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WO2010098358A1 - Dispositif d'aide au mouvement de membre supérieur - Google Patents

Dispositif d'aide au mouvement de membre supérieur Download PDF

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Publication number
WO2010098358A1
WO2010098358A1 PCT/JP2010/052883 JP2010052883W WO2010098358A1 WO 2010098358 A1 WO2010098358 A1 WO 2010098358A1 JP 2010052883 W JP2010052883 W JP 2010052883W WO 2010098358 A1 WO2010098358 A1 WO 2010098358A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
pressure sensor
force
operation unit
shaft
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2010/052883
Other languages
English (en)
Japanese (ja)
Inventor
賢一 矢野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Gifu University NUC
Original Assignee
Gifu University NUC
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 Gifu University NUC filed Critical Gifu University NUC
Priority to JP2011501624A priority Critical patent/JP5493110B2/ja
Publication of WO2010098358A1 publication Critical patent/WO2010098358A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0003—Home robots, i.e. small robots for domestic use
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47G—HOUSEHOLD OR TABLE EQUIPMENT
    • A47G21/00—Table-ware
    • A47G21/08—Serving devices for one-handed persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Definitions

  • the present invention relates to an upper limb motion assisting device that assists the upper limb motion of a person with a disability in the upper limb such as a physically handicapped person or an elderly person.
  • the articulated arm in order to allow the articulated arm to move naturally following the movement of the person being assisted, the articulated arm is configured to be movable in the X, Y, Z axis directions and around each axis.
  • it is necessary to drive the multi-joint arm by decomposing and detecting the motion input by the person being assisted into the motion in the X, Y, Z-axis directions and the 6-axis directions around each axis.
  • the upper limb movement assisting device that is assumed to be used by elderly people or persons with disabilities who are difficult to move freely based on their own will, excessive force is input to the brace etc. against the will of the supportee Sometimes.
  • the force input to the upper limb movement assisting device according to the movement of the supportee is received by the six-axis force sensor that detects the force, the load resistance of the six-axis force sensor is reduced.
  • the 6-axis force sensor is damaged.
  • the 6-axis force sensor is extremely expensive, and the use of the 6-axis force sensor not only increases the manufacturing cost of the upper limb movement assist device, but also the 6-axis force sensor is damaged. This also increases the cost of repair, and is one of the factors that hinder the spread of upper limb movement assist devices.
  • the present invention has been proposed to suitably solve these problems, and provides an upper limb motion assisting device capable of detecting motions in six axial directions with an inexpensive configuration.
  • the purpose is to do.
  • an upper limb movement assisting device Provided with an articulated arm (16) having an operation part (32, 94) that can be gripped by an assistant, and moves the articulated arm (16) in a three-dimensional manner in response to an operation on the operation part (32, 94) It is an upper limb motion assisting device that assists the upper limb motion of the assisting person, Provided in the operation section (32, 94), extending in the X-axis direction along the operation section (32, 94), the Y-axis direction orthogonal to the X-axis, and the Z-axis direction orthogonal to the XY axis First detection means (50, 110) capable of detecting movement of the operation unit (32, 94); The operation unit (32, 94) is provided to be separated from the first detection means (50, 110) in the X-axis direction, and detects the movement of the operation unit (32,
  • the articulated arm connected to the first to third detection means (50, 64, 74, 108, 110, 112) and based on the detection signal input from the first to third detection means (50, 64, 74, 108, 110, 112)
  • the control means (14) Based on the detection signal input from the first detection means (50, 110) by the movement of the operation unit (32, 94) in the X-axis direction, the operation unit (32, 94) is moved in the X-axis direction.
  • the articulated arm (16) is driven and controlled to move the operation unit (32, 94) around the axis, Based on the detection signals input from the first detection means (50, 110) and the second detection means (64, 112) due to the movement of the operation unit (32, 94) in the Z-axis direction, The articulated arm (16) is driven and controlled to move the operation unit (32, 94) around the axis, Based on the detection signal input from the third detection means (74, 108) by the movement of the operation unit (32, 94) around the X axis, the operation unit (32, 94) is rotated around the X axis.
  • the gist of the invention is to drive and control the articulated arm (16).
  • the X-axis direction along the operation unit gripped by the assistant the Y-axis direction orthogonal to the X-axis, and the Z-axis direction orthogonal to the XY axis, respectively.
  • a first detection unit capable of detecting movement of the operation unit to the second position and a second detection unit configured to detect movement of the operation unit in the Y-axis direction and the Z-axis direction provided at a position separated from the first detection unit.
  • each of the first to third detection means according to the present invention may be a single sensor or a combination of a plurality of sensors.
  • the operation unit (32) includes a shaft-shaped portion (34) provided on the operation arm (26) constituting the multi-joint arm (16), and an extra person to be supported by being extrapolated to the shaft-shaped portion (34).
  • the first detection means (50) includes a first X-axis pressure sensor (52) for detecting a force for moving the grip portion (44) in the positive direction of the X axis, and the grip portion (44) for the X axis.
  • the second detection means (64) includes a third Y-axis pressure sensor (66) for detecting a force for moving the grip portion (44) in the positive direction of the Y axis, and the grip portion (44) for the Y axis.
  • the third detection means (74) includes a first X-axis pressure sensor (76) that detects a force that moves the gripping part (44) in a positive rotation direction around the X axis, and the gripping part (44).
  • the control means (14) Based on detection signals input from the first and second X-axis pressure sensors (52, 54), the articulated arm (16) is driven and controlled to move the operation unit (32) in the X-axis direction,
  • the multi-joint arm is configured to move the operation portion (32) in the Y-axis direction and the Z-axis direction based on detection signals input from the first to fourth Y-axis pressure sensors (56, 58, 66, 68).
  • the multi-joint arm is configured to move the operation unit (32) in the Z-axis direction and the Y-axis direction based on detection signals input from the first to fourth Z-axis pressure sensors (60, 62, 70, 72). (16) is driven and controlled, Based on the detection signals input from the first and second X-axis pressure sensors (76, 78), the articulated arm (16) is driven and controlled to rotate the operation unit (32) about the X-axis.
  • the gist is to be configured as follows.
  • the first and second X-axis pressure sensors, the first and second Y-axis pressure sensors, the first and second Z-axis pressure sensors are provided as the first detection means
  • the third and fourth Y-axis pressure sensors, the third and fourth Z-axis pressure sensors as the second detection means, and by providing the first and second X-axis pressure sensors as the third detection means the six axes
  • the movement in the X, Y, Z axis directions and the six axis directions around each axis can be detected without adopting a force sensor, and the manufacturing cost and maintenance cost of the upper limb movement assisting device can be suppressed at a low cost.
  • the operation in the six-axis direction can be detected using only the pressure sensor having excellent load resistance, the reliability against failure or the like can be improved.
  • the operating portion (94) includes a shaft-like portion (96) provided integrally with an arm body (92) of the multi-joint arm (16), and the shaft-like shape.
  • a grip part (100) that is extrapolated to the part (96) and can be gripped by the assistant
  • the first detection means (110) is a three-axis force sense that detects a force with the input shaft connected to the shaft-like portion (96) and moving the grip portion (100) in the X, Y, and Z-axis directions.
  • the second detection means (112) is provided between the shaft-shaped portion (96) and the gripping portion (100) so as to be spaced apart from each other in the circumferential direction of the shaft-shaped portion (96).
  • a plurality of pressure sensors (112) for detecting a force for moving (100) in the Y-axis and Z-axis directions is composed of a position detection sensor (108) for detecting the rotational position of the shaft portion (96),
  • the articulated arm (16) is driven to move the operation unit (94) in the X-axis direction based on a detection signal of force acting in the X-axis direction input from the three-axis force sensor (110).
  • a three-axis force sensor capable of detecting the action of force in the X, Y, and Z-axis directions on the operation unit is provided as the first detection means
  • a pressure sensor capable of detecting the action of force in the Y and Z-axis directions on the operation unit is provided as detection means
  • a position detection sensor capable of detecting rotation of the operation part around the X axis is provided as third detection means. Therefore, it is possible to detect movements in the X, Y, Z axis directions and the six axis directions around each axis without adopting a six axis force sensor, and the manufacturing cost and maintenance cost of the upper limb movement assist device can be reduced. Can be suppressed.
  • the grip portion (44, 100) is relatively located with respect to the shaft portion (34, 96) between the shaft portion (34, 96) and the grip portion (44, 100).
  • urging members 120, 121, 130, 131 that are elastically deformed by proximity movement.
  • the gripping parts (44, 100) are moved relatively close to the shaft-like parts (34, 96) from the balanced state, and the pressure sensors (52,54,56,58,60,62,66,68,70,72,76,78) with respect to the shaft-like part (34,96) so that the detection distance until force is detected is equivalent.
  • the gripping part (44, 100) is held. That is, in the upper limb motion assisting device according to the fourth aspect, it is possible to suppress variation in time until the pressure sensor detects the movement of the grip portion, and to reduce the time lag until detection by the pressure sensor. Further, the urging member can hold the grip portion with respect to the shaft portion without rattling.
  • the urging member (130, 131) is connected to each pressure sensor (52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78).
  • Pressure sensor (52, 54, 56, 58, 60, 62, 66) corresponding to the biasing member (130, 131) elastically deformed when the gripping part (44, 100) moves close to the shaft-like part (34, 96) , 68, 70, 72, 76, 78).
  • the biasing member that is elastically deformed when the gripping portion moves directly presses the pressure sensor since the biasing member that is elastically deformed when the gripping portion moves directly presses the pressure sensor, it is possible to detect a minute movement of the gripping portion. Detection accuracy can be increased.
  • the upper limb motion assisting device of the present invention it is possible to drive the articulated arm by detecting the motion in the 6-axis direction by an inexpensive detection means without using the 6-axis force sensor.
  • FIG. 6 is a cross-sectional view of a main part showing an operation arm obtained by breaking the operation unit according to the first embodiment along the XY plane when viewed from the positive direction of the Z axis.
  • FIG. 5 is a cross-sectional view of a principal part showing an operation arm obtained by breaking the operation unit according to the first embodiment along an XZ plane when viewed from the positive direction of the Y axis.
  • FIG. 4 is an enlarged cross-sectional view of a main part of the operation unit in FIG. 3.
  • FIG. 6 is a perspective view illustrating a main part of a shaft-like portion of the operation unit according to the first embodiment.
  • FIG. 3 is a main part sectional view showing a state in which the operation part according to the first embodiment is broken along a YZ plane. It is a block diagram which shows the relationship between the control apparatus which concerns on Example 1, each detection means, and a drive motor.
  • FIG. 3 is a cross-sectional view of a main part showing a state in which the operation unit according to the first embodiment is broken along the XY plane, where (a) shows a state where the first X-axis pressure sensor is narrowed, and (b) shows the second X The shaft pressure sensor is shown in a narrowed state.
  • FIG. 3 is a main part sectional view showing a state in which the operation part according to the first embodiment is broken along a YZ plane. It is a block diagram which shows the relationship between the control apparatus which concerns on Example 1, each detection means, and a drive motor.
  • FIG. 3 is a cross-sectional view of a main part showing a state in which the operation unit according to the first embodiment is broken along the
  • FIG. 3 is a cross-sectional view of a principal part showing a state in which the operation unit according to the first embodiment is broken along the XY plane, where (a) shows a state in which the first and third Y-axis pressure sensors are narrowed by substantially the same force. (B) shows a state in which the second and fourth Y-axis pressure sensors are narrowed with substantially the same force.
  • FIG. 3 is a cross-sectional view of a principal part showing a state in which the operation unit according to the first embodiment is broken along the XY plane, where (a) is a state in which the first Y-axis pressure sensor is narrowed with a larger force than the third Y-axis pressure sensor.
  • FIG. 3 is a cross-sectional view of a principal part showing a state in which the operation unit according to the first embodiment is broken along the XY plane, where (a) is a state where the second Y-axis pressure sensor is narrowed with a larger force than the fourth Y-axis pressure sensor. (B) shows a state in which the fourth Y-axis pressure sensor is narrowed with a larger force than the second Y-axis pressure sensor.
  • FIG. 3 is a cross-sectional view of a main part showing a state in which the operation unit according to the first embodiment is broken along the XY plane, where (a) shows a state in which the first and fourth Y-axis pressure sensors are narrowed, and (b) Indicates a state where the second and third Y-axis pressure sensors are narrowed.
  • FIG. 3 is a cross-sectional view of a main part showing a state in which the operation unit according to the first embodiment is broken along the YZ plane when viewed from the positive direction of the X axis, and (a) shows a pressure sensor around the first X axis being narrowed.
  • (B) shows a state in which the pressure sensor around the second X-axis is narrowed.
  • FIG. 10 is a cross-sectional view of a principal part showing an operation arm obtained by breaking an operation unit according to a second embodiment along an XY plane when viewed from the positive direction of the Z axis.
  • FIG. 10 is a cross-sectional view of a principal part showing an operation arm obtained by breaking an operation unit according to a second embodiment along an XZ plane when viewed from the positive direction of the Y axis.
  • It is a perspective view which shows the relationship between the triaxial force sensor which concerns on Example 2, and a shaft-shaped part.
  • It is a block diagram which shows the relationship between the control apparatus which concerns on Example 2, each detection means, and a drive motor.
  • (a) is principal part sectional drawing which shows the state which fractured
  • (b) is the state which fractured
  • (a) is principal part sectional drawing which shows the state which fractured
  • the upper limb movement assisting device 10 includes a device main body 12 placed on various installation bases 82, an articulated arm 16 provided on the device main body 12, It is basically composed of an auxiliary device 30 provided on the free end side of the articulated arm 16.
  • the apparatus main body 12 houses a control device (control means) 14 (see FIG. 7), a power supply device (not shown), and the like that drive and control drive motors that drive the arms of the articulated arm 16.
  • a control device control means
  • a power supply device not shown
  • the installation stand 82 on which the apparatus main body 12 is placed for example, a desk, a washstand, a dressing table, a dedicated stand for placing the upper limb movement assisting device 10 and the like can be mentioned, but is not limited thereto. Any device may be used as long as the upper limb motion assisting device 10 can be installed movably.
  • the articulated arm 16 is rotatably supported by the apparatus main body 12, and is rotated (turned) around a rotation axis extending in the vertical direction.
  • a second axis arm 20 pivotally supported with respect to the first axis arm 18; a third axis arm 22 pivotally supported with respect to the second axis arm 20; and the third axis arm.
  • a fourth axis arm 24 rotatably connected to the third axis arm 22 and rotatable about the third axis arm 22; and an operation arm 26 rotatably connected to the fourth axis arm 24; And an attachment arm 28 provided at an end of the operation arm 26 and rotatably connected around the axis of the operation arm 26, and the auxiliary instrument 30 is detachably attached to the attachment arm 28.
  • the apparatus main body 12 is provided with a first drive motor 17 for bending the first shaft arm 18, and the first drive arm 19 for bending the second shaft arm 20 is disposed on the first shaft arm 18.
  • the second axis arm 20 is provided with a third drive motor 21 for bending the third axis arm 22, and the third axis arm 22 rotates the fourth axis arm 24 about the axis.
  • the fourth drive motor 23 is disposed, the fourth shaft arm 24 is provided with a fifth drive motor 25 for bending the operation arm 26, and the operation arm 26 is configured to rotate the attachment arm 28.
  • a drive motor 27 is provided so that the corresponding arm 18, 20, 22, 24, 26, 28 can be operated independently by driving the drive motors 17, 19, 21, 23, 25, 27. ing.
  • the drive motors 17, 19, 21, 23, 25, 27 are electrically connected to the control device 14, and the drive motors 17, 19, 21, 23, 27 are controlled based on the control of the control device 14.
  • a spoon-like instrument is employed as the auxiliary instrument 30, and the auxiliary instrument 30 extends in the direction of the rotation axis of the mounting arm 28.
  • a spoon is shown as an example of the auxiliary instrument 30, but an auxiliary instrument including a fork, a toothbrush, a writing instrument and the like as an instrument main body is separately prepared so that the auxiliary instrument 30 can be appropriately replaced. It has become.
  • the operation arm 26 is formed in a substantially cylindrical rod shape, and is rotatably supported with respect to the fourth axis arm 24 at a substantially intermediate position in the longitudinal direction. Then, the mounting arm 28 (auxiliary instrument 30) is connected to one end of the operation arm 26, and the other side of the operation arm 26 opposite to the connection end of the mounting arm 28 is supported.
  • An operation unit 32 is formed for a person to hold and operate.
  • the operation portion 32 is provided with a shaft-shaped portion 34 provided on a main body portion 32a of the operation arm 26 on which the sixth drive motor 27 is disposed, and can be gripped by an auxiliary person by being extrapolated to the shaft-shaped portion 34. And a gripping portion 44. Between the shaft-like portion 34 and the grip portion 44, first to third detection means 50, 64, and 74 (described later) that can detect the movement of the operation portion 32 (the grip portion 44) are disposed. Has been.
  • the longitudinal direction of the operation portion 32 is the X axis
  • the operation on the fourth axis arm 24 is orthogonal to the X axis.
  • the extending direction of the rotation axis of the arm 26 is defined as a Y axis
  • the direction orthogonal to the X axis and the Y axis is defined as a Z axis.
  • the connecting direction of the mounting arm 28 (auxiliary instrument 30) is the positive direction (front) of the X axis
  • the opposite direction is the negative direction (rear) of the X axis
  • the fourth axis is the Y axis.
  • the direction in which the arm 24 approaches the operation arm 26 is the positive direction of the Y axis
  • the opposite direction is the negative direction of the Y axis
  • the upper direction in the state where the X and Y axes are horizontally oriented is the positive direction of the Z axis.
  • the lower part will be described as the negative direction of the Z axis.
  • the clockwise direction is set as the positive rotation direction and the rotation in the opposite direction is set as the negative rotation direction with reference to the posture of the X axis in the positive direction
  • the Y axis rotation (Yr) With respect to the rotation direction of the Z axis, the clockwise direction is set as the positive rotation direction and the rotation in the opposite direction is set as the negative rotation direction on the basis of the posture facing the positive direction of the Y axis, and the rotation direction around the Z axis (Zr)
  • arrows are attached in the positive direction of the X, Y, and Z axes and in the positive rotation direction around each axis (Xr, Yr, Zr).
  • the shaft-like portion 34 of the operation portion 32 has four projecting pieces 36, 38, 40 at positions displaced by 90 ° in the circumferential direction (around the X axis) of the shaft body 34a. , 42 project radially.
  • the two projecting pieces 36, 40 are located on the XY plane, and the remaining two projecting pieces 38, 42 are disposed on the XZ plane. Located on the top.
  • the protruding piece positioned in the negative Y-axis direction with respect to the shaft body 34a is referred to as a first protruding piece 36, and the protruding piece positioned in the negative Z-axis direction with respect to the shaft body 34a is referred to as the second protruding piece.
  • the protruding piece positioned in the positive direction of the Y-axis with respect to the shaft body 34a is referred to as a third protruding piece 40
  • the protruding piece positioned in the positive direction of the Z-axis with respect to the shaft body 34a is referred to as the first protruding piece.
  • This is referred to as a four-projection piece 42.
  • each of the first to fourth projecting pieces 36, 38, 40, 42 extends over substantially the entire length in the longitudinal direction of the shaft body 34a.
  • the grip 44 is formed on the outer peripheral surface of a cylindrical tubular body 46 that surrounds the projecting ends of the first to fourth projecting pieces 36, 38, 40, 42.
  • An elastic member 48 made of silicon rubber, elastic foam or the like is disposed to enhance the grip performance of the grip portion 44.
  • a rear support plate 46a is formed at the rear end of the cylindrical body 46 so as to close the rear opening of the cylindrical body 46 and oppose the rear ends of the projecting pieces 36, 38, 40, 42.
  • a front support plate 46b is formed at the front end portion of the cylindrical body 46 so as to face the front end portions of the projecting pieces 36, 38, 40, 42, and the shaft is moved by moving the gripping portion 44 in the X-axis direction.
  • the grip portion 44 is configured not to drop off from the shape portion 34.
  • a pair of sandwiching pieces 46c, 46d spaced apart in the circumferential direction are formed on the inner peripheral surface of the cylindrical body 46 so as to protrude inward.
  • the pair of sandwiching pieces 46c, 46d are spaced apart by 90 ° in the circumferential direction of the cylindrical body 46 corresponding to the first to fourth projecting pieces 36, 38, 40, 42 formed on the shaft-like portion 34. 4 sets are provided, and corresponding protruding pieces 36, 38, 40, 42 are inserted between the pair of sandwiching pieces 46c, 46d. That is, the shaft-shaped portion 34 and the grip portion 44 are configured to be relatively unrotatable around the X axis.
  • the sandwiching piece positioned in the negative rotation direction around the X axis with respect to the corresponding projecting pieces 36, 38, 40, 42 is referred to as the first sandwiching piece 46c, and the X axis
  • the sandwiching piece positioned in the surrounding positive rotation direction is referred to as a second sandwiching piece 46d.
  • the front end portions of the projecting pieces 36, 38, 40, 42 are provided between the rear end portions of the projecting pieces 36, 38, 40, 42 of the shaft-like portion 34 and the rear support plate 46 a of the tubular body 46.
  • the first to third detection means 50, 64, and 74 are disposed in the gap between the shaft-shaped portion 34 and the grip portion 44 (tubular body 46).
  • the first detection means 50 is provided at a rear end portion of the first protruding piece 36 as a detection sensor for detecting movement of the holding portion 44 in the X-axis direction, and the first protruding piece 36 and the holding portion 44.
  • the first X-axis pressure sensor 52 located between the (rear support plate 46a) and the first projecting piece 36 and the grip 44 (front support plate 46b) provided at the front end of the first projecting piece 36.
  • a second X-axis pressure sensor 54 located there.
  • the first detection means 50 is provided as a detection sensor for detecting the movement of the grip portion 44 in the Y-axis direction, at a position in front of the protruding end portion of the first protruding piece 36, and the first protruding portion 50.
  • the first Y-axis pressure sensor 56 positioned between the piece 36 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) and the third protrusion provided at a position in front of the protruding end of the third protruding piece 40.
  • a second Y-axis pressure sensor 58 positioned between the piece 40 and the grip portion 44 (the inner peripheral surface of the cylindrical body 46).
  • the first detection means 50 is provided at a position in front of the protruding end portion of the second protruding piece 38 as a detection sensor for detecting movement of the grip portion 44 in the Z-axis direction.
  • the first Z-axis pressure sensor 60 located between the piece 38 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) and the fourth protrusion provided at a position in front of the protruding end of the fourth protruding piece 42.
  • a second Z-axis pressure sensor 62 is provided between the piece 42 and the grip 44 (inner peripheral surface of the cylindrical body 46).
  • the grip portion 44 when the grip portion 44 is moved in the positive direction of the X axis, the first X axis pressure provided between the rear end portion of the first protruding piece 36 and the rear support plate 46a of the grip portion 44.
  • the force that moves the gripping portion 44 in the positive direction of the X-axis is detected by the sensor 52 being narrowed.
  • the gripping portion 44 is moved in the negative direction of the X-axis
  • the second X-axis pressure sensor 54 provided between the front end portion and the front support plate 46b of the grip portion 44 is narrowed, a force for moving the grip portion 44 in the negative direction of the X axis is detected.
  • the first portion 36 and the grip portion 44 (the inner peripheral surface of the cylindrical body 46) provided between the first protrusion piece 36 and the grip portion 44 are provided.
  • the first Y-axis pressure sensor 56 is narrowed, a force that moves the front position of the grip 44 in the positive direction of the Y axis is detected, and when the front position of the grip 44 is moved in the negative direction of the Y axis.
  • the second Y-axis pressure sensor 58 provided between the third projecting piece 40 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) is narrowed so that the front side position of the gripping portion 44 is reduced.
  • a force to move in the negative direction of the Y axis is detected.
  • the grip portion 44 is provided between the second projecting piece 38 and the grip portion 44 (the inner peripheral surface of the cylindrical body 46).
  • the first Z-axis pressure sensor 60 is narrowed, a force that moves the front position of the grip portion 44 in the positive direction of the Z axis is detected, and the front position of the grip portion 44 is moved in the negative direction of the Z axis.
  • the second Z-axis pressure sensor 62 provided between the fourth projecting piece 42 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) is narrowed so that the front side position of the gripping portion 44 is reduced.
  • the force that moves the Z in the negative direction of the Z-axis is detected.
  • the first and second X-axis pressure sensors 52 and 54, the first and second Y-axis pressure sensors 56 and 58, and the first and second Z-axis pressure sensors 60 and 62 are connected to the control device 14, respectively.
  • a detection signal corresponding to the magnitude of the force detected by each sensor 52, 54, 56, 58, 60, 62 is input to the control device 14.
  • the second detection means 64 is a detection sensor for detecting the movement of the grip portion 44 in the Y-axis direction.
  • a third Y-axis pressure sensor 66 provided between the first projecting piece 36 and the grip 44 (inner peripheral surface of the cylindrical body 46) provided at a rear position; and a projecting end portion of the third projecting piece 40.
  • a fourth Y-axis pressure sensor 68 provided at the rear position and positioned between the third projecting piece 40 and the grip 44 (inner peripheral surface of the cylindrical body 46).
  • the second detection means 64 is provided at a rear position of the projecting end portion of the second projecting piece 38 as a detection sensor for detecting the movement of the grip portion 44 in the Z-axis direction.
  • the third Z-axis pressure sensor 70 located between the piece 38 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) and the fourth protrusion provided at the rear position of the protruding end of the fourth protruding piece 42.
  • a fourth Z-axis pressure sensor 72 located between the piece 42 and the grip 44 (inner peripheral surface of the cylindrical body 46).
  • the grip portion 44 when the rear position of the grip portion 44 is moved in the positive direction of the Y-axis, the grip portion 44 is provided between the first projecting piece 36 and the grip portion 44 (the inner peripheral surface of the cylindrical body 46).
  • the third Y-axis pressure sensor 66 When the third Y-axis pressure sensor 66 is narrowed, a force that moves the rear position of the grip portion 44 in the positive direction of the Y axis is detected, and the rear position of the grip portion 44 moves in the negative direction of the Y axis.
  • the fourth Y-axis pressure sensor 68 provided between the third projecting piece 40 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46) is narrowed to reduce the pressure of the gripping portion 44.
  • a force that moves the rear position in the negative direction of the Y-axis is detected.
  • the rear position of the grip portion 44 is moved in the positive direction of the Z-axis, it is provided between the second projecting piece 38 and the grip portion 44 (the inner peripheral surface of the cylindrical body 46).
  • the third Z-axis pressure sensor 70 is narrowed, a force for moving the rear position of the grip portion 44 in the positive direction of the Z axis is detected, and the rear position of the grip portion 44 is moved in the negative direction of the Z axis.
  • the gripping portion 44 is narrowed by the fourth Z-axis pressure sensor 72 provided between the fourth projecting piece 42 and the gripping portion 44 (the inner peripheral surface of the cylindrical body 46).
  • each of the third and fourth Y-axis pressure sensors 66 and 68 and the third and fourth Z-axis pressure sensors 70 and 72 is connected to the control device 14, and the sensors 66, 68, 70 and 72 are connected to each other.
  • a detection signal corresponding to the magnitude of the force to be detected is input to the control device 14.
  • the third detecting means 74 is a first X-axis surrounding pressure sensor 76 provided between the second projecting piece 38 and the corresponding first clamping piece 46c. And a second X-axis surrounding pressure sensor 78 provided between the second projecting piece 38 and the corresponding second clamping piece 46d. That is, when the grip 44 is rotated in the positive rotation direction around the X axis, the pressure sensor 76 around the first X axis provided between the second projecting piece 38 and the first clamping piece 46c is narrow.
  • the force that rotates the grip 44 in the positive rotation direction around the X axis is detected, and when the grip 44 is rotated in the negative rotation around the X axis,
  • the pressure sensor 78 around the second X axis provided between the two sandwiching pieces 46d is narrowed, a force for rotating the grip portion 44 in the negative rotation direction around the X axis is detected.
  • each of the pressure sensors 76 and 78 around the first and second X axes is connected to the control device 14, and a detection signal corresponding to the magnitude of the force detected by each sensor 76 and 78 is transmitted to the control device 14. To be input.
  • the main body 32a of the operation unit 32 is provided with a potentiometer 80 that detects the rotational position of the operation unit 32.
  • the potentiometer 80 detects the rotation position of the operation unit 32 according to the rotation posture of the operation unit 32.
  • the force detected by the pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78 is set so that the controller 14 performs gravity compensation.
  • the supporter grips and moves the operation portion 32 (gripping portion 44) provided on the operation arm 26 of the multi-joint arm 16, thereby causing the shaft-like portion 34 of the operation portion 32 to move.
  • the pressure sensor 52, 54, 56, 58, 60, 62, 66, 68 of the first to third detection means 50, 64, 74 provided between the holding portion 44 (tubular body 46).
  • the first X-axis provided between the rear end portion of the first projecting piece 36 and the rear support plate 46a of the grip portion 44 in the shaft-shaped portion 34.
  • the operation unit 32 auxiliary instrument 30
  • the second X-axis pressure sensor 54 provided between the front end portion of the first protruding piece 36 and the front support plate 46b of the grip portion 44 in the shaft-like portion 34 is provided.
  • the articulated joint 32 moves the operation unit 32 (auxiliary device 30) in the negative direction of the X-axis.
  • the arm 16 is driven and controlled.
  • the moving speed for moving the operation unit 32 in the positive direction of the X axis is appropriately variably controlled according to the magnitude of the force detected by the first X axis pressure sensor 52, and the moving speed for moving in the negative direction of the X axis. Is variably controlled according to the magnitude of the force detected by the second X-axis pressure sensor 54.
  • the 1Y-axis pressure sensor 56 and the third Y-axis pressure sensor 66 are narrowed, and force detection signals of the same magnitude from the first Y-axis pressure sensor 56 and the third Y-axis pressure sensor 66 are sent to the control device 14.
  • the articulated arm 16 is driven and controlled so as to translate the operation unit 32 (auxiliary instrument 30) in the positive direction of the Y-axis. Then, as shown in FIG.
  • the 2Y-axis pressure sensor 58 and the fourth Y-axis pressure sensor 68 are narrowed, and force detection signals of the same magnitude from the second Y-axis pressure sensor 58 and the fourth Y-axis pressure sensor 68 are sent to the controller 14.
  • the articulated arm 16 is driven and controlled to translate the operation unit 32 (auxiliary instrument 30) in the negative direction of the Y-axis.
  • the moving speed for moving the operation unit 32 in the positive direction of the Y-axis is appropriately variably controlled according to the magnitude of the force detected by the first and third Y-axis pressure sensors 56 and 66, and the negative direction of the Y-axis.
  • the moving speed at which the second and fourth Y-axis pressure sensors 58 and 68 are moved is variably controlled as appropriate.
  • the force detected by the first Y-axis pressure sensor 56 under the condition that detection signals from the first Y-axis pressure sensor 56 and the third Y-axis pressure sensor 66 are input to the control device 14 is the third Y-axis.
  • the operation unit 32 auxiliary device 30
  • the operation unit 32 is moved in the positive direction of the Y axis while moving in the positive rotation direction around the Z axis. If the force detected by the first Y-axis pressure sensor 56 is smaller than the force detected by the third Y-axis pressure sensor 66 while the articulated arm 16 is driven and controlled to rotate in the direction shown in FIG.
  • the articulated arm 16 is driven and controlled to rotate the operation unit 32 (auxiliary instrument 30) in the negative rotation direction around the Z axis while moving in the positive direction of the Y axis.
  • the force detected by the second Y-axis pressure sensor 58 under the condition that detection signals from the second Y-axis pressure sensor 58 and the fourth Y-axis pressure sensor 68 are input to the control device 14 is the first. If the force detected by the 4Y-axis pressure sensor 68 is greater, as shown in FIG. 11 (a), the operation unit 32 (auxiliary instrument 30) is moved in the negative direction of the Y-axis while rotating negatively around the Z-axis.
  • the articulated arm 16 When the articulated arm 16 is driven and controlled to rotate in the direction, while the force detected by the second Y-axis pressure sensor 58 is smaller than the force detected by the fourth Y-axis pressure sensor 68, FIG. As shown in FIG. 4, the articulated arm 16 is driven and controlled to rotate the operation unit 32 (auxiliary instrument 30) in the positive rotation direction around the Z axis while moving in the negative direction of the Y axis.
  • the rotational speed at which the operation unit 32 is rotated in the positive rotation direction of the Z axis is appropriately variably controlled according to the magnitude of the force detected by the first and fourth Y axis pressure sensors 56 and 68,
  • the rotational speed of rotation in the rotational direction is appropriately variably controlled according to the magnitude of the force detected by the second and third Y-axis pressure sensors 58 and 66.
  • the first Z-axis pressure sensor 60 and the third Z-axis provided between the protruding end portion of the second protruding piece 38 in the shaft-shaped portion 34 and the grip portion 44 (inner peripheral surface of the cylindrical body 46).
  • the pressure sensor 70 is narrowed and a force detection signal of the same magnitude is input to the control device 14 from each of the first Z-axis pressure sensor 60 and the third Z-axis pressure sensor 70,
  • the multi-joint arm 16 is driven and controlled to translate the operation unit 32 (auxiliary instrument 30) in the positive direction of the Z-axis.
  • the second Z-axis pressure sensor 62 and the fourth Z-axis pressure provided between the protruding end portion of the fourth protruding piece 42 in the shaft-shaped portion 34 and the grip portion 44 (inner peripheral surface of the cylindrical body 46).
  • a force detection signal of the same magnitude is input from the second Z-axis pressure sensor 62 and the fourth Z-axis pressure sensor 72 to the control device 14, Z
  • the articulated arm 16 is driven and controlled to translate the operation unit 32 in the negative direction of the shaft.
  • the moving speed for moving the operation unit 32 in the positive direction of the Z-axis is appropriately variably controlled according to the magnitude of the force detected by the first and third Z-axis pressure sensors 60, 70, and the negative direction of the Z-axis
  • the moving speed at which the second and fourth Z-axis pressure sensors 62 and 72 detect is variably controlled as appropriate.
  • the force detected by the first Z-axis pressure sensor 60 under the condition that detection signals from the first Z-axis pressure sensor 60 and the third Z-axis pressure sensor 70 are input to the control device 14 is the third Z-axis.
  • the articulated arm 16 moves the operation unit 32 (auxiliary instrument 30) in the positive rotation direction around the Y axis while moving the operation unit 32 (auxiliary device 30) in the positive direction of the Z axis.
  • the operation unit 32 (auxiliary instrument 30) is moved in the positive direction of the Z-axis.
  • the articulated arm 16 is driven and controlled to rotate in the negative rotation direction around the Y axis.
  • the force detected by the second Z-axis pressure sensor 62 under the condition that detection signals from the second Z-axis pressure sensor 62 and the fourth Z-axis pressure sensor 72 are input to the control device 14 is the first.
  • the multi-joint arm 16 is rotated so as to rotate the operation unit 32 (auxiliary device 30) in the positive rotation direction around the Y-axis while moving in the negative direction of the Z-axis.
  • the operation unit 32 (auxiliary instrument 30) is moved in the negative direction of the Z-axis.
  • the articulated arm 16 is driven and controlled to rotate in the negative rotation direction around the Y axis while being moved.
  • the operation unit 32 is rotated in the negative rotation direction around the Y axis.
  • the articulated arm 16 is driven and controlled so that detection signals from the second Z-axis pressure sensor 62 and the third Z-axis pressure sensor 70 are input to the control device 14, The articulated arm 16 is driven and controlled to move the operation unit 32 in the positive rotation direction.
  • the rotational speed at which the operation unit 32 is rotated in the positive rotation direction of the Y axis is appropriately variably controlled according to the magnitude of the force detected by the first and fourth Z axis pressure sensors 60 and 72, and the negative rotation of the Y axis.
  • the rotational speed of rotation in the direction is appropriately variably controlled according to the magnitude of the force detected by the second and third Z-axis pressure sensors 62 and 70.
  • the first X-axis surrounding pressure sensor 76 provided between the second projecting piece 38 of the shaft-like portion 34 and the first clamping piece 46c of the gripping portion 44 has a narrow pressure.
  • the detection signal from the pressure sensor 76 around the first X axis is input to the control device 14, the articulated arm 16 moves the operating unit 32 in the positive rotation direction around the X axis. Drive controlled.
  • the second X-axis surrounding pressure sensor 78 provided between the second projecting piece 38 of the shaft-like portion 34 and the second clamping piece 46d of the grip portion 44 has a narrow pressure.
  • the articulated arm 16 is driven to rotate the operation unit 32 in the negative rotation direction around the X axis. Be controlled.
  • the rotational speed at which the operation unit 32 is rotated in the positive rotation direction of the X-axis is appropriately variably controlled according to the magnitude of the force detected by the first X-axis pressure sensor 76 and is rotated in the negative rotation direction of the X-axis.
  • the rotational speed is appropriately variably controlled according to the magnitude of the force detected by the pressure sensor 78 around the second X axis.
  • the first detection means 50 (first and second detection means 50) that can detect the movement of the operation unit 26 in the X, Y, and Z-axis directions on the operation unit 32 of the operation arm 26 operated by the assistant.
  • the second detection means 64 (third and fourth Y-axis and Z-axis pressure sensors 66, 68, 70, 72) capable of detecting the movement of the operation unit 26 in the Y- and Z-axis directions is provided.
  • third detection means 74 first and second pressure sensors 76 and 78 around the X axis
  • third detection means 74 first and second pressure sensors 76 and 78 around the X axis
  • the operation unit 32 is moved in the X, Y, and Z axes according to the force detected by each pressure sensor 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78. It is possible to move in any direction of the direction and the direction around each axis. Therefore, the articulated arm 16 can be moved naturally following the movement of the person being assisted, and the feeling of use of the upper limb movement assisting device 10 is enhanced.
  • each of the first to third detection means 50, 64, 74 includes pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, excellent in load resistance. 78, the pressure sensors 52, 54, 56, 58, 60, 62 are provided even if an excessive force against the will of the person being assisted is input to the operation unit 32 (gripping unit 44). 66, 68, 70, 72, 76, 78 can be prevented from being damaged.
  • the pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, and 78 that are extremely inexpensive compared to the 6-axis force sensor.
  • the manufacturing cost can be reduced, and even if the pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78 are damaged, the repair cost of the upper limb movement assisting device 10 can be reduced.
  • the articulated arm 16 can be freely moved in six axial directions in accordance with the movement of the arm to assist the movement, and the reliability against the failure of the upper limb movement assisting apparatus 10 can be improved. Can be suppressed.
  • the upper limb movement assisting device is not limited to the above-described configuration, and various modifications can be made.
  • the first X-axis pressure sensor is provided between the rear end portion of the first protruding piece of the shaft-like portion and the grip portion (rear support plate of the cylindrical body) in the operation portion, and the first Although the second X-axis pressure sensor is provided between the front end portion of the one protruding piece and the grip portion (front support plate of the cylindrical body), the present invention is not limited to this, and the second to fourth protruding portions
  • the first and second X-axis pressure sensors may be provided corresponding to the front and rear ends.
  • the first X-axis pressure sensor may be provided at a position where a force acts when the gripping part is moved in the positive direction of the X-axis between the shaft-like part and the gripping part.
  • the pressure sensor may also be provided at a position where a force acts when the grip portion is moved in the negative direction of the X axis between the shaft-shaped portion and the grip portion.
  • the first to fourth projecting pieces are formed on the shaft-shaped portion, and the first to fourth Y-axis pressure sensors and the first to fourth Z-axis pressure sensors are formed on the projecting ends of the projecting pieces. Although each is configured to be located, the present invention is not limited to this.
  • the shaft-like portion is formed in a cylindrical shape without the first to fourth projecting pieces, and the first to fourth Y-axis pressure sensors and the first to fourth ZZ are arranged at positions spaced apart in the circumferential direction of the shaft-like portion. Even if each of the axial pressure sensors is arranged so that the pressure is narrowed between the inner peripheral surface of the cylindrical body, the same effect as the embodiment can be obtained. That is, with respect to the first to fourth Y-axis pressure sensors, the Y-axis pressure sensors are positioned on the XY plane, and the first, second Y-axis pressure sensors and the third and fourth Y-axis pressure sensors are separated from each other in the front-rear direction.
  • each Z-axis pressure sensor is positioned on the XZ plane, and the first, second Z-axis pressure sensor, and the third and fourth Z-axis pressure sensors are moved back and forth. What is necessary is just to arrange
  • four pressure sensors of the first and second Y-axis pressure sensors and the first and second Z-axis pressure sensors are provided as the first detection means at positions separated in the circumferential direction of the shaft-like portion.
  • the present invention is not limited to this, and three or less or five or more pressure sensors may be spaced apart in the circumferential direction.
  • a force that moves the front side position of the gripping part in the positive direction of the Y axis may be detected by a plurality of pressure sensors.
  • the front side position of the gripping part is moved in the positive direction of the Y axis.
  • a plurality of pressure sensors used to detect the force to be used becomes the first Y-axis pressure sensor. The same applies to a pressure sensor that detects a force that moves the front position of the gripping part in the positive direction of the Y axis, and a pressure sensor that detects a force that moves the front position of the gripping part in the positive or negative direction of the Z axis.
  • the second Y-axis pressure sensor and the first and second Z-axis pressure sensors may be configured by a plurality of pressure sensors.
  • the pressure sensors that are spaced apart in the circumferential direction are desirably provided at equal intervals, but the pressure sensors may be provided non-uniformly.
  • the four third, fourth Y-axis pressure sensors and the third, fourth Z-axis pressure sensors are arranged at positions spaced apart in the circumferential direction of the shaft-shaped portion.
  • the pressure sensor is arranged, the present invention is not limited to this, and three or less or five or more pressure sensors may be arranged apart from each other in the circumferential direction.
  • a force that moves the rear position of the gripping part in the positive direction of the Y axis may be detected by a plurality of pressure sensors.
  • the rear position of the gripping part is detected in the positive direction of the Y axis.
  • a plurality of pressure sensors used to detect the force to move to the third Y-axis pressure sensor.
  • a pressure sensor that detects a force that moves the rear position of the gripping part in the positive direction of the Y axis and a pressure sensor that detects a force that moves the rear position of the gripping part in the positive or negative direction of the Z axis.
  • the fourth Y-axis pressure sensor and the third and fourth Z-axis pressure sensors may be configured by a plurality of pressure sensors.
  • the pressure sensors that are spaced apart in the circumferential direction are desirably provided at equal intervals, but the pressure sensors may be provided non-uniformly.
  • a pressure sensor around the first X-axis is disposed between the second protruding piece formed on the shaft-like portion and the first clamping piece formed on the cylindrical body, and the second protruding piece and the cylinder are arranged.
  • the pressure sensor around the second X axis is arranged between the second sandwiching piece formed in the shape body, the present invention is not limited to this.
  • the pressure sensor around the first X-axis may be provided at a position where a force acts when the gripping part is moved in the positive direction around the X-axis between the shaft-like part and the gripping part.
  • the surrounding pressure sensor may also be provided at a position where a force acts when the gripping portion is moved in the negative direction around the X axis between the shaft-shaped portion and the gripping portion.
  • each pressure sensor is provided on the shaft-like portion, but the same effect can be obtained even if a pressure sensor is provided on the grip portion side.
  • the basic configuration of the upper limb motion assisting apparatus according to the second embodiment is the same as the configuration of the upper limb motion assisting apparatus 10 according to the first embodiment, and therefore, the same components are given the same reference numerals and description thereof is omitted. Only different configurations will be described.
  • the operation arm 90 constituting the multi-joint arm 16 of the upper limb movement assisting device according to the second embodiment is formed in a substantially cylindrical rod shape, and the fourth axis at a substantially intermediate position in the longitudinal direction.
  • An arm main body 92 that is pivotally supported with respect to the arm 24 and is connected to the mounting arm 28 (auxiliary device 30) at one end thereof, and is opposite to the connecting end of the mounting arm 28 in the arm main body 92.
  • an operating portion 94 that is rotatably connected to the other end portion side, and the sixth drive motor 27 is disposed on the arm main body 92.
  • the operation unit 94 is rotatably supported around the axis of the arm main body 92 and is provided with a main body 94a on which a three-axis force sensor (first detection means) 110 is disposed, and the main body 94a.
  • the shaft-shaped portion 96 connected to the input shaft 110a of the three-axis force sensor 110 and the grip portion 100 that is extrapolated to the shaft-shaped portion 96 and can be gripped by the person being assisted.
  • a pressure sensor (second detection means) 112 described later capable of detecting the movement of the operation unit 94 (gripping unit 100) is disposed between the shaft-shaped portion 96 and the gripping unit 100.
  • the longitudinal direction of the operation portion 94 (the input shaft 110a of the triaxial force sensor 110) is the X axis
  • the operation arm 26 for the fourth axis arm 24 is orthogonal to the X axis.
  • the extending direction of the rotation axis is defined as the Y axis
  • the direction orthogonal to the X axis and the Y axis is defined as the Z axis (see FIG. 14 or FIG. 15)
  • the X, Y, Z axes and the respective axes The surrounding positive and negative directions are defined by the same criteria as in the first embodiment.
  • the three-axis force sensor 110 detects the forces acting in the positive and negative directions of the X, Y, and Z axes when the operation unit 94 is operated by the input shaft 110a, and the control device 14 is configured to input a detection signal (see FIG. 17).
  • a potentiometer (third detection means) 108 for detecting the rotational position of the operation unit 94 around the axis of the arm main body 92 is installed at a connection position between the arm main body 92 and the operation unit 94.
  • a rotational position signal of the operation unit 94 detected by the potentiometer 108 is input to the control device 14.
  • the shaft portion 96 is formed in a cylindrical shape
  • the grip portion 100 is formed in a cylindrical shape that is extrapolated to the shaft portion 96.
  • An elastic member 104 made of silicon rubber, elastic foam or the like is disposed on the outer peripheral surface of the body 98.
  • the front end portion of the grip portion 100 abuts on the rear end portion of the main body portion 94 a of the operation portion 94 to restrict forward movement, and the disc is attached to the rear end portion of the shaft-like portion 96.
  • the rearward movement is restricted by abutting on the lid member 106 and is held in a state in which the grip portion 100 is extrapolated with respect to the shaft-like portion 96.
  • the grip portion 100 is locked so as not to rotate relative to the main body portion 94a of the operation portion 94, and a slight gap is defined between the grip portion 100 and the shaft-shaped portion 96.
  • the shaft portion 96 is configured to be able to be displaced in the radial direction.
  • a pressure sensor 112 as a second detecting means is provided.
  • the pressure sensors 112 provided between the outer peripheral surface of the shaft-shaped portion 96 and the inner peripheral surface of the tubular body 102 are narrowed, thereby A force that moves the gripper 100 in the positive or negative direction of the Y and Z axes is detected.
  • the rotational position of the operation unit 94 is always detected by the potentiometer 108, the relative position of each pressure sensor 112 with respect to the arm main body 92 is grasped, and the gripping unit is determined by the position of the pressure sensor 112 that detects force. It is recognized that a force is applied to move 100 in the positive or negative direction of the Y and Z axes.
  • Each of the pressure sensors 112 is connected to the control device 14 and configured to input a detection signal detected by each pressure sensor 112 to the control device 14 (see FIG. 17).
  • the three-axis force sensor 110 is the first and second X-axis pressure sensors 52 and 54, first and second Y of the upper limb motion assisting device 10 according to the first embodiment.
  • the first and second Z-axis pressure sensors 60 and 62, the X-axis direction along the operation unit 94, the Y-axis direction orthogonal to the X-axis, and the Z-axis orthogonal to the XY axis It functions as a first detecting means for detecting the movement of the operation unit 94 in the axial direction.
  • each of the pressure sensors 112 provided away from the three-axis force sensor 110 in the X-axis direction is connected to the upper limb motion assisting apparatus 10 according to the first embodiment.
  • the potentiometer 108 is connected to the positive axis around the X axis in the same manner as the first and second X axis surrounding pressure sensors 70 and 72 of the upper limb movement assisting apparatus 10 according to the first embodiment. It functions as a third detection means capable of detecting the rotation of the operation unit 94 in the rotation direction and the negative rotation direction.
  • the potentiometer 108 according to a force detection signal, a force detection signal in the positive and negative directions of the Y and Z axes detected by the pressure sensors 112, and rotation of the operation unit 94 (gripping unit 100) around the X axis.
  • the operation unit 94 (gripping unit 100) in the X, Y, Z axis directions and the six axis directions around each axis by a combination of detection signals in the positive and negative rotation directions around the X axis detected by Can be detected, and the operation unit 94 (auxiliary instrument 30) can be moved in the X, Y, Z axis directions and in arbitrary directions around each axis.
  • the articulated arm 16 can be moved naturally following the movement of the person being assisted, and the feeling of use of the upper limb movement assisting device is enhanced.
  • the manufacturing cost of the upper limb motion assisting device is reduced by adopting the inexpensive three-axis force sensor 110 and pressure sensor 112 compared to the six-axis force sensor that can detect the movement in the six-axis direction with one sensor.
  • the repair cost of the upper limb motion assisting device can be reduced. Since the pressure sensor 112 itself has excellent load resistance, even if an excessive force against the will of the person being assisted is input to the operation unit 94 (gripping unit 100), each pressure sensor 112 is It can be prevented from being damaged.
  • the multi-joint arm 16 can be freely moved in six axes in accordance with the movement of the person being assisted, and the upper limb can be assisted.
  • the reliability with respect to the failure of the motion assisting device can be improved, and the introduction cost and the maintenance cost of the upper limb motion assisting device can be suppressed.
  • the upper limb movement assisting device is not limited to the above-described configuration, and various modifications can be made.
  • the pressure sensor is arranged on the outer peripheral surface of the shaft-like portion, but the present invention is not limited to this.
  • a protruding piece is formed on the shaft-like portion, and a pressure sensor is arranged at the protruding end portion of the protruding piece so that the pressure is narrowed between the inner peripheral surface of the cylindrical body. Even in this case, the same effect as the embodiment can be obtained.
  • the four pressure sensors are arranged as the second detection means at positions spaced apart in the circumferential direction of the shaft-like portion.
  • the present invention is not limited to this, and the number is three or less or five or more.
  • These pressure sensors may be spaced apart in the circumferential direction. That is, a force that moves the gripping part in the Y-axis and Z-axis directions may be detected by a plurality of pressure sensors.
  • the pressure sensors that are spaced apart in the circumferential direction are desirably provided at equal intervals, but the pressure sensors may be provided non-uniformly.
  • each pressure sensor is provided on the shaft-like portion, but the same effect can be obtained even if a pressure sensor is provided on the grip portion side.
  • the basic configuration of the upper limb motion assisting device according to the third embodiment is basically the same as the configuration of the upper limb motion assisting device 10 according to the first embodiment.
  • the same components are denoted by the same reference numerals, description thereof is omitted, and only different configurations will be described.
  • the operation arm 26 that constitutes the multi-joint arm 16 of the upper limb motion assisting apparatus 10 includes the first and the first between the shaft-like portion 34 and the grip portion 44 in the operation portion 32.
  • Two spring members (biasing members) 120 and 121 are provided, and the first spring member 120 and the second spring member 121 are moved by moving the grip portion 44 relatively close to and away from the shaft-shaped portion 34.
  • the first spring member 120 is disposed between the first to fourth projecting pieces 36, 38, 40, 42 formed on the shaft-like portion 34, respectively.
  • the operation arm 26 includes four first spaced apart portions in the circumferential direction of the shaft-shaped portion 34 at three positions spaced in the axial direction of the shaft-shaped portion 34 (that is, the X-axis direction).
  • Each of the spring members 120 is provided so that the grip portion 44 is held with respect to the shaft-shaped portion 34 by a total of twelve first spring members 120.
  • the second spring member 121 is between the rear end portion of each protruding piece 36, 38, 40, 42 in the shaft-shaped portion 34 and the rear support wall 46a of the grip portion 44 (tubular body 46), and
  • Each of the protruding pieces 36, 38, 40, 42 is disposed between the front end portion and the front support wall 46b of the grip portion 44 (tubular body 46).
  • the gripping portion 44 is in contact with the shaft-shaped portion 34 in a state in which the first spring member 120 is balanced without applying an external force to the gripping portion 44.
  • They configured to be held at substantially concentric positions. That is, as shown in FIG. 18, when the first spring members 120 are kept in balance, they are provided at the projecting ends of the first to fourth projecting pieces 36, 38, 40, 42 in the shaft-shaped part 34.
  • the grip portion 44 (cylindrical body 46) so that the distances between the first to fourth Y-axis and first to fourth Z-axis pressure sensors 56, 58, 60, 62, 66, 68, 70, 72 are equal. Is retained.
  • the Y axis and Z axis pressure sensors 56, 58, 60, 62, 66, 68, 70, 72 can be made constant, and a time lag can be prevented from occurring in detection by each of the Y-axis and Z-axis pressure sensors 56, 58, 60, 62, 66, 68, 70, 72.
  • the first spring members 120 evenly in the circumferential direction of the shaft-shaped portion 34, the first spring members 120 in a state in which the first spring members 120 are kept in balance have a first corresponding to the second projecting piece 38.
  • the grip portion 44 so that the distance from the clamping piece 46c to the first X-axis pressure sensor 76 and the distance from the second clamping piece 46d corresponding to the second protruding piece 38 to the second X-axis pressure sensor 78 are equal.
  • the (tubular body 46) is held. Therefore, when the grip 44 is moved in the positive rotation direction or the negative rotation direction around the X axis, the time until the first X axis rotation pressure sensor 76 and the second X axis rotation pressure sensor 78 detect can be made constant. A time lag can be prevented from occurring in detection by the pressure sensors 76 and 78 when rotating around the axis.
  • the gripping portion 44 from the rear end portion (the first X-axis pressure sensor 52) of each of the protruding pieces 36, 38, 40, 42 in the shaft-like portion 34. (Tubular body 46)
  • the distance to the wall 46b is the same.
  • the grip 44 when the grip 44 is moved in the X-axis direction, the time until the first X-axis pressure sensor 52 and the second X-axis pressure sensor 54 detect can be made constant, and the occurrence of a time lag until detection is similarly prevented. Is done.
  • the grip portion 44 is held on the shaft-shaped portion 34 by the first and second spring members 120 and 121, rattling of the grip portion 44 is prevented and stable operation is possible.
  • the upper limb motion assisting apparatus is not limited to the above-described configuration, and various modifications are possible.
  • one urging member is provided between each protruding piece.
  • the present invention is not limited to this, and a plurality of urging members are provided between the protruding pieces. It may be.
  • the upper limb movement assisting device according to the first embodiment is described.
  • the shaft-like portion is formed in a cylindrical shape, and the biasing member is An arrangement form can also be adopted.
  • the spring member in the form of a coil spring is shown as the biasing member.
  • the present invention is not limited to this, and various conventionally known members that express the biasing force by elastic deformation, such as a leaf spring and rubber. Can be adopted.
  • the items described as the modifications of the first and second embodiments can be adopted for the upper limb movement assisting device according to the third embodiment.
  • the basic configuration of the upper limb motion assisting device according to the fourth embodiment is basically the same as the configuration of the upper limb motion assisting device 10 according to the first embodiment, and thus the same as the upper limb motion assisting device 10 according to the first embodiment.
  • the same reference numerals are omitted and the description thereof is omitted, and only different configurations will be described.
  • the operation arm 26 that constitutes the multi-joint arm 16 of the upper limb motion assisting apparatus 10 has a third and a third between the shaft portion 34 and the grip portion 44 of the operation portion 32.
  • Four spring members (biasing members) 130 and 131 are provided, and the third spring member 130 and the fourth spring member 131 are moved by moving the grip portion 44 relatively close to and away from the shaft-shaped portion 34. Configured to elastically deform.
  • the third spring member 130 includes X-axis, Y-axis, and Z-axis pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72 and the grip portion 34.
  • the fourth spring member 131 is disposed between the first X-axis pressure sensor 76 and the first clamping piece 46c, and between the second X-axis pressure sensor 78 and the second clamping piece 46d. . That is, the third and fourth spring members 130 and 131 that are elastically deformed when the grip portion 44 is moved relatively close to and away from the shaft-shaped portion 34 correspond to the corresponding pressure sensors 52, 54, 56, 58, 60,62,66,68,70,72,76,78, the force which each sensor 52,54,56,58,60,62,66,68,70,72,76,78 detects at this time A detection signal corresponding to the magnitude of the signal is input to the control device 14.
  • the third and fourth spring members 130 and 131 are plate springs that are formed from an elongated thin spring steel and can be elastically deformed, and one end thereof is the gripping portion. 44 or the clamping piece 46c, the pressure sensor 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78 is contacted. Further, the pressure sensors 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, and 78 protrude to contact portions with the corresponding third and fourth spring members 130 and 131, respectively.
  • each spring member 130, 131 is configured to make point contact with the corresponding pressure sensor 52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78. Yes.
  • the third and fourth spring members 130 and 131 that are elastically deformed when the grip portion 44 is moved relatively close to and away from the shaft-shaped portion 34 correspond to the corresponding pressure sensors 52, 54, 56, and 58.
  • 60, 62, 66, 68, 70, 72, 76, 78 are pressed at points to improve the force detection accuracy.
  • the third spring is interposed between the Y-axis and Z-axis pressure sensors 56, 58, 60, 62, 66, 68, 70, 72 and the grip portion 44. Since the member 130 is disposed, as in the third embodiment, in a state where the third spring members 130 are balanced without applying an external force to the gripping portion 44, the gripping portion 44 is in relation to the shaft-shaped portion 34. Are held in a substantially concentric position.
  • the third spring member 130 disposed between the X-axis pressure sensors 52 and 54 and the grip portion 44 maintains a balance so that the protruding pieces 36, 38, 40, 42, the distance from the rear end portion (first X-axis pressure sensor 52) to the rear support wall 46a of the grip portion 44 (tubular body 46), and the front end portions (second X-axis) of the projecting pieces 36, 38, 40, 42.
  • the distance from the pressure sensor 54) to the front support wall 46b of the grip 44 (tubular body 46) is configured to be equal.
  • the pressure sensors 52, 54, and 56 are moved.
  • 58, 60, 62, 66, 68, 70, 72 can be made constant to prevent time lag from occurring.
  • the fourth spring member 131 disposed between the first X-axis pressure sensor 76 and the first clamping piece 46c and between the second X-axis pressure sensor 78 and the second clamping piece 46d is balanced.
  • the second holding piece 46d corresponding to the second protruding piece 38 is set around the second X-axis.
  • the grip portion 44 tubular body 46
  • the grip 44 when the grip 44 is moved in the positive rotation direction or the negative rotation direction around the X axis, the time until the first X axis rotation pressure sensor 76 and the second X axis rotation pressure sensor 78 detect can be made constant, A time lag can be prevented from occurring in the detection by the pressure sensors 76 and 78 when rotating around the X axis.
  • the pressure sensors 52, 54, and 56 are accompanied by the elastic deformation of the third and fourth spring members 130 and 131. , 58, 60, 62, 66, 68, 70, 72, 76, 78, the force can be directly transmitted, so that the minute movement of the grip 44 can be properly detected, and the detection accuracy can be improved. Figured. Further, since the grip portion 44 is held on the shaft-shaped portion 34 by the third and fourth spring members 130 and 131, rattling of the grip portion 44 is prevented and stable operation is possible.
  • the upper limb movement assisting apparatus is not limited to the above-described configuration, and various modifications are possible.
  • the urging member is configured to come into contact with the pressure sensor via the protruding portion.
  • the urging member may be configured to be in direct contact with the pressure sensor.
  • the upper limb movement assisting device according to the first embodiment has been described.
  • the shaft-like portion is formed in a cylindrical shape, and the biasing member is An arrangement form can also be adopted.
  • Example 4 a configuration in which an urging member is disposed as in the fourth embodiment can be adopted for a configuration in which a pressure sensor and a triaxial force sensor are used together.
  • a spring member in the form of a leaf spring is shown as the biasing member.
  • the present invention is not limited to this, and various conventionally known members that express biasing force by elastic deformation, such as a coil spring or rubber. Can be adopted.
  • the items described as the modified examples of the first to third embodiments can be adopted for the upper limb movement assisting device according to the fourth embodiment.
  • Control device 16 Articulated Arm 32 Operation Unit 34 Axial Part 44 Gripping Part 50 First Detection Means 52 First X Axis Pressure Sensor 54 Second X Axis Pressure Sensor 56 First Y Axis Pressure Sensor 58 Second Y Axis Pressure Sensor 60 First Z Axis Pressure Sensor 62 Second Z axis pressure sensor 64 Second detection means 66 Third Y axis pressure sensor 68 Fourth Y axis pressure sensor 70 Third Z axis pressure sensor 72 Fourth Z axis pressure sensor 74 Third detection means 76 First X axis circumference pressure sensor 78 Second X axis circumference pressure sensor 92 Arm body 94 Operation section 96 Axis section 100 Grip section 108 Potentiometer (third detection means, position detection sensor) 110 3-axis force sensor (first detection means) 112 Pressure sensor (second detection means) 120 First spring member (biasing member) 121 Second spring member (biasing member) 130 Third spring member (biasing member) 131 Fourth spring member (biasing member)

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  • Physics & Mathematics (AREA)
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  • Health & Medical Sciences (AREA)
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  • Life Sciences & Earth Sciences (AREA)
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  • Manipulator (AREA)
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Abstract

La présente invention se rapporte à un dispositif d'aide au mouvement de membre supérieur pouvant détecter des mouvements dans les directions de six axes par une configuration pas chère. Le dispositif d'aide au mouvement de membre supérieur comprend : des premiers moyens de détection (52, 54, 56, 58, 60, 62) qui peuvent détecter une force qui entraîne le déplacement d'une partie d'actionnement (32) qu'une personne à aider peut saisir et actionner dans chaque direction parmi une direction d'axe X le long de la partie d'actionnement (32), une direction d'axe Y orthogonale à l'axe X et une direction d'axe Z orthogonale aux axes X-Y axes ; des deuxièmes moyens de détection (66, 68, 70, 72) qui sont éloignés des premiers moyens de détection (52, 54, 56, 58, 60, 62) dans la direction d'axe X et peuvent détecter une force qui entraîne le déplacement de la partie d'actionnement (32) dans la direction d'axe Y et la direction d'axe Z ; des troisièmes moyens de détection (76, 78) qui peuvent détecter la rotation de la partie d'actionnement (32) autour de l'axe X ou la force qui entraîne ladite rotation ; et un moyen de commande (14) qui est relié aux premiers à troisièmes moyens de détection (52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78), l'entraînement d'un bras à articulations multiples étant commandé sur la base de signaux de détection entrés depuis les premiers à troisièmes moyens de détection (52, 54, 56, 58, 60, 62, 66, 68, 70, 72, 76, 78).
PCT/JP2010/052883 2009-02-26 2010-02-24 Dispositif d'aide au mouvement de membre supérieur Ceased WO2010098358A1 (fr)

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JP2009044504 2009-02-26

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Cited By (5)

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EP2682088A4 (fr) * 2011-02-28 2015-04-15 Murata Machinery Ltd Dispositif pour l'exercice des membres supérieurs
JP2015084801A (ja) * 2013-10-28 2015-05-07 俊道 妻木 動作補助装置
CN109551457A (zh) * 2017-09-25 2019-04-02 林宗正 可减少噪声的感测模块
JP2020130629A (ja) * 2019-02-20 2020-08-31 宗正 林 ノイズ低減可能なセンサモジュール
CN116459492A (zh) * 2023-04-03 2023-07-21 合肥工业大学 一种多功能测量训练装置

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DE102015012962B4 (de) * 2015-10-08 2024-08-22 Franka Emika Gmbh Robotersystem
KR101854712B1 (ko) * 2016-02-25 2018-05-23 코닉오토메이션 주식회사 전자동 업소용 취반기

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JPS6389278A (ja) * 1986-10-02 1988-04-20 株式会社東芝 産業用ロボツト教示装置
JPH07253370A (ja) * 1994-03-14 1995-10-03 Mitsubishi Heavy Ind Ltd ６分力の計測システム
JPH11138468A (ja) * 1997-11-07 1999-05-25 Fujitsu Ltd 機械の安定制御装置及びマスタ・スレーブ型ロボットの制御装置
JPH11253504A (ja) * 1998-03-12 1999-09-21 Sanyo Electric Co Ltd 上肢動作補助装置
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Publication number Priority date Publication date Assignee Title
EP2682088A4 (fr) * 2011-02-28 2015-04-15 Murata Machinery Ltd Dispositif pour l'exercice des membres supérieurs
JP2015084801A (ja) * 2013-10-28 2015-05-07 俊道 妻木 動作補助装置
CN109551457A (zh) * 2017-09-25 2019-04-02 林宗正 可减少噪声的感测模块
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JP2020130629A (ja) * 2019-02-20 2020-08-31 宗正 林 ノイズ低減可能なセンサモジュール
CN116459492A (zh) * 2023-04-03 2023-07-21 合肥工业大学 一种多功能测量训练装置

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