Wearable motion assist system and wearable motion assist method

Abstract

To provide a wearable motion assist system capable of issuing posture instructions from a master side to a slave side without restricting actions on the master side, and reflecting the posture on the slave side to the master side.SOLUTION: A wearable motion assist system includes: a wearable motion assist device that is worn by a wearer and is driven in accordance with a posture of the wearer; a posture display device that changes the posture in synchronization with a posture of the wearable motion assist device; and a control device that transmits a wearer posture signal based on the posture of the wearable motion assist device to the posture display device so as to change the posture. The posture display device has a torque sensor that detects an external force different from the wearer posture signal. The control device transmits a motion command based on the external force detected by the torque sensor to the wearable motion assist device. The wearable motion assist device is driven on the basis of the motion command and is configured to be capable of instructing the wearer to change the posture.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present invention relates to a wearable motion assistance system and a wearable motion assistance method. [Background technology]

[0002] In recent years, in situations where physical movement instruction is required, such as education, sports, and rehabilitation, a movement-assisting device that assists movement is sometimes worn by both the person giving the instruction and the person receiving the instruction as a means of physically transmitting the instruction content. In this movement-assisting device, information from one of the wearers is reflected in the movement-assisting device of the other wearer. Specifically, detection data from a master side that instructs the patient's movement, such as a doctor, is transmitted to a slave side device that is the patient, thereby assisting the slave's movement, and the movement of the slave wearer is reflected on the master side, so that the condition of the slave wearer can be grasped in detail, and rehabilitation can be performed even remotely.

[0003] However, in this wearable motion assistance system, the master side also wears the same device as the slave side, so the posture of the master side and the slave side are the same, and there is a problem that the action of the wearer of the master side is restricted. Furthermore, forcing the slave side (master side) to a specific posture may cause an accident. In addition, since the device operates on a one-to-one basis, it is difficult to respond to multiple people at the same time. Therefore, there is a demand for a wearable motion assistance system that can assist the action of the wearer of the master side device without restricting its action. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2009-066395 [Patent Document 2] Patent Publication No. 2017-196735 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a wearable action-assist system that does not restrict the actions of the master side, while reducing the possibility of inducing an accident by forcing the slave side to adopt a certain attitude when the attitude of the slave side is transmitted to the master side and the master side issues an instruction to the slave side to adopt a certain attitude based on the transmitted information. [Means for solving the problem]

[0006] The wearable action assist system of one embodiment includes a wearable action assist device that is worn by a wearer and drives in accordance with the movement of the wearer, a posture display device that changes its posture in synchronization with the movement of the wearable action assist device, and a control device that changes its posture by transmitting a wearer posture signal based on the movement of the wearable action assist device to the posture display device, wherein the posture display device is configured to be able to change its posture in response to an external force different from the wearer posture signal, and the control device detects a state in which the posture of the posture display device has been changed by the external force and transmits a command to the wearable action assist device to inform the wearer of the change in posture of the posture display device, and the wearable action assist device drives based on the command, thereby providing a wearable action assist system configured to instruct the wearer to change its posture. [Brief description of the drawings]

[0007] [Figure 1] 1 is a conceptual diagram of a motion assist system of a wearable motion assist device according to a first embodiment. [Diagram 2] 1 is a schematic diagram showing a configuration of a wearable action-assist device according to a first embodiment. [Diagram 3] FIG. 2 is a schematic diagram for assisting in the explanation of a joint angle θn,t according to the first embodiment. [Figure 4] 1 is a block diagram showing an overall structure of a motion assist system of a wearable motion assist device according to a first embodiment. [Diagram 5]5 is a flowchart for transmitting a posture from the action assist device to an avatar robot according to the first embodiment. [Figure 6] 5 is a flowchart for transmitting a posture from the avatar robot to the action assist device according to the first embodiment. [Figure 7] 13 is a flowchart for transmitting a posture from an avatar robot to a motion assist device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] The wearable motion assist system and the wearable motion assist method of the embodiment will be described below with reference to the drawings. Note that in the present embodiment, the motion assistance recipients are described as workers and instructors who give instructions to the workers, but the wearable motion assist system and the wearable motion assist method of the present embodiment are not limited to these persons, and may be, for example, patients and doctors, and can be applied to both the person being assisted and the person being assisted.

[0009] (First embodiment) First, the wearable action assist system will be described with reference to Figs. 1 to 4. Fig. 1 shows a conceptual diagram of the action assist system of the wearable action assist device according to the first embodiment. In this embodiment, the worker X wears the wearable action assist device 100 as a wearer, and the instructor Y operates the posture display device. Here, the posture display device is a display device that has a substance and has a sufficient amount of information to express the posture of the wearable action assist device 100, such as an avatar robot that can execute instructions transmitted from a remote location and reproduce the movement of the worker X. In this embodiment, the wearable action assist system 300 (see Fig. 4) will be described when the avatar robot 200 is used as the posture display device.

[0010] First, the entire system will be described with reference to Fig. 4. In the wearable action-assist system 300, the wearable action-assist device 100 and the avatar robot 200 communicate with each other to exchange information about the wearer's actions such as posture, the wearer's posture is reflected in the avatar robot 200, and information about a posture change applied to the avatar robot 200 is transmitted to the wearable action-assist device 100.

[0011] Next, a case where information on a movement is transmitted from the wearable action-assist device 100 to the avatar robot 200 in the wearable action-assist system 300 will be described. The wearable action-assist device 100 has a drive unit provided at the same position as the joint of the wearer X, and transmits information on the angle of the joint of the wearer X to the avatar robot 200. The wearable action-assist device 100 transmits a wearer posture signal to the avatar robot 200. The wearer posture signal is information on the posture of the worker X, and the wearable action-assist device 100 transmits position information of the drive unit provided in the wearable action-assist device 100 to the avatar robot 200 as, for example. The wearable action-assist device 100 acquires position information of the drive unit provided in the wearable action-assist device 100, and transfers the acquired position information to the avatar robot 200. The avatar robot 200 has a drive unit at the same position as the drive unit provided in the wearable action-assist device 100, and can perform the same movement as the wearable action-assist device 100. The avatar robot 200 receives the position information transferred from the wearable action-assist device 100, and based on the received position information, the driving unit of the avatar robot 200 moves to reflect the posture of the wearable action-assist device 100 in the avatar robot 200. Specifically, the joint angle θ of each joint, which is the driving unit provided in the wearable action-assist device 100, n,t is acquired as position information and transferred to the avatar robot 200. The avatar robot 200 acquires the joint angle θ n,t Based on this, each joint, which is a driving part of the avatar robot 200, follows the posture of the wearable action-assist device 100. Here, n indicates an arbitrary joint position, and t indicates an arbitrary time.

[0012] Next, a case where information about a movement is transmitted from the avatar robot 200 to the wearable movement-assist device 100 in the wearable movement-assist system 300 will be described.

[0013] The avatar robot 200 acquires information about the force applied to the drive unit by a command (external force) such as an external force, and transmits the information to the wearable action-assist device 100. The wearable action-assist device 100 issues a command to the drive unit of the wearable action-assist device 100 based on the force information transmitted from the avatar robot 200, and transmits the posture of the avatar robot 200 to the wearable action-assist device 100. Specifically, the instructor Y applies force to the joints, which are the drive units of the avatar robot 200, in a direction that will result in the posture that the worker X should take. At that time, the avatar robot 200 acquires information about the force applied to a sensor (e.g., a torque sensor) provided in the drive unit, and transmits the acquired information about the force to the wearable action-assist device 100. For example, the information about the force may be a joint torque p applied to each joint, which is the drive unit of the avatar robot 200. n,t The wearable action-assist device 100 obtains the joint torque p applied to the avatar robot 200. n,t and changes the posture of the wearable action-assist device 100 based on this information.

[0014] Next, the wearable action-assist device 100 will be described. Fig. 2 shows a schematic configuration of the wearable action-assist device 100 according to the first embodiment. The wearable action-assist device 100 includes a posture measuring device capable of grasping the movement of the joints of the worker X, and a servo motor 10 as an actuator capable of applying a stimulus to the worker X. The wearable action-assist device 100 includes a frame mechanism 20 connecting the servo motors 10 to each other, and an action-assist device control unit 30 that controls the movement of the wearable action-assist device 100 and communicates with the avatar robot 200. For example, a so-called robot suit as shown in Fig. 2 can be used as the wearable action-assist device 100.

[0015] The servo motor 10 is driven by the movement of the joint of the worker X or an external command, and includes at least one torque control actuator (not shown) and at least one attitude measuring device (not shown). In general, the servo motor 10 is used to drive a drivable joint shaft provided in a robot including the wearable action-assist device 100. An actuator such as the servo motor 10 drives the joint shaft. An attitude measuring device measures the angle of the joint shaft. The servo motor 10 can be provided at any position of the wearable action-assist device 100. In FIG. 2(a), the servo motor 10 is provided at a joint that acquires the angle of the joint shaft of the worker X, but it does not necessarily have to be provided at a joint that acquires the angle of the joint shaft of the worker X. In FIG. 2(a), the position of the joint shaft is equal to the position of the servo motor, and the position of the attitude measuring device is also equal to the position of the joint shaft. However, when a link mechanism or the like is used, it does not have to be provided at a joint that acquires the angle of the joint shaft of the worker X. FIG. 2(b) shows a part of the wearable action-assist device 100 when a link mechanism is used. For example, the right shoulder joint of the worker X is designated as the joint axis 40a, the right elbow joint of the worker X as the joint axis 40b, and the right wrist joint of the worker X as the joint axis 40c. Joints provided other than the joints of the worker X are designated as the joints 50a and 50b, and the joint axis 40a and the joint 50b are connected by a link 60a, the joint axis 40a and the joint 50b are connected by a link 60b, the joint 50a and the joint axis 40b are connected by a link 60c, and the joint axis 40b and the joint axis 40c are connected by a link 60d. Of the joint axes, the joint axis 40a is equipped with a motor A and a motor B. A straight line that passes through the joint axis 40a and is horizontal to the installation surface of the wearer X is designated as a straight line L. The motor A is driven by the angle θ formed by the straight line L and the link 60a. a The motor B controls the angle θ b When the motor A and the motor B are controlled, the joint 50a and the joint 50b are operated, and the link 60c and the link 60d move accordingly, so that it is possible to obtain the position information of the joint axis 40b and the joint axis 40c, which are not provided with a servo motor. In other words, it is possible to obtain the position information of the joint axis without providing a servo motor in the joint that obtains the angle of the joint axis of the worker X.

[0016] Here, a case where the servo motor 10 is provided at a joint that acquires the angle of the joint axis of the worker X will be described. The wearable action-assist device 100 is provided with a sufficient number of servo motors 10 for grasping the posture of the worker X. The servo motors 10 are provided, for example, at the intersections of the base axis and the moving axis, or at the joint axes of the wearable action-assist device 100. More specifically, the servo motors 10 can be attached to the joints of the human body (wearer) such as the elbows, shoulders, waist, and knees of the worker X. The wearable action-assist device 100 illustrated in FIG. 2 shows a form in which the servo motors 10 are attached to the joints of the elbows, shoulders, knees, ankles, and waist of the worker X, but the wearable action-assist device 100 according to this embodiment is not limited to this, and the joints to which the servo motors 10 are attached can be selected arbitrarily.

[0017] The torque control actuator controls the joint torque p n,t The electrical signal, e.g., a current value, related to the object is converted into a physical motion.

[0018] The posture measuring device measures the joint angle θ of each joint of the worker X. n,t The posture measuring device can be an angle sensor, a gyro sensor, a posture estimation marker and its detector, or other sensors. The posture measuring device can obtain the rotation angles of roll, pitch, and yaw. The roll axis can be the x-axis, the pitch axis can be the y-axis, and the yaw axis can be the z-axis. The roll represents the axis of rotation around the x-axis, the pitch the axis of rotation around the y-axis, and the yaw the axis of rotation around the z-axis. Since one posture measuring device can measure any one of the angles of roll, pitch, and yaw, the servo motor 10 needs to be provided with posture measuring devices for the number of types of angles to be measured. However, if three types of rotation angles can be obtained with one posture measuring device, it is not necessary to provide posture measuring devices for only the types of angles to be measured. By combining roll, pitch, and yaw, the joint angle of the joint axis of any wearable action-assist device 100 can be expressed as an angle. Here, the joint angle θ n,tThe joint angle θ n,t The joint angle θ in the first embodiment is a rotation angle of the joint shaft of the wearable action-assist device 100. Specifically, it refers to the intersection angle between straight lines connecting adjacent joint shafts or the tip ends of arms, legs, etc., among the joint shafts of the wearable action-assist device 100. n,t For example, the right elbow joint of the worker X is defined as a joint axis 40-1, the right shoulder joint of the worker X is defined as a joint axis 40-2, and the waist joint of the worker X is defined as a joint axis 40-3. 1,t When obtaining the joint angle θ, the intersection angle between the extension line connecting the joint axis 40-1 and the joint axis 40-2 and the straight line connecting the joint axis 40-2 and the joint axis 40-3 is obtained. There are two types of intersection angles, acute angles and obtuse angles. 1,t It may be obtained as.

[0019] By providing the servo motor 10 with a torque control actuator and a posture measuring device, for example, when a worker X wears the wearable action-assist device 100 and performs a task, the torque control actuator controls the servo motor 10 provided on the joint shaft of the wearable action-assist device 100 to generate a joint torque p based on a command value transmitted from an external device such as the avatar robot 200. n,t It is possible to give a stimulus to the worker X and to give instructions on the posture to the worker X.

[0020] The frame mechanism 20 connects the joint shafts provided in the wearable action-assist device 100 to each other. In other words, the frame mechanism 20 moves to follow the movement of the servo motor 10. In FIG. 1, the servo motor 10 is provided on the joint shaft, so that the frame mechanism 20 connects the servo motors 10 provided in the wearable action-assist device 100 to each other.

[0021] The action-assist device control unit 30 controls the movement of the wearable action-assist device 100 and communicates with the avatar robot 200 .

[0022] Next, the avatar robot 200 will be described. The avatar robot 200 has a shape similar to the posture of the worker X wearing the wearable action-assist device 100. The posture of the avatar robot 200 is controlled by an external command. The avatar robot 200 includes a torque sensor for measuring the torque applied to the joint shaft, a position control actuator for controlling the angle of the joint shaft, and an avatar robot control unit for controlling the movement of the avatar robot 200 and communicating with the wearable action-assist device 100. However, the avatar robot 200 can include a servo motor with a torque control function in which the torque sensor and the position control actuator are integrated, and when the servo motor with a torque control function is provided on the joint shaft of the avatar robot 200, it is not necessary to include an independent torque sensor and a position control actuator.

[0023] The avatar robot 200 is provided with the same number of torque sensors and position control actuators as the servo motors 10 provided in the wearable action-assist device 100 .

[0024] The position control actuator converts an electrical signal related to the position of the joint axis of the wearable action-assist device 100 into a physical motion, and moves the joint axis of the avatar robot 200. However, a stepping motor may be used instead of the position control actuator.

[0025] The torque sensor measures the value and direction of the torque applied from outside to the joint shaft of the avatar robot 200. However, the torque sensor may be a sensor that measures pressure applied in the rotational direction of the joint shaft by a strain gauge.

[0026] The avatar robot control unit controls the joint angle θ n,t and a measurement value transmitting unit that transmits to the outside a torque value applied from outside measured by the torque sensor as an operation command.

[0027] 4 is a block diagram showing an overall structure of the action-assist system of the wearable action-assist device 100 according to the first embodiment. The wearable action-assist system 300 is configured such that the wearable action-assist device 100 on the slave side and the avatar robot 200 on the master side are linked together via a network infrastructure so as to be able to communicate with each other bidirectionally.

[0028] The wearable action-assist device 100 detects a joint angle θ of a worker X wearing the wearable action-assist device 100. n,t Detect the joint angle θ n,t to the avatar robot 200. In addition, the joint torque p n,t and applies joint torque p n,t Communicate.

[0029] The wearable action-assist device 100 has a first drive unit 110 that is driven by the movement of the joints of the worker X, and a first control calculation unit (wearable action-assist device side control device) 120 that calculates position information obtained from the first drive unit 110 and force information received from the avatar robot 200 to control the operation of the wearable action-assist device 100.

[0030] The first driving unit 110 controls the joint angle θ of the wearable action-assist device 100. n,t and a posture measuring device 111 for acquiring an electric signal relating to a joint torque p transmitted from the avatar robot 200. n,t and a torque control actuator 112 controlled by

[0031] The first control calculation unit 120 calculates the joint angle θ n,t Electrical signals related to joint angle θ n,t and the joint angle θ n,tto the avatar robot 200, and a communication antenna 123 for exchanging information with the avatar robot 200. The first control calculation unit 120 further receives the joint torque p n,t and an actuator control unit 125 for controlling the output of the torque control actuator 112.

[0032] The sensor reading unit 121 reads the joint angle θ n,t Electrical signals related to joint angle θ n,t and transmits it to the measurement value transmission unit 122.

[0033] The measurement value transmission unit 122 transmits the joint angle θ n,t into an antenna output signal, and transmits the converted output signal to the communication antenna 123.

[0034] The communication antenna 123 receives the joint angle θ of the wearable action-assist device 100 converted into an antenna output signal by the measurement value transmitting unit 122. n,t to the avatar robot 200. The communication antenna 123 also receives information transmitted from a communication antenna 223 provided in the avatar robot 200. The information transmitted from the wearable action-assist device 100 and the avatar robot 200 communicate with each other via a network infrastructure. As the network infrastructure, communication devices such as a communication modem or a router connected to a public line or the Internet can be used.

[0035] The signal receiving unit 124 receives the joint torque p n,t is received from the communication antenna 123. n,t The received value is transmitted to the actuator control unit 125.

[0036] The avatar robot 200 receives the joint angle θ from the wearable action-assist device 100. n,tThe avatar robot 200 receives the command from the instructor Y and is controlled so that the avatar robot 200 assumes a posture similar to that of the operator X. Furthermore, the avatar robot 200 receives the command from the instructor Y and is controlled so that the avatar robot 200 assumes a posture similar to that of the operator X. n,t etc. are transmitted to the wearable action-assist device 100 as action commands.

[0037] The avatar robot 200 includes a second driving unit 210 that drives based on a command applied from an external device such as an instructor Y or a signal received from the wearable action-assist device 100, and a joint angle θ of the first driving unit 110 that is information on a force applied to the second driving unit 210 or information on a joint angle θ of the first driving unit 110 received from the wearable action-assist device 100. n,t and a second control calculation unit 220 (avatar robot side control device) that calculates the above and controls the second driving unit 210.

[0038] The second driving unit 210 controls the joint torque p n,t and a torque sensor 211 for acquiring an electric signal relating to the joint angle θ transmitted from the wearable action-assist device 100. n,t and a position control actuator 212 controlled by the actuator.

[0039] The torque sensor 211 detects, for example, a joint torque p n,t and obtain the direction of the torque.

[0040] The position control actuator 212 is configured to control the joint angle θ n,t Specifically, the joint angle θ n,t and the joint angle Φ of each joint axis of the avatar robot 200. n,t The joint angle is Φ n,t and joint angle θ n,t The joint angle Φ n,t is the joint angle θ n,tSimilarly, the rotation angles of roll, pitch and yaw are obtained.

[0041] The second control calculation unit 220 calculates the joint torque p applied to the joint axis of the avatar robot 200 obtained by the torque sensor 211. n,t The electrical signal related to the joint torque p n,t and the joint torque p n,t to the wearable action-assist device 100, and a communication antenna 223 for exchanging information with the wearable action-assist device 100. The second control calculation unit 220 further includes a measurement value transmission unit 222 that transmits the joint angle θ n,t and an actuator control unit 225 that controls the positions of the joint axes of the avatar robot 200.

[0042] The sensor reading unit 221 reads the joint torque p n,t The electrical signal related to the joint torque p n,t and transmits it to the measurement value transmission unit 222.

[0043] The measurement value transmission unit 222 receives the joint torque p n,t into an antenna output signal, and transmits the converted output signal to the communication antenna 223.

[0044] The communication antenna 223 receives the joint torque p of the avatar robot 200 converted into an antenna output signal via the measurement value transmission unit 222. n,t to the wearable action-assist device 100. In addition, the communication antenna 223 receives information transmitted from the communication antenna 123 provided in the wearable action-assist device 100.

[0045] The signal receiving unit 224 receives the joint angle θ transmitted from the wearable action-assist device 100 via the network infrastructure. n,t is received from the communication antenna 223. n,tThe received value is transmitted to the actuator control unit 225.

[0046] The actuator control unit 225 calculates the operation angle λ to control the position of the joint axis of the avatar robot 200 .

[0047] Next, the operation of the wearable action-assist system 300 will be described with reference to Fig. 5 and Fig. 6. Fig. 5 shows a flowchart for transmitting a posture from the action-assist device according to the first embodiment to an avatar robot.

[0048] In step S110, the joint angle θ of the first drive unit provided in the wearable action-assist device 100 worn by the worker X is n,t is acquired by the posture measuring device 111. n,t After obtaining the above, the process proceeds to step S120.

[0049] In step S120, the joint angle Φ of the second driving unit provided in the avatar robot 200 is calculated. n,t is obtained by the position control actuator 212. n,t After obtaining this, the process proceeds to step S130.

[0050] In step S130, the joint angle θ n,t to the avatar robot 200 as a wearer posture signal, and proceeds to step S140.

[0051] In step S140, the actuator control unit 225 of the avatar robot 200 calculates an operation angle λ. The operation angle λ is calculated by multiplying the joint angle θ n,t and the joint angle Φ of each joint axis of the avatar robot 200. n,t After calculating the operation angle λ, the process proceeds to step S150.

[0052] In step S150, it is determined whether the operation angle λ calculated in step S140 is a large value relative to the arbitrary angle α. The arbitrary angle α can be, for example, 1 degree or less, which is the angle of the dead zone of the position control actuator provided in the avatar robot 200. If the operation angle λ is large relative to the arbitrary angle α, it is considered that it is better to change the posture of the worker X, and if the operation angle λ is small relative to the arbitrary angle α, it is considered that it is not necessary to change the posture of the worker X. Therefore, if the operation angle λ indicates a large value relative to the arbitrary angle α, the process proceeds to step S160, and if the operation angle λ indicates a small value relative to the arbitrary angle α, the process proceeds to step S110.

[0053] In step S160, the actuator control unit 225 provided on the joint axis of the avatar robot 200 is operated by the operation angle λ calculated in step S140. By operating by the operation angle λ, the posture of the wearable action-assist device 100 and the posture of the avatar robot 200 become substantially the same. After operating the actuator control unit 225, the process returns to step S110 again, and this flow may be repeated any number of times, or may end without being repeated. Also, steps S120 and S130 may be performed in any order, and the joint angle Φ n,t and joint angle θ n,t The above information may be transmitted to the avatar robot 200.

[0054] Next, FIG. 6 shows a flowchart in the case where a posture is transmitted from the avatar robot to the action assist device according to the first embodiment.

[0055] In step S210, the torque value applied by the instructor Y to the second driving unit 210 of the avatar robot 200 is acquired. Specifically, the joint torque p n,t is acquired by the torque sensor 211, and the joint torque p n,t The joint torque p n,t After obtaining the above, the process proceeds to step S220.

[0056] In step S220, the joint torque p n,t To the wearable action-assist device 100, the measurement value transmission unit 222 in the avatar robot 200 transmits the joint torque p n,t Transmit the joint torque p n,t The wearable motion-assist device 100 is applied with a joint torque p n,t After transmitting the command, the process proceeds to step S230.

[0057] In step S230, the joint torque p n,t is received by the signal receiving unit 124 of the wearable action-assist device 100 as a command value to be given to the worker X, and the current command value u is n Here, the current command value u n The current command value u n is the current value transmitted to the worker X who is wearing the wearable action-assist device 100. n,t When performing the calculation process, the torque command value, the current command value u n Preprocessing may be performed, such as dividing by a constant, or setting a threshold such as an upper limit or lower limit for the torque command value. If the torque applied to the avatar robot 200 is large, transmitting the torque to the worker X as is may result in injury. Therefore, by setting a threshold such as an upper limit, the torque can be transmitted to the worker X safely.

[0058] For example, the current command value u n can be calculated as shown in equation (1). The current command value u given to any joint n is n is the coefficient k n Joint torque p n,t is an arbitrary threshold value.

[0059] In step S240, the current command value u calculated in step S230 is nIt is judged whether the current command value u is larger than an arbitrary current value β. The arbitrary current value β can be set to, for example, 1 / 1000 of the rated torque. n is larger than the arbitrary current value β, it is considered better to change the posture of the worker X, and the current command value u n is small relative to an arbitrary current value β, it is considered that the posture of the worker X does not need to be changed. n If the current command value u is larger than the arbitrary current value β, the process proceeds to step S250. n If indicates a value smaller than the arbitrary current value β, the process proceeds to step S210.

[0060] In step S250, a current command value u is applied to the torque control actuator 112 provided on the joint shaft of the wearable action-assist device 100. n and the rotation direction of the joint axis acquired by the torque sensor 211. When a current is applied to the actuator of the joint of the wearable action-assist device 100, the torque control actuator 112 applies a torque to the joint of the worker X, changing the posture. In other words, the worker X can sense the force such as the torque applied by the instructor Y to the joint axis of the avatar robot 200. n After adding the value, the process returns to step S210, and this flow may be repeated any number of times, or may end without being repeated.

[0061] In this embodiment, it is assumed that one instructor Y issues instructions to one worker X, that is, the wearable action-assist device 100 and the avatar robot 200 are in a one-to-one relationship, but one instructor Y may issue instructions to multiple workers X. This is because, if there are the same number of wearable action-assist devices 100 and avatar robots 200 as the number of workers X, the wearable action-assist device 100 and the avatar robot 200 will be in a one-to-one relationship, just like when one instructor Y issues instructions to one worker X.

[0062] According to the motion assist system of the present embodiment, information on joint angles is transmitted from the wearable motion assist device 100 to the avatar robot 200, and the avatar robot 200 follows the posture of the worker X wearing the wearable motion assist device 100. Therefore, the posture of the worker X can be grasped from a bird's-eye view. In addition, since only torque is given from the avatar robot 200 to the wearable motion assist device 100, rather than position information such as joint angles, instructions on joint angles can be issued without forcing the joint angles of the worker X. For example, an expert at a production site can be an instructor Y, who objectively grasps the posture of the worker X from a remote location using the avatar robot 200, and reflects the force applied to the avatar robot 200 in the wearable motion assist device 100 of the worker X, thereby assisting the motion of the worker X without restricting the action of the expert. In addition, when one instructor Y gives instructions to multiple workers X, even when there are multiple workers performing different tasks, one expert can give instructions.

[0063] Second Embodiment Next, a wearable action-assist system according to a second embodiment will be described with reference to Fig. 7. In the first embodiment, the number of people operating the master side (the number of workers X) and the number of avatar robots have a one-to-one relationship, but in the second embodiment, the number of people operating the master side and the number of avatar robots are different. The above-mentioned differences will be specifically described.

[0064] In the second embodiment, it is assumed that the ratio of the number of people operating the master side (the number of workers X) to the number of avatar robots is one to many. That is, it is assumed that the ratio of the wearable action-assist device 100 to the avatar robot 200 is one to many. When transmitting a posture from the wearable action-assist device 100 worn by the worker X to the avatar robot 200, the same procedure as the flow shown in Fig. 5 can be followed. Fig. 7 shows a flowchart of the case where a posture is transmitted from an avatar robot to an action-assist device according to the second embodiment.

[0065] In step S310, an avatar robot 200 that prioritizes instructions is selected. The avatar robot selected in step S310 is set as the avatar robot 201. The avatar robot 201 is arbitrarily selected from the avatar robots 200 that can communicate with the action-assist device worn by the worker X. For example, the avatar robot 201 that prioritizes instructions can be selected as follows. For example, the worker X or the instructor Y selects an arbitrary avatar robot, or an avatar robot with a large value of the operation angle λ is automatically selected.

[0066] In step S320, the torque value applied to the avatar robot 201 selected in step S310 is acquired. Specifically, the joint torque p n,t is acquired by the torque sensor 211, and the joint torque p n,t The joint torque p n,t After obtaining this, the process proceeds to step S330.

[0067] In step S330, the joint torque p n,t To be more specific, the measurement value transmission unit 222 in the avatar robot 201 transmits the joint torque p n,t The wearable motion-assist device 100 transmits the joint torque p n,t After transmitting the command, the process proceeds to step S340.

[0068] In step S340, the joint torque p n,t is received by the signal receiving unit 124 of the wearable action-assist device 100 as a command value to be given to the worker X, and the actuator control unit 125 receives the current command value u n For example, the current command value u n The joint torque p n,t When performing the calculation process, the torque command value, the current command value u nPreprocessing may be performed, such as dividing by a constant, or setting a threshold such as an upper limit or lower limit for the torque command value. If the torque applied to the avatar robot 201 is large, there is a possibility that the worker X may be injured if the torque is transmitted to the worker X as is. Therefore, a threshold such as an upper limit is set and the torque is transmitted to the worker X, so that the motion can be transmitted safely.

[0069] In step S350, the current command value u calculated in step S340 is n It is judged whether the current command value u is larger than an arbitrary current value β. n is larger than the arbitrary current value β, it is considered better to change the posture of the worker X, and the current command value u n is small relative to an arbitrary current value β, it is considered that the posture of the worker X does not need to be changed. n If the current command value u is larger than the arbitrary current value β, the process proceeds to step S360. n If indicates a value smaller than the arbitrary current value β, the process proceeds to step S310.

[0070] In step S360, a current command value u is applied to the torque control actuator 112 provided on the joint shaft of the wearable action-assist device 100. n When a current is applied to the actuator of the joint of the wearable device through the torque control actuator 112, a torque is applied to the joint of the worker X, and the posture is changed. In other words, the worker X can sense the force such as the torque that the instructor Y has applied to the joint axis of the avatar robot 200. n After adding the value, the process returns to step S310, and this flow may be repeated any number of times, or may end without being repeated.

[0071] According to the motion assistance system of this embodiment, postures can be transmitted from multiple instructors to one worker, and when a worker X performs a task consisting of multiple steps, the worker X can receive instructions from an appropriate instructor Y for each step.

[0072] Although several embodiments of the present invention have been described, these novel embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0073] 100...Wearable motion assist device 110...first drive unit 111...Attitude measuring device 112...Torque control actuator 120...first control and calculation unit 121...Sensor reading unit 122...Measurement value transmission unit 123…Communication antenna 124...Signal receiving unit 125...Actuator control section 200…Avatar robot 201…Avatar robot 210...second drive unit 211...Torque sensor 212... Position control actuator 220...second control and calculation unit 221...Sensor reading unit 222...Measurement value transmission unit 223…Communication antenna 224...Signal receiving unit 225...Actuator control unit 300…Wearable motion assistance system 10...Servo motor 20...Frame mechanism 30...Motion assistance device control section 40…Joint axis X: Worker Y…Instructor θ n,t …Joint angle Φ n,t …Joint angle p n,t …Joint torque λ…Operation angle u n …Current command value α: any angle β: Any current value

Claims

1. A wearable action-assist device that is worn by a wearer and driven in accordance with the wearer's posture; a posture display device that changes its posture in synchronization with the posture of the wearable action-assist device; A wearable action-assist system having a control device that changes a wearer's posture by transmitting a wearer posture signal based on a posture of the wearable action-assist device to the posture display device, the posture display device has a torque sensor that detects an external force different from the wearer posture signal, The control device transmits an operation command based on the external force detected by the torque sensor to the wearable action-assist device, The wearable action-assist device is configured to be driven based on the action command and to be able to instruct the wearer to change his / her posture.

2. The wearable action-assist device has a first drive unit that is driven in response to a movement of a joint of the wearer, the posture display device has a second drive unit provided at a position corresponding to a joint of the wearer, The wearable action-assist system according to claim 1 , wherein the control device is configured to be capable of transmitting an external force applied to the second drive unit to the wearer via the first drive unit.

3. The attitude display device has a torque sensor that detects the torque of the external force and the direction in which the torque is applied, The wearable action-assist system according to claim 2 , wherein the control device transmits information about the torque and the direction detected by the torque sensor to the wearable action-assist device.

4. The wearable action-assist system according to claim 3 , wherein the wearable action-assist device or the control device includes a posture measuring device that is an angle sensor that obtains a rotation angle of the joint of the first driving unit.

5. 5. The wearable action assist system according to claim 4, wherein the control device controls the second drive unit to issue a weaker instruction to the wearer when the torque applied to the second drive unit exceeds a predetermined threshold value.

6. A wearable action assist method for detecting a movement of a wearer by a wearer using a wearable action assist device worn by the wearer, reflecting the movement of the wearer in a posture display device having a movable part having a shape roughly similar to that of the wearer, and transmitting information of an external force applied to the posture display device to the wearable action assist device, acquiring a posture of the wearer by a first driving unit provided in the wearable action-assist device; converting the posture of the wearer acquired by the first driving unit into a wearer posture signal and transmitting the signal to the posture display device; a step of driving a second drive unit provided in the posture display device based on the wearer posture signal to cause the posture display device to reflect the posture of the wearer; applying a movement to the posture display device to convey a posture to be conveyed to the wearer; converting the posture applied to the posture display device into a signal and transmitting the signal to the wearable action assist device; and transmitting the posture to be conveyed to the wearer via the wearable action-assist device to assist the wearer in moving.

7. 7. The wearable action assistance method according to claim 6, wherein the posture to be conveyed to the wearer is represented by a torque and a rotation angle applied to the second drive unit of the posture display device.

8. 8. The wearable action-assist method according to claim 7, further comprising a step of selecting the posture display device to which a command is to be transmitted before a step of converting the posture applied to the posture display device into a signal and transmitting the signal to the wearable action-assist device.

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