Joint movement assisting device

Joint movement assisting device

  • CN 105,873,555 B
  • Filed: 06/26/2015
  • Issued: 06/16/2020
  • Est. Priority Date: 08/28/2014
  • Status: Active Grant
First Claim
Patent Images

1. An articulation assistance device (10, 56) having:

  • an auxiliary force transmission part (12,

         58) having flexibility;

    a first attachment portion (14,

         60) that is provided at one end of the auxiliary-force transmitting portion (12,

         58) and that is attached to a portion of the user across a joint;

    a second attachment portion (16,

         62) that is provided at the other end of the auxiliary-force transmitting portion (12,

         58) and that is attached to the other portion of the user with the joint interposed therebetween;

    a drive unit (17,

         64) for applying an auxiliary force in a stretching direction to the auxiliary force transmission part (12,

         58);

    a joint angle sensor (32) that detects the bending angle of the joint of the user; and

    a control unit for assisting timing, which determines the operation timing of the drive unit (17,

         64) based on the detection value of the joint angle sensor (32), the joint movement assisting device (10,

         56) being characterized in that,is provided with;

    (i) an assist force control unit that adjusts the output level of the drive unit (17,

         64) so that the load acting on the assist force transmission unit (12,

         58) becomes the target value of the assist force when the assist force is acting under the control of the control unit at the assist timing; and

    (ii) a slack prevention control means for operating the drive means (17,

         64) to apply a biasing force to the auxiliary force transmission portion (12,

         58) to cancel the slack of the auxiliary force transmission portion (12,

         58) when the control means at the auxiliary timing controls and the auxiliary force is not applied,the joint movement assistance device (10,

         56) is provided with a load sensor (34), the load sensor (34) detecting a load acting in a tensile direction of the assistance force transmission unit (12,

         58),in a walking state, the assisting force control means determines whether or not the assisting force is applied during the assisting force application period based on the detection result of the joint angle sensor, performs assisting force generation control when the assisting force is not applied during the assisting force application period and the detection result of the joint angle sensor reaches a preset assisting start angle, and performs feedback control of the operation of the drive means (17,

         64) based on the detection value of the load sensor (34) so that the load applied to the assisting force transmitting portion (12,

         58) becomes a preset target value of the assisting force,in the slack prevention control means, the operation of the drive means (17,

         64) is feedback-controlled based on the value detected by the load sensor (34) so that the load acting on the auxiliary force transmission unit (12,

         58) becomes a target value of the biasing force set in advance,the control by the slack prevention control means is continuously performed during a period from a time point when the control of the tensile load by the auxiliary force control means is finished to a time point when the control means of the auxiliary timing issues a signal for starting the next auxiliary.

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