positive value (+deg). Therefore, since the possible range of the second angle θ2 is approximately 60 [deg] ~ 185 [deg], the possible range of the knee joint angle θ is approximately -5 [deg] ~ 120 [deg].

[0143] The load sensor 272 detects the load received by the electric prosthetic leg 1, in other words, the load from the user of the electric prosthetic leg 1. The load sensor 272 is set so that the tensile load takes a positive value and the compressive load takes a negative value. Therefore, in the loaded state where the electric prosthetic leg 1 touches the ground (hereinafter, sometimes referred to as the standing stage), the load (compressive load) acts on the electric prosthetic leg 1 from the outside, so it takes a negative value, and in the non-loaded state where the electric prosthetic leg 1 leaves the ground (hereinafter, sometimes referred to as the leg-lifting stage), although no load is received from the outside, a tensile load is applied due to the deadweight of the electric prosthetic leg 1, so it takes a positive value.

[0144] IMU273 acquires 3-axis angular velocity and 3-axis acceleration. When the 3 axes of the orthogonal coordinate system are set as X-axis, Y-axis, and Z-axis, IMU273 detects X-axis angular velocity ωx [deg / s], Y-axis angular velocity ωy [deg / s], Z-axis angular velocity ωz [deg / s], and X-axis acceleration Ax [m / s2 ]、Y-axis acceleration Ay[m / s 2 ], and Z-axis acceleration Az[m / s 2 ].

[0145] Next, the control unit 10 for controlling the electric prosthetic leg 1 will be described.

[0146] When the user walks up stairs, the control unit 10 drives the electric prosthetic leg 1 in the step-up mode described later, and when the user walks forward on flat ground or walks down stairs, the control unit 10 drives the electric prosthetic leg 1 in the flat ground and step-down modes described later. The control unit 10 receives information from the sensor device 270 and controls the electric prosthetic leg 1 in each mode. More specifically, information from the knee joint angle sensor 271, the load sensor 272, and the IMU 273 is input to the control unit 10. The control unit 10 obtains the knee joint angle θ from the knee joint angle sensor 271, obtains the load from the load sensor 272, and calculates the shank angle θs based on the angular velocity of the three axes and the acceleration of the three axes detected by the IMU 273. In addition, the control unit 10 calculates the thigh angle θt based on the knee joint angle θ and the shank angle θs. In addition, the control unit 10 can also calculate the angular velocity and angular acceleration of each of the knee joint angle θ, the calf angle θs, and the thigh angle θt, or the acceleration of the below-knee member 110 and the above-knee member 120.

[0147] Here, if Fig.19 As shown in (C), the calf angle θs is the angle between the center line extending in the extension direction of the below-knee side component 110 centered on the connecting axis 135 and the plumb line VL1 passing through the connecting axis 135. When the below-knee side component 110 is located forward of the plumb line VL1, the calf angle θs takes a negative value (-deg). When the below-knee side component 110 is located backward of the plumb line VL1, the calf angle θs takes a positive value (+deg).

[0148] In addition, if Fig.19 As shown in (B), the thigh angle θt is the angle between the plumb line VL2 passing through the hip joint 124 of the thigh 123 on which the above-knee side component 120 is installed and the center line extending in the extension direction of the above-knee side component 120. When the above-knee side component 120 is located forward of the plumb line VL2, the thigh angle θt takes a negative value (-deg), and when the above-knee side component 120 is located backward of the plumb line VL2, the thigh angle θt takes a positive value (+deg).

[0149] In each mode, the control unit 10 controls the operating mechanism 240 (servomotor 242 ) based on this information to switch the first intermittent mechanism 210 and the second intermittent mechanism 220 between the disconnected state and the power transmittable state, and controls the motor M to output power for extending or bending the electric prosthetic leg 1 .

[0150] Return to Fig.16 The control unit 10 includes: a stage determination unit 11, which determines whether the electric prosthetic leg 1 is in the standing stage or the leg raising stage; a mode acquisition unit 12, which predicts and acquires the transition to the upward step mode and the flat ground / downward step mode; and a motor control unit 13, which controls the motor M that extends and retracts the telescopic device 140 and the servo motor 242 (operating mechanism 240) that drives the operating rod 241.

[0151] The stage determination unit 11 determines that the stage is in the leg-raising stage when the load detected by the load sensor 272 is above the first threshold value (e.g., -90 [N]), and determines that the stage is in the standing stage when the load is below the second threshold value (e.g., -110 [N]). In addition, when it is determined that the stage is in the standing stage, if the load becomes above the first threshold value (e.g., -90 [N]), the stage determination unit 11 determines that the stage has changed from the standing stage to the leg-raising stage. On the other hand, when it is determined that the stage is in the leg-raising stage, if the load becomes below the second threshold value (e.g., -110 [N]), it is determined that the stage has changed from the leg-raising stage to the standing stage. In addition, the first threshold value and the second threshold value may be the same value, but are preferably set to different values ​​by setting a hysteresis. Thereby, hunting can be suppressed.

[0152] The mode acquisition unit 12 predicts and acquires the transition from the ascending stair mode to the flat ground / descending stair mode and the transition from the flat ground / descending stair mode to the ascending stair mode based on predetermined conditions. In addition, the mode acquisition unit 12 can acquire the mode transition through a switching switch provided in the electric prosthetic leg 1 or an electric switch receiving a signal from a user's terminal device such as a smartphone, mobile phone, tablet computer, smart watch, etc.

[0153] The motor control unit 13 controls the motor M to extend and retract the telescopic device 140, thereby extending or bending the electric prosthetic leg 1. In addition, the motor control unit 13 controls the servo motor 242 to operate the operating rod 241, thereby switching the disconnection state and the power transmittable state of the first intermittent mechanism 210 and the second intermittent mechanism 220. In addition, in the power transmittable state, the speed change state (hereinafter referred to as the high torque side connection state) in which the power is transmitted via the first speed change mechanism T1 and the speed change state (hereinafter referred to as the high speed side connection state) in which the power is transmitted via the second speed change mechanism T2 are switched.

[0154] <Stair climbing mode>

[0155] The electric prosthetic leg 1 constructed in this way can smoothly perform the step-climbing action, while the conventional passive prosthetic leg with a passive damper has to climb the non-prosthetic leg side (healthy leg) step by step in the step-climbing action. The mode when the user walks up the stairs is the step-climbing mode.

[0156] Fig.17 The diagram shows the motion of a person and an electric prosthetic leg when climbing stairs (stair climbing motion).

[0157] Fig.17 (A) to (D) are diagrams showing the standing phase, Fig.17 (D) to (E) are diagrams showing the transition phase from standing to the early stage of leg raising. Fig.17 (E) to (G) are diagrams showing the early stages of leg raising. Fig.17 (G) is a diagram showing the transition phase from the early stage of leg lifting to the late stage of leg lifting and the late stage of leg lifting, Fig.17 (H) is a diagram showing the transition phase from the late leg-lifting stage to the standing stage and the standing stage.

[0158] like Fig.17 As shown in (A) to (D) of FIG. 1 , when the electric prosthetic leg 1 is extended forward and steps onto a step (climbing a step), a large power is required to extend the knee joint mechanism 130 from a bent state while a load is applied to the electric prosthetic leg 1 .

[0159] When standing ( Fig.17 (A) to (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the high torque side connection state ( Fig. 20 In the high torque side connection state, when the motor M is rotated in the extension direction, that is, in the direction of increasing the second angle θ2, the power of the motor M is transmitted to the first shaft 181, the first drive gear 183, the first driven gear 184, the intermittent portion 212 of the first intermittent mechanism 210, the second shaft 182, and the main shaft unit SP. As a result, the sleeve 174 extends away from the transmission T, and the upper knee side component 120 connected to the sleeve 174 rotates around the connecting shaft 135 relative to the lower knee side component 110 on which the transmission T is installed, so that the knee joint mechanism 130 extends. The power for this extension is the power that is converted into high torque when it is decelerated by the first speed change mechanism T1. Therefore, even in a state where a large load is applied to the electric prosthetic leg 1 when the electric prosthetic leg 1 is extended forward and steps onto a step, the knee joint mechanism 130 can be reliably extended from the bent state.

[0160] On the other hand, in order to smoothly perform the step-up action, such as Fig.17 As shown in (D) to (G), the knee joint mechanism 130 needs to be bent from the extended state while a load is applied to the healthy leg. At this time, the electric prosthetic leg 1 needs to be quickly retracted and then quickly dropped onto the next step. When the knee joint mechanism 130 is bent from the extended state, a large force is not required, but a quick action is required.

[0161] Specifically, when transitioning from standing to the early stages of leg raising ( Fig.17 (D) to (E)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high torque side connection state to the high rotation speed side connection state ( Fig. 20 During the transition phase (standing → early leg raising), the motor M is set to a non-driven state. The non-driven state of the motor M means that the motor M is controlled so that it does not generate power or stops the motor M. In the subsequent early leg raising ( Fig. 20 In the early stage of leg lifting), in the high-speed side connection state, the motor M is rotated in the bending direction opposite to the stretching direction ( Fig.17 (E) to (G)). In this way, the power of the motor M is transmitted to the first shaft 181, the second driving gear 185, the second driven gear 186, the intermittent portion 222 of the second intermittent mechanism 220, the second shaft 182, and the spindle unit SP. As a result, the sleeve 174 contracts and approaches the transmission T, and the knee-side component 110 mounted with the transmission T rotates around the connecting shaft 135 relative to the knee-side component 120 connected to the sleeve 174, causing the knee joint mechanism 130 to bend.

[0162] When transitioning from the early stage of leg raising to the late stage of leg raising ( Fig.17 (G)), temporarily set the motor M to the non-driving state ( Fig. 20 Then, in the late leg lift period ( Fig.17 (G) to (H)), in this high-speed side connection state, the motor M is rotated in the extension direction ( Fig. 20 In this way, the power of the motor M is transmitted to the first shaft 181, the first driving gear 183, the first driven gear 184, the intermittent portion 222 of the first intermittent mechanism 210, the second shaft 182, and the main shaft unit SP. As a result, the sleeve 174 extends away from the transmission T, and the upper knee side component 120 connected to the sleeve 174 rotates around the connecting shaft 135, so that the knee joint mechanism 130 extends. In addition, the power for bending and stretching during the leg lifting is the power that is reduced in torque when the speed is increased by the second transmission mechanism T2, so that the knee joint mechanism 130 can be bent and stretched quickly.

[0163] When transitioning from the late leg raise to standing ( Fig.17 (H)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the high rotation speed side connection state to the high torque side connection state ( Fig. 20 During the transition phase (late leg-lifting → standing)), the motor M is set to a non-driven state.

[0164] In the step-up mode, when the motor control unit 13 controls the motor M, in the standing phase, in other words, in the high torque side connection state, the motor control unit 13 performs control based on the torque target value (hereinafter referred to as torque control), which is the target value of the torque related to the torque of the telescopic device 140 to expand or reduce the included angle. On the other hand, in the leg-raising phase, in other words, in the high speed side connection state, the motor control unit 13 performs control based on the position target value (hereinafter referred to as position control), which is the target value of the position related to the angle formed by the telescopic device 140. The torque control, position control, and the transition between the torque control and the position control are described in detail below.

[0165] (Torque control)

[0166] The torque control takes the q-axis current which is proportional to the torque of the telescopic device 140 to expand or reduce the angle as the control object. In other words, the torque target value is replaced by the target q-axis current. That is, once the torque target value is determined, the target q-axis current is determined, and once the target q-axis current is determined, the torque target value is determined. Fig.21 When the target q-axis current is set to the target Iq [A], the vertical component of the load is set to FZa [N], the length between the hip joint 124 and the connecting axis 135, i.e., the thigh length, is set to L [m], the knee joint angle is set to θ [deg], and the correction coefficient is set to α, the target Iq is expressed by the following (1).

[0167] Target Iq[A]=FZa[N]×Sinθ[deg]×L[m]×α(1)

[0168] Formula (1) considers the lower-knee side component 110 as a rod fixed to the upper-knee side component 120, multiplies the force (FZa×sinθ) required to push up the upper-knee side component 120 by the thigh length L to calculate the torque, and calculates the target q-axis current. Based on the torque target value (target q-axis current), the motor control unit 13 causes the motor M to generate power in the direction of extending the knee joint mechanism 130 in the bent state. In addition, the correction coefficient α is a value based on the torque constant (Kt) [Nm / A] relative to the q-axis current, and is a value that also includes the meaning of adjusting the step-up speed during installation.

[0169] That is, the torque target value (target q-axis current) is determined based on the load FZa (weight), the knee joint angle θ, and the thigh length L. Fig. 20 As shown, the motor control unit 13 drives the motor M in the extension direction based on the torque target value (target q-axis current) in the stance phase in the step-climbing mode in which torque control is performed.

[0170] In addition, the torque target value may be set based on the user's weight instead of the load FZa in equation (1). For example, the absolute value of the weight may be used, or a value obtained by multiplying the weight by a coefficient may be used.

[0171] (Position control)

[0172] Position control takes the position target value (target angle) as the control object. Fig. 20 The methods for determining the position target value (target angle) are different in the early stage of leg raising and the late stage of leg raising. In other words, the control unit 10 controls the motor M based on the position target value determined according to different parameters in the early stage of leg raising and the late stage of leg raising. In addition, two methods are considered in the early stage of leg raising. Either method can be adopted.

[0173] (Early Stage of Leg Lifting_Method 1)

[0174] Leg lifting early stage_Method 1 In the leg lifting early stage, it is necessary to perform a motion that temporarily swings the thigh 123 backward. The purpose of method 1 is to reliably prevent being tripped by the step to be stepped on. Fig. 22 (A) and (B) represent the first step (step 1) of method 1. Fig. 22 (C) and (D) of the method 1 represent the second step (step 2). The first step (step 1) is the period from immediately after the transition to leg lifting to the period when the electric prosthetic leg 1 swings backward until the thigh angle θt is greater than a predetermined angle (e.g., 20 [deg]). The second step (step 2) is the period when the electric prosthetic leg 1 swings forward until the step is taken, and the knee flexion angle γ [deg] is fixed and maintained. In addition, as Fig. 22 As shown in (C), the knee bending angle γ [deg] is the angle between the center line extending in the extending direction of the below-knee side member 110 and the vertical line VL1 passing through the connection axis 135 .

[0175] In method 1, the knee joint angle θ is taken as the control object. The target knee joint angle θ is expressed by equation (2).

[0176] Target knee joint angle θ[deg]=0[deg] (2)

[0177] That is, in the first step (step 1) of method 1, the target knee joint angle θ is controlled based on the knee joint angle θ (θ=0), and the motor control unit 13 performs control so as to maintain the state in which the knee joint mechanism 130 is extended. Fig. 22 The transition from (A) to (B) is achieved by the user rotating the thigh 123 around the hip joint 124 which is the rotation axis (rotation reference) of the upper body and the thigh 123 .

[0178] In the second step (step 2) of method 1, the knee joint angle θ is taken as the control target. The target knee joint angle θ is expressed by equation (3).

[0179] Target knee joint angle θ[deg]=γ[deg]-θt[deg] (3)

[0180] That is, in the second step (step 2) of method 1, the target knee joint angle θ is determined based on the thigh angle θt and the knee flexion angle γ, more specifically, based on the difference between the thigh angle θt and the knee flexion angle γ, and the motor control unit 13 controls to adjust the knee joint angle θ according to the change of the thigh angle θt with respect to the knee flexion angle γ [deg] as a fixed value. In addition, from the viewpoint of preventing tripping, γ [deg] is set to, for example, about 80 [deg].

[0181] (Early Stage of Leg Lifting_Method 2)

[0182] The purpose of the method 2 is to omit the action of temporarily swinging the thigh 123 backward in the method 1, shorten the walking time, and reduce the burden on the user when climbing stairs. Fig.23 In other words, the control unit 10 controls the motor M based on the position target value determined based on the same parameters throughout the early stage of leg raising.

[0183] In method 2, the knee joint angle θ is taken as the control object. The magnification is set to δ, the correction angle is set to ε [deg], and the target knee joint angle θ is expressed by equation (4).

[0184] Target knee angle θ[deg]=δ×(θt[deg]-ε[deg]) (4)

[0185] That is, in method 2, the target knee joint angle θ is determined based on the thigh angle θt, and the motor control unit 13 controls the knee joint angle θ based on the thigh angle θt so that the lower knee side member 110 is bent backward at a certain magnification. As the thigh 123 swings forward, the knee bending angle γ needs to be increased in order to prevent stumbling. That is, the knee bending angle γ needs to be increased in proportion to the thigh angle θt. From the perspective of preventing stumbling, the magnification δ is set to 3, for example, and ε is set to about 10 [deg].

[0186] (Late stage of leg raising)

[0187] The late leg-lifting stage is the landing preparation period. In the late leg-lifting stage, the knee joint angle θ is taken as the control target. The target knee joint angle θ is expressed by equation (5).

[0188] Target knee angle θ[deg] = thigh angle θt[deg] + adjustment angle β[deg] (5)

[0189] That is, the target knee angle θ is determined based on the thigh angle θt and the adjustment angle β, as Fig.24 As shown, the motor control unit 13 controls the lower knee side member 110 to be always substantially perpendicular to the horizontal ground, regardless of the thigh angle θt for body weight support. In other words, the control is performed so that the knee joint angle θ is substantially equal to the thigh angle θt. Fig.24 As shown, the adjustment angle β [deg] is the angle between the center line extending in the extension direction of the below-knee side component 110 and the plumb line VL1 passing through the connecting shaft 135. When the below-knee side component 110 is located in front of the plumb line VL1, the adjustment angle β takes a negative value, and when the below-knee side component 110 is located in the rear of the plumb line VL1, the adjustment angle β takes a positive value. The adjustment angle β [deg] is an adjustment angle set in consideration of the user's feeling when climbing stairs, etc. The adjustment angle β is set so that the below-knee side component 110 is located on the same side as the above-knee side component 120 relative to the plumb line VL1. In the electric prosthetic leg 1, the adjustment angle β is set so that the toe is lower than the heel, for example, 5 [deg].

[0190] (Conditions of transformation)

[0191] When going up the stairs, repeat the early leg lift phase, the late leg lift phase, and the standing phase. Fig.25 The conversion conditions are described.

[0192] (Transition from the early leg lift stage to the late leg lift stage)

[0193] The transition from the early leg-lifting stage to the late leg-lifting stage is performed when the following transition condition 1 is satisfied.

[0194] Transition condition 1: Thigh angle θt is within the first specified range

[0195] The first predetermined range is, for example, a range less than -50 degrees. That is, as described above, the thigh angle θt takes a negative value when the knee-side member 120 is located forward of the vertical line VL2 (see Fig.19 (B) ), therefore, under this condition, it is determined that the thigh portion 123 (above-knee member 120 ) has swung forward by a predetermined amount.

[0196] (Transition from late leg raise phase to stance phase)

[0197] The transition from the late leg-raising phase to the standing phase is performed when the following transition condition 2 is satisfied.

[0198] Transition condition 2: Load FZa is within the second specified range

[0199] The second predetermined range is, for example, a range below -110 [N]. That is, as described above, the load sensor 272 is set so that the tensile load takes a positive value and the compressive load takes a negative value. Therefore, when the load FZa becomes below -110 [N], it is determined that the electric prosthetic leg 1 has landed and transitioned to the standing state. This is consistent with the determination criterion of the stage determination unit 11 for determining the transition from the leg-raising stage to the standing stage.

[0200] (Transition from the stance phase to the early leg raise phase)

[0201] The transition from the stance phase to the early leg raising phase is performed when the following transition condition 3 is satisfied.

[0202] Transition condition 3: Load FZa is within the third specified range

[0203] The third predetermined range is, for example, a range of -90 [N] or more, which is consistent with the determination criterion for the stage determination unit 11 to determine the transition from the standing stage to the leg raising stage.

[0204] Preferably, when the transition condition 3 is satisfied after the transition condition 4 below is satisfied, it is determined that the electric prosthetic leg 1 is off the ground and the state is changed to the leg-lifting state.

[0205] Transition condition 4: Thigh angle θt is within the fourth specified range

[0206] The fourth predetermined range is, for example, a range less than -15 degrees. By determining that the thigh 123 (the above-knee side member 120) moves backward as the body weight shifts under transition condition 4, and then determining that the load FZa decreases under the third transition condition, the transition from the leg-raising phase to the standing phase can be determined more reliably.

[0207] <Flat ground and step-down mode>

[0208] The mode in which the user walks forward on flat ground or walks down stairs is the flat ground and down stairs mode. In addition, the flat ground refers to a place without steps such as stairs, and conceptually includes upslope and downslope in addition to a horizontal place. Fig.18 The diagram shows the motion of a person and an electric prosthetic leg when walking on level ground (level ground walking motion).

[0209] Fig.18 (A) to (D) are diagrams showing the standing phase, Fig.18 (D) is a diagram showing the transition phase from standing to leg raising. Fig.18 (E) to (H) are diagrams showing the leg-lifting phase. Fig.18 (H) is a diagram showing the transition phase from leg raising to standing.

[0210] In the flat ground and step-down modes, the motor M is always set to the non-driving state. When the motor M is in the non-driving state, Fig.18 As shown in (A) to (D), during the standing phase when a load is applied to the electric prosthetic leg 1, it is necessary to prevent the so-called knee buckling.

[0211] When standing ( Fig.18 (A) to (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the high-speed side connection state ( Fig. 20 Standing stage). In the high-speed side connection state, the intermittent portion 222 becomes the ON state, so the motor M and the spindle unit SP transmit power via the second speed change mechanism T2. When the motor M is kept in the non-driven state in the high-speed side connection state, the external force in the bending direction acting on the electric prosthetic leg 1 is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2. Therefore, by utilizing the friction between the motor M and the transmission T to attenuate the external force in the bending direction, the so-called knee break can be prevented. In addition, in the standing stage in the flat ground and step-down modes, the high-speed side connection state is set to prevent the so-called knee break. It is not necessary to set it to the high-speed side connection state, and it can also be set to the high-torque side connection state. Fig. 20 In the following description, the case where the first intermittent mechanism 210 and the second intermittent mechanism 220 are set to the high rotation speed side connection state in the standing stage in the flat ground and step-down modes will be described.

[0212] On the other hand, Fig.18 As shown in (E) to (H), when the electric prosthetic leg 1 is raised without any external load, the electric prosthetic leg 1 needs to be swung freely. Therefore, when the electric prosthetic leg 1 is shifted from standing to raising the leg ( Fig.18 (D)), the motor control unit 13 drives the servo motor 242 to set the first intermittent mechanism 210 and the second intermittent mechanism 220 to the disconnected state ( Fig. 20 In this disconnected state, the intermittent portion 212 and the intermittent portion 222 are in the OFF state, so that the motor M and the spindle unit SP are disconnected when the leg is raised ( Fig. 20 In this state, when the motor M is kept in a non-driven state, the knee joint mechanism 130 is allowed to freely extend and bend. In addition, the same control as walking on flat ground is also performed when going down stairs.

[0213] During the transition from leg raising to standing ( Fig.18 (H)), the motor control unit 13 drives the servo motor 242 to change the first intermittent mechanism 210 and the second intermittent mechanism 220 from the disconnected state to the high-speed side connected state ( Fig. 20 The transition phase (lifting legs → standing)).

[0214] Here, the function of preventing knee bending will be described in more detail.

[0215] As described above, when standing on the flat ground and step-down modes, the electric prosthetic leg 1 needs to support the user's weight to prevent knee bending, but the user's weight is not constant. Therefore, preferably, the friction that may be generated in the motor M and the transmission T is variable.

[0216] First, refer to Figure 26 to Figure 28 A method of changing the friction generated by the motor M will be described. Fig.26 1 is a diagram showing an example of a circuit 16 connecting a battery B and a motor M. In addition, in this circuit 16, the path connecting the battery B and the servo motor 242 is omitted. An inverter 18 is provided between the battery B and the motor M via a switch SW1. The inverter 18 converts the DC power from the battery B into AC power and supplies it to the motor M. Between the switch SW1 and the inverter 18, a circuit D1 in which a resistor R1 and a transistor Tr1 are connected in series, a circuit D2 in which a resistor R2 and a transistor Tr2 are connected in series, and a circuit D3 in which a resistor R3 and a transistor Tr3 are connected in series are connected in parallel. In this circuit 16, by setting the switch SW1 to an open state (OFF) and setting at least one of the transistors Tr1 to Tr3 to a closed state (ON), it is possible to generate a power generation brake, and generate friction (braking force) against the rotation of the motor M.

[0217] See also Fig. 27 In such an electric circuit 16, in the standing stage and the leg raising stage of the step-up mode, that is, when the motor M is driven, the switch SW1 is set to the closed state (ON) and all the transistors Tr1 to Tr3 are set to the disconnected state (OFF) to control the switching of the inverter 18, so that the motor M can be rotated in the extension direction or the bending direction. On the other hand, in the flat ground and step-down mode, that is, when the motor M is not driven, the switch SW1 is set to the disconnected state (OFF) to stop the power supply from the battery B to the motor M.

[0218] In the leg-raising phase in the flat ground and step-down modes, all transistors Tr1 to Tr3 are set to the disconnected state (OFF). In the leg-raising phase in the flat ground and step-down modes, as described above, the knee joint mechanism 130 is allowed to freely extend and bend, so no braking force based on power generation braking is generated. On the other hand, in the standing phase in the flat ground and step-down modes, friction based on power generation braking can be generated by setting at least one of the transistors Tr1 to Tr3 to the closed state (ON). The friction based on power generation braking depends on the number of transistors that are in the closed state (ON). The more transistors that are in the closed state, the greater the friction based on power generation braking.

[0219] Therefore, if Fig.28As shown, as the user's weight becomes heavier, the number of transistors that are turned on in the standing stage in the flat ground and step-down modes is increased. That is, the number of transistors turned on is reduced when the user's weight is light, and the number of transistors turned on is increased when the user's weight is heavy. When the user of the electric prosthetic leg 1 is determined, these settings are preferably set as initial settings in the program.

[0220] In addition, as a method of increasing the friction generated by the motor M, it is not limited to changing the number of transistors set to the closed state (ON). For example, only one transistor (only the circuit D1) may be provided, and the duty ratio of the pulse width modulation (PWM) control when the transistor is set to the closed state (ON) may be changed. For example, the duty ratio of the PWM control when the transistor is set to the closed state (ON) may be set to be smaller when the user is lighter, and the duty ratio of the PWM control when the transistor is set to the closed state (ON) may be set to be larger when the user is heavier. When the user of the electric prosthetic leg 1 is determined, these settings are also preferably set as initial settings in the program.

[0221] Next, a method of changing the friction of the transmission T will be described.

[0222] In order to increase the friction of the transmission T, when the external force acting on the electric prosthetic leg 1 in the bending direction is transmitted from the spindle unit SP to the motor M via the second speed change mechanism T2, the rotation speed of the motor M can be increased. Therefore, in the standing stage in the flat ground and step-down modes, it is set to increase the rotation speed of the motor M when it is set to the high-speed side connection state. That is, the speed ratio in the high-speed side connection state, that is, the second speed ratio of the second speed change mechanism T2 is increased. In addition, the ratio of the second speed ratio to the first speed ratio is preferably in the range of 1.5 to 3.0, and therefore, the first speed ratio of the first speed change mechanism T1 is also preferably adjusted according to the amount of increase in the second speed ratio of the second speed change mechanism T2. Therefore, when the user is heavy, the second speed ratio of the second speed change mechanism T2 is set to be larger, and when the user is light, the second speed ratio of the second speed change mechanism T2 is set to be smaller. In addition, in the standing stage in the flat ground and step-down modes, when the high torque side connection state is set instead of the high rotation speed side connection state, the first speed ratio of the first speed change mechanism T1 is set to be increased in order to increase the friction of the transmission T. In this setting, the specification of the transmission T is preferably set when the user of the electric prosthetic leg 1 is determined.

[0223] Fig. 20 is a table summarizing the stages and control methods in the step-up mode and the flat and step-down modes. Fig. 20As shown, in the standing phase of the step-climbing mode, the motor control unit 13 performs torque control on the motor M, and in the leg-lifting phase of the step-climbing mode, the motor control unit 13 performs position control on the motor M. As described above, even in the step-climbing mode, the electric prosthetic leg 1 can be appropriately controlled by changing the control of the motor M between the standing phase and the leg-lifting phase.

[0224] In addition, even in the standing stage, the motor control unit 13 performs torque control on the motor M in the stair climbing mode, and controls the motor M not to be driven in the flat ground and stair descending modes, that is, the motor M is not generated or the motor M is stopped. As described above, even in the standing stage, by changing the control of the motor M between the flat ground and stair descending mode and the stair climbing mode, the electric prosthetic leg 1 can be appropriately controlled according to the walking mode.

[0225] In addition, even in the leg-raising stage, the motor control unit 13 performs position control on the motor M in the step-up mode, and controls the motor M not to be driven in the flat ground and step-down modes, that is, the motor M is not powered or the motor M is stopped. As described above, even in the leg-raising stage, by changing the control of the motor M between the flat ground and step-down mode and the step-up mode, the electric prosthetic leg 1 can be appropriately controlled according to the walking mode.

[0226] The control method in the step-up mode and the flat and step-down modes can be implemented by executing a pre-prepared program by a computer (processor). The program is stored in a computer-readable storage medium and is executed by reading from the storage medium. In addition, the control program can be provided in the form of a non-temporary storage medium such as a flash memory, or can be provided via a network such as the Internet.

[0227] Above, various embodiments have been described with reference to the accompanying drawings, but the present invention is certainly not limited to this example. It should be understood by those skilled in the art that various variations or modifications can be conceived within the scope of the technical solution, and these variations or modifications certainly also belong to the technical scope of the present invention. In addition, the various constituent elements in the above-mentioned embodiments may also be arbitrarily combined within the scope of the gist of the invention.

[0228] For example, in the above embodiment, the transmission T has two power transmission paths, the first speed change mechanism T1 and the second speed change mechanism T2, but is not limited to this. It can also have only one speed change mechanism to change speed with the same speed ratio in the standing stage and the leg lifting stage of the step climbing mode.

[0229] For example, in the above embodiment, an artificial leg device (electric artificial leg) applied to a knee joint is illustrated as an embodiment of the joint device of the present invention, but the present invention is not limited thereto, and an artificial limb device (electric artificial limb) applied to an elbow joint may be used, and the mounting subject may be an animal other than a human or a robot. In the case of application to an elbow joint, the knee-below side component 110 of the above embodiment becomes the end side of the mounting subject, i.e., the forearm, relative to the knee-above side component 120.

[0230] In this specification, at least the following matters are described. In addition, although corresponding components and the like in the above-mentioned embodiment are shown in brackets, the present invention is not limited thereto.

[0231] (1) A joint device (electric prosthetic leg 1), comprising:

[0232] A first component (below-knee side component 110);

[0233] The second component (the above-knee side component 120);

[0234] a connecting portion (knee joint mechanism 130 ) that connects the first component and the second component and is capable of changing an angle (a second angle θ2 , a knee joint angle θ) between the first component and the second component; and

[0235] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0236] The expansion and contraction device includes a power source (motor M), a power transmission unit (transmission T) for transmitting power from the power source, and a control unit (control unit 10) for controlling the power source.

[0237] The joint device is configured to switch between a weight-bearing state (stance phase) in which a weight is received from the outside and a non-weight-bearing state (leg-lifting phase) in which no weight is received.

[0238] The control unit performs the following control:

[0239] (A) When in the load-bearing state described above,

[0240] controlling the power source based on a torque target value (torque control), the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0241] (B) when in the non-weight-bearing position as described;

[0242] The power source is controlled (position control) based on a position target value that is a target value of a position related to the angle formed by the expansion and contraction device.

[0243] According to (1), the joint device can be appropriately controlled by changing the control of the power source between the load-bearing state and the non-load-bearing state.

[0244] (2) The joint device according to (1), wherein:

[0245] The torque target value is determined based on the load (load FZa).

[0246] According to (2), the torque target value can be appropriately set.

[0247] (3) The joint device according to (1), wherein:

[0248] The torque target value is determined based on the weight (body weight) of the mounting subject.

[0249] According to (3), the torque target value can be appropriately set.

[0250] (4) The joint device according to any one of (1) to (3), wherein:

[0251] The torque target value is determined based on the included angle or based on the supplementary angle of the included angle (knee joint angle θ, second included angle θ2).

[0252] According to (4), the torque target value can be appropriately set.

[0253] (5) The joint device according to any one of (1) to (4), wherein:

[0254] The joint device is installed on the first part (thigh part 123) of the installation body and the second part (upper body) rotating relative to the first part.

[0255] The joint device is configured such that the second component is mounted on the first portion in such a manner that the first component is closer to the distal end of the mounting body than the second component.

[0256] The torque target value is determined based on the length (thigh length L) between the connection portion and another connection portion (hip joint 124) of the mounting body, wherein the other connection portion connects the first portion and the second portion and is capable of changing another angle between the first portion and the second portion.

[0257] According to (5), the torque target value can be appropriately set.

[0258] (6) The joint device according to any one of (1) to (5), wherein:

[0259] (A) When in the load-bearing state described above,

[0260] The control unit controls the power source so as to generate power in a direction that causes the joint device in which the first member and the second member are in a bent state to be in a state in which the first member and the second member are in an extended state.

[0261] According to (6), the joint device can be extended while supporting the load.

[0262] (7) The joint device according to any one of (1) to (6), wherein:

[0263] The position target value is determined based on a first angle (thigh angle θt) between the second component and a reference line (plumb line VL2), wherein the reference line passes through a rotation axis (hip joint 124) between a first portion (thigh 123) of the mounting body and a second portion (upper body) that rotates relative to the first portion.

[0264] According to (7), the position target value can be appropriately set.

[0265] (8) The joint device according to any one of (1) to (7), wherein:

[0266] The position target value is determined based on a second angle (adjustment angle β) between the first component and another reference line (plumb line VL1 ), the other reference line passing through another rotation axis (connection axis 135 ) between the first component and the second component.

[0267] According to (8), the position target value can be appropriately set.

[0268] (9) The joint device according to (8), wherein:

[0269] The second angle is determined in such a manner that the first component is located on the same side as the second component with respect to the other reference line.

[0270] According to (9), the position target value can be set more appropriately.

[0271] (10) The joint device according to (8) depending on (7), wherein:

[0272] In the case where the period from when the weight-bearing state is changed to the non-weight-bearing state until when the weight-bearing state is changed again is defined as a non-weight-bearing period, and the latter half of the non-weight-bearing period is defined as a late non-weight-bearing period (late leg-raising phase),

[0273] When the joint device is in the late non-weight-bearing period,

[0274] The position target value is determined based on the first angle or the second angle.

[0275] According to (10), the position target value can be set more appropriately.

[0276] (11) The joint device according to any one of (1) to (10), wherein:

[0277] The position target value is determined based on a third angle (knee bending angle γ) between the first member and another reference line (vertical line VL1 ) passing through another rotation axis (connecting axis 135 ) between the first member and the second member.

[0278] According to (11), the position target value can be set more appropriately.

[0279] (12) The joint device according to (11), wherein:

[0280] The position target value is determined based on the difference between the first angle (thigh angle θt) between the second component and a reference line (plumb line VL2) and the third angle, wherein the reference line passes through a rotation axis (hip joint 124) between a first part (thigh 123) of the mounting body and a second part (upper body) that rotates relative to the first part.

[0281] According to (12), the position target value can be set more appropriately.

[0282] (13) The joint device according to (11) or (12), wherein:

[0283] In the case where the period from when the weight-bearing state is changed to the non-weight-bearing state until when the weight-bearing state is changed again is defined as the non-weight-bearing period, and the first half of the non-weight-bearing period is defined as the early non-weight-bearing period (early leg-raising phase),

[0284] When the joint device is in the early non-weight-bearing period,

[0285] The position target value is determined based on the third angle.

[0286] According to (13), the position target value can be set more appropriately.

[0287] (14) The joint device according to any one of (1) to (10), wherein:

[0288] In the case where the period from when the weight-bearing state is changed to the non-weight-bearing state until when the weight-bearing state is changed again is defined as the non-weight-bearing period, and the first half of the non-weight-bearing period is defined as the early non-weight-bearing period (early leg-raising phase), and the second half is defined as the late non-weight-bearing period (late leg-raising phase),

[0289] The control unit controls the power source based on the position target value determined by different determination methods during the early non-load period and the late non-load period.

[0290] According to (14), the movement in the early non-weight-bearing period and the movement in the late non-weight-bearing period can be optimized respectively.

[0291] (15) The joint device according to (14), wherein:

[0292] During the initial non-weight-bearing period,

[0293] When the first angle (thigh angle θt) between the second component and the reference line (vertical line VL2) is within a first specified range (less than -50 [deg]),

[0294] The control unit switches the control to the control during the late non-weight-bearing period,

[0295] The reference line (plumb line VL2) passes through a rotation axis (hip joint 124) between a first portion of the mounting body and a second portion that rotates relative to the first portion.

[0296] According to (15), control can be smoothly transferred from the early non-weight-bearing period to the late non-weight-bearing period.

[0297] (16) The joint device according to (14) or (15), wherein:

[0298] In the case where a period from when the non-loaded state is changed to the load-bearing state to when the non-loaded state is changed again to the non-loaded state is defined as a load-bearing period,

[0299] During the late non-weight-bearing period,

[0300] When the load is within a second predetermined range (less than or equal to −110 [N]), the control unit switches the control to the control during the load.

[0301] According to (16), control can be smoothly transitioned from the late non-weight-bearing period to the weight-bearing period.

[0302] (17) The joint device according to any one of (1) to (16), wherein:

[0303] In the case where the period from when the load state is changed to the non-load state to when it is changed to the load state again is defined as the non-load period, and the period from when the non-load state is changed to the load state to when it is changed to the non-load state again is defined as the load period,

[0304] During the weight-bearing period,

[0305] When the load is within the third specified range (-90 [N] or more),

[0306] The control unit switches control to control during the non-weight-bearing period.

[0307] According to (17), control can be smoothly transitioned from the load period to the non-load period.

[0308] (18) The joint device according to (17), wherein:

[0309] During the weight-bearing period,

[0310] When the first angle (thigh angle θt) between the second member and the reference line (vertical line VL2) is within the fourth prescribed range (less than -15 [deg]), and the load is within the third prescribed range,

[0311] The control unit switches the control to the control during the non-load period,

[0312] The reference line (plumb line VL2) passes through a rotation axis (hip joint 124) between a first portion of the mounting body and a second portion that rotates relative to the first portion.

[0313] According to (18), the transition from the load-bearing period to the non-load-bearing period can be determined more appropriately.

[0314] (19) The joint device according to (17) or (18), wherein:

[0315] During the non-weight-bearing period,

[0316] When the load is within the fifth prescribed range (less than -110 [N]),

[0317] The control unit switches control to control during the load period.

[0318] According to (19), control can be smoothly transitioned from the non-weight-bearing period to the weight-bearing period.

[0319] (20) The joint device according to any one of (1) to (19), wherein:

[0320] The expansion and contraction device further includes an intermittent mechanism, which is arranged on the power transmission path of the power transmission part and switches between disconnection and connection of the power on the power transmission path.

[0321] The control unit also controls the intermittent mechanism.

[0322] The control unit performs the following control:

[0323] (B) when in said non-weight-bearing position,

[0324] The intermittent mechanism is controlled to be in a cut-off state (leg-lifting stage in flat ground and step-down modes) in which the power transmission path is cut off.

[0325] Instead of controlling the power source based on the position target value, the power source is controlled so as not to generate power or is controlled to be stopped.

[0326] According to (20), the joint device can be properly controlled regardless of whether it is in a load-bearing state or a non-load-bearing state.

[0327] (21) The joint device according to (20), wherein:

[0328] The control unit performs the following control:

[0329] (A) When in the load-bearing state described above,

[0330] The intermittent mechanism is controlled to be in a connected state (standing stage in flat ground and step-down mode) in which the power transmission path is connected.

[0331] Instead of controlling the power source based on the torque target value, the power source is controlled so as not to generate power or is controlled to be stopped.

[0332] According to (21), the joint device can be properly controlled regardless of whether it is in a load-bearing state or a non-load-bearing state.

[0333] (22) The joint device according to (20) or (21), wherein:

[0334] The power source includes a permanent magnet electric motor.

[0335] According to (22), it is possible to utilize the friction generated when the power source is not driven.

[0336] (23) The joint device according to any one of (20) to (22), wherein:

[0337] The control unit is configured to be able to adjust a braking force for stopping the power source.

[0338] According to (23), the braking force can be adjusted using the friction generated when the power source is not driven.

[0339] (24) The joint device according to (23), wherein:

[0340] The control unit generates the braking force set according to the weight (body weight) of the mounting body.

[0341] According to (24), a braking force corresponding to the body weight can be generated.

[0342] (25) The joint device according to any one of (1) to (24), wherein:

[0343] The power transmission unit has:

[0344] a first power transmission path (first speed change mechanism T1 ) for transmitting the power at a first speed ratio; and

[0345] a second power transmission path (second speed change mechanism T2) for transmitting the power at a second speed ratio different from the first speed ratio,

[0346] The expansion and contraction device also has:

[0347] a first intermittent mechanism (first intermittent mechanism 210 ) disposed on the first power transmission path and switching between disconnection and connection of power on the first power transmission path; and

[0348] A second intermittent mechanism (second intermittent mechanism 220) is disposed on the second power transmission path and switches between disconnection and connection of the power on the second power transmission path.

[0349] The control unit also controls the first intermittent mechanism and the second intermittent mechanism.

[0350] According to (25), the control unit can control the first intermittent mechanism and the second intermittent mechanism in addition to controlling the power source.

[0351] (26) The joint device according to (25), wherein:

[0352] The first speed ratio is defined as a ratio of a speed after the speed change relative to a first speed change portion (first speed change mechanism T1) on the first power transmission path to a speed before the speed change, which is a speed closer to the power source than the first speed change portion, and the second speed ratio is defined as a ratio of a speed after the speed change relative to a second speed change portion (second speed change mechanism T2) on the second power transmission path to a speed before the speed change, which is a speed closer to the power source than the second speed change portion,

[0353] The first speed ratio is configured to be smaller than the second speed ratio.

[0354] According to (26), the power of the power source can be transmitted at different speed ratios.

[0355] (27) The connector device according to (25) or (26), wherein:

[0356] At least one of the first speed ratio and the second speed ratio is determined based on the weight (body weight) of the mounting body.

[0357] According to (27), the speed ratio can be set according to the body weight.

[0358] (28) The joint device according to any one of (25) to (27), wherein:

[0359] The ratio of the first speed ratio to the second speed ratio is set to 1.5~3.0.

[0360] According to (28), the high torque state and the high speed state can be properly balanced.

[0361] (29) The joint device according to any one of (1) to (28), wherein:

[0362] The joint device is a prosthetic device, and the prosthetic device is configured as follows:

[0363] The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component.

[0364] The connection portion functions as a joint of the mounting body.

[0365] According to (29), smooth bending and stretching movements can be performed.

[0366] (30) The joint device according to (29), wherein:

[0367] The prosthetic device is a prosthetic leg device installed on the leg of the installation body.

[0368] According to (30), the prosthetic leg is capable of smooth flexion and extension movements.

[0369] (31) The joint device according to (30), wherein:

[0370] The prosthetic leg device is configured as follows:

[0371] The second component is mounted on the thigh portion (thigh portion 123) of the leg.

[0372] The connecting portion functions as a knee joint between the thigh and the calf.

[0373] According to (31), smooth bending and stretching movements can be performed.

[0374] (32) A joint device (electric prosthetic leg 1), comprising:

[0375] A first component (below-knee side component 110);

[0376] The second component (the above-knee side component 120);

[0377] a connecting portion (knee joint mechanism 130 ) connecting the first component and the second component and capable of changing an angle between the first component and the second component; and

[0378] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0379] The expansion and contraction device includes a power source (motor M), a power transmission unit (transmission T) for transmitting power from the power source, an intermittent mechanism (first intermittent mechanism 210, second intermittent mechanism 220) disposed on a power transmission path of the power transmission unit and switching between disconnection and connection of power on the power transmission path, and a control unit (control unit 10) for controlling the power source and the intermittent mechanism.

[0380] The joint device is configured to switch between a load-bearing state (stance phase) in which a load is received from the outside and a non-load-bearing state (leg-lifting phase) in which a load is not received.

[0381] The control unit performs the following control:

[0382] (A) When in the load-bearing state (standing state in flat ground and step-down mode),

[0383] Controlling the intermittent mechanism to a connected state in which the power transmission path is connected, and controlling the power source to not generate power or to stop;

[0384] (B) When in the non-weight-bearing state (leg-lifting state in flat ground and step-down mode),

[0385] The intermittent mechanism is controlled to be in a cutoff state in which the power transmission path is cut off, and the power source is controlled to not generate power or to be stopped.

[0386] According to (32), the joint device can be properly controlled regardless of whether it is in a load-bearing state or a non-load-bearing state.

[0387] (33) The connector device according to (32), wherein:

[0388] The joint device is a prosthetic device, and the prosthetic device is configured as follows:

[0389] The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component.

[0390] The connecting portion functions as a joint of the mounting body.

[0391] The prosthetic device is a prosthetic leg device installed on the leg of the installation body,

[0392] The control unit performs the following control:

[0393] (A) When in the load-bearing state described above,

[0394] (a) When walking forward on level ground, or when walking down stairs (Level Ground and Stair Descending Mode),

[0395] Controlling the intermittent mechanism to the connected state (standing phase) in which the power transmission path is connected, and controlling the power source to not generate power or to stop;

[0396] (b) In the case of walking up stairs (stair climbing mode),

[0397] The intermittent mechanism is controlled to the connected state (stance phase) in which the power transmission path is connected, and the power source is controlled based on a torque target value, which is a target value of torque related to the torque of the expansion and contraction device to expand or reduce the angle.

[0398] According to (33), even in the same loaded state, the joint device can be appropriately controlled by changing the control of the power source between the flat ground and the step-down mode and the step-up mode.

[0399] (34) The connector device according to (32) or (33), wherein:

[0400] The joint device is a prosthetic device, and the prosthetic device is configured as follows:

[0401] The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component.

[0402] The connecting portion functions as a joint of the mounting body.

[0403] The prosthetic device is a prosthetic leg device installed on the leg of the installation body,

[0404] The control unit performs the following control:

[0405] (B) when in the non-weight-bearing position,

[0406] (a) When walking forward on level ground, or when walking down stairs (Level Ground and Stair Descending Mode),

[0407] The intermittent mechanism is controlled to be in the cut-off state (leg-lifting phase) in which the power transmission path is cut off, and the power source is controlled to not generate power or is stopped.

[0408] (b) In the case of walking up stairs (stair climbing mode),

[0409] The intermittent mechanism is controlled to the connection state (leg raising phase) in which the power transmission path is connected, and the power source is controlled based on a position target value, wherein the position target value is a target value of a position related to the angle formed by the expansion and contraction device.

[0410] According to (34), even in the same non-loaded state, the joint device can be appropriately controlled by changing the control of the power source between the flat ground and the step-down mode and the step-up mode.

[0411] (35) A control method for a joint device (electric prosthetic leg 1), the joint device comprising:

[0412] A first component (below-knee side component 110);

[0413] The second component (the above-knee side component 120);

[0414] a connecting portion (knee joint mechanism 130 ) that connects the first component and the second component and is capable of changing an angle (a second angle θ2 , a knee joint angle θ) between the first component and the second component; and

[0415] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0416] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0417] The joint device is configured to switch between a load-bearing state (standing phase) receiving a load from the outside and a non-load-bearing state (leg-lifting phase) not receiving a load, and the control method comprises the following steps:

[0418] (A) When in the load-bearing state (stance phase in step-up mode),

[0419] controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0420] (B) When in the non-weight-bearing state (leg-lifting phase in step-up mode),

[0421] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0422] According to (35), by changing the control of the power source between the load-bearing state and the non-load-bearing state, the joint device can be appropriately controlled.

[0423] (36) A control program for a joint device (electric prosthetic leg 1), the joint device comprising:

[0424] A first component (below-knee side component 110);

[0425] The second component (the above-knee side component 120);

[0426] a connecting portion (knee joint mechanism 130 ) that connects the first component and the second component and is capable of changing an angle (a second angle θ2 , a knee joint angle θ) between the first component and the second component; and

[0427] An expansion and contraction device (expansion and contraction device 200) capable of expanding and contracting the angle between the first component and the second component, wherein:

[0428] The expansion and contraction device includes a power source (motor M) and a power transmission unit (transmission T) for transmitting power from the power source.

[0429] The joint device is configured to switch between a weight-bearing state (standing phase) in which a weight is received from the outside and a non-weight-bearing state (leg-lifting phase) in which no weight is received, and the control program causes the computer to execute the following steps:

[0430] (A) When in the load-bearing state described above,

[0431] controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle;

[0432] (B) when in the non-weight-bearing position,

[0433] The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

[0434] According to (36), by changing the control of the power source between the load-bearing state and the non-load-bearing state, the joint device can be appropriately controlled.

[0435] (37) A storage medium is a computer-readable storage medium, wherein the storage medium stores the control program described in (36).

[0436] According to (37), by changing the control of the power source between the load-bearing state and the non-load-bearing state, the joint device can be appropriately controlled.

[0437] In addition, this application is based on the Japanese patent application (Japanese Patent Application No. 2022-142463) filed on September 7, 2022, and the contents are incorporated in this application as a reference.

[0438] Description of reference numerals:

[0439] 1: Electric prosthetic leg (joint device)

[0440] 10: Control Department

[0441] 110: Below-knee side part (first part)

[0442] 120: Above knee side part (second part)

[0443] 123: Thigh (Part 1)

[0444] 124: Hip joint (other joints, rotation axis)

[0445] 130: Knee joint mechanism (connection part)

[0446] 135: Connecting shaft (other rotating shaft)

[0447] 200: Expansion and contraction device

[0448] 210: First intermittent mechanism

[0449] 220: Second intermittent mechanism

[0450] FZa: Load (weight)

[0451] L: Thigh length (the length between other joints)

[0452] L11: Extension cord

[0453] M: Motor (power source)

[0454] T: Transmission (power transmission part)

[0455] T1: First speed change mechanism (first power transmission path)

[0456] T2: Second speed change mechanism (second power transmission path)

[0457] VL1: Plumb line (other reference line)

[0458] VL2: plumb line (reference line)

[0459] θt: thigh angle.

Claims

1. A joint device, comprising: first component; The second component; a connecting portion, which connects the first component and the second component and is capable of changing an angle between the first component and the second component; as well as An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source, a power transmission unit for transmitting power from the power source, and a control unit for controlling the power source. The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control unit performs the following control: (A) When in the load-bearing state described above, controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle; (B) when in said non-weight-bearing position, The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

2. The connector device according to claim 1, wherein: The torque target value is determined based on the load.

3. The connector device according to claim 1, wherein: The torque target value is determined based on the weight of the installation body.

4. The connector device according to any one of claims 1 to 3, wherein: The torque target value is determined based on the included angle or based on a supplementary angle of the included angle.

5. The connector device according to any one of claims 1 to 4, wherein: The joint device is installed on the first part of the installation body and the first part of the second part that rotates relative to the first part. The joint device is configured such that the second component is mounted on the first portion in such a manner that the first component is closer to the distal end of the mounting body than the second component. The torque target value is determined based on a length between the connection portion and another connection portion of the mounting body, wherein the other connection portion connects the first portion and the second portion and is capable of changing another angle between the first portion and the second portion.

6. The connector device according to any one of claims 1 to 5, wherein: The control unit performs the following control: (A) When in the load-bearing state described above, The power source is controlled to generate power in a direction that causes the joint device, in which the first member and the second member are in a bent state, to be in a state in which the first member and the second member are extended.

7. The connector device according to any one of claims 1 to 6, wherein: The position target value is determined based on a first angle between the second component and a reference line that passes through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

8. The connector device according to any one of claims 1 to 7, wherein: The position target value is determined based on a second angle between the first component and another reference line, the other reference line passing through another rotation axis between the first component and the second component.

9. The connector device according to claim 8, wherein: The second angle is determined in such a manner that the first component is located on the same side as the second component with respect to the other reference line.

10. A connector device according to claim 8 as appended to claim 7, wherein: In the case where the period from when the load state is changed to the non-load state to when the load state is changed again is defined as a non-load period, and the latter half of the non-load period is defined as a late non-load period, When the joint device is in the late non-weight-bearing period, The position target value is determined based on the first angle or the second angle.

11. The connector device according to any one of claims 1 to 10, wherein: The position target value is determined based on a third angle between the first component and other reference lines, wherein the other reference lines pass through other rotation axes between the first component and the second component.

12. The connector device according to claim 11, wherein: The position target value is determined based on a difference between a first angle and a third angle between the second component and a reference line passing through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

13. The connector device according to claim 11 or 12, wherein: In the case where a period from when the load state is changed to the non-load state until when the load state is changed again is defined as a non-load period, and the first half of the non-load period is defined as an early non-load period, When the joint device is in the early non-weight-bearing period, The position target value is determined based on the third angle.

14. The connector device according to any one of claims 1 to 10, wherein: In the case where the period from when the load state is changed to the non-load state to when it is changed to the load state again is defined as a non-load period, the first half of the non-load period is defined as an early non-load period, and the second half is defined as a late non-load period, The control unit controls the power source based on the position target value determined by different determination methods during the early non-load period and the late non-load period.

15. The connector device according to claim 14, wherein: During the initial non-weight-bearing period, When the first angle between the second component and the reference line is within a first specified range, The control unit switches the control to the control during the late non-weight-bearing period, The reference line passes through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

16. The connector device according to claim 14 or 15, wherein: In the case where a period from when the non-loaded state is changed to the load-bearing state to when the non-loaded state is changed again to the non-loaded state is defined as a load-bearing period, During the late non-weight-bearing period, When the load is within the second specified range, The control unit switches control to control during the load period.

17. The connector device according to any one of claims 1 to 16, wherein: In the case where the period from when the load state is changed to the non-load state to when it is changed to the load state again is defined as the non-load period, and the period from when the non-load state is changed to the load state to when it is changed to the non-load state again is defined as the load period, During the weight-bearing period, When the load is within the third specified range, The control unit switches control to control during the non-weight-bearing period.

18. The connector device according to claim 17, wherein: During the weight-bearing period, When the first angle between the second component and the reference line is within the fourth specified range and the load is within the third specified range, The control unit switches the control to the control during the non-load period, The reference line passes through a rotation axis between a first portion of the mounting body and a second portion that rotates relative to the first portion.

19. The connector device according to claim 17 or 18, wherein: During the non-weight-bearing period, When the load is within the fifth prescribed range, The control unit switches control to control during the load period.

20. The connector device according to any one of claims 1 to 19, wherein: The expansion and contraction device further includes an intermittent mechanism, which is arranged on the power transmission path of the power transmission part and switches between disconnection and connection of the power on the power transmission path. The control unit also controls the intermittent mechanism. The control unit performs the following control: (B) when in said non-weight-bearing position, The intermittent mechanism is controlled to be in a cut-off state for cutting off the power transmission path, Instead of controlling the power source based on the position target value, the power source is controlled so as not to generate power or is controlled to be stopped.

21. The connector device according to claim 20, wherein: The control unit performs the following control: (A) When in the load-bearing state described above, controlling the intermittent mechanism to a connected state in which the power transmission path is connected, Instead of controlling the power source based on the torque target value, the power source is controlled so as not to generate power or is controlled to be stopped.

22. The connector device according to claim 20 or 21, wherein: The power source includes a permanent magnet electric motor.

23. A connector device according to any one of claims 20 to 22, wherein: The control unit is configured to be able to adjust a braking force for stopping the power source.

24. The connector device according to claim 23, wherein: The control unit generates the braking force set according to the weight of the mounting body.

25. A connector device according to any one of claims 1 to 24, wherein: The power transmission unit has: a first power transmission path for transmitting the power at a first speed ratio; and a second power transmission path for transmitting the power at a second speed ratio different from the first speed ratio, The expansion and contraction device also has: A first intermittent mechanism is disposed on the first power transmission path and switches between disconnection and connection of power on the first power transmission path; as well as a second intermittent mechanism, which is disposed on the second power transmission path and switches between disconnection and connection of the power on the second power transmission path; The control unit also controls the first intermittent mechanism and the second intermittent mechanism.

26. The connector device according to claim 25, wherein: When the first speed ratio is defined as a ratio of a speed after the speed change relative to the first speed change portion on the first power transmission path to a speed before the speed change, which is a speed closer to the power source than the first speed change portion, and the second speed ratio is defined as a ratio of a speed after the speed change relative to the second speed change portion on the second power transmission path to a speed before the speed change, which is a speed closer to the power source than the second speed change portion, The first speed ratio is configured to be smaller than the second speed ratio.

27. A connector device according to claim 25 or 26, wherein: At least one of the first speed ratio and the second speed ratio is determined based on the weight of the mounting body.

28. A connector device according to any one of claims 25 to 27, wherein: The ratio of the first speed ratio to the second speed ratio is set to 1.5~3.

0.

29. A connector device according to any one of claims 1 to 28, wherein: The joint device is a prosthetic device, and the prosthetic device is configured as follows: The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component. The connection portion functions as a joint of the mounting body.

30. The connector device according to claim 29, wherein: The prosthetic device is a prosthetic leg device installed on the leg of the installation body.

31. The connector device according to claim 30, wherein: The prosthetic leg device is configured as follows: The second component is mounted on the thigh of the leg, The connecting portion functions as a knee joint between the thigh and the calf.

32. A joint device comprising: first component; The second component; a connecting portion connecting the first component and the second component and capable of changing an angle between the first component and the second component; and An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source, a power transmission unit for transmitting power from the power source, an intermittent mechanism disposed on a power transmission path of the power transmission unit and switching between disconnection and connection of power on the power transmission path, and a control unit for controlling the power source and the intermittent mechanism. The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control unit performs the following control: (A) When in the load-bearing state described above, Controlling the intermittent mechanism to a connected state in which the power transmission path is connected, and controlling the power source to not generate power or to stop; (B) when in said non-weight-bearing position, The intermittent mechanism is controlled to be in a cutoff state in which the power transmission path is cut off, and the power source is controlled to not generate power or to be stopped.

33. A connector device according to claim 32, wherein: The joint device is a prosthetic device, and the prosthetic device is configured as follows: The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component. The connecting portion functions as a joint of the mounting body. The prosthetic device is a prosthetic leg device installed on the leg of the installation body, The control unit performs the following control: (A) When in the load-bearing state described above, (a) When walking forward on level ground or walking down stairs, controlling the intermittent mechanism to the connected state in which the power transmission path is connected, and controlling the power source to not generate power or to stop; (b) In the case of walking up stairs, The intermittent mechanism is controlled to the connection state in which the power transmission path is connected, and the power source is controlled based on a torque target value, which is a target value of torque related to the torque of the expansion and contraction device to expand or reduce the angle.

34. A connector device according to claim 32 or 33, wherein: The joint device is a prosthetic device, and the prosthetic device is configured as follows: The first component is mounted on the mounting body in a manner closer to the distal end of the mounting body than the second component. The connecting portion functions as a joint of the mounting body. The prosthetic device is a prosthetic leg device installed on the leg of the installation body, The control unit performs the following control: (B) when in said non-weight-bearing position, (a) When walking forward on level ground or walking down stairs, Controlling the intermittent mechanism to the cut-off state for cutting off the power transmission path, and controlling the power source to not generate power or to stop; (b) In the case of walking up stairs, The intermittent mechanism is controlled to be in the connected state in which the power transmission path is connected, and the power source is controlled based on a position target value, the position target value being a target value of a position related to the angle formed by the expansion and contraction device.

35. A method for controlling a joint device, the joint device comprising: first component; The second component; a connecting portion, which connects the first component and the second component and is capable of changing an angle between the first component and the second component; as well as An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control method comprises the following steps: (A) When in the load-bearing state described above, controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle; (B) when in said non-weight-bearing position, The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

36. A control program for a splicing device, the splicing device comprising: first component; The second component; a connecting portion, which connects the first component and the second component and is capable of changing an angle between the first component and the second component; as well as An expansion and contraction device capable of expanding and contracting the angle between the first component and the second component, wherein: The expansion and contraction device includes a power source and a power transmission unit for transmitting power from the power source. The joint device is configured to switch between a load-bearing state in which a load is received from the outside and a non-load-bearing state in which a load is not received. The control program causes the computer to execute the following steps: (A) When in the load-bearing state described above, controlling the power source based on a torque target value, the torque target value being a target value of a torque related to a torque of the expansion and contraction device to expand or reduce the angle; (B) when in said non-weight-bearing position, The power source is controlled based on a position target value, which is a target value of a position related to the angle formed by the expansion and contraction device.

37. A storage medium, which is a computer-readable storage medium, wherein: The storage medium stores the control program according to claim 36.

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