Generated torque control method for leg body exercise assistive apparatus
First Claim
1. A method of controlling generated torques of respective torque generation means in the leg body exercise assistive apparatus, which includes leg sections attached to both legs of a person so as to be movable integrally with the legs, with the leg sections each having a foot orthosis portion, which is disposed on the bottom side of the foot of each leg so as to be landing with the foot put on the foot orthosis portion during the landing period, being connected with joint regions corresponding to an ankle joint, a knee joint, and a hip joint of each leg, respectively, along the leg, and the torque generation means capable of generating support torques applied to at least the joint regions corresponding to the knee joint and the hip joint of the leg, the method comprising:
- a moment estimation step of sequentially estimating person-side joint moments, which are moments to be generated at least in the knee joint and the hip joint of each leg, in a situation where the person wearing the leg body exercise assistive apparatus is making a motion of his or her both legs, on the assumption that the person is making almost the same motion as the motion of the legs with the leg body exercise assistive apparatus removed from the person, and of sequentially estimating apparatus-side joint moments, which are moments to be generated in the joint regions of the leg body exercise assistive apparatus corresponding to at least the knee joint and the hip joint of each leg, respectively, on the assumption that the leg body exercise assistive apparatus is independently making almost the same motion as the motion of the person'"'"'s legs; and
a torque control step of controlling the torque generation means so as to generate a torque, as the support torque, which is obtained by adding a torque determined according to an estimated value of the person-side joint moment corresponding to the joint region concerned to a reference torque, assuming that an estimated value of the apparatus-side joint moment of each joint region corresponding to each of the knee joint and the hip joint of the leg is the reference torque to be generated by the torque generation means corresponding to the joint region concerned.
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Accused Products
Abstract
A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1). The estimated value of the apparatus-side joint moment is considered as a reference torque for torque generation means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person-side joint moment to the reference torque is generated in the torque generation means (18), (19), and (20).
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Citations
12 Claims
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1. A method of controlling generated torques of respective torque generation means in the leg body exercise assistive apparatus, which includes leg sections attached to both legs of a person so as to be movable integrally with the legs, with the leg sections each having a foot orthosis portion, which is disposed on the bottom side of the foot of each leg so as to be landing with the foot put on the foot orthosis portion during the landing period, being connected with joint regions corresponding to an ankle joint, a knee joint, and a hip joint of each leg, respectively, along the leg, and the torque generation means capable of generating support torques applied to at least the joint regions corresponding to the knee joint and the hip joint of the leg, the method comprising:
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a moment estimation step of sequentially estimating person-side joint moments, which are moments to be generated at least in the knee joint and the hip joint of each leg, in a situation where the person wearing the leg body exercise assistive apparatus is making a motion of his or her both legs, on the assumption that the person is making almost the same motion as the motion of the legs with the leg body exercise assistive apparatus removed from the person, and of sequentially estimating apparatus-side joint moments, which are moments to be generated in the joint regions of the leg body exercise assistive apparatus corresponding to at least the knee joint and the hip joint of each leg, respectively, on the assumption that the leg body exercise assistive apparatus is independently making almost the same motion as the motion of the person'"'"'s legs; and
a torque control step of controlling the torque generation means so as to generate a torque, as the support torque, which is obtained by adding a torque determined according to an estimated value of the person-side joint moment corresponding to the joint region concerned to a reference torque, assuming that an estimated value of the apparatus-side joint moment of each joint region corresponding to each of the knee joint and the hip joint of the leg is the reference torque to be generated by the torque generation means corresponding to the joint region concerned. - View Dependent Claims (3, 4, 5, 6, 7)
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2. A method of controlling generated torques of respective torque generation means in the leg body exercise assistive apparatus, which includes leg sections attached to both legs of a person so as to be movable integrally with the legs, with the leg sections each having a foot orthosis portion, which is disposed on the bottom side of the foot of each leg so as to be landing with the foot put on the foot orthosis portion during the landing period, being connected with joint regions corresponding to an ankle joint, a knee joint, and a hip joint of each leg, respectively, along the leg, and the torque generation means capable of generating a support torque applied to the joint regions corresponding to the ankle joint, the knee joint, and the hip joint of the leg, respectively, the method comprising:
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a moment estimation step of sequentially estimating person-side joint moments, which are moments to be generated in the ankle joint, the knee joint, and the hip joint of each leg, in a situation where the person wearing the leg body exercise assistive apparatus is making a motion of his or her both legs, on the assumption that the person is making almost the same motion as the motion of the legs with the leg body exercise assistive apparatus removed from the person, and of sequentially estimating apparatus-side joint moments, which are moments to be generated in the joint regions of the leg body exercise assistive apparatus corresponding to the ankle joint, the knee joint, and the hip joint of each leg, respectively, on the assumption that the leg body exercise assistive apparatus is independently making almost the same motion as the motion of the person'"'"'s legs; and
a torque control step of controlling the torque generation means so as to generate a torque, as the support torque, which is obtained by adding a torque determined according to an estimated value of the person-side joint moment corresponding to the joint region concerned to a reference torque, assuming that an estimated value of the apparatus-side joint moment of each joint region corresponding to each of the ankle joint, the knee joint, and the hip joint is the reference torque to be generated by the torque generation means corresponding to the joint region concerned. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification