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WO2011078104A1 - Dispositif de marche du type passif à deux jambes - Google Patents

Dispositif de marche du type passif à deux jambes Download PDF

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Publication number
WO2011078104A1
WO2011078104A1 PCT/JP2010/072859 JP2010072859W WO2011078104A1 WO 2011078104 A1 WO2011078104 A1 WO 2011078104A1 JP 2010072859 W JP2010072859 W JP 2010072859W WO 2011078104 A1 WO2011078104 A1 WO 2011078104A1
Authority
WO
WIPO (PCT)
Prior art keywords
upper body
leg
passive
biped
walker
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/JP2010/072859
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English (en)
Japanese (ja)
Inventor
明人 佐野
吉人 池俣
藤本　英雄
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.)
Nagoya Institute of Technology NUC
Original Assignee
Nagoya Institute of Technology 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 Nagoya Institute of Technology NUC filed Critical Nagoya Institute of Technology NUC
Priority to JP2011547529A priority Critical patent/JP5590622B6/ja
Publication of WO2011078104A1 publication Critical patent/WO2011078104A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B11/00—Hand-propelled vehicles not otherwise provided for
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/002—Appliances for aiding patients or disabled persons to walk about with attached or incorporated article carrying means
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • 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

Definitions

  • the present invention relates to a passive walker, and more particularly to a two-legged passive walker having two legs.
  • Non-Patent Document 1 proposes a passive walker with four legs, which realizes walking on a flat ground by a human assisting the passive walker. In this, humans are skillfully producing appropriate assist power. In addition, humans and walker are in sync with nature, and their gaits are almost the same.
  • Assistance can be reduced if the walking movement efficiency can be increased in this assist flat ground walking.
  • the present invention is a two-legged passive walker with two legs, and the purpose of this two-legged passive walker is to increase walking movement efficiency and reduce assist power.
  • the present invention is a two-legged passive walker that walks with the assistance of a human, and is connected to a waist axis so as to be rotatable, and a thigh that rotates relatively via a knee joint. It has two legs with a lower leg and an assist jig for walking the biped passive walker, and a person assists the biped passive walker using the assist jig.
  • the biped passive walking machine is further connected to the waist axis, and has a body whose center of gravity is above the waist axis in a walking state. To do.
  • FIG. 1 It is a figure which shows the structure of the biped passive walking machine which concerns on one Embodiment of this invention. It is the figure which looked at the biped passive walking machine shown in FIG. 1 from the diagonally backward side. It is the figure which looked at the upper body 2 shown in FIG. 1 from back. It is a figure which shows that it has the structure which attaches the roller 7 to the lower part of the upper body 2, and does not prevent the movement of the back surface urethane sheet 4b. It is a figure which shows the structure which detects the collision of the knee stopper 9 with the PVDF film 13. FIG. It is a figure which shows the simple 2 link model which simulated the support leg and the upper body.
  • FIG. 1 schematically shows a passive walking leg type robot (two-legged passive walking machine) used in this embodiment.
  • the passive walking leg type robot has two legs 1 each having an arc-shaped foot 11 at the tip of each leg, an upper body 2, an assist jig 3, a front urethane sheet 4a, a back urethane sheet 4b, A knee stopper 9 is provided to prevent overextension of the knee.
  • FIG. 2 shows a view of the biped passive walking machine shown in FIG.
  • the two legs 1 are rotatably connected to the waist shaft 15.
  • a waist joint 16 is configured by a portion that rotatably connects the two legs 1 with the waist shaft 15.
  • Each leg 1 includes a thigh 1a and a crus 1b that rotate relative to each other via a knee joint (portion connected by a knee axis) 1c.
  • the length of the thigh 1a is, for example, 40 cm
  • the length of the crus 1b is, for example, 42 cm.
  • the upper body 2 and the assist jig 3 are connected (freely rotated) to the waist shaft 15 between the thighs 1a of the two legs 1, respectively.
  • the center of gravity of the upper body 2 is, for example, 150 mm above the waist axis 15 in the walking state.
  • a urethane sheet 4 is stretched around the upper body 2 and the thigh 1a of the leg 1.
  • the walking is performed from behind the passive walking leg type robot with the assist jig 3.
  • humans can also easily stabilize the left and right.
  • Front urethane sheet 4a and the back urethane sheet 4b have the following effects.
  • Front urethane sheet 4a effect of promoting swinging out in the early stage of the free leg. Prevents backward tilt (curvature) in the later stage of the support leg.
  • Back urethane sheet 4b Adjusted to an appropriate stride in the late stage of the free leg. Upper body effect at the beginning of the support leg.
  • the free leg means a leg floating from the ground
  • the support leg means a leg on the ground.
  • Each of the front urethane sheet 4a and the back urethane sheet 4b is firmly fixed to the thigh 1a of the leg 1 with a bolt or the like at one end side, and is attached to the upper body via a slider 5. Moreover, the back urethane sheet 4b is connected to the back of the thigh 1a simulating a human body structure. The back urethane sheet 4b generates tension when the slider 5 hits the fixed stopper 6 shown in FIG. Here, as shown in FIG.
  • the roller 7 is attached to the lower part of the upper body 2 so as not to prevent the movement of the back urethane sheet 4b, and although not shown, when not hitting the fixed stopper 6
  • the slider 5 is lifted upward by a spring so that the urethane sheet 4 does not play.
  • the upper body 2 shown in FIG. 3 is viewed from the rear, and depending on whether the leg 1 is a supporting leg or a free leg, by a mechanism as shown in the state where the back urethane sheet 4b is not attached, The action of the tension of the back urethane sheet 4b is switched.
  • the slider 5 to which the back urethane sheet 4b is fixed is movable in the vertical direction in FIG. 3, and when it hits either the movable stopper 8 or the fixed stopper 6, the back urethane sheet 4b generates tension.
  • the movable stopper 8 is at the top, and generates a larger tension even at the same hip flexion angle.
  • the back urethane sheet 4b needs to determine an appropriate stride in the later stage of the free leg and create an upper body effect at the initial stage of the support leg across the landing, but the desired tension characteristics are not always the same. Absent. Specifically, the latter requires stronger tension.
  • the servo 10 is operated to move the movable stopper 8 via the link mechanism (FIG. 3). Move left).
  • the slider 5 since the slider 5 is already in contact with the fixed stopper 6 in the later stage of the free leg, the wedge-shaped movable stopper 8 is pushed and inserted (just before landing). Thereby, stronger tension characteristics can be obtained in the initial stage of the support leg.
  • the front urethane sheet 4a is configured to generate tension when it hits the fixed stopper.
  • the movable urethane stopper as described above is not provided for the front urethane sheet 4a only with the fixed stopper.
  • the roller provided at the lower part of the upper body 2 is configured not to prevent the front urethane sheet 4a from moving.
  • the following describes the walking motion of the biped passive walker having the above-mentioned configuration along a series of movements from the start of walking to the stop of walking.
  • the thigh 1a of the leg 1 is decelerated by gravity, so that the knee joint 1c of the leg 1 is changed from flexion to extension, and the knee stopper 9 collides when the knee joint becomes straight.
  • This collision is detected by the PVDF film 13, and the servo 10 operates.
  • the movable stopper 8 is inserted between the fixed stopper 6 and the slider 5 by the operation of the servo 10. In this state, the leg 1 collides with the ground, and the swing leg period is switched to the support leg period.
  • the upper body 2 In the latter stage of the support leg, the upper body 2 tries to tilt backward, but is restrained by the tension of the front urethane sheet 4a.
  • the walking speed is adjusted with the strength of the assist force.
  • the assist force is increased, the swinging speed of the leg 1 is promoted and the walking speed is increased.
  • the assist force is weakened, the walking speed is reduced.
  • the assist force is gradually weakened, the stride becomes smaller, and it is finally possible to stop walking with both legs aligned.
  • the walking movement efficiency can be increased and the assist force can be reduced.
  • walking assist One role of walking assist is to push the legs forward on flat ground.
  • the kinetic energy must exceed the potential energy until the hip joint reaches the highest point, or this potential barrier needs to be lowered in some form.
  • FIG. 6 shows a simple two-link model that simulates the support leg and the upper body.
  • the equation of motion is obtained as in Equation 1.
  • the vehicle As the support leg falls forward, the vehicle is decelerated (d ⁇ 1 / dt ⁇ 0) and accelerated (d ⁇ 1 / dt> 0). If the upper body (a 2 > 0) is included, these decelerations and accelerations are performed. The size of becomes smaller. In other words, it can be understood that the potential barrier is lowered. Furthermore, the speed immediately before landing is reduced, and the collision with the floor surface is reduced.
  • the joint angle was calculated using a high speed camera. However, the shooting speed is 500 [frame / s], and the frame size is 1024 ⁇ 512 [pixels].
  • the assist force was measured by a 6-axis force sensor attached in the middle of the assist jig.
  • FIG. 7 shows the assist force in the horizontal direction in a one-step section immediately after landing and immediately before landing.
  • a spike-like pressing force is generated immediately after landing and around 0.6 [s].
  • Each of these has a shape in which a human has received a reaction caused by a collision with a floor surface and a collision with a knee stopper. This is not intentional assistance by humans, but is supported from behind, resulting in the generation of assist force.
  • the collision with the floor surface is suppressed to about half with the upper body, although the knee collision is almost the same level.
  • the maximum forward tilt angle of the upper body is about 6 [deg], and it tilts forward 2 degrees during one walking cycle (bimodal).
  • the reaction acted on the upper body because the timing of the collision between the forward tilt and the knee stopper of the free leg coincides.
  • the body is tilted forward by about 5 [deg], and when the swing leg knee becomes straight, the upper body rises vertically from the forward tilt.
  • the waist torque works so as to suppress the forward tilt of the upper body and become straight.
  • the urethane sheet on the front surface of the supporting leg is stretched to prevent the upper body from being tilted backward (curved).
  • the front urethane sheet contracts to promote swinging of the free leg.
  • the consumed energy W and the movement efficiency Ct are expressed as Equation 4 and Equation 5, respectively.
  • the movement efficiency is improved by about 35% by adding the upper body. This is considered to be due to the generation of effective assist force by humans in addition to the upper body effect.
  • a strain gauge 12 is attached to the fixed part of the roller 7 to measure the tension of the urethane sheet 4, thereby automatically adjusting the tension of the urethane sheet 4. Good.
  • the urethane sheet 4 is not limited to a sheet shape, and may have a round cross section. From the function thereof, the slider 5 to which it is fixed hits either the movable stopper 8 or the fixed stopper 6. Any member may be used as long as it produces tension, for example, an elastic member. In that case, a hard rubber may be used instead of urethane.
  • a two-legged passive walking machine may be configured as a legged transporter.
  • the upper body 2 is configured as a loading platform 2 on which a load 14 can be mounted as shown in the figure.
  • it may be the structure which hooks a load even if it is not a loading platform.
  • the urethane sheets 4a and 4b are omitted as in FIG.
  • FIGS. 12 and 13 show another embodiment in which the biped passive walking machine is configured as a legged transporter.
  • a transport handle 3 is attached as an assist jig 3 on the back side of the back plate in the loading platform 2, that is, on the back surface of the loading platform 2 (more specifically, a position slightly above the center of the back surface of the loading platform 2).
  • the loading platform is connected to the waist axis between the two legs.
  • the legged carrier shown in this example has a brake mechanism.
  • the brake is hydraulic. As shown in FIGS. 12 and 13, the brake handle 20 is attached to the transport handle 3, and the brake mechanism 21 is attached to the knee joint 1c (see FIG. 12) or the waist joint 16 (see FIG. 13). It is attached, and a rotational resistance can be generated in the knee joint 1c or the waist joint 16.
  • the brake mechanism 21 may be attached to both the knee joint 1c and the waist joint 16.
  • the carrier carries the load 14 on the carrier and holds the transport handle 3.
  • the load can be transported easily while walking. In the experiment, we have successfully transported 5 kg of luggage.
  • the transporter By operating the transport handle 3, the transporter can easily stabilize the left and right, change the direction, etc. like a unicycle, and can transport various routes. Further, the distance between the two legs (adjustable) is about 15 cm, and it is possible to carry a narrow place. Moreover, it is suitable for transporting rough terrain such as steps and grooves, which is difficult with a wheeled transporter.
  • the carrier can adjust or stop the movement of the knee joint 1c and / or the hip joint 16 by operating the brake handle 20. This makes it possible to easily adjust the stride and hold the posture when stopped.
  • 11 to 13 is a mechanism in which a platform is installed on a passive walking machine having two legs and a load is loaded on the platform, and the carrier pushes the handle. Carrying luggage while walking a legged carrier.
  • this leg-type transporter By using this leg-type transporter, you can transport obstacles by stepping over obstacles such as steps, staircases, etc., which are difficult with carry bags, trolleys, unicycles, etc., gaps between trains and platforms, pipes, etc. be able to.
  • the slender legs placed under the baggage occupy a small area and do not disturb people.
  • the legged transport device it is possible to carry a load, and further, the number of legs of the passive walker is reduced from four to two, thereby reducing the occupied area and improving the mobility such as turning. Can be. By these, the user can carry a load easily while walking only by pushing.
  • the present invention is a two-legged passive walker that walks with the assistance of a person, and includes a thigh and a lower leg that are rotatably connected to a waist axis and rotate relatively via a knee joint.
  • a leg and an assist jig for walking the biped passive walker, so that a person walks by assisting the biped passive walker using the assist jig The biped passive walking machine is further configured to have an upper body that is connected to the waist axis and has a center of gravity located above the waist axis in a walking state.
  • the present invention can perform stable walking by adopting a configuration in which elastic members are stretched around the thighs of the upper body and the two legs.
  • the elastic members stretched around the thighs of the upper body and the two legs promote swinging of the leg in the early stage of the free leg, and swing out of the leg in the late stage of the free leg.
  • the amount is suppressed, the forward tilt of the upper body is suppressed in the initial stage of the support leg, and the backward tilt of the upper body is suppressed in the late stage of the support leg.
  • each of the elastic members stretched around the thigh is attached to the upper body via a slider, and generates tension when the slider hits a stopper provided on the upper body. Further, it is preferable that a roller is attached to the upper body so as not to hinder the movement of the elastic member.
  • the present invention provides a mechanism for switching the action of the tension of the elastic member on the back stretched behind the thigh depending on whether the leg is the supporting leg stage or the swinging leg stage. This is preferable because stronger tensile properties can be obtained.
  • the above-described two-legged passive walking machine can be used as a legged carrier.
  • the assist jig is connected to the waist axis, and when a biped passive walking machine is used as a legged transporter, the assist jig can be a transport handle attached to the back of the loading platform. .
  • a brake mechanism that causes rotational resistance to the hip joint and / or the knee joint that rotatably connects the two legs with the waist axis. It is preferable that a brake handle for operating the brake mechanism is attached to the transport handle.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
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Abstract

L'invention concerne un dispositif de marche du type passif à deux jambes comportant : deux jambes (1), chaque jambe étant raccordée de manière pivotante à l'arbre du bassin et ayant une section fémur (1a) et une section jambe (1b) qui tournent l'une par rapport à l'autre par le biais d'un mécanisme de raccordement qui constitue l'articulation du genou ; un corps supérieur (2) raccordé à l'arbre du bassin et dont le centre de gravité est situé au-dessus de l'arbre du bassin quand le dispositif de marche est mis en déambulation ; et un accessoire d'assistance (3) raccordé à l'arbre du bassin pour faire déambuler le dispositif de marche du type passif à deux jambes. Le dispositif de marche du type passif à deux jambes est mis en déambulation avec l'aide d'une personne en utilisant l'accessoire d'assistance.
PCT/JP2010/072859 2009-12-22 2010-12-20 Dispositif de marche du type passif à deux jambes Ceased WO2011078104A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011547529A JP5590622B6 (ja) 2009-12-22 2010-12-20 ２脚受動歩行機

Applications Claiming Priority (2)

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JP2009-291495 2009-12-22
JP2009291495 2009-12-22

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WO2011078104A1 true WO2011078104A1 (fr) 2011-06-30

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JP2013230524A (ja) * 2012-04-27 2013-11-14 Vstone Kk 二足歩行ロボット
CN104973163A (zh) * 2015-07-21 2015-10-14 重庆邮电大学 全地貌行走器及其控制方法
CN105015642A (zh) * 2015-07-21 2015-11-04 重庆邮电大学 由单电机驱动的半被动行走器及其转向控制方法
JP2015217044A (ja) * 2014-05-15 2015-12-07 国立大学法人 名古屋工業大学 歩行機
CN105128976A (zh) * 2015-07-21 2015-12-09 重庆邮电大学 一种欠驱动行走装置及其转弯控制方法
JP2016039857A (ja) * 2014-08-12 2016-03-24 国立大学法人 名古屋工業大学 歩行機
CN105774938A (zh) * 2016-03-03 2016-07-20 胡建令 具有越障功能的双足机器人
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US10980699B2 (en) 2016-06-30 2021-04-20 Panasonic Intellectual Property Management Co., Ltd. Walking assistance apparatus and control method
CN114313052A (zh) * 2021-12-31 2022-04-12 杭州未名信科科技有限公司 可自锁的腿足模块及机器人
CN119252132A (zh) * 2024-11-22 2025-01-03 华东师范大学 一种弹性关节且被动动力坡道步行器科普教具及行走方法
CN119458416A (zh) * 2025-01-14 2025-02-18 人形机器人(上海)有限公司 腰髋整合机构及人形机器人

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CN109625116B (zh) * 2018-12-18 2020-12-15 江汉大学 可屈膝运动的半被动行走机器人及控制方法
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WO2006132330A1 (fr) * 2005-06-08 2006-12-14 Nagoya Institute Of Technology Stabilisateur de point d’equilibre de corps mobile a jambes
JP2009011845A (ja) * 2008-08-01 2009-01-22 Univ Of Tsukuba 装着式動作補助装置のキャリブレーション装置、及びキャリブレーション用プログラム

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WO2006132330A1 (fr) * 2005-06-08 2006-12-14 Nagoya Institute Of Technology Stabilisateur de point d’equilibre de corps mobile a jambes
JP2009011845A (ja) * 2008-08-01 2009-01-22 Univ Of Tsukuba 装着式動作補助装置のキャリブレーション装置、及びキャリブレーション用プログラム

Cited By (22)

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