Load reduction device, load reduction method, and load reduction program

Abstract

To provide a load reduction device that can realize a load support device which enables optimal load reduction and fatigue reduction for users, a load reduction method and a load reduction program.SOLUTION: A load reduction device comprises: a drive part including a sensor for detecting each joint angle and joint torque, a rotation driving part for rotating a joint part, and a shaft arrangement variable driving part which changes state and position of a drive shaft of the rotation driving part; and a control part which controls the state of the shaft arrangement variable driving part on the basis of a sensor value detected by the sensor, thereby controlling immobilization, non-immobilization and position of the drive shaft of the rotation driving part.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a load reducing device, a load reducing method and a load reducing program. Background Art

[0002] Load reducing devices are known which, when worn on the body, reduce the load on the wearer during walking or when carrying loads or the like. When a wearer carries a load or the like while wearing such a load reducing device, the weight of the load acts on the load reducing device, and the center of gravity of the load reducing device including the load may move away from the wearer's body. When the center of gravity moves away from the wearer's body in this manner, the wearer is required to adopt an unnatural posture, such as bending over greatly, to maintain balance. For example, Patent Document 1 discloses a method of moving the center of gravity of an assist robot by controlling an actuator installed at a joint of a load reducing device.

[0003] In such a single-axis link mechanism, one shaft serves as a fixed shaft, and a drive motor is disposed on the shaft portion so as to exert a driving force only for rotational movement about the shaft, thereby generating the driving force and reducing the load. In this mechanism, the torque generated by each actuator is set based on joint angle data on the suit side that interlocks with the joint motion of the wearer. Prior Art Documents Patent Documents

[0004] Patent Document 1 Japanese Unexamined Patent Publication No. 2020-028932 Summary of the Invention Problem to be Solved by the Invention

[0005] However, in the technology described in Patent Document 1, the actual operation of the load support device is such that, because the joints of the human body do not have a single axis, the axis of rotation is not constant during operation. As a result, when a wearer wears the load support device and moves, the joint axes of the human body and the joint axes and rotational movements of the load support device often do not match, and the structure is unable to provide appropriate assistance. Therefore, the technology described in Patent Document 1 had the problem of causing wearer fatigue and being unable to maintain the initial movement. In addition, the technology described in Patent Document 1 calculated the generated torque only from the wearer's joint angle information, so depending on the wearer's biological condition, surrounding environment, etc., it was possible that the device would not provide load reduction to the wearer by performing the movement as intended by the wearer, or the force of the load support device itself would become a load.

[0006] Therefore, the purpose of this invention is to provide a load reduction device, a load reduction method, and a load reduction program that can realize a load support device that enables optimal load reduction and fatigue reduction for the user. [Means for solving the problem]

[0007] According to a first aspect of the present invention, the load reduction device comprises a drive unit that includes a sensor for detecting each joint angle and joint torque, a rotation drive unit for rotating the joint, and a variable axis arrangement drive unit for changing the state and position of the drive shaft of the rotation drive unit, and a control unit that controls the fixing, unfixing, and position of the drive shaft of the rotation drive unit by controlling the state of the variable axis arrangement drive unit based on sensor values ​​detected by the sensor.

[0008] According to a second aspect of the present invention, the load reduction method detects each joint angle and joint torque, and controls the state of a variable-axis drive unit that changes the state and position of the drive shaft of a rotary drive unit that rotates the joint, based on the detected sensor values, thereby controlling the fixing, unfixing, and position of the drive shaft of the rotary drive unit.

[0009] According to a third aspect of the present invention, the load reduction program causes a computer to detect each joint angle and joint torque, and based on the detected sensor values, controls the state of a variable-axis drive unit that changes the state and position of the drive shaft of a rotary drive unit that rotates the joint, thereby controlling the fixing, unfixing, and position of the drive shaft of the rotary drive unit. [Effects of the Invention]

[0010] According to the present invention, it is possible to realize a load support device that enables optimal load reduction and fatigue reduction for the user. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows an example configuration of a load reduction system according to an embodiment. [Figure 2] An example of a motion model of a joint with variable axis configuration according to the embodiment is shown. [Figure 3] This figure illustrates an example of the configuration of a variable-axis drive unit according to an embodiment and provides an overview of the operation of the variable-axis mechanism. [Figure 4] This figure shows an example configuration of a load reduction device according to an embodiment. [Figure 5] This figure shows another example configuration of the load reduction device according to the embodiment. [Figure 6] This figure shows an example of control for a load reduction device according to an embodiment. [Figure 7] This figure shows the control image in the comparative example system. [Figure 8] This diagram shows an overview of the operation image in the comparative example system. [Modes for carrying out the invention]

[0012] Hereinafter, a load reduction device, a load reduction method, and a load reduction program according to one embodiment of the present invention will be described with reference to the drawings.

[0013] First, we will describe an example configuration of the load reduction system of this embodiment. FIG. 1 is a diagram showing a configuration example of a load reduction system according to the present embodiment. A user g1 wears, for example, a device g2 accommodating a control unit 4 and the like, and a support device g3 on a lower limb. Note that the wearing example and configuration example shown in FIG. 1 are merely illustrative and not limited thereto.

[0014] The load reduction system 1 includes, for example, a skeleton unit 2, a drive system 3, and a control unit 4. The skeleton unit 2 includes, for example, a torso 21, a hip joint 22, a knee joint 23, and a leg joint 24. The drive system 3 includes, for example, a variable shaft arrangement drive unit and a rotational drive unit 31 for the hip joint, a variable shaft arrangement drive unit and a rotational drive unit 32 for the knee joint, and a variable shaft arrangement drive unit and a rotational drive unit 33 for the leg joint. The control unit 4 includes, for example, a power supply unit 41, an integrated control unit 42, a hip joint sensor 43, a knee joint sensor 44, and a leg joint sensor 45.

[0015] Next, an example of an operation model of a variable shaft arrangement type joint used in the present embodiment will be described. FIG. 2 shows an example of an operation model of the variable shaft arrangement type joint according to the present embodiment. An image g101 represents a stance phase, an image g102 represents a swing phase, and an image g103 represents a flexion state. A line g111 represents a rotation shaft on the support device side that interlocks with the joint motion of the wearer, and a chain line g112 represents a rotation shaft of a human body joint. Reference sign g121 indicates magnetized electromagnetic powder, and reference sign g122 indicates non-magnetized electromagnetic powder.

[0016] Next, a configuration example and an operation concept of the variable shaft arrangement drive unit 81 will be described. FIG. 3 is a diagram for explaining a configuration example of the variable shaft arrangement drive unit according to the present embodiment and an outline of operation of the variable shaft arrangement mechanism. As shown in FIG. 3, the variable shaft arrangement drive unit 81 includes, for example, a holding plate 811, electromagnetic powder 812 (non-magnetized (granulated) electromagnetic powder 812a, magnetized (fixed) electromagnetic powder 812b), and a motor 813. Note that reference sign g201 indicates a drive shaft of the motor 813.

[0017] Image g200 represents a non-fixed (free) state in which the drive shaft g201 is not fixed. Image g210 represents a state in which the drive shaft g201 is fixed. In the state of image g200, the electromagnetic powder 812 in the variable shaft arrangement drive unit 81 is not magnetized (812a) and is in a granular state, so the motor 813 can be freely arranged within the variable shaft arrangement drive unit 81. As a result, in the state of image g200, the drive shaft g201 is not fixed and is in a non-fixed state. In the state of image g210, the electromagnetic powder 812 in the variable shaft arrangement drive unit 81 is magnetized (812b) and fixed, so the motor 813 is fixed within the variable shaft arrangement drive unit 81 via the magnetized electromagnetic powder 812b. As a result, in the state of image g210, the drive shaft g201 is in a fixed state.

[0018] In the present embodiment, in the joint model (Fig. 2), switching between fixation and granulation (non-fixation) of the electromagnetic powder 812 filled in the housing of the variable shaft arrangement drive unit together with the rotary drive unit is performed according to a command input to the joint. As described above, in the present embodiment, a variable shaft arrangement drive unit capable of arranging a shaft along the rotation axis of a variable joint of a human body and generating supporting torque accompanying appropriate rotational movement is implemented.

[0019] Next, a configuration example of the load reducing device 5 will be described. Fig. 4 is a diagram showing a configuration example of the load reducing device according to the present embodiment. As shown in Fig. 4, the load reducing device 5 includes a sensor 83, a control unit 51, and a drive unit 8.

[0020] The sensor 83 detects each joint angle, joint torque, and the like. The sensor 83 is, for example, a 6-axis sensor, an acceleration sensor, an encoder, or the like. Further, the sensor 83 corresponds to, for example, the hip joint sensor 43, the knee joint sensor 44, and the leg joint sensor 45 in Fig. 1. The sensor 83 includes, for example, at least one of the hip joint sensor 43, the knee joint sensor 44, and the leg joint sensor 45.

[0021] The control unit 51 controls the drive unit 8 based on the sensor value detected by the sensor 83. The control unit 51 corresponds to, for example, the integrated control unit 42 in Figure 1.

[0022] The drive unit 8 generates joint torque in accordance with the control of the control unit 51. The drive unit 8 corresponds, for example, to the variable-axis drive unit and rotational drive unit 31 for the hip joint, the variable-axis drive unit and rotational drive unit 32 for the knee joint, and the variable-axis drive unit and rotational drive unit 33 for the leg joint, as shown in Figure 1. The drive unit 8 includes a variable-axis drive unit 81 and a rotational drive unit 82. The rotational drive unit 82 is, for example, a motor 813. The variable-axis drive unit 81 is, for example, an electromagnetic powder 812 and a housing that houses the electromagnetic powder 812 and the motor 813. The electromagnetic powder 812 is, for example, a magnetic powder, and may be a high-performance soft magnetic powder or a soft magnetic powder depending on the application.

[0023] With this configuration, the load reduction device 5 can generate support torque accompanied by appropriate rotational movement by having the control unit 51 control the drive shaft and position of the variable-axis drive unit 81 provided in the drive unit 8 based on sensor values, thereby aligning the shaft along the rotation axis of the fluctuating joints of the human body.

[0024] Next, we will describe other configuration examples of load reduction devices. Figure 5 shows another example of the configuration of the load reduction device according to this embodiment. As shown in Figure 5, the load reduction device 5A comprises a control unit 51 and a drive unit 8. The control unit 51 comprises an integrated control unit 6 and a drive control unit 7. The integrated control unit 6 includes, for example, a mode generation unit 61, a target torque generation unit 62, and an acquisition unit 63. The drive control unit 7 includes, for example, a braking control unit 71 and a rotary drive control unit 72. The drive unit 8 comprises a variable-axis drive unit 81, a rotary drive unit 82, and a sensor 83. The sensor 83 may also be provided by the drive unit 8, as shown in Figure 5.

[0025] The mode generation unit 61 incorporates input signals such as joint angles, acceleration, and data that are referenced externally as an action profile as needed, which are generated during the wearer's movements, and issues mode commands based on various information inside the integrated control unit 6.

[0026] The target torque generation unit 62 generates a target torque based on information from the mode generation unit 61, joint angle information, etc. The target torque generation unit 62 also stores the aforementioned motion estimation model of the variable axis arrangement drive unit 81 and the model of the entire load reduction device 5. Using the information from the mode generation unit 61 and the model, the target torque generation unit 62 sequentially calculates the motion of each joint and generates the target torque.

[0027] The acquisition unit 63 acquires input signals such as data to be referenced as an operation profile from an external source as needed.

[0028] The braking control unit 71 generates a target torque for the variable-shaft drive unit 81 based on the sensor value detected by the sensor 83, and controls the operation of fixing or unfixing the axial position of the variable-shaft drive unit 81 by switching between granulation and fixing of electromagnetic powder.

[0029] The rotational drive control unit 72 generates a target torque for the rotational drive unit 82 based on the sensor value detected by the sensor 83, and controls the rotational drive unit 82.

[0030] The variable-axis drive unit 81 fixes or unfixes the axial position of the drive device according to the control of the braking control unit 71. death, It outputs torque for each joint. As shown in Figure 1, the variable-axis drive unit 81 is provided for the hip joint, knee joint, leg joint, etc. The variable-axis drive unit 81 corresponds to the electromagnetic powder 812, the case, and the rotary drive unit 82.

[0031] The rotary drive unit 82 generates rotational torque for each joint in accordance with the control of the rotary drive control unit 72. As shown in Figure 1, the rotary drive unit 82 is provided for each of the hip joint, knee joint, leg joint, etc. The rotary drive unit 82 corresponds to the motor 813.

[0032] Sensor 83 detects joint angles, joint torques, etc. As shown in Figure 1, sensors 83 are provided at each of the hip joint, knee joint, and leg joint.

[0033] The load reduction device 5 described above has a computer system inside. The processing steps performed by the load reduction device 5 are stored in program form on a computer-readable recording medium, and the above processing is performed when the computer reads and executes this program. Here, a computer-readable recording medium refers to a magnetic disk, magneto-optical disk, CD-ROM, DVD-ROM, semiconductor memory, etc. Alternatively, this computer program may be distributed to a computer via a communication line, and the computer that receives the distribution executes the program.

[0034] Next, we will explain an example of control using the load reduction device 5. Figure 6 shows an example of control of the load reduction device according to this embodiment.

[0035] (Step S1) Sensor 83 detects the movements (joint angles, acceleration, etc.) of the user wearing the load reduction device 5.

[0036] (Step S2) The acquisition unit 63 acquires input signals such as data to be referenced as an operation profile from an external source as needed.

[0037] (Step S3) The mode generation unit 61 detects the condition of each joint of the wearer based on the sensor value detected by, for example, the sensor 83, and detects the mode of the user's movement, whether it is in the stance phase, swing phase, or other phase, based on the joint angles of the load reduction device 5. When in the stance phase, the mode generation unit 61 sets the stance phase parameters using the sensor value detected by the sensor 83 and input signals such as data to be referenced as needed. The modes and stance phase parameters will be described later.

[0038] (Step S4) During the swing phase, the mode generation unit 61 sets the swing phase parameters using the sensor value detected by the sensor 83 and input signals such as data to be referenced as needed. The swing phase parameters will be described later.

[0039] (Step S5) In other cases, the mode generation unit 61 sets other parameters (e.g., foot) using the sensor value detected by the sensor 83 and input signals such as data to be referenced as needed.

[0040] (Step S6) The mode generation unit 61 selects a mode command output value using the set stance leg parameters and stance leg drive control algorithm, or using the set swing leg parameters and swing leg drive control algorithm, or using the set other parameters and other drive control algorithms. The mode command output value will be described later.

[0041] (Step S7) The target torque generation unit 62 sequentially calculates the movement of each joint using the mode command output value selected by the mode generation unit 61 and the model described above, and estimates the required torque and actuator position. The actuators are motors provided in the axial arrangement variable drive unit 81 and the rotation drive unit 82, respectively.

[0042] (Step S8) The braking control unit 71 generates a target torque for the variable shaft arrangement drive unit 81 based on the estimated required torque and actuator position. The rotational drive control unit 72 generates a target torque for the rotational drive unit 82 based on the sensor value and the estimated required torque and actuator position.

[0043] (Step S9) The variable-axis drive unit 81 uses the generated target torque to control the drive of the actuator, to determine whether or not to fix the electromagnetic powder, and to control the fixing of the electromagnetic powder 812. The rotary drive unit 82 uses the generated target torque to control the drive of the actuator.

[0044] Modes include, for example, stance, swing, and flexion. Stance is the state where the soles of the feet are on the ground, and the load (package) carried by the legs is transferred to the ground. Maintaining this state makes the person more comfortable (load-relieving effect). Swing is the state where a person swings their legs up when walking or running. In the swing, the legs are moved so that they do not feel the weight of the device when they are swung up. Flexion is the state where the legs are deeply bent. Flexion can also be considered a part of the stance phase.

[0045] Now, let's explain the parameters. As shown in Figure 7, the controlled object differs between the stance phase and the swing phase. Figure 7 is a diagram illustrating the control image in the comparative example system. Image g901 shows the control image of the hip joint. Image g902 shows the control image of the knee joint. For example, during the stance phase, the controlled object is the state in which the mounted load is supported from the ground, whereas during the swing phase, the entire leg of the suit (e.g., symbol g3 in Figure 1) from the hip joint to the toes becomes the controlled object. Therefore, during the stance phase, parameters are set to satisfy the load support. During the swing phase, parameters are set to allow the entire leg of the suit to swing in a way that does not cause discomfort to the wearer.

[0046] Now, let's explain the mode command output values. For example, if the stance mode is defined as "0" and the swing mode as "1", then "0" or "1" will be the mode command output value. The mode command output values ​​may be further subdivided and defined as needed to supplement these modes. Examples of mode command output values ​​include "0" for the stance mode and "1" for the swing mode when climbing stairs, descending stairs, going up and down slopes, muddy paths, or gravel paths. The mode generation unit 61 selects the mode based on information such as the overall posture of the suit, or the state and transition state of the gait. For example, gait has the characteristic of alternating between stance and swing phases. In particular, the hip joint angle is similar to a sine wave, with a tendency for the stance phase to always occur between certain angles and the swing phase between others. The mode generation unit 61 utilizes these characteristics when selecting a mode.

[0047] Next, we will explain how to estimate the required torque and the actuator position. The cases of the rotary drive unit 82 and the variable axis drive unit 81 are each equipped with a gyro sensor (sensor 83). This allows the integrated control unit 6 to detect the angular deviation of each gyro sensor. The integrated control unit 6 also detects the angle of each joint using the angle sensor of the rotary drive unit 82. Based on this information, the integrated control unit 6 accurately grasps the overall posture and calculates the necessary torque to cancel out the load during standing and the gravity of the entire leg of the suit during swing, based on the principle shown in Figure 7.

[0048] Next, we will explain how to generate the target torque. The drive control unit 7 detects the angular deviation of each gyro sensor. The drive control unit 7 also detects the angle of each joint using the angle sensor of the rotary drive unit 82. Based on this information, the drive control unit 7 accurately grasps the overall posture and calculates a target torque based on the principle shown in Figure 7 to cancel out the load during the standing leg and the gravitational force on the entire leg of the suit during the swing leg.

[0049] Next, we will explain how to control the magnetization and demagnetization of electromagnetic powder. The variable shaft arrangement drive unit 81 has an electromagnetic coil provided inside the case stator. The braking control unit 71 generates magnetic field lines by passing an electric current through an electromagnetic coil, and electromagnetic powder reacts magnetically to these magnetic field lines to create a field. As a result, the rotary drive unit 82, which is on the rotor side, solidifies with the electromagnetic powder and integrates with the variable shaft arrangement drive unit case. Consequently, the drive shaft is fixed in a certain position. Conversely, when the electric current in the electromagnetic coil is released, the electromagnetic powder returns to a powdery state, and the rotary drive unit 82 can be freely positioned within the variable shaft arrangement drive unit case.

[0050] Furthermore, when a user is wearing the load reduction device 5, joint torque is applied from the device 5. This allows the user to perform tasks more easily.

[0051] Here, we compare the comparative system with the load reduction device 5 of this embodiment. Figure 8 shows an overview of the operation image in the comparative example system. In Figure 8, image g910 is a top view of the human body. Image g920 is a side view of the human body. In Figure 8, solid lines indicate the rotation axis of the joints on the suit side, and dashed lines indicate the rotation axis of the human body joints. The discrepancy between the solid and dashed lines in images g911 to g913 indicates an axis mismatch. Furthermore, image g921 represents the stance phase, image g922 represents the swing phase, and image g923 represents the flexion phase.

[0052] As shown in Figure 8, in the comparative example system, the single-axis linkage mechanism results in the drive axis being positioned in a different location and direction from the arbitrarily changing joint axes of the human body. Therefore, in the comparative example system, the rotational movement of the joints follows a different trajectory than that of the human body, and even if the assist force is calculated accurately, it often fails to generate appropriate assist force because it operates in a positional relationship different from that expected. As a result, in the comparative example system, the user experiences discomfort and unexpected loads from the load reduction device 5, leading to the accumulation of fatigue.

[0053] Therefore, in this embodiment, as shown in Figure 2, when the leg is in the swing phase, the rotation axis of the drive unit, which has become unfixed due to the transformation of the electromagnetic powder 812 into sand particles, is driven to align with the axis center of the human body joint. In other words, in this embodiment, the variable axis arrangement drive unit 81 controls whether to magnetize and fix the electromagnetic powder 812, or to leave it unfixed, depending on the mode of operation. The load reduction device 5, for example as shown in Figure 2, magnetizes the electromagnetic powder 812 and fixes the drive axis when the leg is in the stance phase and when it is flexed, but does not magnetize the electromagnetic powder 812 and does not fix the drive axis when the leg is in the swing phase.

[0054] As a result, according to this embodiment, during the swing phase, the rotation axis of the drive unit, whose state is not fixed by granulating the electromagnetic powder 812, is driven to align with the center of the human body's joint axis. Then, according to this embodiment, during the standing phase, the electromagnetic powder becomes fixed, and the drive unit, positioned along the human body's joint axis, can output appropriate assist force by generating a support torque accompanied by appropriate rotational movement relative to the human body. As a result, according to this embodiment, it is easier for the user wearing the load reduction device 5 to move.

[0055] Furthermore, in this embodiment, the electromagnetic powder 812 solidifies when the legs are standing, allowing the drive unit, which is positioned along the joint axis of the human body, to perform appropriate rotational movement relative to the human body. In addition, in this embodiment, information such as changed joint angles and joint torques is taken into the integrated control unit 6. In the operation algorithm inside the integrated control unit 6, the mode generation unit 61 detects the condition of each joint of the user and issues a mode command based on the joint angles, etc. from the load support device. In this embodiment, the target torque generation unit 62 sequentially calculates the movement of each joint based on the information from the mode generation unit 61, etc., and the operation estimation model of the variable axis arrangement drive unit 81 and the overall load support device model, and outputs the calculation results to the drive control unit 7.

[0056] In this embodiment, the drive control unit 7 generates a final drive command to the variable axis arrangement drive unit 81 based on the joint angle, joint torque, etc., from the sensor 83, and issues an output instruction to the variable axis arrangement drive unit 81.

[0057] As a result, according to this embodiment, by appropriately aligning the rotation axis arrangement and direction of the drive unit with the wearer's joint axes which change in various positions and directions, the rotation axis of the drive unit is driven to align with the center of the human body's joint axes, and an appropriate assist force can be output to the human body. Through these processes, according to this embodiment, a load-reducing device 5 can be realized that reduces the burden on the user and makes movement easier.

[0058] Here, we compare this embodiment with a comparative example of a single-axis linkage mechanism device attached to the lower limb. In a single-axis linkage mechanism device that loads the lower limbs, the torque generated by each actuator is set based on a simplified control model using joint angle data from the suit, which is linked to the user's joint movements. In such a single-axis linkage mechanism, one axis is fixed, and the drive motor is positioned on that axis to generate driving force and reduce load by providing driving force only for rotational motion around that axis. In such a single-axis linkage mechanism, the torque generated by each actuator is set based on joint angle data from the suit, which is linked to the user's joint movements.

[0059] However, the operation of devices attached to the lower limbs is problematic because the rotation axis is not constant, as the joints of the human body do not have a single axis. Therefore, with such devices, when a user wears a load support device and performs an action, the joint axes of the human body and the joint axes and rotational movements of the load support device often do not match, resulting in a structure that cannot provide appropriate assistance. Consequently, such devices lead to problems such as user fatigue and inability to maintain the initial movement. Furthermore, these devices calculate the generated torque solely from the user's joint angle information. Therefore, depending on the user's physical condition and surrounding environment, such devices may fail to provide load reduction to the user by performing the movement the user intended, or the force of the load support device itself may become a load.

[0060] In contrast, in this embodiment, by setting the drive shaft of the drive shaft structure of the load reduction device 5 worn by the user to any direction and position, it becomes possible to match the drive operation of the load reduction device 5 with the joint movement of the user as closely as possible, thereby enabling optimal load reduction and fatigue reduction for the user.

[0061] (modified version) The variable-axis drive unit 81 is not limited to electromagnetic powder; for example, it may be a material that can be fixed and unfixed by applying electricity. Alternatively, the variable-axis drive unit 81 may be a material that can be fixed and unfixed by applying heat, for example.

[0062] Furthermore, while the above example described an example where the load-reducing device 5, as shown in Figure 1, is attached to the user's lower limbs, it is not limited to this. The load-reducing device 5 may also be attached to the user's upper body, arms, etc. In such cases, the load-reducing device 5 will perform control according to the location where it is attached and the type of work being performed. [Explanation of symbols]

[0063] 5…Load reduction device, 6…Integrated Control Unit, 7…Drive control unit, 8... Drive unit, 83... Sensor, 84... Drive mechanism, 1…Load reduction system, 2...Skeletal part, 3…Drive system, 4... Control unit, 21... Torso, 22...hip joint, 23...Knee joint, 24... Leg joint, 31... Variable axis arrangement drive unit and rotation drive unit for hip joint, 32... Variable axis arrangement drive unit and rotation drive unit for the knee joint, 33... Variable axis arrangement drive unit and rotation drive unit for leg joints, 41...Power supply section, 42... Integrated control unit, 43...Hip joint sensor, 44... Knee joint sensor, 45... Leg joint sensor, 61...Mode generation unit, 62...Target torque generation unit, 63...Acquisition Department, 71... Brake control unit, 72... Rotary drive control unit, 81... Variable shaft arrangement drive unit, 82... Rotary drive unit, 811...Retaining plate, 812... Electromagnetic powder, 813...motor

Claims

1. A sensor that detects each joint angle and joint torque, A drive unit comprising: a rotary drive unit for rotating the joint; and a variable axial arrangement drive unit that includes the rotary drive unit inside the housing and sets the axial direction of the drive shaft of the rotary drive unit and the position of the rotary drive unit inside the housing; A control unit controls the axial direction of the drive shaft of the rotary drive unit and its position inside the housing of the rotary drive unit by magnetizing the electromagnetic powder filled inside the housing of the variable-axis drive unit based on the sensor value detected by the sensor, thereby controlling the electromagnetic powder from an unfixed state to a fixed state, and outputs joint torque when the electromagnetic powder is fixed. A load reduction device equipped with the following features.

2. The control unit, By magnetizing the electromagnetic powder, the axial direction of the drive shaft of the rotary drive unit and its position inside the housing of the rotary drive unit are fixed. By not magnetizing the electromagnetic powder, the axial direction of the drive shaft of the rotary drive unit and its position inside the housing of the rotary drive unit are made unfixed. The load reduction device according to claim 1.

3. The control unit detects whether the user's leg movement is a free leg movement based on the sensor value detected by the sensor, and if the user's leg movement is a free leg movement, it does not magnetize the electromagnetic powder inside the housing of the variable axis arrangement drive unit corresponding to that leg, and if the user's leg movement is not a free leg movement, it magnetizes the electromagnetic powder inside the housing of the variable axis arrangement drive unit corresponding to that leg. A load reduction device according to claim 1 or claim 2.

4. The drive unit comprises at least one of the following: one for the hip joint, one for the knee joint, and one for the ankle joint. The sensor is provided in the joint corresponding to the drive unit, A load reduction device according to any one of claims 1 to 3.

5. A sensor that detects each joint angle and joint torque, A load reduction device comprising a drive unit comprising: a rotary drive unit for rotating a joint; and a variable axial arrangement drive unit that includes the rotary drive unit inside a housing and sets the axial direction of the drive shaft of the rotary drive unit and the position of the rotary drive unit inside the housing, Based on the sensor value detected by the aforementioned sensor, the electromagnetic powder filling the housing of the variable-axis drive unit is magnetized and controlled from an unfixed state to a fixed state, thereby controlling the axial direction of the drive shaft of the rotary drive unit and its position inside the housing of the rotary drive unit, and outputting joint torque when the electromagnetic powder is fixed. Methods to reduce the load.

6. A sensor that detects each joint angle and joint torque, A computer for a load reduction device comprising a drive unit comprising: a rotary drive unit for rotating a joint; and a variable axial arrangement drive unit which includes the rotary drive unit inside a housing and sets the axial direction of the drive shaft of the rotary drive unit and the position of the rotary drive unit inside the housing, and has an electromagnetic coil provided inside the housing and electromagnetic powder filled inside the housing, Based on the sensor value detected by the sensor, current is passed through the electromagnetic coil to magnetize the electromagnetic powder, thereby controlling the electromagnetic powder from an unfixed state to a fixed state. This controls the axial direction of the drive shaft of the rotary drive unit and its position inside the housing of the rotary drive unit, and outputs joint torque while the electromagnetic powder is fixed. Load reduction program.

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