Control system for walking assist device

• US 20050177080A1
• Filed: 08/05/2003
• Published: 08/11/2005
• Est. Priority Date: 08/21/2002
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Yasuhara, Ken, Miyake, Yoshihiro
• Granted Patent: US 7,880,552 B2
• Time in Patent Office: Days
• US Class Current: 602/16
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61H 1/0237 for the lower limbs
• CPC Class Codes: A61H 1/024 Knee A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2201/163 holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1664 linear
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A61H 3/008 Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses drawing-out devices A61H1/0218
• CPC Class Codes: A63B 2069/0031 Speed-walking
• CPC Class Codes: A63B 2220/16 : Angular positions
• CPC Class Codes: A63B 2220/30 : Speed
• CPC Class Codes: A63B 2220/40 : Acceleration
• CPC Class Codes: A63B 2220/803 : Motion sensors
• CPC Class Codes: A63B 2230/00 : Measuring physiological parameters of the user
• CPC Class Codes: A63B 2230/06 : heartbeat rate only
• CPC Class Codes: A63B 2230/20 : blood composition characteristics
• CPC Class Codes: A63B 2230/42 : rate
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/161 : Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

A system capable of controlling an autonomous walking assist rhythm, while following changes in a walking rhythm of a walker at the same time. A control system 100 in accordance with the present invention generates a first oscillator x that tugs and is tugged by a walking oscillator (hip joint angular velocity) φ_H′ such that an intrinsic angular velocity is reflected. Then, a new intrinsic angular velocity ω_m is determined on the basis of the difference between a first phase difference θ_HM between the first oscillator x and the walking oscillator φ_H′ and a desired phase difference θ_d. Furthermore, a second oscillator y is generated that tugs and is tugged by the walking oscillator φ_H′ such that the intrinsic angular velocity ω_m is reflected, and has a second phase difference θ_hm, which is closer to the desired phase difference θ_d than the first phase difference θ_HM is, with respect to the walking oscillator φ_H′. Then, based on the second oscillator y and the walking oscillator (hip joint angle) φ_H, a walking assist oscillator (torque imparted to the walker by a walking assist unit 200) T is generated.

Claims

1. A control system comprising:

walking oscillator measuring means for measuring a walking oscillator of a walker whose walk is assisted by a walking assist device;

first oscillator generating means for generating a first oscillator that tugs and is tugged by a walking oscillator measured by the walking oscillator measuring means such that an intrinsic angular velocity is reflected;

determining means for determining a new intrinsic angular velocity on the basis of a difference between a first phase difference between the first oscillator and the walking oscillator and a desired phase difference;

second oscillator generating means for generating a second oscillator that tugs and is tugged by a walking oscillator measured by the walking oscillator measuring means such that the intrinsic angular velocity determined by the determining means is reflected, and has a second phase difference, which is closer to the desired phase difference than the first phase difference is, with respect to the walking oscillator; and

walking assist oscillator generating means for generating a walking assist oscillator of the walking assist device on the basis of the second oscillator and the walking oscillator measured by the walking oscillator measuring means.

2. The control system according to claim 1, comprising:

walking condition determining means for determining the walking condition of the walker on the basis of a walking oscillator measured by the walking oscillator measuring means; and

desired phase difference determining means for determining a desired phase difference on the basis of the walking condition of the walker determined by the walking condition determining means.

3. The control system according to claim 1, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker;

walking condition determining means for determining a walking condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means, and desired phase difference determining means for determining a desired phase difference on the basis of a walking condition of the walker determined by the walking condition determining means.

4. The control system according to claim 2, wherein

the walking condition determining means determines whether a walking condition of a walker is a flat walk condition, an ascending walk condition, or a descending walk condition, and

the desired phase difference determining means basically determines a desired phase difference to be 0 for the flat walk condition, −

for the ascending walk condition, and + for the descending walk condition.

5. The control system according to claim 2, wherein

the walking condition determining means determines the speed of walk as a walking condition, and

the desired phase difference determining means basically determines a desired phase difference to be −

if the walk is fast, or + if the walk is slow.

6. The control system according to claim 1, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker;

a physiological condition determining means for determining a physiological condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means; and

desired phase difference determining means for determining a desired phase difference on the basis of a physiological condition of the walker determined by the physiological condition determining means.

7. The control system according to claim 6, wherein the physiological condition determining means determines fatigue of a walker as a physiological condition of the walker, and basically determines a desired phase difference to be + if the fatigue of the walker is small, or −

if the fatigue of the walker is large.

8. The control system according to claim 1, wherein

the first oscillator generating means generates a plurality of first oscillators corresponding to the motions of a plurality of objects such that correlation among a plurality of virtual objects is reflected, and

the second oscillator generating means generates a plurality of second oscillators corresponding to the motions of the plurality of the objects such that correlation among a plurality of virtual objects is reflected.

9. The control system according to claim 8, comprising:

walking condition determining means for determining a walking condition of a walker on the basis of a walking oscillator measured by a walking oscillator measuring means; and

first correlation adjusting means for adjusting a correlation among a plurality of virtual objects related to generation of first and second oscillators on the basis of a walking condition of the walker determined by the walking condition determining means.

10. The control system according to claim 8, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker;

walking condition determining means for determining a walking condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means; and

first correlation adjusting means for adjusting a correlation among a plurality of virtual objects related to the generation of the first and second oscillators on the basis of the walking condition of the walker determined by the walking condition determining means.

11. The control system according to claim 8, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker, a physiological condition determining means for determining the physiological condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means; and

first correlation adjusting means for adjusting a correlation among a plurality of virtual objects related to the generation of the first and second oscillators on the basis of the physiological condition of the walker determined by the physiological condition determining means.

12. The control system according to claim 1, wherein determining means determines an intrinsic angular velocity for bringing a second phase difference between a second oscillator and a walking oscillator closer to a desired phase difference than a first phase difference between a first oscillator and a walking oscillator according to an internal model representing a phase relationship between a virtual walking oscillator and a virtual walking assist oscillator.

13. The control system according to claim 12, wherein the determining means comprises:

correlation factor determining means for determining correlation factors of a virtual walking oscillator and a virtual walking assist oscillator such that the second phase difference of the virtual walking oscillator and the virtual walking assist oscillator approaches to the first phase difference according to the internal model;

first angular velocity determining means for determining an angular velocity of the virtual walking oscillator on the basis of the correlation factors; and

second angular velocity determining means for determining an angular velocity of the virtual walking assist oscillator as an intrinsic angular velocity related to the generation of the second oscillator such that the second phase difference approaches to a desired phase difference on the basis of the angular velocity of the virtual walking oscillator.

14. The control system according to claim 1, wherein the walking assist oscillator generating means generates walking assist oscillators corresponding to behaviors of a plurality of neural elements such that a correlation among the plurality of virtual neural elements is reflected.

15. The control system according to claim 14, comprising:

walking condition determining means for determining a walking condition of a walker on the basis of a walking oscillator measured by a walking oscillator measuring means; and

second correlation adjusting means for adjusting a correlation among a plurality of virtual neural elements related to the generation of a walking assist oscillator on the basis of the walking condition of the walker determined by the walking condition determining means.

16. The control system according to claim 14, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker;

walking condition determining means for determining the walking condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means; and

second correlation adjusting means for adjusting a correlation among a plurality of virtual neural elements related to the generation of the a walking assist oscillator on the basis of the walking condition of the walker determined by the walking condition determining means.

17. The control system according to claim 14, comprising:

physiological parameter measuring means for measuring physiological parameters indicating a physiological condition of a walker;

physiological condition determining means for determining the physiological condition of the walker on the basis of the physiological parameters measured by the physiological parameter measuring means; and

second correlation adjusting means for adjusting a correlation among a plurality of virtual neural elements related to the generation of the walking assist oscillator on the basis of the walking condition of the walker determined by the walking condition determining means.

18. The control system according to claim 2, comprising:

storing means for storing a correspondence relationship between a walking condition and a tracing pattern drawn by an n number of walking oscillators in an n-dimensional space, wherein the walking condition determining means determines a walking condition on the basis of the correspondence relationship stored by the storing means and the tracing pattern drawn in the n-dimensional space by the n number of walking oscillators measured by the walking oscillator measuring means.

19. The control system according to claim 1, wherein the first and second oscillator generating means generate the first and second oscillators according to a nonlinear oscillator model represented by the Van der Pol equation that includes a walking oscillator measured by the walking oscillator measuring means.

20. The control system according to claim 1, wherein the walking oscillator measuring means measures the first oscillator, the second oscillator, and at least one of various oscillators including a joint angle and angular velocity of a walker that periodically changes at a rhythm corresponding to a walking rhythm, as a walking oscillator for generating a walking assist oscillator.

21. The control system according to claim 1, wherein the walking assist oscillator generating means generates, as a walking assist oscillator, a torque about a leg joint imparted to a walker, or a oscillator that periodically changes in a form perceivable by a walker in response to a torque and a change in torque.

22. The control system according to claim 2, wherein the walking oscillator measuring means measures, as a walking oscillator for determining a walking condition, at least one of a leg joint angle, a leg joint angular velocity, a leg joint angular acceleration, and the position of a part of a leg of a walker.

23. The control system according to claim 3, wherein

the walking condition determining means determines whether a walking condition of a walker is a flat walk condition, an ascending walk condition, or a descending walk condition, and

the desired phase difference determining means basically determines a desired phase difference to be 0 for the flat walk condition, −

for the ascending walk condition, and + for the descending walk condition.

24. The control system according to claim 3, wherein

the walking condition determining means determines the speed of walk as a walking condition, and

the desired phase difference determining means basically determines a desired phase difference to be −

if the walk is fast, or + if the walk is slow.

25. The control system according to claim 9, comprising:

storing means for storing a correspondence relationship between a walking condition and a tracing pattern drawn by an n number of walking oscillators in an n-dimensional space, wherein the walking condition determining means determines a walking condition on the basis of the correspondence relationship stored by the storing means and the tracing pattern drawn in the n-dimensional space by the n number of walking oscillators measured by the walking oscillator measuring means.

26. The control system according to claim 15, comprising:

storing means for storing a correspondence relationship between a walking condition and a tracing pattern drawn by an n number of walking oscillators in an n-dimensional space, wherein the walking condition determining means determines a walking condition on the basis of the correspondence relationship stored by the storing means and the tracing pattern drawn in the n-dimensional space by the n number of walking oscillators measured by the walking oscillator measuring means.

27. The control system according to claim 9, wherein the walking oscillator measuring means measures, as a walking oscillator for determining a walking condition, at least one of a leg joint angle, a leg joint angular velocity, a leg joint angular acceleration, and the position of a part of a leg of a walker.

28. The control system according to claim 15, wherein the walking oscillator measuring means measures, as a walking oscillator for determining a walking condition, at least one of a leg joint angle, a leg joint angular velocity, a leg joint angular acceleration, and the position of a part of a leg of a walker.

29. The control system according to claim 18, wherein the walking oscillator measuring means measures, as a walking oscillator for determining a walking condition, at least one of a leg joint angle, a leg joint angular velocity, a leg joint angular acceleration, and the position of a part of a leg of a walker.