JPH08229084A - Arm drive controller - Google Patents

Abstract

(57) [Summary] [Object] To provide an arm drive control device capable of reducing a physical burden on a user or the like by restricting movement of an arm out of a movable range. [Structure] The comparison processor 5Ab is provided with a tip position x = l ₁ cos θ ₁ + l ₂ cos of the long driven link 2Ad according to the rotation angles θ ₁ and θ ₂ of the rotation shafts 74C and D detected by the left and right angle sensors.
While θ ₂ and y = l ₁ sin θ ₁ + l ₂ sin θ ₂ are input, the long driven link tip 84 and the cover 3 by the caregiver are input.
Minimum distance L ₁ maximum height L ₃ from the minimum distance walking surface 4A of L ₂ tip 84 of the tip 84 and the walking surface 4A is input, the movable range x ≧ alpha + L ₁ and -β + L ₂ ≦ y ≦ with - β
When x and y satisfy + L ₃ , servo control processor 5Ac performs normal servo processing, and rotation mechanism 2B
The motor drive command value is output to the left / right rotation instruction units 76A and 76B. If it is not satisfied, the left side of the rotating mechanism 2B
A stop command is output to the right rotation instruction units 76A and 76B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training device and a walking assist device for holding a user by an assisting arm having a driving force, and more particularly to an arm drive control device for controlling the driving of the assisting arm.

[0002]

2. Description of the Related Art In recent years, the number of people whose leg strength has significantly decreased due to an increase in the number of elderly people and changes in society is increasing. Moreover, an increasing number of people have impaired walking function due to illness or accident. Gait training is a major method of rehabilitation for these people. BACKGROUND ART Conventionally, there are, for example, the following as known techniques related to a walking training device. According to this known technique, ring-shaped members that are lifted with a predetermined lifting force are arranged on both sides of a user (in this case, a trainee), and are connected to this ring-shaped member via a string. The floating ring-shaped air bag provides the trainee with the lifting force of the rod-shaped member. This enables long-time training while suppressing fatigue of the trainee.

[0003]

However, the above-mentioned known technique has a problem that the installation volume becomes large because it is necessary to secure a walking path of a predetermined length. In order to solve the above problem, the applicant of the present application filed Japanese Patent Application No.
No. 277031 (filing date: November 5, 1993), the annular belt forming the sidewalk of the trainee, the driving means and speed detecting means of this annular belt, and the belt speed detected by this speed detecting means are described. A walking surface device originally provided with a speed control means for controlling the driving means; an assisting arm for supporting the trainee's body on an annular belt, a drive means for changing the posture of the assisting arm, and the trainee A walking training device having an assisting device equipped with a stress measuring means for measuring the stress applied to the assisting arm; and a general control device for controlling the walking surface device and the assisting device has been proposed. However, in the above-mentioned walking training device, when changing the posture of the assistance arm by the driving means, no limitation is provided regarding the drive control thereof, and a case where an erroneous operation due to an erroneous operation of an assistant or a device failure occurs There was a problem that consideration was not enough.

Here, there is an industrial robot having an arm to be driven similarly to the above-mentioned walking training device, and known techniques relating to this are, for example, the following. In this known technique, the output reference value generation circuit sets the output reference value of the motor driving unit for driving the arm to a lower value than that in the case of operating in the fully automatic mode, and the abnormality detection circuit. Compares the output reference value with the drive output input from the motor drive section, and stops the control circuit or the motor drive section when a drive force (or speed) equal to or higher than the output reference value is detected. As a result, when the user (in this case, the worker) teaches while directly moving the robot by holding the robot's hand within the robot's movable range, the occurrence of an abnormality is quickly detected and the operator's safety is secured. To do.

In this known technique, the determination means monitors the magnitude of the external force (or speed) at the tip of the arm, and the external force (or speed) at the tip of the arm exceeds a preset value. If
The controller forcibly restrains the movement of the robot. As a result, similarly to the above, during the direct teaching, the occurrence of an abnormality is promptly detected to ensure the safety of the operator.

[0006] Here, from the viewpoint of consideration for erroneous operation / malfunction in the walking training device, it is conceivable to apply the known technology relating to the industrial robot and the driving of the assistance arm in the walking training device. However, when such an application is performed, the following problems occur. That is, in the known art, an abnormality is detected by the driving force and speed of the arm and in the known art by the force and speed of the arm tip, no particular consideration is given to the position itself of the arm tip.

Therefore, when the publicly known technique is applied to the walking training device, the trainee, the caregiver, or the like, except for the assisting arm and the assisting arm of the device, when the assisting arm malfunctions due to an erroneous operation of the assisting person or a device failure. There is a case where an unnatural posture or an unnatural posture is forced between the parts or in a narrow space between the assisting arm and the device surrounding object. Further, there is a case where the assisting arm malfunctions upward due to an erroneous operation of the caregiver or a failure of the device, and the body of the trainee held by the assisting arm floats up and becomes an unnatural posture. And
If an abnormality in the force or speed of the assistance arm is detected while the person is still in that posture / posture and the operation of the assistance arm is stopped, the posture / posture continues for a long time, resulting in fatigue and increased physical burden. . In particular, the trainee of the walking training device has a heavy burden because he / she is held by the assistance arm and cannot easily separate from the assistance arm.

[0008] Further, there is a similar problem with the assisting arm provided in the walking assisting device for assisting the self-assisted walking of the person having the relatively slight walking disorder.

An object of the present invention is to set a certain movable range with respect to the position of the arm and limit the movement of the arm to the outside of the range so that the physical drive of the user can be reduced. It is to provide a device.

[0010]

In order to achieve the above object, according to the present invention, in an arm drive control device for controlling drive means for driving an arm supporting a user's body, the position of the tip of the arm is controlled. A detection means for detecting the following, and an area setting means for setting a restriction area in which the arm can move,
Limiting the operation of the drive means according to the detection result by the detection means and the restricted area setting by the area setting means,
An arm drive control device is provided, comprising: a limit control unit that enables the operation of the arm only within the limit region.

[0011] Preferably, in the arm drive control device, the arm is an assisting arm for assisting a trainee provided in a walking training device having an annular belt forming a sidewalk of the trainee, and the area setting means. The arm drive control device is characterized in that the limit area is set so that the distance between the tip of the assistance arm and the arm support means that supports the assistance arm is equal to or greater than a first predetermined value.

Further preferably, in the arm drive control device, the arm is an assisting arm for assisting a trainee provided in a walking training device having an annular belt forming a sidewalk of the trainee, and the region An arm drive control device is provided, wherein the setting means sets the restriction region such that the distance between the tip of the assistance arm and the annular belt is equal to or greater than a second predetermined value.

More preferably, in the arm drive controller, the first and second predetermined values are respectively
There is provided an arm drive control device characterized in that the value is larger than the thickness of the space occupied by the bodies of the trainee and the caregiver.

Further preferably, in the arm drive control device, the arm is an assisting arm for assisting a trainee provided in a walking training device provided with an annular belt forming a sidewalk of the trainee, and the region An arm drive control device is provided, wherein the setting means sets the restriction region such that the height of the tip of the assistance arm from the annular belt is equal to or less than a third predetermined value.

More preferably, in the arm drive control device, the arm drive control device is provided, wherein the third predetermined value is an eigenvalue determined according to the height of the trainee. .

Further preferably, in the arm drive control device, the eigenvalues relating to the plurality of trainees are
There is provided an arm drive control device characterized by further comprising an information bank that manages and stores data in a writable and readable manner.

More preferably, in the arm drive control device, the arm is a holding arm for holding the person being assisted, which is provided in a walking assisting device that travels while assisting the person walking. The means sets the restricted area such that the distance between the tip of the holding arm and the wall surface of the room in which the walking assist device is installed is equal to or less than a fourth predetermined value. Provided.

Further preferably, the arm drive control device further includes a sensor for measuring a distance between the moving body and the wall surface in real time according to the movement of the moving body and outputting a corresponding signal, There is provided an arm drive control device characterized in that the area setting means receives a signal from the sensor and sets a restricted area according to the value of the signal.

More preferably, in the arm drive control device, the arm is a holding arm for holding the person being assisted, which is provided in a walking assisting device provided with a moving body which is pushed by the person being assisted to travel. The area setting means sets the restricted area such that the distance between the tip of the holding arm and the floor surface of the room in which the walking assist device is installed is a fifth predetermined value or more. A drive controller is provided.

Further preferably, in the arm drive control device, each of the fourth and fifth predetermined values is a value larger than a thickness of a space occupied by the body of the person being assisted. A controller is provided.

More preferably, in the arm drive control device, the arm is a holding arm for holding the person being assisted, which is provided in a walking assisting device that runs while assisting the person walking. The means sets the restricted area such that the height of the tip of the holding arm from the floor of the room in which the walking assist device is installed is equal to or less than a sixth predetermined value. A controller is provided.

Further preferably, in the arm drive control device, the arm drive control device is provided, wherein the sixth predetermined value is a value determined according to the height of the person being assisted. .

More preferably, in the arm drive control device, there is provided an arm drive control device characterized by further comprising an information bank that manages and stores the eigenvalues of a plurality of the assistees in a writable / readable manner. It

Further preferably, in the arm drive control device, the restriction control means determines that the arm is within the restriction area, and the determination means determines that the arm is outside the restriction area. An arm drive control device is provided which is provided with a drive stop means for stopping the operation of the drive means when the determination is made.

More preferably, in the arm drive control device, the arm drive control device is provided, wherein the drive stopping means is a cutoff means for cutting off the power supply of the drive means.

Further preferably, in the arm drive control device, the restriction control means determines whether the arm is within the restriction area, and the determination means determines that the arm is outside the restriction area. When it is determined, a return drive unit that outputs a return drive signal for driving the arm in the direction of returning to the restricted area to the drive unit,
There is provided a control device comprising:

More preferably, in the arm drive control device, the restriction control means determines whether the arm is within the restriction area, and the determination means determines that the arm is outside the restriction area. When the determination is made, there is provided a control device comprising: a stop position command means for outputting a stop position signal for stopping the arm at that position to the drive means.

Further, preferably, the arm drive control device further comprises warning means for warning the user when the judging means judges that the arm is out of the restricted area. A controller is provided.

[0029]

In the present invention configured as described above, considering the case of being applied to a walking training device, for example, first, a caregiver who assists in training selects a training menu, a training method, etc. at the same time. The setting means sets a restricted area in which the assistance arm can move. At this time, as a region setting method, the tip of the assisting arm is a predetermined distance or more from a portion other than the assisting arm of the walking training device (for example, an arm supporting means for supporting the assisting arm, an annular belt forming a sidewalk of the trainee, etc.). A method of setting them apart from each other, or a method of setting the height of the assistance arm tip (for example, the height from the annular belt) to be a predetermined value or less corresponding to the height of the trainee,
Etc. After such area setting is completed, the tip of the assistance arm is brought close to the trainee in the wheelchair to integrate the assistance arm and the trainee. After that, the assisting arm is moved upward to lift the trainee from the wheelchair to guide the trainee to the training position, and the walking training is started. The assisting arm during training exerts a constant force in the vertically upward direction and a force in the walking direction on the trainee, which allows the trainee to perform walking training while receiving appropriate resistance. . The position of the tip of the assisting arm is detected by the detecting means throughout the series of operations of the assisting arm before the training and during the training, and the limit control is performed according to the detection result by the detecting means and the restricted area setting by the area setting means. By means of the means, area restriction control is performed so that the assisting arm can operate only within the above-mentioned restricted area. As a result, even if the caregiver makes a mistake or the caretaker arm malfunctions due to a failure, the caretaker arm does not operate outside the restricted area. Therefore, for example, the tip of the assistance arm comes too close to the arm support means or the annular belt, and the trainee or the caregiver does not have an unnatural posture or unnatural posture in the narrow space between the tip of the assistance arm and the arm support means / annular belt. It prevents the trainee's body from floating and becoming unnatural due to the posture or the tip of the assist arm moving too high, reducing the physical burden on the trainee and the caregiver. can do.

On the other hand, considering the case of application to, for example, a walking assist device, first, a restriction that the assisting person who intends to walk while being assisted can move the holding arm by the area setting means when selecting an operation mode or the like. Set the area. As a region setting method at this time, a method of setting the holding arm tip to be separated from a peripheral member outside the walking assistance device (for example, the floor surface / wall surface of the room where the walking assistance device is installed) by a predetermined distance or more, Alternatively, there is a method of setting the height of the tip of the holding arm (for example, the height from the floor of the room where the walking assist device is installed) to be a predetermined value or less corresponding to the height of the person being assisted. . After setting the area like this,
The person being assisted starts walking while holding the tip of the holding arm. While walking, the holding arm exerts a constant force in the vertically upward direction and a force in the walking direction on the person being assisted, which allows the person being assisted to take part of the weight at an appropriate ratio. You can walk with your own leg strength while being assisted. The position of the tip of the holding arm is detected by the detecting means throughout the entire operation of the holding arm before and during the auxiliary operation, and the limit control is performed according to the detection result of the detecting means and the limited area setting by the area setting means. By means of the means, area restriction control is performed so that the holding arm can operate only within the above-mentioned restricted area. As a result, even if the assisting person makes a mistaken operation or the holding arm malfunctions due to a failure, the holding arm does not operate outside the restricted area. Therefore, for example, the tip of the holding arm is too close to the wall surface or floor surface of the room, and the person being assisted has an unnatural posture / unnatural posture in a narrow space between the holding arm tip and the wall surface / floor surface, It is prevented that the tip of the holding arm moves excessively upward and the body of the person being assisted floats and becomes an unnatural posture, and the physical burden on the person being assisted can be reduced.

Further, when applied to a walking training device, even if the area setting means sets the restriction area so that the distance between the tip of the assistance arm and the arm supporting means becomes equal to or more than the first predetermined value Even if the person makes a mistake or the assist arm malfunctions due to a failure, the tip of the assist arm comes too close to the arm supporting means, and the trainee or the caregiver does not contact the tip of the assist arm and the arm supporting means. It is possible to prevent an unnatural posture and unnatural posture in a narrow space. Further, when applied to a walking training device, even if the caregiver makes an erroneous operation, the area setting means sets the restricted area so that the distance between the tip of the assistance arm and the annular belt becomes equal to or greater than the second predetermined value. Even if the assisting arm malfunctions due to a failure or malfunction, the tip of the assisting arm comes too close to the annular belt, and the trainee or caregiver does not have an unnatural posture in a narrow space between the assisting arm tip and the annular belt.・ Preventing an unnatural posture. In addition, the first and second predetermined values are larger than the thickness of the space occupied by the trainee and the caregiver, respectively,
The physical burden due to the small space can be reliably reduced. Furthermore, when applied to a walking training device, the height from the annular belt at the tip of the assistance arm is set by the area setting means,
By setting the restriction area to be equal to or less than the third predetermined value, the tip of the assistance arm moves too much upward even if the assistance person makes an erroneous operation or the assistance arm malfunctions due to a failure. The trainee's body is prevented from floating and becoming an unnatural posture. In addition, when applied to a walking training device, the third predetermined value is set to an eigenvalue determined according to the height of the trainee, so that the physical load is appropriately applied according to the body shape of the trainee. Can be reduced. Furthermore, by storing and storing the eigenvalues relating to a plurality of trainees in the information bank so that they can be written and read, arm drive control according to the body shape of the trainee can be easily performed. When applied to a walking assist device, the region setting means sets the restricted region such that the distance between the tip of the holding arm and the wall surface of the room in which the walking assist device is installed is equal to or less than the fourth predetermined value. Therefore, even if the assisting person makes an erroneous operation or the holding arm malfunctions due to a failure, the tip of the holding arm comes too close to the wall surface, and the person being assisted has a narrow space between the holding arm tip and the wall surface. It is possible to prevent unreasonable postures and unnatural postures in space. Further, when applied to a walking assist device, the sensor measures the distance between the moving body and the wall surface in real time according to the movement of the moving body and outputs a corresponding signal, and the area setting means outputs the signal from the sensor. By setting the restricted area according to the value, the restricted area can be corrected at any time in real time according to the position of the moving body that moves as the person being assisted walks. When applied to a walking assist device, the region setting means sets the restricted region such that the distance between the tip of the holding arm and the floor surface of the room in which the walking assist device is installed is equal to or greater than a fifth predetermined value. By doing so, even if the assisted person misoperates or the holding arm malfunctions due to a failure, the holding arm tip comes too close to the floor surface, and It is possible to prevent unnatural posture and unnatural posture in a narrow space. Furthermore, by making the fourth and fifth predetermined values larger than the thickness of the space occupied by the body of the person being assisted, it is possible to reliably reduce the physical burden due to the narrow space. When applied to a walking assist device, the region setting means limits the height of the tip of the holding arm from the floor of the room in which the walking assist device is installed to a sixth predetermined value or less. By setting
Even if the assisting person misoperates or the holding arm malfunctions due to a failure, it is prevented that the tip of the holding arm moves excessively upward and the assisting person's body floats and becomes an unnatural posture. It Furthermore, the sixth predetermined value is
Since the value is determined according to the height of the person being assisted, the physical burden can be appropriately reduced depending on the body shape of the person being assisted. Further, by managing and storing the unique values of a plurality of persons to be assisted in the information bank in a writable and readable manner, arm drive control according to the body type of the person to be assisted can be easily performed. Furthermore, in the limit control means,
The determination means determines whether or not the arm is within the restricted area, and when the determination means determines that the arm is out of the restricted area, the drive stopping means stops the operation of the driving means, that is, for example, the driving means. By outputting a drive stop signal to the device or cutting off the power supply to the driving device, it is possible to realize a device that enables the operation of the arm only within the restricted area. When the determination means determines that the arm is out of the restricted area, the return drive means
By outputting a return drive signal for driving the arm in the direction of returning it into the restricted area to the drive means, it is possible to realize a means that enables the operation of the arm only in the restricted area. Further, when the determination means determines that the arm is out of the restricted area, the stop position command means outputs a stop position signal for stopping the arm at that position to the driving means, so that only within the restricted area. It is possible to realize a means that enables the operation of the arm. Further, when the determination unit determines that the arm is out of the restricted area, the warning unit warns the user, so that the user can be alerted.

[0032]

Embodiments of the present invention will be described below with reference to FIGS. A first embodiment of the present invention will be described with reference to FIGS. The present embodiment is an embodiment in which the present invention is applied to a walking training device for carrying out walking training for a person with walking impairment. FIG. 2 is a conceptual diagram showing the overall configuration of the walking training device 1 which is the target of the present embodiment. In FIG. 2, the walking training device 1 includes a movable link mechanism 2A, a rotation mechanism 2B, and a holding mechanism 2.
F (described later), which assists the body of the trainee U to correct the posture of the trainee and reduces the load, and a cover 3 which covers the rotating mechanism 2B and supports the assisting arm device 2. And a walking surface device 4 including a walking surface 4A that is fixed to the floor surface or the ground and is formed of, for example, an annular belt.
And a control device 5 configured by a CRT 50, a calculator 51, and a keyboard (including a mouse) 52, and controlling the assistance arm device 2 and the walking surface device 4. In addition, the operation of the walking training apparatus 1 is mainly performed by a caregiver (not shown), and the caregiver assists the trainee U in training as necessary.

A conceptual diagram showing the detailed structure of the walking surface apparatus 4 is shown in FIG. In FIG. 3, the walking surface device 4 is a trainee U.
And two walking surfaces 4A corresponding to the left and right foot (i.e. left walking surface 4A _L and right walking surface 4A _R), along with these left and right walking surface 4A _L, the rotation of 4A _R, these left- Left walking surface speed detecting means 7 for detecting the speed of the right walking surfaces 4A _L and 4A _R
And 0A and right walking surface speed detection means 70B, these left and right walking surface 4A _L, left walking surface distance detecting means and 71A and the right walking surface distance detecting means for detecting a moving distance of 4A _R 71B
And left walking surface driving means 69A and right walking surface driving means 69B for driving the left walking surface 4A _L and the right walking surface 4A _R , respectively.
Have and.

The left and right walking surface drive means 69A, B are controlled by the walking surface control section 5B of the control device 5. That is, the walking surface control unit 5B controls the trainee U to move to the left / right walking surface 4
A _L, left and right walking surface speed detecting means 70A when walking kicking 4A _R backwards, based on the speed detected by 70B, so as to provide the proper viscosity resistance on both feet of the trainee U The driving speed is calculated by applying the driving speed to the left and right walking surfaces 4A _L and 4A _R. Such a walking surface control unit 5B
FIG. 4 is a block diagram showing the control contents by the. In FIG. 4, the control by the walking surface control unit 5B has the same system configuration on both the left and right sides, and the speed target V _o and the walking surface speed detection means 70A (or the speed target V0 set in the walking surface control unit 5B in advance are used. 70B) speed information V detected from
The difference from _A (or V _B ) is multiplied by the velocity gain K preset in the walking surface control unit 5B, and the result, that is, K
(V _A -V) (or K (V _B -V)) The final command value as the left and right walking surface driving means 69A, and outputs the B. The speed targets V _A and V _B and the speed gain K may be configured to be changeable by an instruction from an input means (not shown) or another part of the control device 5. As a result, an appropriate viscous resistance force according to the speed of the trainee U is applied to the foot of the trainee U.

The left and right walking surfaces 4AL and 4A _R may be in contact with each other.

FIG. 1 is a side view showing the detailed structure of the assistance arm device 2. A cover 3 for supporting the assistance arm device 2
Is fixedly installed on the front upper surface of the walking surface 4A of the walking surface device 4. Rotation mechanism 2 for moving movable link mechanism 2A
B is stored in the upper part of the cover 3 and the trainee U
Regarding the plane (hereinafter, appropriately referred to as sagittal plane) formed by the walking direction (right direction in FIG. 1) and the vertical direction, the structures are symmetrical. Here, the right side means the front side of the paper surface of FIG. 1, and the left means the back side of the paper surface of FIG.

The detailed structure of the rotating mechanism 2B is shown in FIG. 5, which is a sectional view taken along the line PQ in FIG. In FIG. 5, the rotation mechanism 2B
Has a right rotation shaft 74C and a left rotation shaft 74D that rotate independently of each other. A rotary drive shaft 74A is provided at the right end of the right rotary shaft 74C, and a rotary drive shaft 74B is provided at the left end of the left rotary shaft 74D. The rotation drive shafts 74A and 74B are, for example, pulleys, and the rotation instruction unit 76
It rotates according to the commands of A and 76B. That is, when the rotation instruction units 76A and 76B are clutch mechanisms, the rotation drive shafts 74A and 74B, which are pulleys, are driven via belts, for example.

The rotating mechanism 2B includes an arm control unit 5
A left / right angle sensor, a left / right angular velocity sensor, and a left / right torque sensor, which are not shown in the figure and which form part of A (described later), are provided. These attachment parts are the rotary shaft 74.
Any of C, D and rotary drive shafts 74A, B may be used.

The movable link mechanism 2A is made of a metallic material and has a vertical drive link 2Aa, a horizontal drive link 2Ab, a short driven link 2Ac, and a long driven link 2Ad. These links 2Aa-d are similar in shape and structure, and each form a substantially parallelepiped. Of these, the detailed structure is shown in FIG. 6 by taking the long driven link 2Ad as an example. In FIG. 6, the long follower link 2Ad has two arms 79a and 79b of "V" shape facing each other, and the ends thereof are fixed by members 79c and 79d. Further, the arm 79a and the arm 79b are welded to each other at their intermediate portions by a member 79e. Other links, that is, the vertical drive link 2Aa, the horizontal drive link 2
The structure of Ab and the short driven link 2Ac is almost the same.

Returning to FIG. 1, the vertical drive link 2Aa and the horizontal drive link 2Ab are connected to the right rotary shaft 74C and the left rotary shaft 74D, respectively, and the vertical drive link 2Aa is connected to the right rotary shaft 74C as shown in FIG. It moves up and down as shown by the arrow in the middle, and the lateral drive link 2Ab moves laterally as shown by the arrow in FIG. 1 in accordance with the rotation of the left rotary shaft 74D. That is, the rotatable angles of the rotary drive shafts 74A and 74B are
This is a limited angular range in which the vertical drive link 2Aa and the horizontal drive link 2Ab are moved as shown by arrows. The end of the vertical drive link 2Aa on the opposite side (right side in the figure) from the rotary shaft 74C and the lower end of the short driven link 2Ac are connected by a rotatable node 2C, and are connected to the upper end of the short driven link 2Ac. Opposite side of trainee U of long driven link 2Ad (right side in the figure)
Is connected to the end of the shaft by a rotatable node 2D. Also,
The central portion of the member 79e of the long follower link 2Ad is connected to the opposite end of the lateral drive link 2Ab from the rotation shaft 74d via the rotatable joint 2E, and the end of the long follower link 2Ad on the trainee U side. Is provided with a holding mechanism 2F.

The holding mechanism 2F includes a grip portion 82 that directly grips the trainee U, a support portion 81 that connects the grip portion 82 and the long driven link 2Ad, and a stress sensor 81A provided on the support portion 81. I have it. The stress sensor 81A has an X-axis direction (left direction in FIG. 1), a Y-axis direction (upward direction in FIG. 1), and Z.
Axial direction (from front to back toward the page in Figure 1)
Has a function of measuring the stress and the moment around each axis, and measures the force acting between the trainee U and the assisting arm device 2 via the grip portion 82. The grip portion 82 is an attachment type and various types are prepared, and the grip portion 82 is freely attached to the support portion 81 for use. This grip 8
FIG. 7 is a side view showing the detailed structure in the vicinity of 2. In FIG. 7, the grip 82 includes a shoulder holding member 82A for supporting the shoulder of the trainee U and an adjusting mechanism 82B for adjusting the position of the shoulder holding member 82A to the height / shoulder width of the trainee U.
Consists of Since the operation area of the gripping portion 82 is within the sagittal plane, the assisting arm device 2 causes the trainee U to receive the gripping portion 82 via the gripping portion 82.
Force will be exerted on the sagittal plane. Therefore, the rotating shaft 74
By rotating C and 74D and operating the assisting arm device 2 so as to be a reaction force of the force (external force) applied to the gripper 82 by the trainee U, the gripper 82 is movable with the force from the trainee U. The force from the link mechanism 2A is in equilibrium.

The operation of the assistance arm device 2 is controlled by the arm controller 5A in the controller 5. FIG. 8 is a block diagram showing the control contents of this arm control unit 5A, which is the main part of this embodiment. In the arm control unit 5A shown in FIG. 8, first, the rotation angles θ ₁ and θ ₂ of the rotation shafts 74C and D (or the rotation drive shafts 74A and B) of the rotation mechanism 2B detected by the left and right angle sensors described above. Is input to the tip position calculator 5Aa. The tip position calculator 5Aa calculates the tip position of the long driven link 2Ad to which the holding mechanism 2F is attached, from the input rotation angles θ ₁ and θ ₂ . This calculation method will be described with reference to FIG. FIG. 9 shows a simplified relationship between the movable link mechanism 2A of the assistance arm device 2 and the reference coordinate system having the rotation axis position of the rotation mechanism 2B as the origin. In FIG. 9, the node 2E of the long driven link 2Aa
From the above, if the length on the tip side is l ₁ and the length of the lateral drive link 2Ab is l ₂ , x of the tip position 84 of the long driven link 2Ad is assumed.
The coordinates and y-coordinates will be represented as follows:

X = l ₁ cos θ ₁ + l ₂ cos θ ₂ (1) y = l ₁ sin θ ₁ + l ₂ sin θ ₂ (2) The x and y coordinates calculated in this way are the comparison processor 5A.
sent to b.

At this time, on the other hand, the set value of the movable range of the assistance arm device 2 is input to the comparison processor 5Ab by the assistant through the keyboard 52. This setting input method will be described with reference to FIG. That is, the caregiver uses the minimum value L ₁ (the space occupied by the body of the trainee and the caregiver) of the distance between the tip 84 of the long follower link 2Ad and the cover 3 as the set value of the movable range of the care arm device 2. the thickness greater than, for example L ₁ = 300 mm) minimum L ₂ (the trainee and assistant thickness greater than the body occupies the space distance between the walking surface 4A and the distal end 84 of length driven link 2Ad , For example L ₂ = 300 mm) The maximum value L ₃ of the height of the tip 84 of the long driven link 2Ad from the walking surface 4A (a value determined according to the height of the trainee U, for example L ₃ = 1100 mm) To set. It should be noted that these operations may be performed each time the apparatus is used, or the set value may be stored and used unless the operator changes it.

Here, the above-mentioned setting conditions are
When expressed in the reference coordinate system described above, it is as follows.
Is the distance in the x-axis direction from the reference coordinate origin to the cover 3, and x _min = α + L ₁ = α + 300 is y _min = −, where β is the distance in the y-axis direction from the reference coordinate origin to the walking surface 4A. β + L ₂ = -β + 300 is a y-axis direction distance from the reference coordinate origin to the walking surface 4A as _{β, y max = -β + L} 3 = -β + 1100 Note the y _max because values that vary by a trainee U, operation The information may be input each time the trainee conducts the training, or an information bank may be provided to manage and store the trainee's personal information in a writable / readable manner. As a result, drive control of the assistance arm device 2 according to the body shape of the trainee can be easily performed.

With the above settings, the long driven link 2
The movable range of the tip 84 of Ad is x ≧ α + 300 (3) and −β + 300 ≦ y ≦ −β + 1100 (4), and the shaded region in FIG. 1 is the set movable range.

Then, the comparison processor 5Ab determines whether x calculated by the equation (1) satisfies the condition of the equation (3), and y calculated by the equation (2) satisfies the condition of the equation (4). Compares whether or not

Returning to FIG. 8, when x and y satisfy all the conditions of the expressions (3) and (4), the comparison processor 5Ab.
Notifies the servo control processor 5Ac of the normal state. The servo control processor 5Ac performs the servo processing under normal conditions,
The motor drive command value is output to the left / right rotation instruction units 76A and 76B of the rotation mechanism 2B.

FIG. 10 is a block diagram showing details of servo control in the servo control processor 5Ac. In FIG. 10, first, the force F generated at the tip of the long driven link 2Ad is set as a stress target value. Then, based on the target value F, the conversion matrix multiplier 101 uses the left / right rotation drive shafts 74A,
The torque target value T _o for 74B is calculated. That is, in the conversion matrix multiplier 101, the left / right rotation drive shaft 74
A, the torque target value T _o is multiplied by the transpose T _f (transformation matrix) of the sought Jacobian matrix from the length of 74B angle and each link 2Aa~d stress target value F. Torque target value T _o obtained is sent to the subtractor 102 and the adder 104. The flow toward the adder 104 corresponds to so-called feedforward control. The subtractor 102 obtains a deviation T _o −T between the target torque value T _o and the response T between the left and right torque sensors described above, and sends it to the torque feedback gain multiplier 103. Torque feedback gain multiplier 103 calculates the multiplied with the operation amount X ₁ of the preset torque feedback gain K _t the deviation T _o -T,
Send to adder 104. The subtractor 102 and the feedback gain multiplier 103 at this time constitute a so-called feedback control system. The adder 104 calculates a torque target value T _o from the conversion matrix multiplier 101, the sum of the operation amount X ₁ of the feedback gain multiplier 103, and sends the result to the subtractor 106.

On the other hand, at this time, the response ω from the left and right angular velocity sensors described above is multiplied by the velocity feedback gain K _v preset in the velocity gain 105, and the result is subtracted as the manipulated variable X _2. To the container 106. Then, in the subtractor 106, the adder 104
From T _o + X ₁ to X ₂ from the velocity gain 105 is transmitted to the left / right rotation instruction units 76A and 76B of the rotation mechanism 2B as an operation amount signal X ₃ . The rotation instruction units 76A and B are
Based on this manipulated variable signal X ₃ , left / right rotation drive shafts 74A, 7
4B is rotationally controlled, whereby the holding mechanism 2F is
A force acting on the trainee U is given.

By controlling the operation of the assisting arm device 2 in the arm control section 5A as described above, the rotary shaft 74C rotates, the vertical drive link 2Aa moves up and down in accordance with the rotation angle of the rotary shaft 74C, and this movement is performed. The short driven link 2Ac moves up and down in conjunction with each other. Similarly, the assistance arm device 2
The rotating shaft 74D is rotated by the control of the operation of
The lateral drive link 2Ab laterally moves according to the rotation angle of D. As a result, the long driven link 2Ad moves following the movements of the lateral drive link 2Ab and the short driven link 2Ac.
Examples of such operation behavior are shown in FIGS. 11 (a) to 11 (d). FIG. 11A shows the initial posture. From this state, the lateral drive link 2Aa fixed to the right rotation shaft 74C
Does not rotate, and only the vertical drive link 2Ab fixed to the left rotary shaft 74D rotates, only the long driven link 2Ad mainly slides horizontally as shown in FIG. 11B. In the figure, the support portion 81 of the holding mechanism 2F attached to the long driven link 2Ad projects out toward the trainee U (left side in the figure), but it goes without saying that it can slide in the opposite direction. Nor. On the other hand, FIG.
From the initial posture state of (a), the vertical drive link 2Ab fixed to the left rotary shaft 74D does not rotate, and the right rotary shaft 74C
When only the lateral drive link 2Aa fixed to is rotated, the support portion 81 mainly moves in the vertical direction as shown in FIG. 11 (c). Further, as shown in FIG. 11D, when the vertical drive link 2Ab and the horizontal drive link 2Ac are moved at the same time, the support portion 81 can be moved within a considerably wide range within the sagittal plane. Therefore, the holding mechanism 2F can be moved over a wide range.

Returning to FIG. 8, on the other hand, in the comparison processor 5Ab, when it is found that x and y do not satisfy any one of the three conditions of the expressions (3) and (4), The comparison processor 5Ab notifies the servo control processor 5Ac of the abnormal state and outputs a stop command to the left / right rotation instruction units 76A and 76B of the rotation mechanism 2B. As a result, the servo control processor 5Ac waits until the comparison processor 5Ab notifies the normal state, and also the left / right rotation instruction unit 76.
A and 76B stop driving the left and right rotation drive shafts 74A and 74B, respectively. At this time, the comparison processor 5Ab may be configured to cut off the power supply to the left / right rotation drive shafts 74A, B. In this case, the comparison processor 5Ab also constitutes a cutoff unit that cuts off the power supply to the drive unit.

The series of control processes described above are repeatedly performed at fixed time intervals from the start to the end of driving the walking training device.

In the arm control section 5A described above, an angle sensor (not shown) provided in the rotation mechanism 2B and the tip position calculator 5Aa constitute detection means for detecting the position of the tip of the arm, and the keyboard 52 is An area setting means for setting a control area in which the arm can move is configured, a comparison means 5Ab constitutes a determination means for determining whether or not the arm is within the restricted area, and left / right rotation instructing portions 76A, 76
B constitutes drive stopping means for stopping the operation of the driving means.

In the present embodiment configured as described above, first, the assisting arm who assists the training selects the training menu and the assisting method at the same time via the keyboard 52 of the arm control section 5A. The movable range in which the tip 84 of the long driven link 2Ad of the device 2 can move is defined as x ≧, for example.
Set α + 300 and −β + 300 ≦ y ≦ −β + 1100. After such range setting is completed, (a) the trainee U in the wheelchair, the long driven link 2A of the assistance arm device 2
d) The trainee U is integrated with the holding mechanism 2F by bringing the tip end closer. After that, (b) the long driven link 2Ad is moved upward to lift the trainee U from the wheelchair to the training position, and (c) the walking surface 4A is driven and a predetermined reaction force is applied to the long driven link 2Ad to walk. Start training. The movement of the long driven link 2Ad in the steps (a), (b), and (c) follows that when the trainee U or the caregiver slightly moves it by hand, the movement of the long driven link 2Ad or the like by the rotating mechanism 2B follows. Alternatively, the assistant may operate the long driven link 2Ad or the like by the keyboard 52 or the like of the control device 5. Then, the assisting arm device 2 during the training causes the trainee U to exert a constant force in the vertically upward direction and a force in the walking direction, whereby the trainee U receives the proper resistance and performs the walking training. I do. The position of the tip 84 of the long driven link 2Ad is detected by the tip position calculator 5Aa of the arm control section 5A based on the input signal from the angle sensor during the whole operation of the assistance arm device 2 from before the training to during the training. The calculation result by the tip position calculator 5Aa and the movable range x ≧ α + 300 and −β +
300 ≦ y ≦ −β + 1100 is compared by the comparison processor 5Ab, and if within this range, normal control is performed by the servo control processor 5Ac, and if not within this range, the left / right rotation instructing units 76A, 76B are used. Then, the driving of the right rotation drive shafts 74A and 74B is stopped. That is, the restriction control is performed so that the operation is possible only within the movable range described above. As a result, the assisting arm malfunctions due to an erroneous operation of the caregiver or a failure, and the holding mechanism 2F that holds the trainee U approaches the cover 3 and the walking surface 4A too much, and the trainee U and the caregiver U Is in an unnatural posture / unnatural posture in a narrow space between the holding mechanism 2F / long follower link 2Ad and the cover 3 / walking surface 4A, or the holding mechanism 2F moves excessively upward, and the trainee U It is possible to prevent the body of the person from floating and become unnatural and to reduce the physical burden on the trainee U and the caregiver.

In the first embodiment, it is found that x and y in the comparison processor 5Ab do not satisfy any one of the three conditions of the expressions (3) and (4). In this case, the stop command is output to the left / right rotation instruction units 76A and 76B of the rotation mechanism 2B, but the present invention is not limited to this, and the following two modified examples can be considered. (I) Configuration for issuing a return command For example, a return control processor that receives a command from the comparison processor 5Ab and performs a return control is separately provided. That is, in the comparison processor 5Ab, when it is found that x and y do not satisfy any one of the three conditions of the expressions (3) and (4), the comparison processor 5Ab is driven by the long driven device. Position command values x _ref , y _ref of the tip 84 of the link 2Ad
When x <x _min , x _ref = x _min + a, y _ref = y
(For example, a = 5 mm) When y <y _min , x _ref = x, y _ref = y _min + b
(For example, b = 5 mm) When y> y _max , x _ref = x, y _ref = y _max −c
(For example, c = 5 mm) is output to the return control processor. In the return control processor, based on the above-mentioned position command values x _ref and y _ref , the following two expressions, that is, θ _2ref = tan ⁻¹ {(√ (r ² −d ² )) / d} + tan ^−1. (Y _ref / x _ref } ... (I) However, r = √ (x _ref ² + y _ref ² ) d = (x _ref ² + y _ref ² −l ₁ ² + l ₂ ² ) / 2l ₂ θ _1ref = tan ⁻¹ ((Y _ref −l ₂ sin θ _2ref ) / (x _ref −l ₂ cos θ _2ref )) (II) calculates the rotation angles θ _1ref and θ _2ref of the left and right rotation drives 74A and B of the rotation mechanism 2B, Left / right rotation instruction unit 76
The motor drive command values corresponding to the angles θ _1ref and θ _2ref are output to A and 76B. In response to this, the left / right rotation instruction unit 7
6A and 76B drive the left and right rotation drive shafts 74A and 74B, so that the tip 84 of the long driven link 2Ad returns to the movable range. At this time, the recovery control processor constitutes recovery drive means for outputting a recovery drive signal to the drive signal.
Further, the servo control processor 5Ac may be provided with this function without newly providing the return control processor.

(Ii) Configuration for issuing a stop command For example, a stop control processor for receiving a command from the comparison processor 5Ab and performing stop control is separately provided. That is, in the comparison processor 5Ab, when it is found that x and y do not satisfy any one of the three conditions of the expressions (3) and (4), the comparison processor 5Ab outputs The rotation angles θ ₁ and θ ₂ detected by the left and right angle sensors are output to the stop control processor as the rotation angle position command values θ _1ref and θ _2ref of the right rotation drive shafts 74A and B.

In the stop control processor, the above position command value θ
Based on _1ref and θ _2ref , left / right rotation instruction units 76A, 76
The motor drive command values corresponding to the angles θ _1ref and θ _2ref are output to B. In response to this, the left / right rotation instruction section 76A,
76B stops the driving of the left / right rotation drive shafts 74A, 74B at the current position.

At this time, the stop control processor constitutes stop position command means for outputting a stop position signal for stopping the arm. Further, the servo control processor 5Ac may be provided with this function without newly providing the stop control processor.

A second embodiment of the present invention will be described with reference to FIG. This embodiment is also an embodiment when the present invention is applied to a walking training device. The gait training device of the present embodiment is different from the gait training device 1 of the first embodiment in that the arm control unit 5A of the control device 5 has the tip 84 of the long driven link 2Ad outside the movable range. When judged, the assisting arm state warning device 1 which warns the trainee U / assistant of the judgment 1
5 is provided. The assistance arm state warning device 15 is
Lamp or buzzer or display, etc.
The trainee U / assistant is configured by a device capable of notifying that the movable range has been exceeded. While the assisting arm state warning device 15 is operating, the assisting person or the like uses the tip 84 of the long follower link 2Ad. The assistance arm device 2 is configured to be in a standby state until an operation is performed in a direction to return the to within the movable range.

The other structure is almost the same as that of the first embodiment.

Also according to this embodiment, the same effect as that of the first embodiment can be obtained.

A third embodiment of the present invention will be described with reference to FIGS. The present embodiment is an embodiment in which the present invention is applied to a walking assist device that assists a person with a relatively slight walking disorder in assisting himself / herself in walking. FIG. 13 is a conceptual diagram showing the overall configuration of the walking assistance device 320 that is the target of this embodiment. In FIG. 13, the walking assist device 320 includes a moving mechanism 327 and a support 354 provided on the moving mechanism 327.
And a holding arm device 306 provided on the upper end of the column 354.

The moving mechanism 327 has drive wheels 328 provided on the left and right behind the drive mechanism 327, a drive motor 362 provided near the drive wheel 328 for driving them, a driven wheel 329 provided on the front side, and their operations. And a distance sensor 336A described later. Further, a distance sensor 366a, which will be described later, is provided near the moving mechanism control device 365, and the holding arm device 30 is provided.
6, a holding arm control device 366 for controlling 6, a distance sensor 366A, a sensor control device 367 for controlling an angle sensor and an angular velocity sensor described later, a power supply device 368, and the like are provided. Three
Both 54 and the like are covered with a cover 369. Although the drive wheel 328 and the driven wheel 329 of the moving mechanism 327 are shown as wheels, they may be legs, tracks, or any other type. Power is transmitted to the drive wheels 328 from a drive motor 362 by a transmission mechanism, a belt, or the like (not shown), and the steering direction is determined by the difference in the drive speed and the difference in the drive directions of the left and right drive wheels 328. It is configured to realize a small turning radius such as turning to a turning point. Further, one driven wheel 329 is provided as a caster type, and the direction of the wheel is configured to be freely oriented in the steering direction by the drive wheel 328. Further, the control of the moving mechanism 327 by the moving mechanism control device 365 uses the forward force detected by the acting force detector 374 arranged at the base of the holding arm 321. That is, the movable arm 32 is moved by the translational drive motor 324 and the rotational drive motors 325 and 364.
When the posture of No. 2 changes, this causes the holding arm 321.
Position changes two-dimensionally (within the plane of FIG. 13). The change in position of the holding arm 321 results in a change in relative position with respect to the person V to be assisted.
The acting force on is changed and is detected by the acting force detector 374. The detected acting force in the moving direction is input to the moving mechanism control device 365, and the moving mechanism control device 365 calculates the direction and the acting force of the person V to be advanced, and the acting force is not shown in advance. The driving force of the drive wheels 328 is controlled so that it is always equal to the target value stored in the storage device. If this target value is set and stored as, for example, 20% of the acting force, 20% of the forward moving force is always assisted by the walking assist device 320, while the remaining moving force of the assisted person V himself. By generating with force and moving,
Mobility assistance is realized.

The holding arm device 306 holds the movable arm holder 307, the translational drive motor 324 built in the movable arm holder 307, the stoppers 310 at both ends and the body of the person V to be assisted. Arm 3
21, a movable arm 322 provided with 21, an action force detector 324 provided at the base portion of the holding arm 321, and a range within reach of the person to be assisted V when holding the arm in the vicinity of the holding arm 321. , An operation panel 312 that conveys the intent of the person to be assisted V and shows the state of the apparatus to the person to be assisted V, and an upper portion of a support column 354 and a movable arm holder that are provided to rotate the movable arm 322 around a rotation shaft 323. It has rotation drive motors 325 and 364 for obliquely supporting 307. Further, each drive motor 324, 325, 364 is provided with an angle sensor and an angular velocity sensor (not shown) that form a part of the holding arm control device and detect the angle and angular velocity by each drive motor 324, 325, 364. There is.

The operation of the holding arm device 306 is controlled by the holding arm control device 366. FIG. 14 is a block diagram showing the control contents of this holding arm control device 366, which is the main part of this embodiment. In the holding arm control device 366 shown in FIG. 14, first, the drive motors 324, 325, 36 detected by the angle sensor described above are first.
The rotation angle of the rotation axis of No. 4 is input to the tip position calculator 366a. The tip position calculator 366a calculates the tip position of the movable arm 322 to which the holding arm 321 is attached, from the input rotation angle. This calculation method is shown in FIG.
This will be described below. FIG. 15 shows a simplified relationship between the movable arm 322 of the holding arm device 306 and a reference coordinate system whose origin is the position of the rotating shaft 323. FIG.
5, when the length of the movable arm 322 from the rotation shaft 323 to the tip side is d and the angle formed with the horizontal direction is θ ₃ , the x coordinate and the y coordinate of the tip position 314 of the movable arm 322 are
It will be expressed as follows.

X = d × cos θ ₃ (11) y = d × sin θ ₃ (12) That is, the tip position calculator 366a calculates three rotation angles of the drive motors 324, 325, 364 from the angle sensors. The angle θ ₃ and the translational distance d are calculated, the x and y coordinates are calculated from the equations (11) and (12) using the θ ₃ and d, and the calculated coordinates are sent to the comparison processor 366b.

Returning to FIG. 14, at this time, the comparison processor 36
A set value of the movable range of the movable arm 322 is input to 6b by an assistee via an input unit (for example, may be provided on the operation panel 312) included in the holding arm control device 366. This setting input method will be described with reference to FIG. FIG. 16 is a conceptual diagram showing the relationship between the walking auxiliary equipment 320 on the reference coordinates shown in FIG. 15 and the set value of the movable range. In FIG. 16, the person being assisted is
As the set value of the movable range of the holding arm device 306, the maximum value T ₁ of the distance between the tip 314 of the movable arm 322 and an obstacle (for example, the wall surface 341 on which the walking assist device 320 is installed) (trainee and assistance) A value larger than the thickness of the space occupied by the human body, for example, T ₁ = 300 mm) The tip 314 of the movable arm 322 and the walking assist device 320
The minimum value of the distance from the floor surface 340 to the floor surface 340 on which is installed T ₂ (a value greater than the thickness of the space occupied by the body of the person being assisted, for example T ₂ = 300 mm) from the floor surface 340 of the tip 314 of the movable arm 322. _Three maximum values of height T ₃ (value determined according to the height of the person to be assisted V, for example, T ₃ = 1100 mm) are set. It should be noted that these operations may be performed each time the apparatus is used, or the set value may be stored and used unless the operator changes it.

Here, the above-mentioned setting conditions 1 to 4 are as follows:
When expressed in the reference coordinate system described above, it is as follows.
Is the distance in the x-axis direction from the reference coordinate origin to the distance sensor 336A, and the distance to the obstacle detected by the distance sensor 336A is x _sensor , x _max = γ + x _sensor −T ₁ = γ + x _sensor −3
The value of x _sensor changes from moment to moment, and as shown in FIG. 14, the distance sensor 336A measures in real time and inputs it to the comparison processor 366b.

Is a distance from the reference coordinate origin to the floor surface 340 in the y-axis direction, and y _min = -β + T ₂ = -β + 300 is a distance from the reference coordinate origin to the floor surface 4A in the y-axis direction. Y _max = −β + T ₃ = −β + 1100 Since this y _max is a value that changes depending on the person being assisted V, it is input each time walking assistance is performed, or an information bank is provided to write / read as personal information of the person being assisted. It may be managed and stored as much as possible. This makes it possible to easily control the drive of the holding arm device 306 according to the body type of the person being assisted.

The movable arm 32 is set according to the above settings.
The movable range of the distal end 314 of No. 2 is x ≧ γ + x _sensor −300 (13) and −β + 300 ≦ y ≦ −β + 1100 (14), and the shaded area in FIG. 16 is the set movable range.

Returning to FIG. 14, the comparison processor 366b is
A comparison is made as to whether x calculated by the equation (11) satisfies the condition of the equation (13) and whether y calculated by the equation (12) satisfies the condition of the equation (14).

When x and y satisfy all the conditions of the expressions (13) and (14), the comparison processor 366b notifies the servo control processor 366c of the normal state. The servo control processor 366c performs a servo process under normal conditions and outputs a motor drive command value corresponding to the drive motors 324, 325, 364.

FIG. 17 is a block diagram showing details of servo control in the servo control processor 366c. Drive motors 324, 325, 3 in the servo control processor 366c
The control of 64 is performed by utilizing the downward force detected by the acting force detector 374 provided at the base of the holding arm 321, and the three drive motors 324, 325, 364 are substantially similar to each other as follows. Is done. That is, in FIG. 17, the acting force on the holding arm 321 is detected by the acting force detector 374 and input to the converter 345.
The converter 345 converts the input acting force into the drive motor 3
The control value 346 having the same physical quantity (for example, driving torque) as the command value to 24, 325, 364 is converted. The converted control amount 346 is sent to the subtractor 355. On the other hand, at this time, the target value of the supporting force for supporting the person to be held V is stored in advance in the storage device (not shown), and this target value is similarly input to the converter 342, and the drive motors 324, 3
It becomes the command value 343 to 25,364. Then, this command value 343 is sent to the subtractor 355 and the adder 357. The flow toward the adder 357 is so-called feedforward control. In the subtractor 355, the command value 343 input from the converter 342 and the converter 345 are input.
The deviation 347 from the control amount 346 input from is obtained, and this deviation 347 is sent to the control gain 348.
In the control gain multiplier 348, the input deviation 3
The manipulated variable is obtained by multiplying 47 by the feedback gain K _t , and this manipulated variable is sent to the adder 357. The subtractor 355 and the control gain multiplier 348 form a so-called feedback control system.

In the adder 357, the command value 343 from the converter 342 and the operation amount from the control gain multiplier 348 are added to obtain a drive motor target value 349, which is sent to the subtractor 356.

On the other hand, the angular velocity 3 detected by each drive motor 324, 325, 364 detected by the angular velocity detecting means.
50 is input to the velocity gain multiplier 351, and is multiplied by the velocity feedback gain K _v set in advance. Then, the result obtained by multiplying this K _v is sent to the subtractor 356 as the manipulated variable.

In the subtractor 356, the drive motor target value 349 from the adder 357 and the speed gain multiplier 351 are used.
The deviation from the manipulated variable from is calculated, and this is sent to each drive motor 324, 325, 364 as a drive motor control amount deviation 352.

By the above series of control, the holding arm device 3
It is possible to realize the control in which the acting force from 06 always acts on the assisting person V constantly and the assisting person V is always held with a constant supporting force. Also, by appropriately changing the target value in the storage device,
Appropriate assistance depending on the degree of the obstacle of the person being assisted V can be realized.

Returning to FIG. 14, meanwhile, the comparison processor 366b.
When it is found that x and y do not satisfy any one of the three conditions of the equations (13) and (14), the comparison processor 366b as in the first embodiment.
Notifies the servo control processor 366c of the abnormal state and outputs a stop command to the drive motors 324, 325, 364. As a result, the servo control processor 366c waits until the comparison processor 366b notifies the normal state, and the drive motors 324, 325, 364 stop driving. At this time, the comparison processor 366b causes the drive motors 324,3
The power supply to 25,364 may be cut off.

The above series of control processes are repeatedly performed at a constant time interval from the start to the end of driving the walking training device.

The holding arm control device 366 described above is used.
In, the angle sensor (not shown) provided in the drive motors 324, 325, 364 and the tip position calculator 366a constitute a detecting means for detecting the position of the tip of the arm,
The input means for setting and inputting T ₁ , T ₂ , and T ₃ constitutes area setting means for setting a control area in which the arm can move, and the comparison processor 366b limits the movement of the arm only within the limit area. It constitutes a control means.

In the present embodiment constructed as described above, first, the person V to be assisted who walks while being assisted.
However, at the same time when the operation mode or the like is selected, the movable range in which the tip 314 of the movable arm 322 can move via the input means is set to, for example, x ≧ γ + x _sensor −300 and −β + 300.
≦ y ≦ −β + 1100 is set. After such range setting is completed, the person to be assisted V starts walking while holding the holding arm 321. In addition, the posture changing operation of the movable arm 322 may be configured such that the movement by the drive motors 324, 325, 364 follows the movement of the person to be assisted V lightly by the hand, and is not shown in the holding arm control device 366. The movable arm 322 may be operated by an input means or the like. And the holding arm device 30 during walking assistance
6 applies a constant force in the vertically upward direction and a force in the walking direction to the assisting person V, whereby the assisting person V
Can walk with his or her own leg strength while being assisted with a portion of his weight at an appropriate rate. Throughout the entire operation of the series of holding arm devices 306 between before and during this assistance,
The position of the tip 314 of the movable arm 322 is detected by the tip position calculator 366a of the holding arm controller 366 based on the input signal from the angle sensor. The calculation result by the tip position calculator 366a and the movable range are shown. x ≦ γ + x _sensor −300 and −β + 300 ≦ y ≦ −β
+1100 is compared by the comparison processor 366b, and if it is within this range, the servo control processor 366c performs normal control, and if it is not within this range, the drive motors 324, 325, 36
The drive of 4 is stopped. That is, the restriction control is performed so that the operation is possible only within the movable range described above. As a result, the movable arm 322 malfunctions due to an erroneous operation by the person being assisted or a malfunction, and the holding arm 321 holding the person being assisted V approaches the floor surface 340 or the wall surface 341 too much, so that the person being assisted V In a narrow space between the holding arm 321 and the floor surface 340 or the wall surface 341, an unnatural posture or an unnatural posture occurs, or the holding arm 321 moves too much upward,
It is possible to prevent the body of the person to be assisted V from floating and become unnatural, and it is possible to reduce the physical burden on the person to be assisted V.

In the third embodiment, x and y in the comparison processor 366b are expressed by equation (13) (1)
If it is found that any one of the three conditions of equation 4) is not satisfied, the drive motors 324, 325,
Although the stop command was output to 364, it is not limited to this, and
Similar to the above embodiment, the following two modified examples can be considered. (I) Configuration for issuing a return command For example, a return control processor that receives a command from the comparison processor 366b and performs a return control is separately provided. That is, in the comparison processor 366b, x and y are (1
3) If it is found that any one of the three conditions of Expression (14) is not satisfied, the comparison processor 36
6b is a position command value x of the tip 314 of the movable arm 322.
_{As ref} and y _ref , when x> x _max , x _ref = x _max −a, y _ref = y
(For example, a = 5 mm) When y <y _min , x _ref = x, y _ref = y _min + b
(For example, b = 5 mm) When y> y _max , x _ref = x, y _ref = y _max −c
(For example, c = 5 mm) is output to the return control processor. The return control processor calculates the command value θ _ref of the rotation angle and the command value d _ref of the translational distance of the corresponding movable arm 322 based on the above-mentioned position command values x _ref and y _ref , and each drive motor 324, 325. , 36
The motor drive command values corresponding to the θ _ref and d _ref are output to 4. As a result, the tip 314 of the movable arm 322 is
Returns to the movable range. In this case, the comparison processor 366b constitutes only a judgment means for judging whether or not the arm is within the restriction area among the restriction control means, and the recovery control processor outputs a recovery drive signal for outputting a recovery drive signal. Will be configured. Further, the servo control processor 366c may be provided with this function without providing the return control processor.

(Ii) Structure for issuing a stop command For example, a stop control processor for receiving a command from the comparison processor 366b and performing stop control is separately provided. That is, in the comparison processor 366b, x and y are (1
3) If it is found that any one of the three conditions of Expression (14) is not satisfied, the comparison processor 36
6b outputs the rotation angles θ, d detected by the angle sensor as the position command values θ _ref , d _ref of the drive motors 324, 325, 364.

In the stop control processor, the above position command value θ
Based on _ref and d _ref , each drive motor 324, 325, 36
The motor drive command values corresponding to the θ _ref and d _ref are output to 4. According to this, each drive motor 324, 325, 3
64 stops at the current position. In this case, the comparison processor 366b constitutes only the judgment means of the restriction control means for judging whether the arm is within the restriction region, and the stop control processor outputs a signal for stopping the arm. It constitutes the command means. Further, the servo control processor 366c may be provided with this function without providing the stop control processor.

Also in the third embodiment, the second
If it is determined that the tip 314 of the movable arm 322 is out of the movable range, the trainee V
A holding arm state warning device for warning the above may be provided, and in this case, the same effect is obtained.

[0087]

According to the present invention, during the entire operation of a series of arms, the area limit control is performed by the area limit control means according to the detection result by the area detector and the area limit setting by the area setting means. Even if a person malfunctions or the arm malfunctions due to a failure,
The arm does not move outside the restricted area. Therefore, the tip of the arm is, for example, an arm support means
The user is in an unnatural posture / unnatural posture in a narrow space because the wall and floor of the installed room are too close to each other, or the arm tip moves too high and the user's body floats A natural posture is prevented. Therefore, the physical burden on the user or the like can be reduced.

[Brief description of drawings]

FIG. 1 is a side view showing a detailed structure of an assistance arm device of a walking training device which is a target of a first embodiment of the present invention.

FIG. 2 is a conceptual diagram showing an overall configuration of a walking training device, a part of which is shown in FIG.

3 is a conceptual diagram showing a detailed structure of a walking surface device provided in the walking training device shown in FIG.

FIG. 4 is a block diagram showing control contents by a walking surface control unit that controls the walking surface device shown in FIG.

5 is a cross-sectional view showing a detailed structure of the rotating mechanism shown in FIG.

FIG. 6 is a side view showing a detailed structure of the long driven link shown in FIG.

7 is a side view showing a detailed structure in the vicinity of a grip portion provided in the holding mechanism shown in FIG.

FIG. 8 is a block diagram showing the contents of control by an arm control unit.

FIG. 9 is an explanatory diagram showing a simplified relationship between a movable link mechanism of the assistance arm device and a reference coordinate system whose origin is a rotation axis position of a rotation mechanism.

10 is a block diagram showing details of servo control in the servo control processor shown in FIG.

FIG. 11 is a conceptual diagram showing an example of the operation behavior of the assistance arm device.

FIG. 12 is a block diagram showing control contents by an arm control unit according to a second embodiment of the present invention.

FIG. 13 is a conceptual diagram showing an overall configuration of a walking assistance device which is a target of a third embodiment of the present invention.

14 is a block diagram showing the control content of a holding arm control device provided in the walking assist device shown in FIG.

FIG. 15 is an explanatory view showing a simplified relationship between a movable arm of a holding arm device and a reference coordinate system having a position of a rotation axis as an origin.

16 is a conceptual diagram showing the relationship between the walking assist device and the set value of the movable range on the reference coordinates shown in FIG.

FIG. 17 is a block diagram showing details of servo control in the servo control processor shown in FIG. 14.

[Explanation of symbols]

1 Walking Training Device 2 Assist Arm Device 2A Movable Link Mechanism 2B Rotation Mechanism Section 2Aa Vertical Drive Link 2Ab Horizontal Drive Link 2Ac Short Driven Link 2Ad Long Driven Link 2C Rotatable Node 2D Rotatable Node 2E Rotatable Node 2F Holding Mechanism 3 cover (arm support means) 4 walking surface device 4A walking surface (annular belt) 5 control device 5A arm control unit (arm drive control device) 5Aa tip position calculator 5Ab comparison processor (determination device) 15 arm state warning device ( Warning means) 50 CRT 51 Calculator 52 Keyboard (area setting means) 76A Left rotation instruction section (drive stopping means) 76B Right rotation instruction section (drive stopping means) 84 Tip of long driven link 320 Walking assist device 321 Holding arm 322 Movable arm 324 Translational drive motor 325 Rotational drive motor 364 The distance between the diversion drive motor 366 holding arm control device (arm drive control device) 366A distance sensor (sensor) 366a tip position calculator 366b comparator processor (restriction control means) 369 tip and the cover of the cover L ₁ length driven link Minimum value (first predetermined value) of L ₂ minimum distance between the tip of the follower link and the walking surface (second predetermined value) L ₃ length of the tip of the follower link from the walking surface Maximum value (third predetermined value) T ₁ Maximum value of the distance between the tip of the movable arm and the wall surface (fourth predetermined value) T _{2 Between} the tip of the movable arm and the floor surface on which the walking assist device is installed Minimum value of distance (fifth predetermined value) T ₃ Maximum value of height of tip of movable arm from floor surface (sixth predetermined value) U Trainee V Assistee

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Atsushi Ozeki 502 Jinritsucho, Tsuchiura City, Ibaraki Prefecture Inside the Institute for Mechanical Research, Hiritsu Manufacturing Co., Ltd.

Claims (19)

[Claims] 1. An arm drive control device for controlling a drive means for driving an arm that supports a user's body, a detection means for detecting a position of a tip of the arm, and an area for setting a restricted area in which the arm can move. Setting means, limiting the operation of the driving means according to the detection result by the detecting means and the restricted area setting by the area setting means,
An arm drive control device, comprising: a limit control unit that enables the operation of the arm only within the limit region. 2. The arm drive control device according to claim 1, wherein the arm is an assisting arm for assisting a trainee provided in a walking training device having an annular belt forming a sidewalk of the trainee, The arm drive control device, wherein the area setting means sets the restricted area such that the distance between the tip of the assistance arm and the arm support means that supports the assistance arm is equal to or greater than a first predetermined value. 3. The arm drive control device according to claim 1, wherein the arm is an assisting arm for assisting a trainee provided in a walking training device including an annular belt forming a sidewalk of the trainee, The arm drive control device, wherein the area setting means sets a restriction area such that a distance between the tip of the assistance arm and the annular belt is equal to or greater than a second predetermined value. 4. The arm drive control device according to claim 2, wherein the first and second predetermined values are respectively
An arm drive control device having a value larger than the thickness of the space occupied by the bodies of the trainee and the caregiver. 5. The arm drive control device according to claim 1, wherein the arm is an assistance arm for assisting a trainee provided in a walking training device including an annular belt forming a sidewalk of the trainee, The arm drive control device, wherein the area setting means sets the restriction area such that the height of the tip of the assistance arm from the annular belt is equal to or less than a third predetermined value. 6. The arm drive control device according to claim 5, wherein the third predetermined value is an eigenvalue determined according to the height of the trainee. 7. The arm drive control device according to claim 6, further comprising an information bank that manages and stores the eigenvalues of the plurality of trainees in a writable / readable manner. 8. The arm drive control device according to claim 1, wherein the arm is a holding arm for holding the person being assisted, which is provided in a walking assist device that travels while assisting the person walking. The area setting means sets the restricted area such that the distance between the tip of the holding arm and the wall surface of the room in which the walking assist device is installed is equal to or less than a fourth predetermined value. apparatus. 9. The arm drive control device according to claim 8, further comprising a sensor that measures a distance between the moving body and the wall surface in real time according to the movement of the moving body and outputs a corresponding signal. The arm drive controller is characterized in that the area setting means inputs a signal from the sensor and sets a restricted area according to a value of the signal. 10. The arm drive control device according to claim 1, wherein the arm is a holding arm for holding the person being assisted, which is provided in a walking assisting device provided with a moving body that is moved by being pushed by the person being assisted. The area setting means sets the restricted area such that the distance between the tip of the holding arm and the floor surface of the room in which the walking assist device is installed is equal to or greater than a fifth predetermined value. Arm drive control device. 11. The arm drive control device according to claim 8 or 10, wherein each of the fourth and fifth predetermined values is larger than a thickness of a space occupied by the body of the person being assisted. And arm drive control device. 12. The arm drive control device according to claim 1, wherein the arm is a holding arm for holding the person being assisted, which is provided in a walking assist device that travels while assisting the person walking. The area setting means sets the restricted area such that the height of the tip of the holding arm from the floor of the room in which the walking assist device is installed is equal to or less than a sixth predetermined value. Arm drive controller. 13. The arm drive control device according to claim 12, wherein the sixth predetermined value is a value determined according to the height of the person being assisted. 14. The arm drive control device according to claim 13, wherein the eigenvalues relating to the plurality of persons to be assisted are:
An arm drive control device further comprising an information bank that manages and stores data in a writable and readable manner. 15. The arm drive control device according to claim 1, wherein the restriction control means determines whether the arm is within the restriction area, and the determination means causes the arm to move out of the restriction area. When it is determined that there is,
An arm drive control device, comprising: a drive stop means for stopping the operation of the drive means. 16. The arm drive control device according to claim 15, wherein the drive stop means is a cutoff means for cutting off power supply to the drive means. 17. The arm drive control device according to claim 1, wherein the limit control unit determines whether the arm is within the limit region, and the determination unit causes the arm to move outside the limit region. When it is determined that there is,
A return drive means for outputting a return drive signal for driving the arm in a direction to return the arm into the restricted area, to the drive means. 18. The arm drive control device according to claim 1, wherein the restriction control means determines whether the arm is within the restriction area, and the determination means causes the arm to move out of the restriction area. When it is determined that there is,
And a stop position command means for outputting a stop position signal for stopping the arm at that position to the drive means. 19. Any one of claims 15, 17 and 18
The arm drive control device according to the paragraph (4), further comprising warning means for warning the user when the determination means determines that the arm is out of the restricted area.