Motion assisting device, control method therefor, and rehabilitation method
AssigneeHonda Motor Co., Ltd.
InventorsTakashi Hirata, Kiyoshi Oikawa, Masami Saito, Toshinobu Okaji, Yuki Araki
Life of this patent
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Abstract
A motion assisting device or the like, wherein the asymmetry degree of the motion patterns of human limbs is evaluated according to the variation patterns of the values of a pair of posture variables which vary with the postures in the respective same locations of the limbs. Furthermore, the evaluation result of the degree of the asymmetry can be utilized as the foundation of the motion control of the actuator of the motion assisting device. As a result, the motion of the human limbs can be assisted by the motion assisting device in such a manner that the balance of the motion patterns of the limbs is adjusted.
Claims11
A control method for a motion assisting device provided with a pair of orthoses adapted to be mounted symmetrically on a pair of predetermined portions of a pair of limbs of a human being, respectively, and an actuator connected to each of the pair of orthoses, respectively, the control method being configured to control a variation pattern of an assisting force transmitted from the actuator to the pair of limbs via the pair of orthoses, respectively, and comprising:
- a first step of detecting variation patterns of values of a pair of posture variables for a certain period of time varying periodically with postures of the pair of predetermined portions, respectively, wherein the pair of posture variables are relative angles of the predetermined portions relative to a predetermined part of a torso of said human being to which a basal end of said predetermined portions is attached, and
- a second step of evaluating an asymmetry degree of motion patterns of the pair of limbs as a foundation of motion control of the actuator according to the variation patterns of the values of the pair of posture variables for the certain period of time,
- wherein at least one of a deviation between maximum values and a deviation between minimum values of each of the pair of posture variables for the certain period of time is calculated as the asymmetry degree based on the variation patterns of the values of the pair of posture variables, or the asymmetry degree is evaluated to become continuously or gradually higher as the deviation becomes greater based on the variation patterns of the values of the pair of posture variables in the second step.
A motion assisting device provided with a pair of orthoses adapted to be mounted symmetrically on a pair of predetermined portions of a pair of limbs of a human being, respectively, an actuator connected to each of the pair of orthoses, respectively, and a controller being configured to control a variation pattern of an assisting force transmitted from the actuator to the pair of limbs via the pair of orthoses, respectively, through controlling motions of the actuator,
- wherein the controller is configured to
- detect variation patterns of values of a pair of posture variables for a certain period of time varying periodically with postures of the pair of predetermined portions, respectively, wherein the pair of posture variables are relative angles of the predetermined portions relative to a predetermined part of a torso of said human being to which a basal end of said predetermined portions is attached, and
- evaluate an asymmetry degree of motion patterns of the pair of limbs as a foundation of a motion control of the actuator according to the variation patterns of the values of the pair of posture variables for the certain period of time,
- wherein at least one of a deviation between maximum values and a deviation between minimum values of each of the pair of posture variables for the certain period of time is calculated as the asymmetry degree based on the variation patterns of the values of the pair of posture variables, or the asymmetry degree is evaluated to become continuously or gradually higher as the deviation becomes greater based on the variation patterns of the values of the pair of posture variables in the second step.
A rehabilitation method for rehabilitating motor functions of a pair of limbs of a human being by using a motion assisting device provided with a pair of orthoses adapted to be mounted symmetrically on a pair of predetermined portions of the pair of limbs of the human being, respectively, an actuator connected to each of the pair of orthoses, respectively, and a controller being configured to control a variation pattern of an assisting force transmitted from the actuator to the pair of limbs via the pair of orthoses, respectively, through controlling motions of the actuator, the rehabilitation method comprising:
- a first step of detecting variation patterns of values of a pair of posture variables for a certain period of time varying periodically with postures of the pair of predetermined portions, respectively, wherein the pair of posture variables are relative angles of the predetermined portions relative to a predetermined part of a torso of said human being to which a basal end of said predetermined portions is attached,
- a second step of evaluating an asymmetry degree of motion patterns of the pair of limbs as a foundation of a motion control of the actuator according to the variation patterns of the values of the pair of posture variables for the certain period of time,
- a third step of discriminating a gait form of the human being according to an evaluation result of the asymmetry degree, and
- a fourth step of determining a control pattern of the motions of the actuator according to the gait form of the human being,
- wherein at least one of a deviation between maximum values and a deviation between minimum values of each of the pair of posture variables for the certain period of time is calculated as the asymmetry degree based on the variation patterns of the values of the pair of posture variables, or the asymmetry degree is evaluated to become continuously or gradually higher as the deviation becomes greater based on the variation patterns of the values of the pair of posture variables in the second step.
Dependencies are inferred from the claim text.