Motion-assist system of wearable motion-assist device, wearable motion-assist device, and motion-assist method of wearable motion-assist device

• US 8,690,802 B2
• Filed: 08/18/2008
• Issued: 04/08/2014
• Est. Priority Date: 08/20/2007
• Status: Active Grant

• Current Assignee: Cyberdyne Inc.
• Original Assignee: University of Tsukuba
• Inventors: Sankai, Yoshiyuki
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US12/596,788
• Publication Number:
  US 20100121232A1
• Time in Patent Office: 2,059 Days
• Field of Search: 601/5, 601/23, 601/33, 601/34, 601/35, 600/587
• US Class Current: 601/35
• CPC Class Codes: A61H 1/00 Apparatus for passive exercising A61H5/00 takes precedence; Vibrating apparatus driving means for vibrating A61H23/00; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
• 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 2201/1215 Rotary drive
• 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 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/5012 using the internet
• CPC Class Codes: A61H 2201/5015 using specific interfaces or standards, e.g. USB, serial, parallel
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2230/08 Other bio-electrical signals
• CPC Class Codes: A61H 2230/10 Electroencephalographic signals
• CPC Class Codes: A61H 2230/50 Temperature
• CPC Class Codes: A61H 2230/605 used as a control parameter for the apparatus
• 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: B25J 9/0006 Exoskeletons, i.e. resembling a human figure

Abstract

A motion state of a wearable motion-assist device of a doctor is sent to the wearable motion-assist device of a patient via a network. Then, this motion state is applied to the wearable motion-assist device of the patient, so that rehabilitation is conducted for the patient. Furthermore, the motion state of the wearable motion-assist device of the patient is sent from the wearable motion-assist device to the wearable motion-assist device. Then, the motion state of the wearable motion-assist device is applied to the wearable motion-assist device. Accordingly, the doctor can objectively sense the state of the patient.

Claims

1. A motion-assist system of wearable motion-assist devices comprising a first wearable motion-assist device of a first wearer and a second wearable motion-assist device of a second wearer, facilitating communications between the first wearable motion-assist device and the second wearable motion-assist device to perform motion assistance for the second wearer, the first wearable motion-assist device comprising:

a first angle control output torque calculating unit configured to receive a second joint angle of the second wearable motion-assist device sent from the second wearable motion-assist device, and to calculate a first angle control output torque for the second wearable motion-assist device, based on the received second joint angle and a first joint angle of the first wearable motion-assist device corresponding to the received second joint angle;

a first force control output torque calculating unit configured to receive an output torque of the second wearable motion-assist device sent from the second wearable motion-assist device, and to calculate a first force control output torque for the first wearable motion-assist device based on the received output torque;

a first assist control output torque calculating unit configured to calculate a first assist control output torque based on an output torque of an actuator unit of the first wearable motion-assist device, the first joint angle of the first wearable motion-assist device, a first bioelectrical signal corresponding to a muscle force generated by the first wearer, and a first relative force applied to a frame of the first wearable motion-assist device;

a first output torque calculating unit configured to calculate a first output torque for the second wearable motion-assist device, based on at least one of the calculated first angle control output torque and the calculated first force control output torque, and the calculated first assist control output torque; and

a first sending unit configured to send the calculated first output torque and the first joint angle of the first wearable motion-assist device to the second wearable motion-assist device, the second wearable motion-assist device comprising;

a second angle control output torque calculating unit configured to receive the first joint angle of the first wearable motion-assist device sent from the first wearable motion-assist device, and to calculate a second angle control output torque for the first wearable motion-assist device, based on the received first joint angle and the second joint angle of the second wearable motion-assist device corresponding to the received first joint angle;

a second force control output torque calculating unit configured to receive the first output torque sent from the first wearable motion-assist device, and to calculate a second force control output torque for the second wearable motion-assist device based on the received first output torque;

a second assist control output torque calculating unit configured to calculate a second assist control output torque based on an output torque of an actuator unit of the second wearable motion-assist device, the second joint angle of the second wearable motion-assist device, a second bioelectrical signal corresponding to a muscle force generated by the second wearer, and a second relative force applied to a frame of the second wearable motion-assist device;

a second output torque calculating unit configured to calculate a second output torque for the first wearable motion-assist device, based on at least one of the calculated second angle control output torque and the calculated second force control output torque, and the calculated second assist control output torque; and

a control unit configured to control the actuator unit of the second wearable motion-assist device in accordance with the calculated second output torque.

2. The motion-assist system of wearable motion-assist devices according to claim 1, wherein the first wearable motion-assist device further comprises:

a first control unit configured to control the actuator unit of the first wearable motion-assist device in accordance with the calculated first output torque.

3. The motion-assist system of wearable motion-assist devices according to claim 1, wherein the second wearable motion-assist device further comprises:

a second sending unit configured to send the calculated second output torque and the second joint angle of the second wearable motion-assist device to the first wearable motion-assist device.

4. The motion-assist system of wearable motion-assist devices according to claim 3, wherein:

the second sending unit of the second wearable motion-assist device is further configured to send monitoring information used for observing a state of the second wearer; and

the motion-assist system further comprises a display unit configured to display the sent monitoring information.

5. The motion-assist system of wearable motion-assist devices according to claim 1, wherein:

the first wearable motion-assist device further comprises a first control mode setting unit configured to set a control mode;

the first output torque calculating unit calculates the first output torque based on the calculated first angle control output torque and the calculated first assist control output torque, in the event that the first control mode setting unit has set a first control mode;

the first output torque calculating unit calculates the first output torque based on the first force control output torque and the calculated first assist control output torque, in the event that the first control mode setting unit has set a second control mode;

the first output torque calculating unit calculates the first output torque based on the calculated first angle control output torque, the first force control output torque, and the calculated first assist control output torque, in the event that the first control mode setting unit has set a third control mode;

the second wearable motion-assist device further comprises a second control mode setting unit configured to set a control mode;

the second output torque calculating unit calculates the second output torque based on the calculated second angle control output torque and the calculated second assist control output torque, in the event that the second control mode setting unit has set the first control mode;

the second output torque calculating unit calculates the second output torque based on the second force control output torque and the calculated second assist control output torque, in the event that the second control mode setting unit has set the second control mode; and

the second output torque calculating unit calculates the second output torque based on the calculated second angle control output torque, the second force control output torque, and the calculated second assist control output torque, in the event that the second control mode setting unit has set the third control mode.

6. A wearable motion-assist device worn by a wearer for performing communications with another wearable motion-assist device worn by another wearer, to instruct the other wearable motion-assist device to perform motion assistance or to perform motion assistance based on instructions from the other wearable motion-assist device, the wearable motion-assist device comprising:

an angle control output torque calculating unit configured to receive a joint angle of the other wearer of the other wearable motion-assist device sent from the other wearable motion-assist device, and to calculate an angle control output torque for the other wearable motion-assist device, based on the received joint angle of the other wearer and a joint angle corresponding to the received joint angle of the other wearer of the other wearable motion-assist device;

a force control output torque calculating unit configured to receive an output torque of the other wearable motion-assist device sent from the other wearable motion-assist device, and to calculate a force control output torque for the other wearable motion-assist device based on the received output torque;

an assist control output torque calculating unit configured to calculate an assist control output torque based on an output torque of an actuator unit of the wearable motion-assist device, the joint angle of the wearable motion-assist device, a bioelectrical signal corresponding to a muscle force generated by the wearer, and a relative force applied to a frame of the wearable motion-assist device;

an output torque calculating unit configured to calculate an output torque for the other wearable motion-assist device of the other wearer, based on at least one of the calculated angle control output torque and the calculated force control output torque, and the calculated assist control output torque; and

a control unit configured to control the actuator unit of the wearable motion-assist device in accordance with the calculated output torque.

7. The wearable motion-assist device according to claim 6, further comprising:

a sending unit configured to send the calculated output torque and the joint angle of the wearable motion-assist device to the other wearable motion-assist device.

8. The wearable motion-assist device according to claim 6, further comprising:

a sending unit configured to send monitoring information used for observing a state of the wearer; and

a display unit configured to display the monitoring information sent from the other wearable motion-assist device.

9. The wearable motion-assist device according to claim 6, further comprising:

a control mode setting unit configured to selectively set an arbitrary control mode, wherein;

the output torque calculating unit calculates the output torque based on the calculated angle control output torque and the calculated assist control output torque, in the event that the control mode setting unit has set a first control mode;

the output torque calculating unit calculates the output torque based on the force control output torque and the calculated assist control output torque, in the event that the control mode setting unit has set a second control mode; and

the output torque calculating unit calculates the output torque based on the calculated angle control output torque, the force control output torque, and the calculated assist control output torque, in the event that the control mode setting unit has set a third control mode.

10. A motion-assist method of a wearable motion-assist device, for performing communications between a first wearable motion-assist device worn by a first wearer and a second wearable motion-assist device worn by a second wearer to perform motion assistance for the second wearer, the motion-assist method comprising the steps performed by the first wearable motion-assist device of:

receiving a second joint angle of the second wearable motion-assist device sent from the second wearable motion-assist device, and calculating a first angle control output torque for the second wearable motion-assist device, based on the received second joint angle and a first joint angle of the first wearable motion-assist device corresponding to the received second joint angle;

receiving an output torque of the second wearable motion-assist device sent from the second wearable motion-assist device, and calculating a first force control output torque for the second wearable motion-assist device based on the received output torque;

calculating a first assist control output torque based on an output torque of an actuator unit of the first wearable motion-assist device, the first joint angle of the first wearable motion-assist device, a first bioelectrical signal corresponding to a muscle force generated by the first wearer, and a first relative force applied to a frame of the first wearable motion-assist device;

calculating a first output torque for the second wearable motion-assist device, based on at least one of the calculated first angle control output torque and the calculated first force control output torque, and the calculated first assist control output torque; and

sending the calculated first output torque and the first joint angle of the first wearable motion-assist device to the second wearable motion-assist device, the motion-assist method further comprising the steps performed by the second wearable motion-assist device of;

receiving the first joint angle of the first wearable motion-assist device sent from the first wearable motion-assist device, and calculating a second angle control output torque for the first wearable motion-assist device, based on the received first joint angle and the second joint angle of the second wearable motion-assist device corresponding to the received first joint angle;

receiving the first output torque sent from the first wearable motion-assist device, and calculating a second force control output torque for the second wearable motion-assist device based on the received first output torque;

calculating a second assist control output torque based on an output torque of an actuator unit of the second wearable motion-assist device, the second joint angle of the second wearable motion-assist device, a second bioelectrical signal corresponding to a muscle force generated by the second wearer, and a second relative force applied to a frame of the second wearable motion-assist device;

calculating a second output torque for the first wearable motion-assist device, based on at least one of the calculated second angle control output torque and the calculated second force control output torque, and the calculated second assist control output torque; and

controlling the actuator unit of the second wearable motion-assist device in accordance with the calculated second output torque.

11. A motion-assist method of a wearable motion-assist device, for performing communications with another wearable motion-assist device worn by another wearer, to instruct the other wearable motion-assist device to perform motion assistance or to perform motion assistance based on instructions from the other wearable motion-assist device, the motion-assist method comprising the steps of:

receiving a joint angle of the other wearer of the other wearable motion-assist device sent from the other wearable motion-assist device, and calculating an angle control output torque for the other wearable motion-assist device, based on the received joint angle of the other wearer and a joint angle corresponding to the received joint angle of the other wearer of the other wearable motion-assist device;

receiving an output torque of the other wearable motion-assist device sent from the other wearable motion-assist device, and calculating a force control output torque for the other wearable motion-assist device based on the received output torque;

calculating an assist control output torque based on an output torque of an actuator unit of the wearable motion-assist device, the joint angle of the wearable motion-assist device, a bioelectrical signal corresponding to a muscle force generated by the wearer, and a relative force applied to a frame of the wearable motion-assist device;

calculating an output torque for the other wearable motion-assist device, based on at least one of the calculated angle control output torque and the calculated force control output torque, and the calculated assist control output torque; and

controlling the actuator unit of the wearable motion-assist device in accordance with the calculated output torque.