WO2011030641A1 - Orthotic for human body - Google Patents

Orthotic for human body Download PDF

Info

Publication number
WO2011030641A1
WO2011030641A1 PCT/JP2010/063462 JP2010063462W WO2011030641A1 WO 2011030641 A1 WO2011030641 A1 WO 2011030641A1 JP 2010063462 W JP2010063462 W JP 2010063462W WO 2011030641 A1 WO2011030641 A1 WO 2011030641A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
actuator
band
contraction
controller
Prior art date
Application number
PCT/JP2010/063462
Other languages
French (fr)
Japanese (ja)
Inventor
康隆 谷村
茂昭 栃本
Original Assignee
コニカミノルタホールディングス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by コニカミノルタホールディングス株式会社 filed Critical コニカミノルタホールディングス株式会社
Publication of WO2011030641A1 publication Critical patent/WO2011030641A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
    • A61F5/0111—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0172—Additional features of the articulation with cushions
    • A61F2005/0174—Additional features of the articulation with cushions laterally placed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A63B2024/0012—Comparing movements or motion sequences with a registered reference
    • A63B2024/0015—Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0068—Comparison to target or threshold, previous performance or not real time comparison to other individuals
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0071—Distinction between different activities, movements, or kind of sports performed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/06—User-manipulated weights
    • A63B21/065—User-manipulated weights worn on user's body
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/836—Sensors arranged on the body of the user

Definitions

  • the present invention relates to a body appliance to be worn on a part of the body for posture stability, load reduction, deformation prevention or correction.
  • body orthoses have been used as auxiliary devices to reduce functional impairments of the extremities and trunks of people who suffer from functional impairments in the extremities and trunks due to illness.
  • Knee osteoarthritis is an irritating and painful disease because the function of the knee joint is reduced and the cartilage of the joint is reduced, and the cartilage and meniscus are loosely engaged and deformed and ruptured. .
  • the number of people with knee osteoarthritis is increasing with the aging of society.
  • a supporter having a supporter body formed by forming two connecting bands on the left and right of the middle part applied to the back side of the knee as disclosed in Patent Document 1 Is used.
  • Patent Document 2 discloses a power assist function that reduces the burden of muscle strength by applying a driving force to a person to attach to a person to reduce the burden on the waist when performing a care operation for a person involved in care. Prosthetics with body have been proposed.
  • Patent Document 1 the supporter disclosed in Patent Document 1 and conventionally used knee joint orthoses are always tightened by a connecting band when worn. For this reason, when worn for a long time or tightened strongly, the blood vessels in the body are compressed by tightening, which causes a blood circulation disorder.
  • the present invention has been made in view of the above problems, and an object of the present invention is to provide a body orthosis that improves a feeling of wearing by preventing a blood circulation disorder due to pressure at the time of wearing.
  • a body appliance for attaching a band part to a part of the body, An actuator unit configured to change the tightening force of the band unit on the body by expanding and contracting; and A control unit for controlling expansion and contraction of the actuator unit;
  • a body orthosis characterized by comprising:
  • the controller is 2. The body appliance according to claim 1, wherein the actuator is controlled to expand and contract in accordance with a signal from the detection sensor so that a tightening force of the band portion on the body changes.
  • the controller is 2.
  • the body motion is predicted based on a signal from the detection sensor, and the expansion / contraction of the actuator unit is controlled based on the prediction so that the tightening force of the band unit on the body changes.
  • Body orthosis as described.
  • the controller is 4.
  • the body appliance according to any one of claims 1 to 3, wherein a contraction amount of the actuator unit is controlled in accordance with a time during which the actuator unit is contracted.
  • a slip detection unit that detects and outputs a slip amount between the band unit and the body;
  • the controller is 5.
  • the body according to any one of 1 to 4, wherein the expansion and contraction of the actuator unit is controlled so that the tightening force of the band unit on the body changes according to the output of the slip detection unit. Appliances.
  • the controller is 6.
  • the controller is 6.
  • the actuator part is The body orthosis according to any one of 1 to 7, wherein the body orthosis is composed of a plurality of actuators.
  • a pad that abuts against the outer side of the body A drag generator configured to change the pushing force inside the body of the pad portion by expanding and contracting, and The body appliance according to any one of 1 to 8, wherein the control unit controls expansion and contraction of the drag generating unit.
  • the controller is 11. The body appliance according to 9 or 10, wherein the expansion / contraction of the drag generation unit is controlled so that the force of pressing the pad unit toward the inside of the body changes according to a signal from the detection sensor.
  • the controller is 11.
  • the body motion is predicted based on the signal of the detection sensor, and the expansion and contraction of the drag generation unit is controlled based on the prediction so that the force of pushing the pad portion toward the inside of the body changes.
  • Body orthotics as described in.
  • the drag generator is 13.
  • the body orthosis of the present invention has an actuator configured to change the tightening force of the band portion on the body by expanding and contracting, and a control unit that controls expansion and contraction of the actuator.
  • the force with which the part tightens the body can be controlled.
  • a body orthosis used mainly for the treatment of knee osteoarthritis will be described.
  • the knee joint is described as an example, but the present invention can also be applied to a body orthosis used for an ankle joint and an elbow joint.
  • FIG. 1 is a diagram showing an external view of a body appliance in an embodiment mounted on both knee portions of a leg portion
  • FIG. 2 is a side view of the body appliance in an embodiment mounted on a knee portion of a leg portion. It is a figure which shows the external appearance seen.
  • the body orthosis according to the present embodiment mainly includes band portions 12 and 13, a pad portion 10, drag generation portions 6, 7, 8 and 9, and a control box 11.
  • the band unit 12 is composed of the actuator unit 1 and the holding unit 3 and is mounted so as to be wound around the upper leg of the knee H.
  • the band unit 13 includes the actuator unit 2 and the holding unit 4 and is attached so as to be wound around the lower leg portion of the knee H.
  • the actuator parts 1 and 2 are configured so as to change the tightening force of the band parts 12 and 13 to the body by using an actuator called a so-called artificial muscle or a soft actuator when the actuator expands and contracts.
  • the actuator for example, a rubber artificial muscle that contracts when air is introduced into a rubber tube, an electroactive polymer driven by applying an electric field, an actuator using a shape memory alloy, or the like can be used.
  • the type of actuator is not particularly limited, and various types of actuators can be used.
  • the actuator parts 1 and 2 are constituted by a plurality of actuators, because even if a part of the actuator fails, it can be expanded and contracted by a normal actuator.
  • the holding part 3 is a band-like member connected to each end of the actuator part 1 and can be wound around a leg part and held by Velcro (registered trademark) or the like provided at both ends of the band-like member.
  • the holding unit 4 has the same configuration.
  • the holding portions 3 and 4 are not necessarily required, and the band portions 12 and 13 may be configured by only the annular actuator portions 1 and 2, respectively.
  • the pad portion 10 is made of cloth, rubber, resin, or the like, and is connected to the band portion 12 by the drag generation portions 6 and 8 and to the band portion 13 by the drag generation portions 7 and 9, respectively.
  • the pad portion 10 comes into contact with the outer side surface of the knee joint.
  • the drag generators 6, 7, 8, and 9 are composed of actuators that expand and contract.
  • the actuators constituting the drag generation units 6, 7, 8, and 9 the same type as the actuators used for the actuator units 1 and 2 can be used.
  • the drag generating units 6, 7, 8, and 9 are composed of a plurality of actuators, even if a part of the actuator fails, it can be expanded and contracted by a normal actuator. preferable.
  • the control box 11 includes a control unit 20 and a power supply unit 22 (not shown in FIGS. 1 and 2), and the user operates the operation unit 21 to turn on / off the power and switch the control mode. Can do.
  • the control unit 20, the power supply unit 22, and the like will be described using a circuit block diagram.
  • FIG. 4 is a circuit block diagram of the body appliance according to the first embodiment.
  • the control unit 20 includes, for example, a CPU (central processing unit) and a storage unit, and reads a program stored in the storage unit into a RAM (Random Access Memory), and controls each unit of the body orthosis according to the program.
  • the storage unit includes a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
  • the control unit 20 controls the actuator units 1 and 2 and the drag generation units 6, 7, 8, and 9, respectively.
  • the control signal output from the control unit 20 varies depending on the type of actuator constituting the actuator units 1 and 2 or the drag generation units 6, 7, 8, and 9.
  • the actuator is an artificial rubber muscle, it is a compressor control value, if it is an electroactive polymer, it is a voltage value, and if it is a shape memory alloy, it is a power value.
  • the configuration is not particularly limited to the configuration of FIG. 4, and a driver circuit is provided between the control unit 20, the actuator units 1 and 2, and the drag generation units 6, 7, 8, and 9.
  • a control signal to be controlled may be output.
  • the operation unit 21 is, for example, a rotary switch, and the control unit 20 detects the position of the switch, and switches on / off the power source and the control mode.
  • the power supply unit 22 incorporates a battery and supplies power to each unit.
  • the standing mode is a mode set mainly when the user is standing
  • the sitting mode is a mode set mainly when the user is sitting.
  • control unit 20 sends a control signal to the actuator units 1 and 2 to contract the actuators so that the band units 12 and 13 tighten the legs with a predetermined tightening force, and then the drag generating unit 6 , 7, 8, and 9 are sent to generate a drag force FX.
  • control unit 20 sends control signals to the actuator units 1 and 2 and the drag generation units 6, 7, 8, and 9 so that each actuator has a predetermined length.
  • the band portions 12 and 13 tighten the legs, so even if the drag generating portions 6, 7, 8, and 9 contract, the position of the band portions 12 and 13 does not shift and the drag is generated.
  • the drag FX can be generated according to the contraction amount of the parts 6, 7, 8, 9.
  • each actuator In the sitting mode, each actuator is extended from the standing mode, and the band portions 12 and 13 weaken the force of tightening the legs, so that it is possible to prevent a feeling of pressure during wearing and a blood circulation disorder.
  • control unit 20 counts the time since the start of the standing mode, and when the predetermined time elapses, the respective actuators are extended by a predetermined amount, and the band portions 12 and 13 weaken the force for tightening the leg portions. In this way, when the contraction amount of the actuator units 1 and 2 is controlled in accordance with the time during which the actuator units 1 and 2 are contracted, it is possible to prevent the occurrence of a feeling of pressure or a blood circulation disorder during mounting for a long time. Can do.
  • FIG. 5 is a circuit block diagram of the body appliance of the second embodiment
  • FIG. 6 is a flowchart for explaining an example of the control of the body appliance of the second embodiment
  • FIG. 7 is a diagram of the second embodiment. It is a time chart explaining an example of control of a body appliance.
  • the bending detection unit 25 and the slip detection units 23 and 24 are connected to the control unit 20.
  • the bending detection unit 25 is a detection sensor provided in the pad unit 10 for detecting the movement of the body.
  • the bending force F3 described in FIG. 3 can be detected by providing a general-purpose pressure sensor as the bending detection unit 25 on the surface of the pad unit 10 in contact with the body. Since the bending force F3 is generated when the weight is applied to the knee, the body movement can be predicted by detecting the bending force F3 that changes according to the body movement such as when walking.
  • the method for detecting the movement of the body is not particularly limited.
  • a strain gauge is provided as a bending detection unit 25 above and below the portion of the pad unit 10 that comes into contact with the knee joint, and the pad unit 10 using the bending force F3 is provided. You may detect distortion of.
  • the controller 20 controls the actuator units 1 and 2 and the drag generators 6, 7, 8, 9 so that the tightening force of the band units 12, 13 on the body changes according to the signal output from the bending detector 25. Controls the expansion and contraction of the actuator.
  • the slip detection units 23 and 24 are provided on the surfaces of the band units 12 and 13 that are in contact with the body in order to detect slips generated between the surfaces of the band units 12 and 13 that are in contact with the body.
  • a sheet-like slip detection sensor in which a plurality of pressure sensors are arranged in two layers on the front and back sides can be used.
  • the position of the center of gravity can be calculated from the pressure detected by the pressure sensor of each layer every predetermined time, and the occurrence of slip can be detected from the difference between the positions of the center of gravity of the two layers.
  • the control unit 20 controls the expansion and contraction of the actuator units 1 and 2 so that the tightening force of the band unit 12 and the band unit 13 on the body changes according to the signals output from the slip detection units 23 and 24. If it does in this way, according to generation
  • FIG. 7 is a time chart of the body orthosis worn on one leg.
  • S11 This is a step of detecting a bending cycle.
  • the control unit 20 samples the output of the bending detection unit 25 at a predetermined period and performs A / D conversion for a predetermined period, sequentially stores the value in an internal memory, and detects the bending period from the stored data.
  • FIG. 7A is a time chart showing an example of the output of the bending detection unit 25, where the vertical axis is the output of the bending detection unit 25 and the horizontal axis is the time axis.
  • the knee joint When walking, the knee joint is repeatedly bent and stretched.
  • weight is applied to the knee when the sole is in contact with the ground, otherwise the knee supports the leg below the knee.
  • the sole touches the ground the weight is applied to the knee, so that the bending force F3 increases, and the output of the bending detection unit 25 provided in the pad unit 10 increases.
  • the bending force F3 decreases.
  • the output of the bending detection unit 25 periodically increases and decreases. This is, for example, is a state in which the person who was sitting to wear a body brace is rising from the time of t 0, it began to walk.
  • control unit 20 obtains the output peak timing from the output value of the bending detection unit 25 stored during t 1 after a predetermined period from t 0 , and calculates the bending periods T 1 and T 2.
  • S12 A step of determining whether or not the bending cycle is constant.
  • the control unit 20 determines whether or not the bending cycle detected in step S11 is constant during a predetermined period.
  • the control unit 20 determines, for example, the difference of bending cycles T1, T2 detected at step S11 to between t 0 of t 1 calculates the T1-T2, in the case of a predetermined value or less bending cycle constant.
  • step S12 If the bending cycle is not constant (step S12; No), the process returns to step S11.
  • step S11 the bending cycle is detected from the output of the bending detector 25 stored in the next predetermined period.
  • step S12 If the bending cycle is constant (step S12; Yes), the process proceeds to step S13.
  • S13 This is a step of predicting a walking pattern.
  • Control unit 20 the bending cycle detected in Step S11, predicting the bending cycle Tx of t 1 subsequent walking pattern. For example, the control unit 20 obtains an average value of T1 and T2, and sets the average value as the bending cycle Tx.
  • the average value of the two bending cycles T1 and T2 is the bending cycle Tx.
  • the present invention is not particularly limited to this method. For example, data of two or more bending cycles is stored in advance. If the subsequent bending cycle is obtained by collating with the walking pattern data, a more accurate prediction is possible.
  • S14 This is a step of driving the drag generating unit and driving the actuator unit.
  • the control unit 20 drives the drag generating units 6, 7, 8, and 9 to expand and contract at the bending cycle Tx predicted in step S13, and drives the actuator units 1 and 2 to expand and contract at the same bending cycle Tx.
  • control unit 20 drives the drag generating units 6, 7, 8, 9 and the actuator units 1 and 2 with a bending cycle Tx that predicts the movement of the body, the control unit 20 can perform control so as not to be delayed from the movement of the body. .
  • the drag generation units 6, 7, 8, and 9 start to contract from t 1 and the drag increases, and the contraction of the actuator units 1 and 2 from t 1 as illustrated in FIG. 7D. Begins, and the tightening force for tightening the bodies (legs) of the band portions 12 and 13 increases. In this way, even if the force generating parts 6, 7, 8, 9 contract and a force that shifts the band parts 12, 13 in the direction of the knee H is applied, the tightening force of the band parts 12, 13 is increased. It is possible to prevent the positions of the portions 12 and 13 from shifting.
  • S15 This is a step of detecting a slip.
  • the control unit 20 acquires the output data of the pressure sensors arranged in the two layers of the slip detection unit 23, and slip occurs between the band units 12 and 13 and the body from the difference in the pressure center of gravity of each layer. Detect that.
  • FIG. 7C shows the difference in the position of the barycenter of pressure obtained from the output of the pressure sensor at the opposing position arranged in each layer of the slip detection unit 23 as the slip amount on the vertical axis.
  • S16 This is a step of determining whether or not a slip state is present.
  • the control unit 20 compares the slip amount with a predetermined threshold value V T1 and determines the slip state.
  • step S16 In the case of the slip state (step S16; Yes), the process proceeds to step S17.
  • S17 A step of increasing the tightening force.
  • the control unit 20 increases the contraction amount of the actuator units 1 and 2 so that the tightening force of the band units 12 and 13 is increased.
  • Slip amount increases t 1 later in the example of FIG. 7 (c), it exceeds the threshold value V T1 at time t a. If the control unit 20 exceeds the threshold value V T1 , the control unit 20 determines that it is in a slip state, and increases the contraction amount of the actuator units 1 and 2 by a predetermined ratio.
  • step S16 If it is not in the sliding state (step S16; No), the process proceeds to step S18.
  • the control unit 20 reduces the contraction amount of the actuator units 1 and 2 so that the tightening force of the band units 12 and 13 is lowered.
  • Control unit 20 determines that not the slip state at below the threshold V T1, smaller predetermined percentage of shrinkage of the actuator section 1 and 2 according to this period of slip.
  • S19 This is a step for determining whether or not walking.
  • the control unit 20 verifies whether the output of the bending detection unit 25 is output at the predicted bending cycle Tx in order to determine whether or not walking.
  • step S19 If walking (step S19; Yes), the process returns to step S15.
  • control unit 20 When the output of the bending detection unit 25 is output at the predicted bending cycle Tx, the control unit 20 returns to step S15 and determines whether or not the sliding state is present.
  • the control unit 20 counts the number of times this step has been performed, and drives the drag generating units 6, 7, 8, 9 and the actuators 1 and 2 by extending the actuators by a predetermined ratio if the number of times exceeds the predetermined number. You may do it. In this way, when the contraction amount of the actuator units 1 and 2 is controlled in accordance with the time during which the actuator units 1 and 2 are contracted, it is possible to prevent a feeling of pressure during wearing for a long period of time and a blood circulation disorder. Can do.
  • step S19 If not walking (step S19; No), the process proceeds to step S20.
  • step S20 If the output of the bending detection unit 25 is not output at the predicted bending cycle Tx, the control unit 20 determines that it is not walking and proceeds to step S20.
  • S20 This is a step of stopping the drag generation section and the actuator section.
  • the controller 20 drives the drag generators 6, 7, 8, 9 and the actuators 1 and 2 to stop them at a predetermined length.

Abstract

In order to make an orthotic for a human body more comfortable to wear by preventing circulatory deficit caused by pressure when wearing the orthotic, the orthotic for a human body having a band unit to wear onto a part of the human body comprises: an actuator unit which is configured to expand and contract so as to vary in fastening force of the band unit onto the human body; and a control unit which controls the expansion and contraction of the actuator unit.

Description

身体用装具Body orthosis
　本発明は、姿勢の安定、負荷の軽減、変形の予防や矯正等のために、身体の一部に装着する身体用装具に関する。 The present invention relates to a body appliance to be worn on a part of the body for posture stability, load reduction, deformation prevention or correction.
　従来、病気などで四肢や体幹に機能障害を負った人の四肢や体幹の機能障害を軽減する補助器具として身体用装具が使用されている。 Conventionally, body orthoses have been used as auxiliary devices to reduce functional impairments of the extremities and trunks of people who suffer from functional impairments in the extremities and trunks due to illness.
　例えば、変形性膝関節症の治療法として、関節を人工関節に置換するような外科的な治療や、ヒアルロン酸など注射して消炎により痛みを和らげる治療法とともに、サポータ等の身体用装具を用いた保存的療法が広く行われている。 For example, as a treatment for osteoarthritis of the knee, surgical treatments such as replacing joints with artificial joints, treatments that relieve pain by injecting hyaluronic acid, etc., and pain relief are used. Conservative therapy that has been widely practiced.
　変形性膝関節症は、膝関節の機能が低下して関節の軟骨部が減少し、軟骨や半月板のかみ合わせが緩んだり、変形や断裂を起こしたりするため、炎症や痛みを伴う病気である。変形性膝関節症に罹患する人は、社会の高齢化に伴って増加している。 Knee osteoarthritis is an irritating and painful disease because the function of the knee joint is reduced and the cartilage of the joint is reduced, and the cartilage and meniscus are loosely engaged and deformed and ruptured. . The number of people with knee osteoarthritis is increasing with the aging of society.
　日本国内での潜在患者数は３０００万人、要治療の患者数が７００万人とも言われている。また、日本人は９０％以上の人がＯ脚であるとも言われており、変形性膝関節症を罹患した場合は、関節部の片当りが発生しやすく、痛みを生じやすい体質であるといえる。 It is said that the number of potential patients in Japan is 30 million and the number of patients requiring treatment is 7 million. In addition, more than 90% of Japanese people are said to have O-legs, and if they suffer from osteoarthritis of the knee, they are likely to suffer from pain because they tend to cause partial contact with the joint. I can say that.
　変形性膝関節症の治療には、例えば特許文献１に開示されているような膝の裏側にあてがう中間部の左右に２本ずつ上下２段に連結帯を形成してサポータ本体を構成したサポータが用いられる。 For the treatment of osteoarthritis of the knee, for example, a supporter having a supporter body formed by forming two connecting bands on the left and right of the middle part applied to the back side of the knee as disclosed in Patent Document 1 Is used.
　また、膝関節部の外側に支柱の入った膝関節用装具を用いることにより、膝関節を外側に曲げようとする力を抑えて膝関節の大腿骨と脛骨の当り面を正常の状態に補正することも行われている。 In addition, by using a knee joint orthosis with a support on the outside of the knee joint, the force to bend the knee joint outward is suppressed and the contact surface of the knee joint's femur and tibia is corrected to a normal state It has also been done.
　膝関節用装具を用いて関節の当り面を正常な状態に保持したまま、筋力の増強トレーニングを行う事により、自身の筋力による保持力を高め、痛みを抑えることができるようになる。 行 う By holding the joint contact surface in a normal state using the knee joint orthosis and performing muscle strength training, the holding power by own muscle strength can be increased and pain can be suppressed.
　また近年は、駆動部を備えた能動装具が用いられている。 In recent years, active appliances equipped with a drive unit have been used.
　例えば、特許文献２には、介護に携わる人の介護動作を行う時の腰への負担を軽くするため、人に装着して駆動部により補助力を与え、筋力の負担を小さくするパワーアシスト機能を備えた身体用装具が提案されている。 For example, Patent Document 2 discloses a power assist function that reduces the burden of muscle strength by applying a driving force to a person to attach to a person to reduce the burden on the waist when performing a care operation for a person involved in care. Prosthetics with body have been proposed.
実開平７－３１０１５号公報Japanese Utility Model Publication No. 7-31015 特開２００４－１０５２６１号公報JP 2004-105261 A
　しかしながら、特許文献１に開示されているサポータや、従来用いられている膝関節用装具は、装着した時に連結帯によって常に身体を締め付けている。そのため、長時間装着したり、強く締め付けたりする場合などは、締め付けにより体内の血管を圧迫し、血行障害の原因となっている。 However, the supporter disclosed in Patent Document 1 and conventionally used knee joint orthoses are always tightened by a connecting band when worn. For this reason, when worn for a long time or tightened strongly, the blood vessels in the body are compressed by tightening, which causes a blood circulation disorder.
　また、特許文献２に開示されている身体用装具を装着する際は、膝関節の上下で身体用装具を常時固定しておかなければならないため、固定箇所を常に強く締め付ける必要がある。そのため、筋肉や関節の廃用や、装着時の圧迫感、強く圧迫することによる血行障害などの問題が発生する。 Also, when wearing the body orthosis disclosed in Patent Document 2, it is necessary to always fix the body orthosis above and below the knee joint. For this reason, problems such as disuse of muscles and joints, feeling of pressure at the time of wearing, and blood circulation disorder due to strong pressure occur.
　本発明は、上記課題に鑑みてなされたものであって、装着時の圧迫による血行障害などを防止し、装着感を改善した身体用装具を提供することを目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a body orthosis that improves a feeling of wearing by preventing a blood circulation disorder due to pressure at the time of wearing.
　前述の目的は、下記に記載する発明により達成される。 The above object is achieved by the invention described below.
　１．身体の一部にバンド部を装着する身体用装具であって、
　伸縮することにより前記バンド部の身体への締め付け力を変えるように構成されたアクチュエータ部と、
　前記アクチュエータ部の伸縮を制御する制御部と、
　を有することを特徴とする身体用装具。 1. A body appliance for attaching a band part to a part of the body,
An actuator unit configured to change the tightening force of the band unit on the body by expanding and contracting; and
A control unit for controlling expansion and contraction of the actuator unit;
A body orthosis characterized by comprising:
　２．身体の動きを検出する検出センサを有し、
　前記制御部は、
　前記検出センサの信号に応じて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータの伸縮を制御することを特徴とする前記１に記載の身体用装具。 2. Having a detection sensor for detecting the movement of the body,
The controller is
2. The body appliance according to claim 1, wherein the actuator is controlled to expand and contract in accordance with a signal from the detection sensor so that a tightening force of the band portion on the body changes.
　３．前記制御部は、
　前記検出センサの信号に基づいて身体の動きを予測し、予測に基づいて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータ部の伸縮を制御することを特徴とする前記２に記載の身体用装具。 3. The controller is
2. The body motion is predicted based on a signal from the detection sensor, and the expansion / contraction of the actuator unit is controlled based on the prediction so that the tightening force of the band unit on the body changes. Body orthosis as described.
　４．前記制御部は、
　前記アクチュエータ部を収縮させた時間に応じて前記アクチュエータ部の収縮量を制御することを特徴とする前記１から３の何れか１項に記載の身体用装具。 4). The controller is
4. The body appliance according to any one of claims 1 to 3, wherein a contraction amount of the actuator unit is controlled in accordance with a time during which the actuator unit is contracted.
　５．前記バンド部と身体との間のすべり量を検出して出力するすべり検出部を有し、
　前記制御部は、
　前記すべり検出部の出力に応じて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータ部の伸縮を制御することを特徴とする前記１から４の何れか１項に記載の身体用装具。 5. A slip detection unit that detects and outputs a slip amount between the band unit and the body;
The controller is
5. The body according to any one of 1 to 4, wherein the expansion and contraction of the actuator unit is controlled so that the tightening force of the band unit on the body changes according to the output of the slip detection unit. Appliances.
　６．前記制御部は、
　前記すべり検出部の出力が所定量を超えたと判定すると、前記バンド部の身体への締め付け力が増すように、前記アクチュエータ部を収縮させることを特徴とする前記５に記載の身体用装具。 6). The controller is
6. The body appliance according to 5, wherein when the output of the slip detection unit is determined to exceed a predetermined amount, the actuator unit is contracted so that a tightening force of the band unit to the body is increased.
　７．前記制御部は、
　前記すべり検出部の出力が所定量以下と判定すると、前記バンド部の身体への締め付け力が減少するように、前記アクチュエータ部を伸長させることを特徴とする前記５に記載の身体用装具。 7). The controller is
6. The body appliance according to 5, wherein when the output of the slip detection unit is determined to be equal to or less than a predetermined amount, the actuator unit is extended so that a tightening force of the band unit to the body is reduced.
　８．前記アクチュエータ部は、
　複数のアクチュエータから構成されることを特徴とする前記１から７の何れか１項に記載の身体用装具。 8). The actuator part is
The body orthosis according to any one of 1 to 7, wherein the body orthosis is composed of a plurality of actuators.
　９．身体の外側側面に当接するパット部と、
　伸縮することにより前記パット部の身体内側に押す力を変えるように構成された抗力発生部と、を有し、
　前記制御部が前記抗力発生部の伸縮を制御することを特徴とする前記１から８の何れか１項に記載の身体用装具。 9. A pad that abuts against the outer side of the body;
A drag generator configured to change the pushing force inside the body of the pad portion by expanding and contracting, and
The body appliance according to any one of 1 to 8, wherein the control unit controls expansion and contraction of the drag generating unit.
　１０．前記抗力発生部は、前記バンド部に接続されていることを特徴とする前記９に記載の身体用装具。 10. 10. The body appliance according to 9, wherein the drag generation unit is connected to the band unit.
　１１．身体の動きを検出する検出センサを有し、
　前記制御部は、
　前記検出センサの信号に応じて、前記パット部の身体内側に押す力が変化ように前記抗力発生部の伸縮を制御することを特徴とする前記９又は１０に記載の身体用装具。 11. Having a detection sensor for detecting the movement of the body,
The controller is
11. The body appliance according to 9 or 10, wherein the expansion / contraction of the drag generation unit is controlled so that the force of pressing the pad unit toward the inside of the body changes according to a signal from the detection sensor.
　１２．前記制御部は、
　前記検出センサの信号に基づいて身体の動きを予測し、予測に基づいて、前記パット部の身体内側に押す力が変化するように前記抗力発生部の伸縮を制御することを特徴とする前記１１に記載の身体用装具。 12 The controller is
11. The body motion is predicted based on the signal of the detection sensor, and the expansion and contraction of the drag generation unit is controlled based on the prediction so that the force of pushing the pad portion toward the inside of the body changes. Body orthotics as described in.
　１３．前記抗力発生部は、
　複数のアクチュエータから構成されることを特徴とする前記９から１２の何れか１項に記載の身体用装具。 13. The drag generator is
13. The body orthosis according to any one of 9 to 12, wherein the body orthosis is composed of a plurality of actuators.
　本発明の身体用装具は、伸縮することによりバンド部の身体への締め付け力を変えるように構成されたアクチュエータと、アクチュエータの伸縮を制御する制御部と、を有するので、条件に応じて、バンド部が身体を締め付ける力を制御することができる。 The body orthosis of the present invention has an actuator configured to change the tightening force of the band portion on the body by expanding and contracting, and a control unit that controls expansion and contraction of the actuator. The force with which the part tightens the body can be controlled.
　したがって、装着時の圧迫による血行障害などを防止し、装着感を改善した身体用装具を提供することができる。 Therefore, it is possible to provide a body appliance that prevents a blood circulation disorder due to pressure at the time of wearing and improves the wearing feeling.
両膝部分に装着した実施形態における身体用装具を正面から見た外観を示す図である。It is a figure which shows the external appearance which looked at the body orthosis in embodiment mounted to both knee parts from the front. 膝部分に装着した実施形態における身体用装具を側面から見た外観を示す図である。It is a figure which shows the external appearance which looked at the body orthosis in embodiment mounted to the knee part from the side surface. 直立時にＯ脚の人の膝に発生する曲げ力を説明する説明図である。It is explanatory drawing explaining the bending force which generate | occur | produces in a person's knee of an O leg at the time of standing upright. 第１の実施形態の身体用装具の回路ブロック図である。It is a circuit block diagram of the body orthosis of 1st Embodiment. 第２の実施形態の身体用装具の回路ブロック図である。It is a circuit block diagram of the body orthosis of 2nd Embodiment. 第２の実施形態の身体用装具の制御の一例を説明するフローチャートである。It is a flowchart explaining an example of control of the body orthosis of 2nd Embodiment. 第２の実施形態の身体用装具の制御の一例を説明するタイムチャートである。It is a time chart explaining an example of control of the body orthosis of 2nd Embodiment.
　以下に本発明の実施形態を図面により説明するが、本発明は以下に説明する実施形態に限られるものではない。なお、各図において同一の符号を付した構成は、同一の構成であることを示し、その説明を省略する。 Embodiments of the present invention will be described below with reference to the drawings, but the present invention is not limited to the embodiments described below. In addition, the structure which attached | subjected the same code | symbol in each figure shows that it is the same structure, The description is abbreviate | omitted.
　本実施形態では、主に変形性膝関節症の治療に用いる身体用装具について説明する。なお、本実施形態では膝関節を例に説明するが、本発明は足首関節、肘関節に用いる身体用装具にも適応する事ができる。 In this embodiment, a body orthosis used mainly for the treatment of knee osteoarthritis will be described. In the present embodiment, the knee joint is described as an example, but the present invention can also be applied to a body orthosis used for an ankle joint and an elbow joint.
　図１は、脚部の両膝部分に装着した実施形態における身体用装具を正面から見た外観を示す図、図２は、脚部の膝部分に装着した実施形態における身体用装具を側面から見た外観を示す図である。 FIG. 1 is a diagram showing an external view of a body appliance in an embodiment mounted on both knee portions of a leg portion, and FIG. 2 is a side view of the body appliance in an embodiment mounted on a knee portion of a leg portion. It is a figure which shows the external appearance seen.
　本実施形態の身体用装具は、主にバンド部１２、１３、パッド部１０、抗力発生部６、７、８、９、コントロールボックス１１から構成される。 The body orthosis according to the present embodiment mainly includes band portions 12 and 13, a pad portion 10, drag generation portions 6, 7, 8 and 9, and a control box 11.
　バンド部１２は、アクチュエータ部１と保持部３から構成され、膝Ｈの上側の脚部に巻き付けるように装着する。バンド部１３は、アクチュエータ部２と保持部４から構成され、膝Ｈの下側の脚部に巻き付けるように装着する。 The band unit 12 is composed of the actuator unit 1 and the holding unit 3 and is mounted so as to be wound around the upper leg of the knee H. The band unit 13 includes the actuator unit 2 and the holding unit 4 and is attached so as to be wound around the lower leg portion of the knee H.
　アクチュエータ部１、２は、いわゆる人工筋肉やソフトアクチュエータと呼ばれるアクチュエータを用いて、アクチュエータが伸縮することによりバンド部１２、１３の身体への締め付け力を変えるように構成されている。 The actuator parts 1 and 2 are configured so as to change the tightening force of the band parts 12 and 13 to the body by using an actuator called a so-called artificial muscle or a soft actuator when the actuator expands and contracts.
　アクチュエータには、例えば、ゴムチューブに空気を入れることにより収縮するゴム人工筋や、電界をかけることによって駆動される電気活性ポリマや、形状記憶合金を用いたアクチュエータなどを用いることができる。なお、本発明は、特にアクチュエータの種類を限定されるものではなく、様々なタイプのアクチュエータを利用することができる。 As the actuator, for example, a rubber artificial muscle that contracts when air is introduced into a rubber tube, an electroactive polymer driven by applying an electric field, an actuator using a shape memory alloy, or the like can be used. In the present invention, the type of actuator is not particularly limited, and various types of actuators can be used.
　また、アクチュエータ部１、２を、複数のアクチュエータから構成するようにすると、アクチュエータの一部が故障しても正常なアクチュエータで伸縮させることができるのでより好ましい。 Further, it is more preferable that the actuator parts 1 and 2 are constituted by a plurality of actuators, because even if a part of the actuator fails, it can be expanded and contracted by a normal actuator.
　保持部３は、アクチュエータ部１の両端にそれぞれ接続された帯状の部材であり、脚部に巻き付け、帯状の部材の両端に設けられたマジックテープ（登録商標）等で保持することができる。保持部４も同様の構成である。 The holding part 3 is a band-like member connected to each end of the actuator part 1 and can be wound around a leg part and held by Velcro (registered trademark) or the like provided at both ends of the band-like member. The holding unit 4 has the same configuration.
　なお、保持部３、４は必ずしも必要ではなく、バンド部１２、１３をそれぞれ環状のアクチュエータ部１、２のみで構成しても良い。 Note that the holding portions 3 and 4 are not necessarily required, and the band portions 12 and 13 may be configured by only the annular actuator portions 1 and 2, respectively.
　パッド部１０は、布やゴム、樹脂などから成り、抗力発生部６、８によりバンド部１２と、抗力発生部７、９によりバンド部１３と、それぞれ接続されている。バンド部１２、１３を脚部に装着すると、パット部１０は膝関節の外側側面に当接する。なお、パッド部１０が関節の回転中心付近に当接するように装着することが好ましい。 The pad portion 10 is made of cloth, rubber, resin, or the like, and is connected to the band portion 12 by the drag generation portions 6 and 8 and to the band portion 13 by the drag generation portions 7 and 9, respectively. When the band portions 12 and 13 are attached to the leg portions, the pad portion 10 comes into contact with the outer side surface of the knee joint. In addition, it is preferable to mount | wear so that the pad part 10 may contact | abut near the rotation center vicinity of a joint.
　抗力発生部６、７、８、９は、伸縮するアクチュエータから構成されている。抗力発生部６、７、８、９を構成するアクチュエータには、アクチュエータ部１、部２に用いるアクチュエータと同じタイプのものを利用することができる。アクチュエータ部１、２と同様に、抗力発生部６、７、８、９を複数のアクチュエータから構成するようにすると、アクチュエータの一部が故障しても正常なアクチュエータで伸縮させることができるのでより好ましい。 The drag generators 6, 7, 8, and 9 are composed of actuators that expand and contract. As the actuators constituting the drag generation units 6, 7, 8, and 9, the same type as the actuators used for the actuator units 1 and 2 can be used. Like the actuator units 1 and 2, if the drag generating units 6, 7, 8, and 9 are composed of a plurality of actuators, even if a part of the actuator fails, it can be expanded and contracted by a normal actuator. preferable.
　抗力発生部６、７、８、９は、一端が膝関節の外側側面に当接するパッド部１０に接続されているので、抗力発生部６、７、８、９をそれぞれ収縮させると、図３のようにパッド部１０に膝を内側に押す力（抗力ＦＸ）が発生する。抗力発生部６、７、８、９をそれぞれ伸張させると、膝を内側に押す力（抗力ＦＸ）を弱めることができる。 Since the drag generating parts 6, 7, 8, 9 are connected to the pad part 10 whose one end is in contact with the outer side surface of the knee joint, when the drag generating parts 6, 7, 8, 9 are contracted, FIG. Thus, a force (drag FX) that pushes the knee inward is generated in the pad portion 10. When each of the drag generation units 6, 7, 8, 9 is extended, the force that pushes the knee inward (the drag FX) can be weakened.
　図３を用いて、抗力ＦＸについてさらに説明する。 The drag FX will be further described with reference to FIG.
　図３のように直立時など体重が膝Ｈにかかった時、Ｏ脚の人は大腿骨が外側を向いているので、膝関節には鉛直方向に対しθの角度で力Ｆ２が加わる。そのため、鉛直方向の力Ｆ１以外に、水平方向に膝関節を外側に曲げようとする曲げ力Ｆ３が生じる。抗力ＦＸを加えると、曲げ力Ｆ３を抑えて膝関節の大腿骨と脛骨の当り面を正常の状態に補正することができる。 As shown in FIG. 3, when the body weight is applied to the knee H, such as when standing upright, the femur of the O-leg is facing outward, so that a force F2 is applied to the knee joint at an angle θ with respect to the vertical direction. Therefore, in addition to the vertical force F1, a bending force F3 for bending the knee joint outward in the horizontal direction is generated. When the drag force FX is applied, the contact force between the femur and tibia of the knee joint can be corrected to a normal state by suppressing the bending force F3.
　コントロールボックス１１は、図１、２には図示せぬ制御部２０、電源部２２などを内蔵し、ユーザが操作部２１を操作することにより、電源のオンオフや、制御モードの切替などを行うことができる。制御部２０、電源部２２等は、回路ブロック図を用いて説明する。 The control box 11 includes a control unit 20 and a power supply unit 22 (not shown in FIGS. 1 and 2), and the user operates the operation unit 21 to turn on / off the power and switch the control mode. Can do. The control unit 20, the power supply unit 22, and the like will be described using a circuit block diagram.
　図４は、第１の実施形態の身体用装具の回路ブロック図である。 FIG. 4 is a circuit block diagram of the body appliance according to the first embodiment.
　制御部２０は、例えばＣＰＵ（中央処理装置）と記憶部等から構成され、記憶部に記憶されているプログラムをＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）に読み出し、当該プログラムに従って身体用装具の各部を制御する。記憶部は、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）等から構成される。 The control unit 20 includes, for example, a CPU (central processing unit) and a storage unit, and reads a program stored in the storage unit into a RAM (Random Access Memory), and controls each unit of the body orthosis according to the program. The storage unit includes a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
　制御部２０は、アクチュエータ部１、２と抗力発生部６、７、８、９をそれぞれ制御する。制御部２０から出力される制御信号は、アクチュエータ部１、２または抗力発生部６、７、８、９を構成するアクチュエータの種類によって異なる。例えば、アクチュエータがゴム人工筋の場合はコンプレッサの制御値であり、電気活性ポリマの場合は電圧値であり、形状記憶合金であれば電力値である。 The control unit 20 controls the actuator units 1 and 2 and the drag generation units 6, 7, 8, and 9, respectively. The control signal output from the control unit 20 varies depending on the type of actuator constituting the actuator units 1 and 2 or the drag generation units 6, 7, 8, and 9. For example, if the actuator is an artificial rubber muscle, it is a compressor control value, if it is an electroactive polymer, it is a voltage value, and if it is a shape memory alloy, it is a power value.
　また、特に図４の構成に限定されるものではなく、制御部２０とアクチュエータ部１、２と抗力発生部６、７、８、９の間にドライバ回路を設け、制御部２０がドライバ回路を制御する制御信号を出力するようにしても良い。 In addition, the configuration is not particularly limited to the configuration of FIG. 4, and a driver circuit is provided between the control unit 20, the actuator units 1 and 2, and the drag generation units 6, 7, 8, and 9. A control signal to be controlled may be output.
　操作部２１は、例えばロータリースイッチであり、制御部２０は、スイッチの位置を検知し、電源のオンオフや、制御モードを切り替える。 The operation unit 21 is, for example, a rotary switch, and the control unit 20 detects the position of the switch, and switches on / off the power source and the control mode.
　電源部２２は、バッテリを内蔵し各部に電源を供給する。 The power supply unit 22 incorporates a battery and supplies power to each unit.
　本実施形態では、制御部２０が、操作部２１の状態に応じて立位モードと座位モードとを切り替えて制御する例を説明する。立位モードは、主にユーザが立っている場合に設定するモードであり、座位モードは、主にユーザが座っている場合に設定するモードである。 In the present embodiment, an example in which the control unit 20 performs control by switching between the standing mode and the sitting mode according to the state of the operation unit 21 will be described. The standing mode is a mode set mainly when the user is standing, and the sitting mode is a mode set mainly when the user is sitting.
　立位モードでは、制御部２０は、アクチュエータ部１、２に制御信号を送り、アクチュエータを収縮させてバンド部１２、１３が所定の締め付け力で脚部を締め付けるようにした後、抗力発生部６、７、８、９を収縮させるよう制御信号を送り、抗力ＦＸを発生させる。 In the standing mode, the control unit 20 sends a control signal to the actuator units 1 and 2 to contract the actuators so that the band units 12 and 13 tighten the legs with a predetermined tightening force, and then the drag generating unit 6 , 7, 8, and 9 are sent to generate a drag force FX.
　座位モードでは、制御部２０は、アクチュエータ部１、２と抗力発生部６、７、８、９とに制御信号を送り、それぞれのアクチュエータを所定の長さにする。 In the sitting position mode, the control unit 20 sends control signals to the actuator units 1 and 2 and the drag generation units 6, 7, 8, and 9 so that each actuator has a predetermined length.
　このように、立位モードでは、バンド部１２、１３が脚部を締め付けるので、抗力発生部６、７、８、９が収縮してもバンド部１２、１３の位置がずれることなく、抗力発生部６、７、８、９の収縮量に応じて抗力ＦＸを発生させることができる。 As described above, in the standing mode, the band portions 12 and 13 tighten the legs, so even if the drag generating portions 6, 7, 8, and 9 contract, the position of the band portions 12 and 13 does not shift and the drag is generated. The drag FX can be generated according to the contraction amount of the parts 6, 7, 8, 9.
　座位モードでは、それぞれのアクチュエータを立位モードより伸長させ、バンド部１２、１３が脚部を締め付ける力を弱めるので、装着時の圧迫感や、血行障害などの発生を防止することができる。 In the sitting mode, each actuator is extended from the standing mode, and the band portions 12 and 13 weaken the force of tightening the legs, so that it is possible to prevent a feeling of pressure during wearing and a blood circulation disorder.
　また、制御部２０は、立位モードを開始してからの時間を計数し、所定の時間が経過するとそれぞれのアクチュエータを所定量伸長させ、バンド部１２、１３が脚部を締め付ける力を弱める。このように、アクチュエータ部１、２を収縮させた時間に応じてアクチュエータ部１、２の収縮量を制御すると、長時間の装着による装着時の圧迫感や、血行障害などの発生を防止することができる。 Further, the control unit 20 counts the time since the start of the standing mode, and when the predetermined time elapses, the respective actuators are extended by a predetermined amount, and the band portions 12 and 13 weaken the force for tightening the leg portions. In this way, when the contraction amount of the actuator units 1 and 2 is controlled in accordance with the time during which the actuator units 1 and 2 are contracted, it is possible to prevent the occurrence of a feeling of pressure or a blood circulation disorder during mounting for a long time. Can do.
　次に、第２の実施形態について説明する。 Next, a second embodiment will be described.
　図５は、第２の実施形態の身体用装具の回路ブロック図、図６は、第２の実施形態の身体用装具の制御の一例を説明するフローチャート、図７は、第２の実施形態の身体用装具の制御の一例を説明するタイムチャートである。 FIG. 5 is a circuit block diagram of the body appliance of the second embodiment, FIG. 6 is a flowchart for explaining an example of the control of the body appliance of the second embodiment, and FIG. 7 is a diagram of the second embodiment. It is a time chart explaining an example of control of a body appliance.
　第２の実施形態では、曲げ検出部２５とすべり検出部２３、２４が制御部２０に接続されている。 In the second embodiment, the bending detection unit 25 and the slip detection units 23 and 24 are connected to the control unit 20.
　曲げ検出部２５は、身体の動きを検出するためパッド部１０に設けられた検出センサである。例えば、曲げ検出部２５として汎用の圧力センサを、パッド部１０の身体と接する面に設けることにより図３で説明した曲げ力Ｆ３を検出することができる。曲げ力Ｆ３は、体重が膝にかかった時に発生するので、歩行するときなど身体の動きに応じて変化する曲げ力Ｆ３を検出すると身体の動きを予測することもできる。 The bending detection unit 25 is a detection sensor provided in the pad unit 10 for detecting the movement of the body. For example, the bending force F3 described in FIG. 3 can be detected by providing a general-purpose pressure sensor as the bending detection unit 25 on the surface of the pad unit 10 in contact with the body. Since the bending force F3 is generated when the weight is applied to the knee, the body movement can be predicted by detecting the bending force F3 that changes according to the body movement such as when walking.
　身体の動きを検出する方法は特に限定されるものではなく、例えば、パッド部１０の膝関節部に当接する部分の上下に、曲げ検出部２５として歪みゲージを設け、曲げ力Ｆ３によるパッド部１０の歪みを検出しても良い。 The method for detecting the movement of the body is not particularly limited. For example, a strain gauge is provided as a bending detection unit 25 above and below the portion of the pad unit 10 that comes into contact with the knee joint, and the pad unit 10 using the bending force F3 is provided. You may detect distortion of.
　制御部２０は、曲げ検出部２５の出力する信号に応じて、バンド部１２、１３の身体への締め付け力が変化するようにアクチュエータ部１、２と抗力発生部６、７、８、９のアクチュエータの伸縮を制御する。 The controller 20 controls the actuator units 1 and 2 and the drag generators 6, 7, 8, 9 so that the tightening force of the band units 12, 13 on the body changes according to the signal output from the bending detector 25. Controls the expansion and contraction of the actuator.
　すべり検出部２３、２４は、バンド部１２、１３の身体に接する面と身体との間に発生するすべりを検出するため、バンド部１２、１３の身体に接する面にそれぞれ設けられている。 The slip detection units 23 and 24 are provided on the surfaces of the band units 12 and 13 that are in contact with the body in order to detect slips generated between the surfaces of the band units 12 and 13 that are in contact with the body.
　すべり検出部２３、２４として、例えば裏表の２層に複数の圧力センサを配置したシート状のすべり検出センサを用いることができる。このようなすべり検出センサを用いると、所定時間毎にそれぞれの層の圧力センサの検出した圧力から重心位置を算出し、２層の重心位置の差からすべりの発生を検出することができる。 As the slip detection units 23 and 24, for example, a sheet-like slip detection sensor in which a plurality of pressure sensors are arranged in two layers on the front and back sides can be used. When such a slip detection sensor is used, the position of the center of gravity can be calculated from the pressure detected by the pressure sensor of each layer every predetermined time, and the occurrence of slip can be detected from the difference between the positions of the center of gravity of the two layers.
　制御部２０は、すべり検出部２３、２４の出力する信号に応じて、バンド部１２、バンド部１３の身体への締め付け力が変化するようにアクチュエータ部１、２の伸縮を制御する。このようにすると、すべりの発生に応じてバンド部１２、１３の締め付け力を増減し、すべりの発生しない適度な締め付け力にすることができる。 The control unit 20 controls the expansion and contraction of the actuator units 1 and 2 so that the tightening force of the band unit 12 and the band unit 13 on the body changes according to the signals output from the slip detection units 23 and 24. If it does in this way, according to generation | occurrence | production of a slide, the clamping force of the band parts 12 and 13 can be increased / decreased, and it can be set as the moderate clamping force which does not generate | occur | produce a slip.
　次に、図６のフローチャートと、図７のタイムチャートを用いて第２の実施形態の身体用装具の制御の一例を説明する。以下、図６のフローチャートの順に、図７のタイムチャートを参照して説明する。 Next, an example of the control of the body orthosis according to the second embodiment will be described using the flowchart of FIG. 6 and the time chart of FIG. Hereinafter, description will be made in the order of the flowchart of FIG. 6 with reference to the time chart of FIG.
　本実施形態では、歩行時の身体の動きに応じて、バンド部１２、１３の身体への締め付け力が変化するように制御する例を説明する。なお、本実施形態では、身体用装具は図１、図２のように膝関節部に装着され、電源が投入されているものとする。また、図７のタイムチャートは、一方の足に装着された身体用装具のタイムチャートである。 In the present embodiment, an example will be described in which control is performed so that the tightening force of the band portions 12 and 13 on the body changes according to the movement of the body during walking. In this embodiment, it is assumed that the body orthosis is attached to the knee joint as shown in FIGS. 1 and 2 and the power is turned on. Moreover, the time chart of FIG. 7 is a time chart of the body orthosis worn on one leg.
　Ｓ１１：曲げ周期を検出するステップである。 S11: This is a step of detecting a bending cycle.
　制御部２０は、曲げ検出部２５の出力を、所定の期間、所定の周期でサンプリングしてＡ／Ｄ変換した値を内部のメモリーに順次記憶し、記憶したデータから曲げ周期を検出する。 The control unit 20 samples the output of the bending detection unit 25 at a predetermined period and performs A / D conversion for a predetermined period, sequentially stores the value in an internal memory, and detects the bending period from the stored data.
　図７（ａ）は、曲げ検出部２５の出力の一例を示すタイムチャートであり、縦軸は曲げ検出部２５の出力、横軸は時間軸である。 FIG. 7A is a time chart showing an example of the output of the bending detection unit 25, where the vertical axis is the output of the bending detection unit 25 and the horizontal axis is the time axis.
　歩行時には、膝関節は曲げと伸ばしを繰返している。歩行時に、膝に体重がかかるのは足裏が地面に接地している時であり、それ以外の場合、膝は膝より下の脚部を支えている。足裏が地面に接地すると、体重が膝にかかるため曲げ力Ｆ３が増し、パッド部１０に設けられた曲げ検出部２５の出力が増加する。足裏が地面から離れると、曲げ力Ｆ３が減少する。 When walking, the knee joint is repeatedly bent and stretched. When walking, weight is applied to the knee when the sole is in contact with the ground, otherwise the knee supports the leg below the knee. When the sole touches the ground, the weight is applied to the knee, so that the bending force F3 increases, and the output of the bending detection unit 25 provided in the pad unit 10 increases. When the sole is separated from the ground, the bending force F3 decreases.
　図７（ａ）では、曲げ検出部２５の出力が所定のレベルＶｘを超えたｔ０以降は、曲げ検出部２５の出力が周期的に増減している。これは、例えば、身体用装具を着用して座っていた人がｔ０の時点から立ち上がり、歩き出した状態である。 In FIG. 7A, after t 0 when the output of the bending detection unit 25 exceeds the predetermined level Vx, the output of the bending detection unit 25 periodically increases and decreases. This is, for example, is a state in which the person who was sitting to wear a body brace is rising from the time of t 0, it began to walk.
　制御部２０は、例えば、ｔ０から所定の期間後のｔ１の間に記憶した曲げ検出部２５の出力の値から、出力のピークのタイミングを求め、曲げ周期Ｔ１、Ｔ２を算出する。 For example, the control unit 20 obtains the output peak timing from the output value of the bending detection unit 25 stored during t 1 after a predetermined period from t 0 , and calculates the bending periods T 1 and T 2.
　Ｓ１２：曲げ周期が、一定か否かを判定するステップである。 S12: A step of determining whether or not the bending cycle is constant.
　制御部２０は、所定の期間にステップＳ１１で検出した曲げ周期が一定か否かを判定する。 The control unit 20 determines whether or not the bending cycle detected in step S11 is constant during a predetermined period.
　制御部２０は、例えばｔ０からｔ１の間にステップＳ１１で検出した曲げ周期Ｔ１、Ｔ２の差Ｔ１－Ｔ２を算出し、所定値以下の場合は曲げ周期が一定と判定する。 The control unit 20 determines, for example, the difference of bending cycles T1, T2 detected at step S11 to between t 0 of t 1 calculates the T1-T2, in the case of a predetermined value or less bending cycle constant.
　曲げ周期が一定ではない場合、（ステップＳ１２；Ｎｏ）、ステップＳ１１に戻る。 If the bending cycle is not constant (step S12; No), the process returns to step S11.
　ステップＳ１１に戻り、次の所定期間に記憶した曲げ検出部２５の出力から曲げ周期を検出する。 Returning to step S11, the bending cycle is detected from the output of the bending detector 25 stored in the next predetermined period.
　曲げ周期が一定の場合、（ステップＳ１２；Ｙｅｓ）、ステップＳ１３に進む。 If the bending cycle is constant (step S12; Yes), the process proceeds to step S13.
　Ｓ１３：歩行パターンを予測するステップである。 S13: This is a step of predicting a walking pattern.
　制御部２０は、ステップＳ１１で検出した曲げ周期から、ｔ１以降の歩行パターンの曲げ周期Ｔｘを予測する。例えば、制御部２０は、Ｔ１とＴ２の平均値を求め、平均値を曲げ周期Ｔｘとする。 Control unit 20, the bending cycle detected in Step S11, predicting the bending cycle Tx of t 1 subsequent walking pattern. For example, the control unit 20 obtains an average value of T1 and T2, and sets the average value as the bending cycle Tx.
　なお、本実施形態では２回の曲げ周期Ｔ１、Ｔ２の平均値を曲げ周期Ｔｘとするが、特にこの方法に限定されるものではなく、例えば２回以上の曲げ周期のデータと、予め記憶している歩行パターンのデータとを照合して以降の曲げ周期を求めるとより精度の高い予測が可能になる。 In this embodiment, the average value of the two bending cycles T1 and T2 is the bending cycle Tx. However, the present invention is not particularly limited to this method. For example, data of two or more bending cycles is stored in advance. If the subsequent bending cycle is obtained by collating with the walking pattern data, a more accurate prediction is possible.
　Ｓ１４：抗力発生部を駆動するとともに、アクチュエータ部を駆動するステップである。 S14: This is a step of driving the drag generating unit and driving the actuator unit.
　制御部２０は、ステップＳ１３で予測した曲げ周期Ｔｘで抗力発生部６、７、８、９を駆動して伸縮させるとともに、同じ曲げ周期Ｔｘでアクチュエータ部１、２を駆動して伸縮させる。 The control unit 20 drives the drag generating units 6, 7, 8, and 9 to expand and contract at the bending cycle Tx predicted in step S13, and drives the actuator units 1 and 2 to expand and contract at the same bending cycle Tx.
　制御部２０は、身体の動きを予測した曲げ周期Ｔｘで抗力発生部６、７、８、９とアクチュエータ部１、２を駆動するので、身体の動きに遅れないように制御を行うことができる。 Since the control unit 20 drives the drag generating units 6, 7, 8, 9 and the actuator units 1 and 2 with a bending cycle Tx that predicts the movement of the body, the control unit 20 can perform control so as not to be delayed from the movement of the body. .
　図７（ｂ）の例では、ｔ１から抗力発生部６、７、８、９の収縮が始まり抗力が増加するとともに、図７（ｄ）のようにｔ１からアクチュエータ部１、２の収縮が始まりバンド部１２、１３の身体（足）を締め付ける締め付け力が増加する。このようにすると、抗力発生部６、７、８、９が収縮してバンド部１２、１３をそれぞれ膝Ｈの方向にずらす力が加わっても、バンド部１２、１３の締め付け力を増し、バンド部１２、１３の位置がずれないようにすることができる。 In the example of FIG. 7B, the drag generation units 6, 7, 8, and 9 start to contract from t 1 and the drag increases, and the contraction of the actuator units 1 and 2 from t 1 as illustrated in FIG. 7D. Begins, and the tightening force for tightening the bodies (legs) of the band portions 12 and 13 increases. In this way, even if the force generating parts 6, 7, 8, 9 contract and a force that shifts the band parts 12, 13 in the direction of the knee H is applied, the tightening force of the band parts 12, 13 is increased. It is possible to prevent the positions of the portions 12 and 13 from shifting.
　ｔ２からは、図７（ｂ）のように抗力発生部６、７、８、９の伸長が始まり抗力が減少するとともに、図７（ｄ）に示すようにアクチュエータ部１、２も伸長が始まり身体（脚部）を締め付ける締め付け力が減少する。すなわち、抗力発生部６、７、８、９が伸長してバンド部１２、１３をそれぞれ膝Ｈの方向にずらす力が減少すると、アクチュエータ部１、２も伸長してバンド部１２、１３の締め付け力を減少させている。このようにすると、装着時の圧迫による血行障害などを防止し、装着感を改善することができる。 From t 2, with the extension of the drag generating unit 6, 7 is drag decreases begins as in FIG. 7 (b), the actuator unit 2 also extended such shown in FIG. 7 (d) The tightening force that tightens the body (legs) begins to decrease. That is, when the drag generating parts 6, 7, 8, 9 extend and the force for shifting the band parts 12, 13 in the direction of the knee H decreases, the actuator parts 1, 2 also extend to tighten the band parts 12, 13 The power is decreasing. In this way, it is possible to prevent a blood circulation disorder due to compression at the time of wearing and improve the wearing feeling.
　Ｓ１５：すべりを検出するステップである。 S15: This is a step of detecting a slip.
　制御部２０は、すべり検出部２３の２層に配置された圧力センサの出力データを取得し、各層の圧力重心位置の差からバンド部１２、１３と身体との間にすべりが発生していることを検出する。 The control unit 20 acquires the output data of the pressure sensors arranged in the two layers of the slip detection unit 23, and slip occurs between the band units 12 and 13 and the body from the difference in the pressure center of gravity of each layer. Detect that.
　バンド部１２、１３と身体との間にすべりが発生していない時は、すべり検出部２３の各層に配置された対向する位置にある圧力センサの出力は、ほとんど同じでありその差は少ない。バンド部１２、１３と身体との間にすべりが発生すると、すべり検出部２３の各層に配置された圧力センサの出力から求めた圧力重心位置の差が大きくなる。 When there is no slip between the band parts 12 and 13 and the body, the outputs of the pressure sensors at the opposing positions arranged in each layer of the slip detection part 23 are almost the same and the difference is small. When a slip occurs between the band parts 12 and 13 and the body, the difference in the position of the pressure center of gravity obtained from the output of the pressure sensor arranged in each layer of the slip detection part 23 increases.
　図７（ｃ）は、すべり検出部２３の各層に配置された対向する位置にある圧力センサの出力から求めた圧力重心位置の差を、縦軸にすべり量として表示している。 FIG. 7C shows the difference in the position of the barycenter of pressure obtained from the output of the pressure sensor at the opposing position arranged in each layer of the slip detection unit 23 as the slip amount on the vertical axis.
　Ｓ１６：すべり状態か否かを判定するステップである。 S16: This is a step of determining whether or not a slip state is present.
　制御部２０は、すべり量と所定の閾値ＶＴ１とを比較し、すべり状態を判定する。 The control unit 20 compares the slip amount with a predetermined threshold value V T1 and determines the slip state.
　すべり状態の場合、（ステップＳ１６；Ｙｅｓ）、ステップＳ１７に進む。 In the case of the slip state (step S16; Yes), the process proceeds to step S17.
　Ｓ１７：締め付け力を上げるステップである。 S17: A step of increasing the tightening force.
　制御部２０は、バンド部１２、１３の締め付け力が上がるように、アクチュエータ部１、２の収縮量を大きくする。 The control unit 20 increases the contraction amount of the actuator units 1 and 2 so that the tightening force of the band units 12 and 13 is increased.
　図７（ｃ）の例ではｔ１以降すべり量が増し、ｔａの時点で閾値ＶＴ１を越えている。制御部２０は、閾値ＶＴ１を越えるとすべり状態と判定し、アクチュエータ部１、２の収縮量を所定の割合大きくする。 Slip amount increases t 1 later in the example of FIG. 7 (c), it exceeds the threshold value V T1 at time t a. If the control unit 20 exceeds the threshold value V T1 , the control unit 20 determines that it is in a slip state, and increases the contraction amount of the actuator units 1 and 2 by a predetermined ratio.
　図７（ｄ）の例では、ｔａの時点から急に締め付け力が増加し、ｔａの時点でＡ０だった締め付け力が、ｔ２の時点ではＡ１に増加している。 In the example of FIG. 7 (d), the sudden clamping force is increased from the time point of t a, the clamping force was A 0 at time t a has increased to A 1 at the time of t 2.
　すべり状態ではない場合、（ステップＳ１６；Ｎｏ）、ステップＳ１８に進む。 If it is not in the sliding state (step S16; No), the process proceeds to step S18.
　Ｓ１８：締め付け力を下げるステップである。 S18: This is a step of reducing the tightening force.
　制御部２０は、バンド部１２、１３の締め付け力が下がるように、アクチュエータ部１、２の収縮量を小さくする。 The control unit 20 reduces the contraction amount of the actuator units 1 and 2 so that the tightening force of the band units 12 and 13 is lowered.
　図７（ｃ）の例では、ｔｂの時点ですべり量が減り、閾値ＶＴ１を下回っている。制御部２０は、閾値ＶＴ１以下ではすべり状態ではないと判定し、この間のすべり量に応じてアクチュエータ部１、２の収縮量を所定の割合小さくする。 In the example of FIG. 7 (c), reduce the slip amount at the time of t b, is below the threshold value V T1. Control unit 20 determines that not the slip state at below the threshold V T1, smaller predetermined percentage of shrinkage of the actuator section 1 and 2 according to this period of slip.
　図７（ｄ）の例では、ｔｂの時点から急に締め付け力が減少し、ｔ２の時点でＡ１だった締め付け力がｔｂの時点ではＡ０に減少している。 In the example of FIG. 7 (d), the sudden clamping force is reduced from the time of t b, the clamping force was A 1 at time t 2 is at the time of t b is reduced to A 0.
　Ｓ１９：歩行中か否かを判定するステップである。 S19: This is a step for determining whether or not walking.
　制御部２０は、歩行中か否かを判定するため曲げ検出部２５の出力が予測した曲げ周期Ｔｘで出力されているかを検証する。 The control unit 20 verifies whether the output of the bending detection unit 25 is output at the predicted bending cycle Tx in order to determine whether or not walking.
　歩行中の場合、（ステップＳ１９；Ｙｅｓ）、ステップＳ１５に戻る。 If walking (step S19; Yes), the process returns to step S15.
　曲げ検出部２５の出力が予測した曲げ周期Ｔｘで出力されている場合、制御部２０は、ステップＳ１５に戻り、すべり状態か否かを判定する。 When the output of the bending detection unit 25 is output at the predicted bending cycle Tx, the control unit 20 returns to step S15 and determines whether or not the sliding state is present.
　なお、制御部２０は、本ステップを行った回数を計数し、所定の回数以上では抗力発生部６、７、８、９とアクチュエータ部１、２のそれぞれのアクチュエータを所定割合伸長させて駆動するようにしても良い。このように、アクチュエータ部１、２を収縮させた時間に応じてアクチュエータ部１、２の収縮量を制御すると、長時間の装着による装着時の圧迫感や、血行障害などの発生を防止することができる。 The control unit 20 counts the number of times this step has been performed, and drives the drag generating units 6, 7, 8, 9 and the actuators 1 and 2 by extending the actuators by a predetermined ratio if the number of times exceeds the predetermined number. You may do it. In this way, when the contraction amount of the actuator units 1 and 2 is controlled in accordance with the time during which the actuator units 1 and 2 are contracted, it is possible to prevent a feeling of pressure during wearing for a long period of time and a blood circulation disorder. Can do.
　歩行中ではない場合、（ステップＳ１９；Ｎｏ）、ステップＳ２０に進む。 If not walking (step S19; No), the process proceeds to step S20.
　曲げ検出部２５の出力が予測した曲げ周期Ｔｘで出力されていない場合、制御部２０は、歩行中ではないと判定しステップＳ２０に進む。 If the output of the bending detection unit 25 is not output at the predicted bending cycle Tx, the control unit 20 determines that it is not walking and proceeds to step S20.
　Ｓ２０：抗力発生部とアクチュエータ部とを停止するステップである。 S20: This is a step of stopping the drag generation section and the actuator section.
　制御部２０は、抗力発生部６、７、８、９とアクチュエータ部１、２とを駆動し所定の長さで停止させる。 The controller 20 drives the drag generators 6, 7, 8, 9 and the actuators 1 and 2 to stop them at a predetermined length.
　フローチャートの説明は以上である。 This completes the explanation of the flowchart.
　以上このように、本実施の形態によれば、装着時の圧迫による血行障害などを防止し、装着感を改善した身体用装具を提供することができる。 As described above, according to the present embodiment, it is possible to provide a body orthosis that improves a feeling of wearing by preventing a blood circulation disorder due to pressure at the time of wearing.
　１　アクチュエータ部
　２　アクチュエータ部
　３　保持部
　４　保持部
　６　抗力発生部
　７　抗力発生部
　８　抗力発生部
　９　抗力発生部
　１０　パッド部
　１２　バンド部
　１３　バンド部
　２０　制御部
　２１　操作部
　２２　電源部
　２３　すべり検出部
　２４　すべり検出部
　２５　曲げ検出部 DESCRIPTION OF SYMBOLS 1 Actuator part 2 Actuator part 3 Holding part 4 Holding part 6 Drag generating part 7 Drag generating part 8 Drag generating part 9 Drag generating part 10 Pad part 12 Band part 13 Band part 20 Control part 21 Operation part 22 Power supply part 23 Slip detection part 24 Slip detector 25 Bend detector

Claims (13)

  1. 　身体の一部にバンド部を装着する身体用装具であって、
    　伸縮することにより前記バンド部の身体への締め付け力を変えるように構成されたアクチュエータ部と、
    　前記アクチュエータ部の伸縮を制御する制御部と、
    　を有することを特徴とする身体用装具。     A body appliance for attaching a band part to a part of the body,
    An actuator unit configured to change the tightening force of the band unit on the body by expanding and contracting; and
    A control unit for controlling expansion and contraction of the actuator unit;
    A body orthosis characterized by comprising:
  2. 　身体の動きを検出する検出センサを有し、
    　前記制御部は、
    　前記検出センサの信号に応じて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータの伸縮を制御することを特徴とする請求項１に記載の身体用装具。     Having a detection sensor for detecting the movement of the body,
    The controller is
    The body orthosis according to claim 1, wherein expansion and contraction of the actuator is controlled so that a tightening force of the band portion to the body changes according to a signal of the detection sensor.
  3. 　前記制御部は、
    　前記検出センサの信号に基づいて身体の動きを予測し、予測に基づいて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータ部の伸縮を制御することを特徴とする請求項２に記載の身体用装具。     The controller is
    The movement of the body is predicted based on the signal of the detection sensor, and the expansion and contraction of the actuator unit is controlled based on the prediction so that the tightening force of the band unit to the body changes. Body orthotics as described in.
  4. 　前記制御部は、
    　前記アクチュエータ部を収縮させた時間に応じて前記アクチュエータ部の収縮量を制御することを特徴とする請求項１から３の何れか１項に記載の身体用装具。     The controller is
    The body appliance according to any one of claims 1 to 3, wherein a contraction amount of the actuator unit is controlled in accordance with a time during which the actuator unit is contracted.
  5. 　前記バンド部と身体との間のすべり量を検出して出力するすべり検出部を有し、
    　前記制御部は、
    　前記すべり検出部の出力に応じて、前記バンド部の身体への締め付け力が変化するように前記アクチュエータ部の伸縮を制御することを特徴とする請求項１から４の何れか１項に記載の身体用装具。     A slip detection unit that detects and outputs a slip amount between the band unit and the body;
    The controller is
    5. The expansion and contraction of the actuator unit is controlled so that the tightening force of the band unit on the body changes according to the output of the slip detection unit. 6. Body orthosis.
  6. 　前記制御部は、
    　前記すべり検出部の出力が所定量を超えたと判定すると、前記バンド部の身体への締め付け力が増すように、前記アクチュエータ部を収縮させることを特徴とする請求項５に記載の身体用装具。     The controller is
    6. The body appliance according to claim 5, wherein when the output of the slip detection unit is determined to exceed a predetermined amount, the actuator unit is contracted so that a tightening force of the band unit to the body is increased.
  7. 　前記制御部は、
    　前記すべり検出部の出力が所定量以下と判定すると、前記バンド部の身体への締め付け力が減少するように、前記アクチュエータ部を伸長させることを特徴とする請求項５に記載の身体用装具。     The controller is
    6. The body appliance according to claim 5, wherein when the output of the slip detection unit is determined to be equal to or less than a predetermined amount, the actuator unit is extended so that a tightening force of the band unit to the body is reduced.
  8. 　前記アクチュエータ部は、
    　複数のアクチュエータから構成されることを特徴とする請求項１から７の何れか１項に記載の身体用装具。     The actuator part is
    The body orthosis according to claim 1, comprising a plurality of actuators.
  9. 　身体の外側側面に当接するパット部と、
    　伸縮することにより前記パット部の身体内側に押す力を変えるように構成された抗力発生部と、を有し、
    　前記制御部が前記抗力発生部の伸縮を制御することを特徴とする請求項１から８の何れか１項に記載の身体用装具。     A pad that abuts against the outer side of the body;
    A drag generator configured to change the pushing force inside the body of the pad portion by expanding and contracting, and
    The body appliance according to any one of claims 1 to 8, wherein the control unit controls expansion and contraction of the drag generation unit.
  10. 　前記抗力発生部は、前記バンド部に接続されていることを特徴とする請求項９に記載の身体用装具。 10. The body orthosis according to claim 9, wherein the drag generation unit is connected to the band unit.
  11. 　身体の動きを検出する検出センサを有し、
    　前記制御部は、
    　前記検出センサの信号に応じて、前記パット部の身体内側に押す力が変化ように前記抗力発生部の伸縮を制御することを特徴とする請求項９又は１０に記載の身体用装具。     Having a detection sensor for detecting the movement of the body,
    The controller is
    11. The body appliance according to claim 9, wherein expansion and contraction of the drag generation unit is controlled so that a pressing force of the pad unit on the inside of the body changes according to a signal of the detection sensor.
  12. 　前記制御部は、
    　前記検出センサの信号に基づいて身体の動きを予測し、予測に基づいて、前記パット部の身体内側に押す力が変化するように前記抗力発生部の伸縮を制御することを特徴とする請求項１１に記載の身体用装具。     The controller is
    The body motion is predicted based on a signal from the detection sensor, and the expansion and contraction of the drag generation unit is controlled based on the prediction so that the force pushing the pad portion toward the inside of the body changes. 11. The body orthosis according to 11.
  13. 　前記抗力発生部は、
    　複数のアクチュエータから構成されることを特徴とする請求項９から１２の何れか１項に記載の身体用装具。     The drag generator is
    The body orthosis according to any one of claims 9 to 12, comprising a plurality of actuators.
PCT/JP2010/063462 2009-09-08 2010-08-09 Orthotic for human body WO2011030641A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-206777 2009-09-08
JP2009206777 2009-09-08

Publications (1)

Publication Number Publication Date
WO2011030641A1 true WO2011030641A1 (en) 2011-03-17

Family

ID=43732315

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/063462 WO2011030641A1 (en) 2009-09-08 2010-08-09 Orthotic for human body

Country Status (1)

Country Link
WO (1) WO2011030641A1 (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014133121A (en) * 2012-12-14 2014-07-24 Nikon Corp Auxiliary tool
US9351900B2 (en) 2012-09-17 2016-05-31 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US10278883B2 (en) 2014-02-05 2019-05-07 President And Fellows Of Harvard College Systems, methods, and devices for assisting walking for developmentally-delayed toddlers
US10434030B2 (en) 2014-09-19 2019-10-08 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US10548954B2 (en) 2010-07-09 2020-02-04 Bioverativ Therapeutics Inc. Factor IX polypeptides and methods of use thereof
US10843332B2 (en) 2013-05-31 2020-11-24 President And Fellow Of Harvard College Soft exosuit for assistance with human motion
US10864100B2 (en) 2014-04-10 2020-12-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US11014804B2 (en) 2017-03-14 2021-05-25 President And Fellows Of Harvard College Systems and methods for fabricating 3D soft microstructures
US11147703B2 (en) 2016-01-30 2021-10-19 Tokio Matsuzaki Mechanical assisted active orthosis using a robotic application
US11324655B2 (en) 2013-12-09 2022-05-10 Trustees Of Boston University Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
US11498203B2 (en) 2016-07-22 2022-11-15 President And Fellows Of Harvard College Controls optimization for wearable systems
US11590046B2 (en) 2016-03-13 2023-02-28 President And Fellows Of Harvard College Flexible members for anchoring to the body
JP7358569B1 (en) 2022-06-24 2023-10-10 株式会社BOC Technology Knee care walking assist supporter for the elderly

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006087548A (en) * 2004-09-22 2006-04-06 Masanori Sugisaka Muscle trouser
JP2006340852A (en) * 2005-06-08 2006-12-21 Natl Rehabilitation Center For The Disabled Wear type joint drive device
JP2007097636A (en) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd Muscular strength assisting apparatus
JP2009034744A (en) * 2007-07-31 2009-02-19 Sony Corp Apparatus and method for control, and program
WO2009084305A1 (en) * 2007-12-27 2009-07-09 Murata Manufacturing Co., Ltd. Actuator array and method for driving actuator array

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006087548A (en) * 2004-09-22 2006-04-06 Masanori Sugisaka Muscle trouser
JP2006340852A (en) * 2005-06-08 2006-12-21 Natl Rehabilitation Center For The Disabled Wear type joint drive device
JP2007097636A (en) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd Muscular strength assisting apparatus
JP2009034744A (en) * 2007-07-31 2009-02-19 Sony Corp Apparatus and method for control, and program
WO2009084305A1 (en) * 2007-12-27 2009-07-09 Murata Manufacturing Co., Ltd. Actuator array and method for driving actuator array

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10548954B2 (en) 2010-07-09 2020-02-04 Bioverativ Therapeutics Inc. Factor IX polypeptides and methods of use thereof
US10561714B2 (en) 2010-07-09 2020-02-18 Bioverativ Therapeutics Inc. Factor IX polypeptides and methods of use thereof
US10568943B2 (en) 2010-07-09 2020-02-25 Bioverativ Therapeutics Inc. Factor IX polypeptides and methods of use thereof
US10898554B1 (en) 2010-07-09 2021-01-26 Bioverativ Therapeutics Inc. Factor IX polypeptides and methods of use thereof
US9351900B2 (en) 2012-09-17 2016-05-31 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US10427293B2 (en) 2012-09-17 2019-10-01 Prisident And Fellows Of Harvard College Soft exosuit for assistance with human motion
US11464700B2 (en) 2012-09-17 2022-10-11 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
JP2014133121A (en) * 2012-12-14 2014-07-24 Nikon Corp Auxiliary tool
US10843332B2 (en) 2013-05-31 2020-11-24 President And Fellow Of Harvard College Soft exosuit for assistance with human motion
US11324655B2 (en) 2013-12-09 2022-05-10 Trustees Of Boston University Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
US10278883B2 (en) 2014-02-05 2019-05-07 President And Fellows Of Harvard College Systems, methods, and devices for assisting walking for developmentally-delayed toddlers
US10864100B2 (en) 2014-04-10 2020-12-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US10434030B2 (en) 2014-09-19 2019-10-08 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US11147703B2 (en) 2016-01-30 2021-10-19 Tokio Matsuzaki Mechanical assisted active orthosis using a robotic application
US11590046B2 (en) 2016-03-13 2023-02-28 President And Fellows Of Harvard College Flexible members for anchoring to the body
US11498203B2 (en) 2016-07-22 2022-11-15 President And Fellows Of Harvard College Controls optimization for wearable systems
US11014804B2 (en) 2017-03-14 2021-05-25 President And Fellows Of Harvard College Systems and methods for fabricating 3D soft microstructures
JP7358569B1 (en) 2022-06-24 2023-10-10 株式会社BOC Technology Knee care walking assist supporter for the elderly

Similar Documents

Publication Publication Date Title
WO2011030641A1 (en) Orthotic for human body
US10028881B2 (en) Swinging leg pendulum movement aid for walking, and assistance force control method
Farris et al. Elastic ankle exoskeletons reduce soleus muscle force but not work in human hopping
US11147703B2 (en) Mechanical assisted active orthosis using a robotic application
WO2015088863A2 (en) Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
WO2008048658A3 (en) Equilibrium-point prosthetic and orthotic ankle-foot systems
US8388564B2 (en) Hyperextension knee brace
JP2009213538A (en) Assisting brace and its control method
US11963888B2 (en) Method for controlling the standing-phase damping of an artificial knee joint
EP1637114B1 (en) Walking aid device
JP2013070784A (en) Walking aid device
JP2011036558A (en) Active device for joint
JP2013070787A (en) Walking support device
KR102183576B1 (en) Knee supporter with variable pneumatic contact pressure
JP2003250842A (en) Human body movement auxiliary massaging machine with actuator used for the human body movement auxiliary, and hemomanometer with actuator used for human body movement auxiliary
JP4130869B2 (en) Knee supporter
JP5879976B2 (en) Operation assist device and program for operation assist control
CN211884166U (en) Dynamic orthopedic device for intervening abnormal development of hip joint of child
Abe et al. Ankle-foot orthosis using elastomer-embedded flexible joint
US20210378855A1 (en) Joint orthosis with resiliently deformable hinge
Hu et al. An ankle based soft active orthotic device powered by pneumatic artificial muscle
CN105250099A (en) Functional pad for preventing heel pressure sores
KR20170037341A (en) Method and apparatus for adjusting clamping force
JP2005168532A (en) Knee joint supporter
JP2013111379A (en) Motion-assist device and program for motion assist control

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10815238

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10815238

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP