JP2013208292A - Walking assistance device and walking assistance program - Google Patents

Abstract

To improve the walking efficiency of a wearer.
The state of walking is judged from various parameters (body parameters, joint angle, floor reaction force, etc.), and an actuator for walking assistance (hip joint, knee joint, foot) so that the ideal center of gravity position of the state is obtained. Control). By drawing an ideal center-of-gravity locus, it is possible to perform an efficient walk with no distortion in the way of walking (good balance between left and right, less burden on legs and waist). More specifically, in each phase of walking, a shift in the position of the human body center of gravity and the ideal center of gravity is detected, each actuator is driven to move the human body, and the human body center of gravity is moved in the direction of the ideal center of gravity to correct the shift. .
[Selection] Figure 4

Description

  The present invention relates to a walking support device and a walking support program, and, for example, relates to a device that supports walking of a wearer.

2. Description of the Related Art In recent years, the development of bipedal robots has been remarkable, and there are robots that can not only walk statically but also can walk dynamically and bipedal robots that can run.
Note that the static walk is a walk in which the projected point of the center of gravity on the road surface is located on either the left or right sole, and the dynamic walk is a walk in which the projected point deviates from the left or right sole.

  When biped walking, it is important how to adjust the position of the center of gravity, and as one of the techniques for that purpose, as in “Robot and center of gravity position control method of robot” in Patent Document 1, There is a technique that makes it difficult to fall by using a heavy object attached to the body (for example, an arm or a battery) as a balancer, and also enables a movement similar to that of a person to walk.

In addition, there is a walking robot that is applied as a walking assistance device in wearable mobility that assists the wearer's walking, such as the “walking assist device” of Patent Document 2. The walking assist device operates in synchronization with the wearer's walking and assists the wearer's muscle strength.
In the case of a walking support device, the position of the center of gravity can be adjusted by the wearer appropriately displacing body parts such as arms and waists.

However, in the case of a walking support device, the wearer does not necessarily make an ideal walk. In that case, the walking support device assists muscle strength in conformity with the wearer's walking habits, and is efficient. There were cases where it was not good walking.
The technique of Patent Document 1 was developed for a biped walking robot and is not premised on controlling the trajectory of the center of gravity so as to achieve an ideal walking, and therefore cannot be applied to human natural walking. There was a problem.

JP 2001-129775 A JP 2011-142958 A

  An object of this invention is to improve the efficiency of a wearer's walk.

(1) In the invention described in claim 1, the reference position locus acquisition means for acquiring the locus of the reference position of the center of gravity of the walking support target person corresponding to the walking cycle, and the locus of the center of gravity position of the walking support target person Center of gravity position trajectory acquisition means acquired corresponding to the walking cycle, and control of the posture of the walking support target person so that a deviation between the acquired trajectory of the reference position and the acquired trajectory of the center of gravity position is a predetermined amount or less. There is provided a walking support device characterized by comprising a posture control means.
(2) The invention according to claim 2, further comprising an actuator for assisting movement of a joint of a leg of the walking support target person, wherein the posture control means drives the actuator to drive the walking support target person. The walking support device according to claim 1 is provided.
(3) In the invention according to claim 3, the walking cycle is divided into a plurality of periods, and the posture control means controls the posture of the walking support target by detecting a deviation at each time. A walking support device according to claim 1 or claim 2 is provided.
(4) In the invention described in claim 4, a reference position trajectory acquisition function for acquiring a reference position trajectory of the center of gravity of the walking support target person corresponding to the walking cycle, and a trajectory of the center of gravity position of the walking support target person are obtained. The center-of-gravity position trajectory acquisition function acquired corresponding to the walking cycle, and the posture of the walking support target person is controlled so that the difference between the acquired reference position trajectory and the acquired center-of-gravity position trajectory is a predetermined amount or less. Provided is a walking support program that realizes a posture control function with a computer.

  ADVANTAGE OF THE INVENTION According to this invention, the efficiency of a wearer's walk can be improved by correct | amending a gravity center position according to a wearer's walk with an actuator.

It is the figure which showed the mounting state of the mounting type robot. It is the figure which showed the system configuration | structure of the mounting | wearing type robot. It is a figure for demonstrating a walk cycle. It is a figure for demonstrating an ideal gravity center locus | trajectory. It is a figure for demonstrating operation | movement of the actuator at the time of correct | amending a gravity center. It is a flowchart for demonstrating the procedure of a gravity center correction process.

(1) Outline of Embodiment A walking state is determined from various parameters (body parameters, joint angles, floor reaction force, etc.), and a walking assist actuator (hip joint, knee) is set to an ideal center of gravity position in the state. Joints, ankle joints). By drawing an ideal center-of-gravity locus, it is possible to perform an efficient walk with no distortion in the way of walking (good balance between left and right, less burden on legs and waist).
More specifically, in the walking state (each phase from the initial grounding to the end of the free leg in walking), the displacement of the center of gravity of the human body and the ideal center of gravity is detected, and each actuator is driven to move the human body. The shift is corrected by moving in the direction of the ideal center of gravity.

(2) Details of Embodiment Hereinafter, the walking support apparatus according to the present embodiment will be described using the wearable robot 1 shown in FIG. 1 as an example.
FIG. 1 is a diagram showing a wearing state of the wearing robot 1.
The wearable robot 1 is worn on the waist and lower limbs of the wearer to assist (assist) the wearer's walking.
The wearable robot 1 includes a waist attachment part 21, an upper leg attachment part 22, a lower leg attachment part 23, a foot attachment part 24, an upper leg connection member 26, a lower leg connection member 27, a control device 2, a toe reaction force sensor 10, Force sensor 11, toe posture sensor 12, heel posture sensor 13, waist posture sensor 14, upper leg posture sensor 15, lower leg posture sensor 16, hip joint assist actuator 17, knee joint assist actuator 18, ankle joint assist actuator 19 and the like are provided. Yes. In addition, except for the waist mounting part 21, the control device 2, and the waist posture sensor 14, they are provided on both the left and right feet, and the respective detected values are output.
However, the toe reaction force sensor 10 and the heel reaction force sensor 11 may be provided with a toe grounding sensor and a heel grounding sensor instead of both sensors in the embodiment in which the detection of the reaction force is unnecessary. .

The waist mounting portion 21 is attached around the waist of the wearer and fixes the wearable robot 1.
The waist posture sensor 14 is attached to the waist attachment portion 21 and detects the posture of the waist (roll angle, yaw angle, pitch angle) with a gyroscope or the like. Also, by differentiating these angles, the angular velocity and angular acceleration of the waist can be obtained.

The control device 2 is attached to the waist mounting portion 21 and controls the operation of the wearable robot 1.
The hip joint assist actuator 17 is provided at the same height as the hip joint of the wearer, and drives the upper thigh connection member 26 with respect to the waist mounting portion 21. The hip joint assist actuator 17 can drive the upper thigh coupling member 26 in the front-rear direction with respect to the waist attachment portion 21 and can also be driven in the lateral direction and the oblique direction for controlling the center of gravity of the wearer.

For this purpose, the hip joint assist actuator 17 can be configured by combining an actuator that drives in the front-rear direction and an actuator that drives in the lateral direction. By combining the operations of the longitudinal actuator and the lateral actuator, the hip joint can be driven three-dimensionally in the longitudinal direction, the lateral direction, and the oblique direction.
Alternatively, the hip joint assist actuator 17 may be a single triaxial actuator.

The upper thigh coupling member 26 is a rigid columnar member provided outside the upper thigh of the wearer, and is fixed to the upper thigh of the wearer by the upper thigh mounting portion 22. The upper thigh connecting member 26 is driven by the hip joint assist actuator 17 to support the movement of the upper thigh.
The outer side of the upper thigh mounting part 22 is fixed to the inner side of the upper thigh coupling member 26, and the inner side is fixed to the upper leg of the wearer.
The upper leg posture sensor 15 detects the upper leg posture (roll angle, yaw angle, pitch angle). In addition, by differentiating these angles, the angular velocity and acceleration of the upper thigh can be obtained.

The knee joint assist actuator 18 is provided at the same height as the knee joint of the wearer, and moves the lower leg connection member 27 in the front-rear direction with respect to the upper leg connection member 26 to move the lower leg of the wearer. Support.
The crus connecting member 27 is a columnar member having rigidity provided outside the crus of the wearer, and is fixed to the crus of the wearer by the crus attachment 23. The lower leg connecting member 27 is driven by the knee joint assist actuator 18 to support the movement of the lower leg.

The outer side of the lower leg mounting portion 23 is fixed to the inner side of the lower leg connecting member 27, and the inner side is fixed to the lower leg of the wearer.
The lower leg posture sensor 16 detects the lower leg posture (roll angle, yaw angle, pitch angle). Also, by differentiating these angles, the angular velocity and angular acceleration of the lower leg can be obtained.

The ankle joint assist actuator 19 is provided at the same height as the wearer's ankle joint, and drives the toe of the foot mounting portion 24 in the direction of moving up and down with respect to the crus coupling member 27. Further, the ankle joint assist actuator 19 is also driven in the lateral direction and the oblique direction in the same manner as the hip joint assist actuator 17 in order to control the center of gravity of the wearer.
The foot mounting portion 24 is fixed to the foot portion (instep and sole) of the wearer. Generally, the joint at the base of the toe is bent during walking, but the foot mounting portion 24 is also configured so that the base of the toe is bent according to the toes.

  The toe posture sensor 12 and the heel posture sensor 13 are respectively installed at the front end and the rear end of the foot mounting portion 24 and detect the toe and heel postures (roll angle, yaw angle, pitch angle), respectively. Further, by differentiating these angles, the angular velocity and angular acceleration of the toes and the heel can be obtained.

The toe reaction force sensor 10 is installed in front of the sole portion of the foot mounting portion 24 and detects the ground contact of the toe and the reaction force from the walking surface.
The heel reaction force sensor 11 is installed on the rear side of the sole of the foot mounting portion 24 and detects the ground contact of the heel and also detects the reaction force from the walking surface.
The wearable robot 1 configured as described above supports the walking of the wearer by driving the hip joint assist actuator 17, the knee joint assist actuator 18, and the ankle joint assist actuator 19.

FIG. 2 is a diagram showing a system configuration of the wearable robot 1.
The control device 2 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a clock as means for measuring time, a storage unit, various interfaces, and the like (not shown). Yes, each part of the wearable robot 1 is electronically controlled.

  The control device 2 is also configured by executing various programs such as a walking support program stored in the storage unit by the CPU, and configured by a body parameter input unit 3, a sensor information acquisition unit 4, various parameter calculation units 5, and a human body. A centroid calculating unit 6, an ideal centroid calculating unit 7, a centroid locus comparing unit 8, and a walking assist force determining unit 9 are provided.

  The body parameter input unit 3 receives input of physical parameters such as the height and weight of the wearer from, for example, a keyboard. These parameters are used to calculate the position and locus of the wearer's human body center and ideal center of gravity. The human body center of gravity is the actual center of gravity of the wearer's body, and the ideal center of gravity is the center of gravity of the body when the wearer is ideally walking.

  The sensor information acquisition unit 4 acquires a detection value from each of the toe reaction force sensor 10 to the crus posture sensor 16. The detection value of each sensor acquired by the sensor information acquisition unit 4 is used for determination of the walking state (each phase of walking to be described later) and calculation of the position of the human body gravity center, ideal gravity center, and the like.

The various parameter calculation unit 5 calculates the angle, position, angular velocity, joint moment, and the like of each joint from the detection values acquired by the sensor information acquisition unit 4.
These calculated values are used for the determination of the walking state (each phase of walking described later) and the calculation of the position of the human body gravity center and the ideal center of gravity.

  The human body center-of-gravity calculation unit 6 calculates the current position of the center of gravity of the human body from the data input by the body parameter input unit 3, the sensor values acquired by the sensor information acquisition unit 4, and the calculated values of the various parameter calculation units 5, The trajectory of the center of gravity of the human body is calculated based on the temporal transition.

The ideal center-of-gravity calculation unit 7 determines the current walking phase (described later) based on the data input by the body parameter input unit 3, the sensor value acquired by the sensor information acquisition unit 4, and the calculation values of various parameter calculation units 5. The position of the ideal center of gravity of the wearer in the phase is calculated, and the locus of the ideal center of gravity is calculated based on the temporal transition.
The center-of-gravity locus comparison unit 8 compares the locus of the human body center of gravity calculated by the human body center-of-gravity calculation unit 6 with the locus of the ideal center of gravity calculated by the ideal center-of-gravity calculation unit 7, and calculates the difference between the two.

The walking assist force determination unit 9 determines the assist force to be output to the hip joint assist actuator 17, the knee joint assist actuator 18, and the ankle joint assist actuator 19 arranged on both the left and right feet, and drives these assist actuators accordingly. .
At this time, the walking assist force determination unit 9 assists the normal walking motion, and closes the difference calculated by the gravity center locus comparison unit 8 to 0 (that is, makes the locus of the human body gravity center closer to the locus of the ideal gravity center). Thus, each actuator is driven to correct the wearer's walking.

FIG. 3 is a diagram for explaining the walking cycle.
The walking cycle is a cycle in which one leg makes one cycle during walking. Here, the observation limb is assumed to be the right foot, and the opposite foot is assumed to be the left foot. The same applies to the case where the observation limb is the left foot and the opposite foot is the right foot.
The walking cycle is roughly classified into the stance phase and the swing phase. The stance phase is a period in which the right foot (observation limb) is in contact with the ground, and the swing phase is a period in which the right foot is away from the ground.

Furthermore, the stance phase is classified into an initial ground contact a (initial contact), a load response phase b (loading response), a mid-stance phase c (mid stance), and a stance end phase d (terminal stance).
On the other hand, the free leg period is classified into the previous free leg period e (pressing), the free leg initial stage f (initial swing), the free leg middle period g (mid swing), and the free leg end period h (terminal swing).

The initial grounding a and the load response period b are periods in which the body load is inherited when the other leg shifts from the stance phase to the swing phase.
The initial grounding a is a moment when the right foot comes into contact with the ground after swinging in the swing phase. The determination of each phase of the walking cycle is performed by comprehensively determining the values in the sensor information acquisition unit 4 and various parameter calculation units 5, but the initial ground contact a is mainly based on the output of the left side reaction force sensor 11. This can be done by detecting grounding.

The load response period b is a period from the initial ground contact a to the moment when the right foot leaves the ground. During this period, the weight moves quickly to the left.
The end of the weighted response period can be performed mainly by detecting the moment when the right foot is separated from the ground by the toe reaction force sensor 10 of the right foot.

The middle stance phase c and the last stance phase d are both periods in which the body is supported by a single leg (here, the left leg).
The middle stance c is a period from the moment when the left foot is separated from the ground to the moment when the heel of the right foot is separated from the ground. During this period, the body is moved forward with the right foot as a fulcrum, and the trunk is secured.
The end of the middle stance c is performed mainly by detecting the moment when the right footpad is separated by the right footpad reaction force sensor 11.

The stance end d is a period from the moment when the right foot heel leaves the ground to the initial grounding a of the left foot. During this period, the body is carried before the supporting foot.
The end of the stance end d is performed mainly by detecting the ground contact by the left side reaction force sensor 11.

On the other hand, the free leg period e to the free leg end period h of the swing leg period is a period in which the swing leg is moved forward (swings in space).
The front swing leg period e is a period from the initial ground contact a of the left foot to the moment when the toe of the right foot leaves the ground. This period is a period for preparing for the free leg initial stage f.
The end of the front swing leg period e is mainly performed by detecting that the toes are separated from the ground by the toe reaction force sensor 10 of the right foot.

The free leg initial f is a period from the moment when the toe of the left foot is separated from the ground until the lower leg of both feet intersects. During this period, take your right foot away from the ground and carry it forward.
The end of the free leg initial stage f is performed by calculating the state of the right foot and the state of the left foot based on the output of each sensor and determining the intersection of the lower leg.

The free leg middle period g is a period from the intersection of the lower leg of both feet to the moment when the lower leg of the right foot is perpendicular to the ground. During this period, the right foot is further moved and the clearance between the toes and the ground is secured.
The end of the free leg middle period g is performed by calculating the state of the right foot based on the output of each sensor and determining that the lower leg of the right foot is perpendicular to the ground.

The free leg end period h is a period from when the lower leg of both feet is perpendicular to the ground until the heel of the right foot contacts the ground. During this period, the forward movement of the right foot is terminated and preparations are made for standing on the right foot.
The end of the free leg end period h is performed mainly by detecting the ground contact by the reaction force sensor 11 of the right foot.
As described above, one walking cycle of the right foot is configured. The same applies to one walking cycle of the left foot.

Each figure of FIG. 4 is a figure for demonstrating an ideal gravity center locus | trajectory.
Each figure has shown the place which looked at the pedestrian who is performing the ideal walk from the front. Since it is an ideal walk, the human body center-of-gravity locus coincides with the ideal center-of-gravity locus.
4 (a) to 4 (h) correspond to each phase from the initial ground contact a to the free leg end h in one walking cycle of the right foot.
As shown in the figure, the ideal center of gravity 32 exists near the waist, and the ideal center of gravity locus 31 that is the locus of the ideal center of gravity 32 has a shape of 8 in a horizontal direction. Here, it is assumed that the figure 8 is on a two-dimensional plane perpendicular to the ground and the traveling direction.

The position of the ideal gravity center 32 in the ideal gravity center locus 31 in each phase of walking changes as follows in the order of FIGS.
However, FIG. 4 shows a view of the pedestrian as viewed from the front and the locus of the ideal center of gravity. The direction of movement of the ideal center of gravity will be described as a direction viewed from the viewpoint of the person facing the pedestrian. Therefore, when the movement of the ideal center of gravity is described as the right direction, it is a leftward movement for the pedestrian.
The same applies to FIG. 5 described later.

  As shown in FIGS. 4A to 4H, the position of the ideal center of gravity 32 in the ideal center of gravity locus 31 in each phase of walking is the initial ground contact a (lower right) → load response period b (moving to the upper left). → Middle stance c (upper left) → End stance d (moving to the lower left) → Front swing leg e (moving from the lower left to near the center) → Early swing leg f (moving from near the center to upper right) → Middle swing leg g (continuous movement to the upper right) → swing leg end h (movement from the upper right to the lower right).

Each drawing of FIG. 5 is a diagram for explaining the operation of the actuator when correcting the human body gravity center locus to the ideal gravity center locus. 5A and 5B show the wearer as seen from the front, but the direction of movement (left and right) will be described as the direction seen from the person facing the wearer.
The legend shown in FIG. 5A shows the ideal gravity center 32, the human body gravity center 33, and the hip joint assist actuator 17, the knee joint assist actuator 18, and the ankle joint assist actuator 19.
Among these, in the notation of an actuator, a black circle means a movement in the horizontal direction of the drawing due to rotation in the axial direction, and a vertical black square indicates a movement in the longitudinal direction of the drawing due to rotation in the axial direction.

As shown in FIG. 5A, when the human body center of gravity 33 is located on the lower left side of the ideal center of gravity 32, the human body center of gravity 33 is moved to the upper right as indicated by the black arrow line to position the ideal center of gravity 32. A case where correction is performed will be described.
As shown in FIG. 5 (a), in this case, the ankle joint assist actuator 19 is driven in the lateral direction (the direction in which the body is tilted as indicated by the white arrow line), and the knee joint assist actuator 18 is moved in the forward direction. When driving in the direction of extending the leg as indicated by the white arrow line and driving the hip joint assist actuator 17 in the lateral direction (the direction of raising the body as indicated by the white arrow line), these movements are combined. The human body center of gravity 33 can be corrected to the ideal center of gravity 32.

5 (b) and 5 (c), the operation shown in FIG. 5 (a) is the same as the operation (b) for moving the human body gravity center 33 in the horizontal direction and the human body gravity center 33 is moved in the vertical direction. It is divided into operations for the purpose.
In order to move the human body center of gravity 33 in the right direction (left direction for the wearer), as shown in FIG. 5B, the roll axis of the ankle joint assist actuator 19 is rotated clockwise as indicated by a white arrow. In this way, it drives in the right direction (the direction of defeating the body).
Further, by rotating the roll axis of the hip joint assist actuator 17 counterclockwise as indicated by a white arrow, the hip assist actuator 17 is driven in the left direction (the direction in which the body is raised).
By both the above operations, the human body center of gravity 33 moves to the right as indicated by the black arrow line.

Further, in order to move the human body center of gravity 33 in the vertical direction, as shown in FIG. 5C, the pitch axis of the knee joint assist actuator 18 is rotated counterclockwise as indicated by a white arrow, thereby extending the leg. Drive in the direction.
By this operation, the human body center of gravity 33 moves upward as indicated by the black arrow line.

In this way, the hip joint assist actuator 17 and the ankle joint assist actuator 19 are driven as shown in FIG. 5B, and the knee joint assist actuator 18 is driven as shown in FIG. As the movement, the human body gravity center 33 moves in the upper right direction, that is, the direction in which the difference between the ideal gravity center 32 and the human body gravity center 33 approaches zero.
Although the case where the human body center of gravity 33 is moved to the upper right has been described above, the hip joint assist actuator 17, the knee joint assist actuator 18, and the ankle joint assist actuator 19 can be similarly driven and moved in other directions.
In the above description, the figure 8 of the ideal barycentric locus 31 is on a two-dimensional plane perpendicular to the ground and the traveling direction, but may be inclined in the front-rear direction or curved three-dimensionally, for example.

FIG. 6 is a flowchart for explaining the procedure of the center-of-gravity correction process performed by the wearable robot 1.
The following processing is performed by the CPU included in the control device 2 according to a predetermined program.
First, the control device 2 acquires various data (step 5). Specifically, in addition to data such as height and weight input by the body parameter input unit 3, sensor values such as floor reaction force acquired by the sensor information acquisition unit 4, joints calculated by various parameter calculation units 5 Acquire various data such as angle, joint angular velocity, and joint moment.
Next, the control device 2 performs walking determination using these data (step 10). This determination is to determine whether or not the wearer is walking.

When it is not walking based on the walking determination result (step 15; N), the control device 2 determines whether or not to stop the assist operation (step 110).
This determination is made, for example, to determine whether the wearer has temporarily stopped walking or has turned off the assist function. For example, when the wearer manually turns off the assist function, the assist operation is stopped. Judge.
When the operation is stopped (step 110; Y), the control device 2 ends the process, and when the operation is not stopped (step 110; N), the control device 2 returns to step 5.

On the other hand, when it is walking (step 15; Y), the control device 2 determines which phase of the walking cycle is currently based on the data acquired in step 5 (step 20).
As a result of the determination, when the phase is the initial ground a (step 25, Y), the control device 2 performs the correction process including the following steps 30 to 40.

  First, the control device 2 acquires the current position of the human body center of gravity by the human body center of gravity calculation unit 6, further acquires the position of the ideal center of gravity at the initial ground contact a by the ideal center of gravity calculation unit 7, and the center of gravity locus comparison unit 8 The positions of the center of gravity are compared (step 30).

As a result of the comparison, if there is a deviation (step 35; N), the control device 2 drives each actuator by the walking assist force determination unit 9 to correct the deviation (step 40), and ends the correction (step 45). .
On the other hand, if there is no deviation as a result of the comparison (step 35; Y), the control device 2 ends the correction (step 45). The control device 2 returns to step 5 after completing the correction.
The determination of whether or not there is a shift may be made by determining that there is a shift when the difference between the two is equal to or greater than a predetermined threshold, and determining that there is no shift when the difference is less than the predetermined threshold.

On the other hand, when the walking cycle determination is not the initial ground contact a (step 25; N), the control device 2 determines whether or not the phase is the load response period b (step 50).
When the phase is the load response period b (step 50; Y), the control device 2 performs a correction process based on a comparison between the position of the ideal center of gravity and the current position of the human body center of gravity in the load response period b (step 55), The correction is completed (step 45), and the process returns to step 5.
Since this correction process (step 55) is the same as the correction process of steps 30 to 40 for the initial grounding a, description thereof is omitted (the same applies hereinafter).
When the phase is not in the load response period b (step 50; N), the control device 2 determines whether or not the phase is in the mid-stance phase c (step 60).

When the phase is the middle stance c (step 60; Y), the control device 2 performs a correction process based on a comparison between the position of the ideal center of gravity and the current position of the human body center of gravity in the middle stance c (step 65). End (step 45) and return to step 5.
When the phase is not in the middle stance phase c (step 60; N), the control device 2 determines whether or not the phase is in the last stance phase d (step 70).

When the phase is the stance end d (step 70; Y), the control device 2 performs a correction process based on the comparison between the ideal centroid position and the human body centroid current position at the stance end d (step 75). End (step 45) and return to step 5.
When the phase is not the stance end d (step 70; N), the control device 2 determines whether or not the phase is the free leg initial f (step 80).

When the phase is the free leg initial f (step 80; Y), the control device 2 performs a correction process based on the comparison between the ideal gravity center position and the human body gravity center current position in the free leg initial f (step 85). (Step 45), and the process returns to step 5.
When the phase is not the free leg initial stage f (step 80; N), the control device 2 determines whether or not the phase is the free leg intermediate stage g (step 90).

  When the phase is the swing leg middle period g (step 90; Y), the control device 2 performs a correction process based on the comparison of the ideal center of gravity position and the current position of the human body center of gravity in the swing leg middle period g (step 95). (Step 45), and the process returns to step 5.

  When the phase is not the swinging leg middle stage g (step 90; N), the control device 2 determines that the phase is the swinging leg end stage h. Then, the control device 2 performs a correction process based on the comparison of the position of the ideal center of gravity and the current position of the human body center of gravity at the free leg end h (step 105), ends the correction (step 45), and returns to step 5.

As described above, the wearable robot 1 controls the wearer's walk so that the trajectory of the center of gravity of the human body becomes the trajectory of the ideal center of gravity, whereby the wearer can perform an efficient walk.
In the above determination, for example, the load response period b may be further subdivided into the first and second periods of the load response, and correction processing may be performed for each subdivided period.

According to the embodiment described above, the following effects can be obtained.
(1) The pedestrian's habits can be corrected and an ideal way of walking can be performed.
(2) The walking efficiency can be increased, and the balance between the left and right is improved, so the burden on the legs and waist can be reduced.
(3) An ideal way of walking can be practiced and the ideal way of walking can be recognized even after the wearable robot 1 is removed.
(4) The upper body will take an ideal posture with the lower body.

According to the embodiment described above, the following configuration can be obtained.
The wearable robot 1 sequentially acquires the position of the ideal center of gravity (reference position of the center of gravity) corresponding to each walking cycle from the initial grounding a to the end of the free leg h by the ideal center of gravity calculation unit 7. Reference position trajectory acquisition means for acquiring a trajectory of the reference position of the center of gravity corresponding to the walking cycle is provided.
In addition, the wearable robot 1 sequentially samples the wearer's human center of gravity (center of gravity position) corresponding to each walking cycle from the initial grounding a to the free leg end h by the human body center of gravity calculation unit 6. It is provided with a center-of-gravity position locus acquisition means for acquiring the locus of the center of gravity of the person corresponding to the walking cycle.
In addition, when the difference (deviation) between the ideal center of gravity and the human body center of gravity is greater than or equal to a predetermined threshold, the wearable robot 1 drives each actuator so as to be less than the threshold to correct the walking posture of the wearer. There is provided posture control means for controlling the posture of the walking support target person so that a deviation between the acquired locus of the reference position and the acquired locus of the center of gravity is a predetermined amount or less.

  In addition, the wearable robot 1 assists the movement of the joints of the leg of the person to be supported for walking in order to correct the walking posture of the wearer by the hip joint assist actuator 17, the knee joint assist actuator 18, and the ankle joint assist actuator 19. The posture control means controls the posture of the walking support target by driving the actuator.

  The walking cycle is divided into an initial grounding a to a free leg end h, and the control device 2 corrects the human body center of gravity of the wearer for each division. Therefore, the walking cycle is divided into a plurality of periods, The posture control means detects a shift at each time period and controls the posture of the walking support target person.

DESCRIPTION OF SYMBOLS 1 Wearable robot 2 Control apparatus 3 Body parameter input part 4 Sensor information acquisition part 5 Various parameter calculation part 6 Human body gravity center calculation part 7 Ideal gravity center calculation part 8 Center of gravity locus comparison part 9 Walking assist force determination part 10 Toe reaction force sensor 11 Reaction force sensor 12 Toe posture sensor 13 Wrist posture sensor 14 Hip posture sensor 15 Upper leg posture sensor 16 Lower leg posture sensor 17 Hip joint assist actuator 18 Knee joint assist actuator 19 Ankle joint assist actuator 21 Lumbar attachment portion 22 Upper thigh attachment portion 23 Lower leg attachment Part 24 Foot mounting part 26 Upper thigh connecting member 27 Lower thigh connecting member 31 Ideal center of gravity locus 32 Ideal center of gravity 33 Human body center of gravity

Claims (4)

Reference position trajectory acquisition means for acquiring a trajectory of the reference position of the center of gravity of the walking support target person corresponding to the walking cycle;
A center-of-gravity position trajectory acquisition means for acquiring a trajectory of the center of gravity position of the walking support target person corresponding to the walking cycle;
Posture control means for controlling the posture of the walking support target so that a shift between the acquired locus of the reference position and the acquired locus of the center of gravity is a predetermined amount or less;
A walking support device characterized by comprising: Comprising an actuator for assisting the movement of the joint of the leg of the walking support target person,
The walking support apparatus according to claim 1, wherein the posture control unit controls the posture of the walking support target person by driving the actuator.   The walking cycle is divided into a plurality of times, and the posture control means detects a shift at each time and controls the posture of the walking support target. Item 3. The walking support device according to item 2. A reference position trajectory acquisition function for acquiring a trajectory of the reference position of the center of gravity of the walking support target person corresponding to the walking cycle;
A center-of-gravity position trajectory acquisition function for acquiring a trajectory of the center-of-gravity position of the walking support target in correspondence with the walking cycle;
A posture control function for controlling a posture of the walking support target so that a deviation between the acquired locus of the reference position and the acquired locus of the center of gravity is equal to or less than a predetermined amount;
A walking support program that uses a computer.

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