Walking assist device, walking assist method, walking state estimating device and walking state estimating method

• US 9,119,762 B2
• Filed: 05/29/2012
• Issued: 09/01/2015
• Est. Priority Date: 05/30/2011
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Endo, Yosuke, Yasuhara, Ken
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US13/482,510
• Publication Number:
  US 20120310122A1
• Time in Patent Office: 1,190 Days
• Field of Search: 601/23, 601/33, 601/34, 601/35, 602/16, 602/19, 602/23, 602/24, 602/25, 602/26, 128/898
• US Class Current: 1/1
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1463 Special speed variation means, i.e. speed reducer
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5069 Angle 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

Abstract

A walking assist device evaluates the degree of asymmetry between a left motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a left hip joint angle sensor, and a right motion oscillator, which is a waveform signal indicative of the time-dependent change form of an output of a right hip joint angle sensor. In order to reduce the degree of asymmetry, the value of at least one of a left bending coefficient, a left stretching coefficient, a right bending coefficient, and a right stretching coefficient is adjusted.

Claims

1. A walking assist device, comprising:

a first attachment adapted to be attached to an upper body of a human being;

a pair of second attachments, each of which is adapted to be attached to right and left thighs, respectively, of the human being;

a pair of actuators;

a right hip joint angle sensor adapted to output a signal based on a right hip joint angle of the human being and a left hip joint angle sensor adapted to output a signal based on a left hip joint angle of the human being; and

a control unit adapted to control an operation of each of the pair of actuators based on at least output signals of the right hip joint angle sensor and the left hip joint angle sensor,

wherein each of the pair of the second attachments is moved relative to the first attachment by operating each of the pair of the actuators, thereby assisting a walking motion of the human being, which involves relative cyclic motions of the right and left thighs with respect to the upper body,

the control unit is adapted to control a magnitude of movement amplitudes of the pair of the actuators for assisting each of a bending motion and a stretching motion of the right thigh and a bending motion and a stretching motion of the left thigh of the human being based on a magnitude of a value of each of a right bending coefficient, a right stretching coefficient, a left bending coefficient and a left stretching coefficient, and comprises;

an asymmetry evaluating unit adapted to evaluate a degree of asymmetry between a right motion oscillator, which is a waveform signal indicating the time-dependent change form of an output of the right hip joint angle sensor, and a left motion oscillator, which is a waveform signal indicating the time-dependent change form of an output of the left hip joint angle sensor, the degree of asymmetry being a difference between an amplitude of the left motion oscillator and an amplitude of the right motion oscillator; and

an adjusting unit adapted to adjust the value of at least one of the right bending coefficient, the right stretching coefficient, the left bending coefficient and the left stretching coefficient so as to reduce the degree of asymmetry evaluated by the asymmetry evaluating unit, and such that the left bending coefficient and the right stretching coefficient become a same value, and the right bending coefficient and the left stretching coefficient become a same value.

2. The walking assist device according to claim 1,

wherein the adjusting unit is adapted to adjust the value of at least one of the right bending coefficient, the right stretching coefficient, the left bending coefficient and the left stretching coefficient based on a correction amount defined by an increasing function having the degree of asymmetry as a variable.

3. The walking assist device according to claim 1,

wherein the control unit is adapted to control levels of operating frequencies of the actuators for assisting the motions of the individual right and left thighs of the human being based on magnitudes of values of a right time constant and a left time constant, respectively, and

the adjusting unit is adapted to adjust the values of the right time constant and the left time constant based on waveform signals indicating time-dependent change forms of the right and the left hip joint angles of the human being obtained from outputs of the right hip joint angle sensor and the left hip joint angle sensor, respectively.

4. The walking assist device according to claim 3, comprising:

a window processing unit adapted to carry out window processing for windowing a differential oscillator, which is a waveform signal obtained by sampling a difference between the right and left hip joint angles of the human being over a specified period of time, based on output signals of the right hip joint angle sensor and the left hip joint angle sensor, respectively;

a frequency analysis processing unit adapted to carry out a frequency analysis on the windowed differential oscillator thereby to acquire a power spectrum; and

a spectrum analysis processing unit adapted to determine a basic frequency exhibiting a peak which has a height equal to or greater than a threshold value and which is positioned in a lowest frequency band of the power spectrum,

wherein the adjusting unit adjusts the values of the right time constant and the left time constant such that the values are proportional to an inverse number of the basic frequency.

5. The walking assist device according to claim 1,

wherein a difference in one of a bending amplitude indicative of an amplitude of a bending motion of a thigh relative to the upper body of the human being, a stretching amplitude indicative of an amplitude of a stretching motion of a thigh of the human being, and a total amplitude indicative of a sum of the bending amplitude and the stretching amplitude between the right motion oscillator and the left motion oscillator, or a mean value of differences over a plurality of cycles is evaluated as the degree of asymmetry.

6. The walking assist device according to claim 1, wherein the control unit comprises:

a state oscillator generating unit adapted to supply the right motion oscillator and the left motion oscillator as input waveform signals to a state oscillator model, which is defined by a simultaneous differential equation of a plurality of state variables indicating a bending motion state and a stretching motion state of each of the thighs of the human being, which is expressed by a time-dependent change form of a solution of the simultaneous differential equation determined based on the input waveform signals, and which generates output waveform signals, thereby to generate, as the output waveform signals, the right bending oscillator, the right stretching oscillator, the left bending oscillator and the left stretching oscillator, which change according to amplitudes based on the values of the right bending coefficient, the right stretching coefficient, the left bending coefficient, and the left stretching coefficient, respectively; and

a control oscillator generating unit adapted to generate a right control oscillator serving as a control command signal for the actuator on the right side by combining the right bending oscillator and the right stretching oscillator and to generate a left control oscillator serving as a control command signal for the actuator on the left side by combining the left bending oscillator and the left stretching oscillator.

7. A walking assist device comprising:

a first attachment adapted to be attached to an upper body of a human being;

a pair of second attachments, each of which is adapted to be attached to right and left thighs, respectively, of the human being;

a pair of actuators;

a right hip joint angle sensor adapted to output a signal based on a right hip joint angle of the human being and a left hip joint angle sensor adapted to output a signal based on a left hip joint angle of the human being; and

a control unit adapted to control the operation of each of the pair of actuators based on at least output signals of the right hip joint angle sensor and the left hip joint angle sensor,

each of the pair of the second attachments being moved relative to the first attachment by operating each of the pair of the actuators, thereby assisting a walking motion of the human being, which involves relative cyclic motions of the right and left thighs with respect to the upper body,

the walking assist device further comprising;

a walking state estimating device which determines a basic frequency by using a differential oscillator, which is a waveform signal obtained by sampling the difference between the right and left hip joint angles or shoulder joint angles of the human being through the right hip joint angle sensor and the left hip joint angle sensor over a specified period of time,

wherein the control unit is adapted to control cyclic operations of the actuators based on a cycle established according to the basic frequency determined by the walking state estimating device,

the walking state estimating device comprises;

a window processing unit adapted to execute window processing for windowing the differential oscillator;

a frequency analysis processing unit adapted to acquire a power spectrum by carrying out a frequency analysis on the windowed differential oscillator; and

a spectrum analysis processing unit adapted to determine, as the basic frequency, a frequency exhibiting a peak which has a height equal to or greater than a threshold value and which is positioned in a lowest frequency band of the power spectrum,

the window processing unit being adapted to set a width of a window of a current cycle according to a decreasing function, which has the basic frequency as a variable, based on a previous basic frequency determined by the spectrum analysis processing unit.

8. A walking assist method for assisting a walking motion of a human being, which involves relative cyclic motions of right and left thighs with respect to an upper body by moving each of a pair of second attachments adapted to be attached to the right and left thighs, respectively, of the human being in relation to a first attachment adapted to be attached to the upper body of the human being by operating each of a pair of actuators, the walking assist method comprising:

a step of controlling a magnitude of a motional amplitude of each of the pair of actuators for assisting a bending motion and a stretching motion of a right thigh of the human being and a bending motion and a stretching motion of a left thigh of the human being based on a magnitude of a value of each of a right bending coefficient, a right stretching coefficient, a left bending coefficient, and a left stretching coefficient;

a step of evaluating a degree of asymmetry between a right motion oscillator, which is a waveform signal indicating a time-dependent change form of a right hip joint angle of the human being, and a left motion oscillator, which is a waveform signal indicating a time-dependent change form of a left hip joint angle of the human being, the degree of asymmetry being a difference between an amplitude of the left motion oscillator and the right motion oscillator; and

a step of adjusting the value of at least one of the right bending coefficient, the right stretching coefficient, the left bending coefficient, and the left stretching coefficient so as to reduce the degree of asymmetry, and such that the left bending coefficient and the right stretching coefficient become a same value, and the right bending coefficient and the left stretching coefficient become a same value.

9. A walking assist method for assisting a walking motion of a human being, which involves relative cyclic motions of right and left thighs with respect to an upper body by moving each of a pair of second attachments adapted to be attached to the right and left thighs, respectively, of the human being in relation to a first attachment adapted to be attached to the upper body of the human being by operating each of a pair of actuators, the walking assist method comprising:

a step of estimating a walking state, which determines a basic frequency, by using a differential oscillator, which is a waveform signal obtained by sampling a difference between right and left hip joint angles or shoulder joint angles of the human being over a specified period of time; and

a step of controlling cyclic operations of the actuators according to a cycle established based on the basic frequency;

wherein the step of estimating a walking state includes;

a step of executing window processing for windowing the differential oscillator in the walking state estimating step;

a step of acquiring a power spectrum by carrying out a frequency analysis on the windowed differential oscillator; and

a step of determining, as the basic frequency, a frequency exhibiting a peak which has a height equal to or greater than a threshold value and which is positioned in a lowest frequency band of the power spectrum, and

wherein the window processing step is a step of setting a width of a window for a current cycle according to a decreasing function, which has the basic frequency as a variable, based on the basic frequency of a previous cycle.

10. A walking state estimating device comprising:

a window processing unit adapted to execute window processing for windowing a differential oscillator, which is a waveform signal obtained by sampling, over a specified period of time, the differences between right and left hip joint angles or shoulder joint angles of a human being while he or she is walking;

a frequency analysis processing unit adapted to acquire a power spectrum by carrying out a frequency analysis on the windowed differential oscillator; and

a spectrum analysis processing unit adapted to determine a basic frequency exhibiting a peak which has a height equal to or greater than a threshold value and which is positioned in a lowest frequency band of the power spectrum,

wherein the window processing unit is adapted to set a width of a window for a current cycle according to a decreasing function, which has the basic frequency as a variable, based on a basic frequency in a previous cycle determined by the spectrum analysis processing unit.

11. The walking state estimating device according to claim 10,

wherein the window processing unit is adapted to remove high-frequency components exceeding a first specified frequency from the differential oscillator by downsampling the differential oscillator before carrying out the window processing.

12. The walking state estimating device according to claim 10,

wherein the window processing unit is adapted to remove low-frequency components that are equal to or lower than a second specified frequency from the differential oscillator by passing the differential oscillator through a high-pass filter before carrying out the window processing.

13. A walking state estimating method, comprising:

a step of executing window processing for windowing a differential oscillator, which is a waveform signal obtained by sampling, over a specified period of time, differences between right and left hip joint angles or shoulder joint angles of a human being while he or she is walking;

a step of acquiring a power spectrum by carrying out a frequency analysis on the windowed differential oscillator; and

a spectrum analysis processing step of determining a basic frequency exhibiting a peak which has a height equal to or greater than a threshold value and which is positioned in a lowest frequency band of the power spectrum,

wherein the window processing step comprises a step of setting a width of a window for a current cycle according to a decreasing function, which has the basic frequency as a variable, based on a basic frequency in a previous cycle determined by the spectrum analysis processing step.