Patent Application
20220330851
The present invention relates to a lower back part load evaluation apparatus and lower back part load evaluation method using a wearable motion assistance device and is suited for application to a wearable motion assistance device which assists motions of heavy muscular work by mounting it on a wearer's lower back part.
Lower back pain is a disease with high disease prevalence, recurrence rate, and chronicity rate and it is said that 84% of the human race experience at least once in their lives. Conventionally, examples of work and environmental factors attributable to the occurrence of occupational lower back pain include object lifting motions, retaining a static work posture for long time, frequent twisting motions, and repetitive same motions.
Particularly, those who are engaged in, for example, health and hygiene business and traffic and transportation business regarding which automation and mechanization of work at their workplaces are difficult are forced to do heavy work which gives large physical load to their lower back parts, their risk of developing the lower back pain is extremely high. Regarding verification of loads on an endoskeleton system which is a damaged site of this lower back pain, invasive experiments should be avoided from an ethical point of view because the target is a human body; however, it is very difficult to perform the measurement non-invasively.
Conventionally, as a method for preventing the lower back pain caused by heavy muscular work, there has been proposed a lower back pain preventing apparatus that: calculates a burden value of a lower back part (a pressure force which occurs at intervertebral disks of lumbar spines) on the basis of a trunk angle of a human body and a foot sole load; sets a burden risk value relating to the lower back part (a permissible value of the intervertebral disk pressure force), which leads to the possibility of a failure occurrence at the lower back part on the basis of the person's basic information; and sends out the risk of the work load as a warning in real time on the basis of the burden value and the burden risk value (see PTL 1).
Moreover, there is proposed a load calculation apparatus that calculates load imposed on each of a plurality of the lumbar spines on the basis of the position and orientation of each of the plurality of the lumbar spines of a user, which are obtained by calculating a curvature of the user's skin on their lower back part and its inclination angle in their upper body (see PTL 2).
Furthermore, there is proposed an alarm system capable of generating a warning to the user who takes a posture which may possibly cause the lower back pain on the basis of a height difference between the user's lower back and their body part, which causes the height difference as a result of the user taking a forward-bending posture (see PTL 3).
Meanwhile, the heavy object lifting motion such as the heavy muscular work causes a lower back part moment equivalent to an increased weight of a heavy object at the worker's lower back part, so that the load is imposed on a musculoskeletal system of the lower back part and there is a risk of suffering the lower back pain symptom, disk herniation, etc. Therefore, an intervertebral disk pressure force which is a physical load on the intervertebral disks has been used as a load evaluation index.
However, direct measurement of the intervertebral disk pressure force to evaluate the load is not generally adopted because it requires invasiveness; and a method of estimating the intervertebral disk pressure force from, for example, the worker's work posture, a heavy object, and muscular strength to be exhibited is used. The aforementioned PTL 1 to PTL 3 also propose the method of preventing the lower back pain caused by the heavy muscular work by using various non-invasive measurement methods.
Meanwhile, PTL 1 is designed to warn the risk of the work load in real time on the basis of the intervertebral disk pressure force and its permissible value with regard to the load imposed on the lower back part when the worker performs the work; however, the degree of the burden on the lower back part with respect to the heavy object which is a work object is just instantly judged along with the trunk angle.
Moreover, PTL 2 is designed to measure loads imposed respectively on the plurality of the lumbar spines and gives different assisting forces corresponding to the respective loads to the user and to give a warning if the load which exceeds a predetermined threshold value continues for a specified amount of time; however, since the threshold value is just a predetermined value, it is difficult to forecast the possibility of chronic lower back pain which may occur for a medium-to-long period of time.
Furthermore, regarding PTL 3, when the user intends to lift an object, the possibility of the lower back pain is just judged on the basis of the height difference of the lower back which instantly occurs; and, therefore, it is difficult to estimate the risk of developing the lower back pain as caused by chronic burdens on the lower back part.
In order to indicate effectiveness of the prevention of the lower back pain, it is important to verify reduction of the loads on the endoskeleton system such as the intervertebral disks which are the damaged sites of the lower back pain; however, not only instant loads, but also repetitive loads and continuous loads are considered to be factors of the lower back pain, so that there has been a problem of serious difficulty in accurately evaluating such repetitive loads and continuous loads by using the evaluation index based only on the intervertebral disk pressure force by means of mechanics methodology.
The present invention was devised in consideration of the above-described circumstances and aims at proposing a lower back part load evaluation apparatus and a lower back part load evaluation method which use a wearable motion assistance device capable of estimating the wearer's risk of developing the lower back pain with very high accuracy.
In order to solve the above-described problems, there is provided according to the present invention a lower back part load evaluation apparatus using a wearable motion assistance device won by securing either a wearer's both femoral parts or the wearer's abdominal part and shoulder parts, or both of them, to assist motions of a lower back part of the wearer, wherein the lower back part load evaluation apparatus includes: a trunk angle measuring unit that continuously measures an inclination angle of the lower back part of the wearer wearing wearable motion assistance device as a trunk angle of the wearer; an intervertebral disk pressure force estimation unit that continuously estimates an intervertebral disk pressure force applied to the wearer's intervertebral disks in a vertebral-bodies-connecting direction on the basis of a weight of an object held by the wearer and a body height and body weight of the wearer which are externally input, and the trunk angle measured by the trunk angle measuring unit; a section elapsed time measuring unit that divides the intervertebral disk pressure force estimated by the intervertebral disk pressure force estimation unit into sections according to a load level and, at the same time, measures elapsed time for each of the sections in chronological order; and a lower back pain occurrence risk forecasting unit that forecasts the wearer's risk of developing a lower back pain symptom on the basis of a measurement history of the section elapsed time measuring unit during work time of heavy muscular work to handle the object.
Accordingly, the lower back part load evaluation apparatus using the wearable motion assistance device is designed to forecast the wearer's risk of developing the lower back pain symptom during the work time of the heavy muscular work to handle the object, while continuously estimating the wearer's intervertebral disk pressure force on the basis of the weight of the object and the wearer's body height and body weight, and the trunk angle of the wearer, and measuring the elapsed time in chronological order with respect to each section of the intervertebral disk pressure force according to the load level. As a result, it is possible to acquire a forecast index of the risk of developing the lower back pain symptom with respect to not only the instant loads, but also the repetitive loads and the continuous loads imposed on the wearer's lower back part.
Moreover, according to the present invention, the lower back part load evaluation apparatus using the wearable motion assistance device further includes a hip joint angle measuring unit that is provided in the wearable motion assistance device and continuously measures motion angles upon bending and stretching of right and left hip joints of the wearer, respectively, as right and left hip joint angles of the wearer, wherein the intervertebral disk pressure force estimation unit continuously estimates the intervertebral disk pressure force applied to the wearer's intervertebral disks in the vertebral-bodies-connecting direction on the basis of a combination of the trunk angle of the wearer and the right and left hip joint angles of the wearer.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can enhance the accuracy to estimate the wearer's intervertebral disk pressure force by combining the wearer's right and left hip joint angles in addition to the wearer's trunk angle.
Furthermore, according to the present invention, the lower back pain occurrence risk forecasting unit determines, on the basis of an estimation history of the intervertebral disk pressure force estimation unit, that the wearer's risk of developing the lower back pain symptom is high when a maximum value of the intervertebral disk pressure force during the work time is close to a specified threshold limit value.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can measure the intervertebral disk pressure force in real time during the work time and determine that there is the risk of developing the lower back pain symptom when its maximum value instantly reaches close to the threshold limit value.
Furthermore, according to the present invention, the lower back pain occurrence risk forecasting unit determines, on the basis of a measurement history of the trunk angle measuring unit, that the wearer's risk of developing the lower back pain symptom is high when the trunk angle of the wearer continues to be within a specified range to take a half-crouching posture during the work time for a specified amount of time.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can determine that the risk of developing the lower back pain symptom is high when the wearer continues to take the half-crouching posture for a specified amount of time.
Furthermore, according to the present invention, the lower back pain occurrence risk forecasting unit calculates an average value of load imposed on the lower back part of the wearer during the work time on the basis of each measurement history of the intervertebral disk pressure force estimation unit and the section elapsed time measuring unit during the work time and determines that the wearer's risk of developing the lower back pain symptom is high when the average value becomes equal to or larger than a specified threshold value.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can determine that the risk of developing the lower back pain symptom is high when an average of the load imposed on the wearer's lower back part during the work time becomes equal to or larger than the specified threshold value even if the load is not instantly high and temporal length of the half-crouching posture is relatively short.
Furthermore, according to the present invention, the lower back pain occurrence risk forecasting unit forecasts the wearer's risk of developing the lower back pain symptom according to a relation between a maximum value of the trunk angle of the wearer and a weight of the object during the work time on the basis of the measurement history of the trunk angle measuring unit.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can determine that the risk of developing the lower back pain symptom is high if the weight of the object is heavier than its permissible range relative to the wearer's half-crouching posture during the work time.
Furthermore, according to the present invention, the lower back pain occurrence risk forecasting unit determines, on the basis of the measurement history of the section elapsed time measuring unit during the work time, that the wearer's risk of developing the lower back pain symptom is high when accumulated time in which the load level of the intervertebral disk pressure force during the work time belongs to a section equal to or higher than a specified level is equal to or longer than a specified period of time.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can determine that the risk of developing the lower back pain symptom is high when the accumulated time in which the load level of the intervertebral disk pressure force during the work time belongs to the section equal to or higher than the specified level is equal to or longer than a specified period of time even if the state where the load level of the intervertebral disk pressure force during the work time is not extremely high continues.
Furthermore, according to the present invention, the lower back part load evaluation apparatus using the wearable motion assistance device further includes: a workload analysis unit that analyzes a work load for reducing load on the lower back part and an endoskeleton system of the wearer relating to the heavy muscular work on the basis of a forecasted result of the lower back pain occurrence risk forecasting unit; and an optimization control data generation unit that generates control data in order to optimize motion assistance control performance by the wearable motion assistance device on the basis of an analysis result of the workload analysis unit.
As a result, the lower back part load evaluation apparatus using the wearable motion assistance device can reduce the work load on the wearer's lower back part and the endoskeleton system relating to the heavy muscular work by optimizing the motion assistance control performance by the wearable motion assistance device.
Furthermore, according to the present invention, a lower back part load evaluation method using a wearable motion assistance device worn by securing either a wearer's both femoral parts or the wearer's abdominal part and shoulder parts, or both of them, to assist motions of a lower back part of the wearer includes: a first step of continuously measuring an inclination angle of the lower back part of the wearer wearing the wearable motion assistance device as a trunk angle of the wearer, a second step of continuously estimating an intervertebral disk pressure force applied to the wearer's intervertebral disks in a vertebral-bodies-connecting direction on the basis of a weight of an object held by the wearer and a body height and body weight of the wearer which are externally input, and the trunk angle measured in the first step; a third step of dividing the intervertebral disk pressure force estimated in the second step into sections according to a load level and, at the same time, measuring elapsed time for each of the sections in chronological order; and a fourth step of forecasting the wearer's risk of developing a lower back pain symptom on the basis of a measurement history in the third step during work time of heavy muscular work to handle the object.
Accordingly, the lower back part load evaluation method using the wearable motion assistance device is designed to forecast the wearer's risk of developing the lower back pain symptom during the work time of the heavy muscular work to handle the object, while continuously estimating the wearer's intervertebral disk pressure force on the basis of the weight of the object and the wearer's body height and the body weight, and the trunk angle of the wearer, and measuring the elapsed time in chronological order with respect to each section of the intervertebral disk pressure force according to the load level. As a result, it is possible to acquire a forecast index of the risk of developing the lower back pain symptom with respect to not only the instant loads, but also the repetitive loads and the continuous loads imposed on the wearer's lower back part.
According to the present invention, it is capable of implementing the lower back part load evaluation apparatus and the lower back part load evaluation method which use the wearable motion assistance device capable of estimating the wearer's risk of developing the lower back pain with very high accuracy.
An embodiment of the present invention will be described below in detail with reference to the drawings.
When the wearer wearing the wearable motion assistance device 1 performs a carrying motion to lift a relatively heavy object with their own will, a driving torque in accordance with a biosignal of a latissimus dorsi muscle or a gluteus maximus muscle (gluteus maximus), which then occurs, and the wearer's hip joint motion angles is given as an assisting force from the wearable motion assistance device. Therefore, the wearer can lift and carry the object with combined power of their own muscular strength and the driving torque from the drive mechanism (actuator).
Moreover, the wearable motion assistance device 1 can also assist, for example, the wearer's ascending/descending work to go up and down stairs while carrying luggage, other than the carrying work to lift the object and walk.
In the wearable motion assistance device 1, a lower-back frame 2 is mounted on a back side of the wearer's lower back across the right and left sides. The lower back part frame 2 is, for example, a hollow member made of CFRP (carbon-fiber-reinforced plastic) and has a rounded shape in accordance with the shapes of a back side and both lateral sides of a human body's lower back part.
The lower back part frame 2 is configured so that a first lower back part frame 2A which is mounted across the right and left sides and a second lower back part frame 2B which is mounted across the right and left sides above the first lower back part frame 2A are connected to each other via a support 3 on the back side of the wearer's lower back part.
The first lower back part frame 2A and the second lower back part frame 2B are mounted on the wearer's lower back part by using wearing belts 4, 5 to be extended over the wearer's abdominal side. The first lower back part frame 2A and the second lower back part frame 2B are mounted on the wearer in a forward-bent posture so that its both ends become lower than their back side in the mounted state, that is, their both ends are located at positions lower than their center parts in a lengthwise direction (a part located at the wearer's back side).
A left side frame 10 and a right side frame 11 are secured to both ends of the first lower back part frame 2A and the second lower back part frame 2B.
Moreover, a battery 12 is placed, in a freely attachable/detachable manner, in the center part of the first lower back part frame 2A and wires and the like connected to the battery 12 are inserted into, and are made to pass through, an internal space on the outside which is the opposite side of the side where the wearable motion assistance device 1 is mounted.
The support 3 is a member for connecting a lengthwise-direction center part of the first lower back part frame 2A and a lengthwise-direction center part of the second lower back part frame 2B in a vertical direction. The support 3 is, for example, a hollow member made of reinforced resin and wires of a sensor are inserted into, and are made to pass through, the inside of the support 3. Moreover, a control apparatus 33 (described later with reference to
The strength of a monocoque structure is secured by using the support 3 to retain various members which constitute the first lower back part frame 2A and the second lower back part frame 2B so that they will not rotate. Moreover, the wearing belt 4 corresponding to the first lower back part frame 2A and the wearing belt 5 corresponding to the second lower back part frame 2B are respectively attached to the support 3.
The left side frame 10 is secured by joining a left end of the first lower back part frame 2A and a left end of the second lower back part frame 2B together on the left side of the wearer's hip joint. The right side frame 11 has a structure substantially bilaterally symmetrical to the structure of the left side frame 10, and is secured by joining a right end of the first lower back part frame 2A and a right end of the second lower back part frame 2B.
An actuator and a brake mechanism (both of which are not illustrated in the drawing) are built in the left side frame 10 and a minus button 13 for input to reduce a driving force of the actuator is provided. This minus button 12 lights up when the wearable motion assistance device is in a power-on state.
An actuator and a brake mechanism (both of which are not illustrated in the drawing) are built in the right side frame 11 and a plus button 14 for input to increase a driving force of the actuator and a power source button 15 for switching the power on/off of the wearable motion assistance device 1 are provided. This plus button 14 and the power source button 15 light up when the wearable motion assistance device 1 is in a power-on state.
Accordingly, the lower back part frames (the first lower back part frame 2A and the second lower back part frame 2B), the support 3, and the side frames (the left side frame 10 and the right side frame 11) are assembled to form an integrated configuration, there by realizing a monocoque structure for causing the frames themselves to receive stress.
Referring to
The left thigh securing unit 20L is configured from a stay unit 21L connected to the actuator in the left side frame 10 and a belt unit 22L attached to the stay unit 21L and is provided in such a manner that the left thigh securing unit 20L can rotate relative to the left side frame 10 as viewed from its lateral side.
Moreover, the right thigh securing unit 20R is configured from a stay unit 21R connected to the actuator in the right side frame 11 and a belt unit 22R attached to the stay unit 21R and is provided in such a manner that the right thigh securing unit 20R can rotate relative to the right side frame 10 as viewed from its lateral side.
Incidentally, regarding the left thigh securing unit 20L and the right thigh securing unit 20R, the stay unit 21L, 21R is designed to have an optimum length with reference to an average length of a human body's femoral part and the wearer's femoral parts are secured by the belt units 22L, 22R.
The wearing belt 4 is a wearing belt wound around the abdominal side when attaching the first lower back part frame 2A to the wearer and is a main part for attaching the wearable motion assistance device 1 to the lower back part of the human body.
The wearing belt 5 is a wearing belt wound around the abdominal side when attaching the second lower back part frame 2B to the wearer. The wearing belt 5 is used to secure the wearable motion assistance device 1 to the human body at a position higher than that of the wearing belt 5 in order to efficiently transmit a reaction force, which occurs in association with movements of legs, to the wearer's abdominal part and lower back part when the wearer of the wearable motion assistance device 1 performs a motion to lift a relatively heavy object from a knee-bending state.
The battery 12 is provided on the outside of the center part of the first lower back part frame 2A on the outside of the wearable motion assistance device 1 opposite its mounted side and supplies electric power to the control apparatus 33 (
Sensors 23 are mounted on the back side of the wearer's lower back part as illustrated in
The sensors 23 are connected to top ends of wires extending from a hole provided in the support 3 to the outside of the support and there are three sensors 23. The sensors 23 are pasted on the back side of the wearer's lower back part, thereby detecting the biosignals which occur when the wearer moves muscles of their trunk.
The biosignals detected by the sensors 23 are input to the control apparatus 33 (
Practically, the wearable motion assistance device 1 is mounted on the wearer's lower back part from their back side as illustrated in
The drive mechanism 31 drives the femoral part securing unit 20 or the lower-back frame 2 by generating a driving torque to relatively rotationally drive each of the lower-back frame 2 (the first lower back part frame 2A and the second lower back part frame 2B) which is mounted on the wearer's lower back and can be connected on both its right and left sides, and the femoral part securing unit 20 (the left thigh securing unit 20L and the right thigh securing unit 20R) which is secured to the wearer's right and left femoral parts and can be connected on the outside of the respective femoral parts.
The hip joint angle measuring unit 33 is provided in the drive mechanism 31 and detects rotation angles between the right and left sides of the lower-back frame 2 (the first lower back part frame 2A and the second lower back part frame 2B) and the femoral part securing unit 20 (the left thigh securing unit 20L and the right thigh securing unit 20R) respectively as the wearer's right and left hip joint angles. In other words, the hip joint angle measuring unit 32 continuously measures motion angles upon bending and stretching at the wearer's right and left hip joints respectively as the wearer's right and left hip joint angles.
The control apparatus 33 judges the wearer's motion and posture on the basis of the wearer's right and left hip joint angles by the hip joint angle measuring unit 32 and causes the drive mechanism 31 to generate the driving torque according to the judgment result.
Moreover, the wearable motion assistance device 1 has the biosignal detection unit 34 which detects a biosignal of the rectus femoris muscle and the gluteus maximus muscle associated with movements of the wearer's left thigh and right thigh, and a biosignal of the latissimus dorsi muscle of the wearer's back. The control apparatus 33 judges the wearer's motion and posture on the basis of the biosignals output from the biosignal detection unit 34 and the wearer's right and left hip joint angles and causes the drive mechanism 31 to generate the driving torque according to the judgment result.
When the wearer lifts the object, the drive mechanism 31 transmits the driving torque to the lower-back frame 2 (the first lower back part frame 2A and the second lower back part frame) at the same time and drives the lower-back frame towards the wearer's back side; and on the other hand side, when the wearer walks and goes up and down stairs, the drive mechanism 31 transmits the driving torque to the femoral part securing unit 20 (the left thigh securing unit 20L and the right thigh securing unit) and drives the right and left femoral part securing units alternately in back-and-forth directions.
Incidentally, the drive mechanism 31 is composed of an actuator (drive motor). The hip joint angle measuring unit 32 is composed of an angle sensor which detects joint rotation angles. The biosignal detection unit 34 is composed of a biosignal detection sensor.
Moreover, the first lower-back frame 2A is provided with an absolute angle sensor which measures an inclination angle of the wearer's lower back part as a trunk angle measuring unit 61 (
Moreover, a data storage unit 50 stores a reference parameter database 51 and a command signal database 52.
The control apparatus 33 is composed of, for example, a CPU (Central Processing Unit) chip having a memory and includes a voluntary control unit 40, an autonomous control unit 41, a phase specifying unit 42, and a gain changing unit 43.
The voluntary control unit 40 supplies a command signal according to the detected signal of the biosignal detection unit 34 to a power amplification unit 44. The voluntary control unit 40 generates a command signal by applying a specified command function f(t) or gain G to the biosignal detection unit 34. This gain G may be a preset value or function and can be adjusted via the gain changing unit 43.
Moreover, when it is predicted that the wearer's skin will become wet with sweat and if the biosignal from the biosignal detection unit 34 cannot be input, it is also possible to select a method of controlling the driving torque of each actuator (drive motor) on the basis of each piece of data (joint angle data detected by the angle sensor) detected by the hip joint angle measuring unit 32.
The hip joint angle detected by the hip joint angle measuring unit 32 is input to the reference parameter database 51. The phase specifying unit 42 specifies a phase of the wearer's motion by comparing the joint angle detected by the hip joint angle measuring unit 32 with a joint angle which is a reference parameter stored in the reference parameter database 51.
Then, when receiving control data of the phase specified by the phase specifying unit 42, the autonomous control unit 41 generates a command signal according to the control data of this phase and supplies the command signal for causing the drive mechanism 31 to generate motive power to the power amplification unit 44.
The data storage unit 50 has a memory for storing each piece of data and is provided with, for example, a database storage area in which phase-based control data which is set with respect to each motion pattern (task) such as a standing-up motion, a walking motion, and a sitting-down motion is stored in advance, and a control program storage area in which control programs for controlling the respective actuators are stored. The reference parameter database 51 and the command signal database 52 are stored in the database storage area.
Moreover, a button group of the minus button 13, the plus button 14, and the power source button 15 and the brake mechanism 16 which generates a braking force for rotation motions of the actuators are connected, as constituent elements, to the control apparatus 33.
When the power source button 15 is pressed, the control apparatus 33 sets the power-on state, causes the minus button 13, the plus button 14, and the power source button 15 to light up, and sets the brake mechanism to an on state; and when the femoral part securing unit 20 is moved, the control apparatus 33 generates a resistance force.
Then, when the biosignals detected by the sensors 23 are input, the control apparatus 33 causes the actuator to generate the driving force according to the drive level of the actuator which is input by the minus button 13 or the plus button 14. The minus button 13 or the plus button 14 is a button for controlling a torque tuner of the control apparatus 33 and the torque tuner can set five steps of the assisting force.
For example, when the torque tuner is set to “1,” the assistance of 3 Nm at the maximum can be received with an upper limit of 20% of the assist torque; and when the torque tuner is set to “5,” the assistance of 15 Nm can be received with an upper limit of 100% of the assist torque. Moreover, a torque limiter for setting the upper limit of the torque may be also provided.
When this happens, the control apparatus 33 controls the driving force according to the signal level of the biosignals which are input from the sensors. This apparatus is equipped with a Cybernic Voluntary Control (CVC) mode in order to perform the assistance.
In the CVC mode, the control system 30 inside this apparatus decides the assist torque in the following sequential order of (i) to (iii) as described below. (i) A reference assist torque is calculated from the bioelectric potential signal of the lower back part. (ii) The reference assist torque is amplified based on the value of the torque tuner. (iii) The assist torque is adjusted according to the posture and the motion content.
Moreover, upon the rotation motion of the actuator, the control apparatus 33 detects the wearer's reaction force which is input from the femoral part securing unit 20, the first lower back part frame 2A, and the second lower back part frame 2B; and if the reaction force becomes equal to or lower than a specified level, the control apparatus 33 enhances the resistance force of the brake mechanism 16 and stops the operation of the actuator. This is because the state where the reaction force becomes equal to or lower than the specified level is, for example, a state where the wearing belt 4, 5 of the femoral part securing unit 20 comes off, so that it is necessary to stop the operation in order to secure safety.
If the wearable motion assistance device 1 according to the embodiment is employed, the assisting force to assist the movements of the femoral parts relative to the lower back part can be generated when the wearer stands up as illustrated in
Such an assisting force is generated as the actuator is driven on the basis of the biosignals detected by the sensors 23 in association with the muscular activities conducted when the wearer tries to raise their trunk or the muscular activities conducted when the wearer tries to maintain the angle of the trunk.
Therefore, it is possible to provide the wearable motion assistance device which is highly convenient and is capable of providing the required assisting force in a required direction in accordance with the wearer's will. Moreover, it is possible to provide the wearable motion assistance device 1 which is capable of suppressing the motive power (muscular strength), which should be generated by the wearer by themselves, and is capable of suppressing the situation where the convenience for the wearer may be impaired.
Incidentally, if the control apparatus 33 determines that signal levels of the biosignals of the wearer's right and left thighs are not equal on both the right and left sides, it is judged that the wearer is walking; and if the control apparatus 33 determines that the signal levels of the biosignals of the wearer's right and left thighs are equal on both the right and left sides, it is judged that the wearer is in a stopped state.
Moreover, if the control apparatus 33 determines, in the state where it is judged that the wearer is in the stopped state, that both the right and left hip joint angles are larger than a certain specified angle, it is judged that the wearer is walking; and, on the other hand, if the control apparatus 33 determines that both the right and left hip joint angles are equal to or smaller than a certain specified angle, it is judged that the wearer is in a posture with their upper body leaning forward and staying low.
A spinal column in the human skeleton serves important roles such as a support action to support the trunk and a protection action to protect the spinal cord. The spinal column is linear and bilaterally symmetrical on its frontal planes and is bent in an S-shape (physiological bowing) on its sagittal plane.
The spinal column is formed of 33 vertebrae and the vertebrae are called as follows from their top downwards: seven vertebrae are cervical spines (cervical vertebrae: C1 to C7); 12 vertebrae are thoracic spines (thoracic vertebrae: T1 to T12); five vertebrae are lumbar spines (lumbar vertebrae: L1 toL5); five vertebrae are sacral vertebrae (sacrum: S1 to S5); and four vertebrae are caudal vertebrae (coccyx).
The respective vertebrae are connected to each other by their intervertebral disks on the front side and by a vertebral arch and are aligned in a row. An intervertebral disk existing between the vertebrae has a nucleus pulposus in its center and the nucleus pulposus is surrounded by a fibrous ring, and front and back ligaments serve as a buffer role and make the intervertebral disk stays between the vertebral bodies.
The vertebrae are formed of circular vertebral bodies at the front and an arch-shaped vertebral arch at the back and the vertebral arch includes superior and inferior articular processes, spinous processes, and transverse processes. The vertebral bodies and the intervertebral disks are called a front spinal column and serve a role to support the spinal columns. Moreover, the vertebral arch and condyloid processes are called a back spinal column and serve a motor control function.
What is important regarding the motions of the spinal column is the connection between the intervertebral joints and the vertebral bodies and
Regarding the lumbar spines, their articular facets are vertical, so that they cannot turn or perform lateroflection, but can only perform the bending and stretching. Referring to
The lower back pain includes physical factors and psychological factors and most of the physical factors are caused by damage to the muscles, ligaments, bones, and intervertebral disks. A representative example of the intervertebral disk damage is a disk herniation (slipped disk). The herniation indicates a state where an organ or the like inside a body is slipped out of its original site and the disk herniation is the state where part of the intervertebral disk protrudes beyond a normal intervertebral space.
The intervertebral disks existing at L5-S1, among the lumbar spines exist in a transition part between movable spines and unmovable spines, so that a heavy load is imposed on them when bending the trunk and the intervertebral disks tend to easily suffer damage. Therefore, 95% of the disk herniation occur at the intervertebral disks of L4-L5 and L5-S1. Sensory fibers are distributed around the intervertebral disks; and when the wearer takes a posture which increases the internal intervertebral disk pressure, nerves of the sensory fibers are stimulated, thereby causing the pain.
An explanation will be provided below about a method for estimating, as a load evaluation index, an intervertebral disk pressure force which is a physical load on the intervertebral disks from the work posture, the object, the muscular strength to be exhibited, and so on.
An explanation will be provided about formulas for estimating the intervertebral disk pressure force imposed on the L5-S1 intervertebral disks during two-dimensional static work with respect to a dynamic model illustrated in
[Math. 1]
W
u=0.475Wb (1)
A horizontal distance Gu[m] between the L5-S1 intervertebral disk(s) to the center of gravity of the upper body can be approximated as expressed in the following expression (2), where Lb [m] represents the wearer's body height and θt [deg] represents the trunk angle (an angle formed between a line extending between shoulders and a greater trochanter and a vertical line).
[Math. 2]
G
u=0.17Lb·sin θt (2)
Similarly, a horizontal distance Go [m] to the center of gravity of the object is found according to the following Expression (3), where Ls [m] represents the distance between the wearer's intervertebral disks and their shoulders.
[Math. 3]
G
o
=L
s·sin θt (3)
A lower back part moment Ml [Nm] around the L5-S1 intervertebral disks, which is caused by the wearer's body weight and the weight of the object is found according to the following Expression (4). However, g [Nm/s2] represents gravitational acceleration and Wo [kg] represents the weight of the held object.
[Math. 4]
M
l
=W
u
·g·G
u
+W
o
·g·G
o (4)
Muscles which stabilize the lumbar spines include an erector spinae muscle group and an abdominal muscle group such as rectus abdominis muscles, internal and external oblique muscles of the abdomen, and transverse abdominal muscles. An abdominal cavity is a body cavity which is filled with liquids and things close to semi-fluids and can be sealed. An increase of an intraabdominal pressure occurs due to shrinkage of the abdominal muscle group and a diaphragm. If the pressure is applied to the space of the abdominal cavity, a force to retain it is generated and the force applied to the spinal columns is distributed, thereby decreasing the pressure force. However, if the body is strongly bent forward or the trunk of the body is bent in a half-crouching posture, an abdominal wall sags and the abdominal pressure thereby decreases.
The force Fa[N] caused by the intraabdominal pressure can be expressed by the following Expression (5) according to Fisher's estimation formula. However, θh [deg] represents the joint angle of the hip joint and Ad [m2] represents a diaphragm area and 0.0465 [m2] is used.
[Math. 5]
F
a=0.001{42.64−0.3564(180−θh)}Ml11.8·13.6·g·Ad (5)
A moment arm Da [m] of the intraabdominal pressure is estimated as expressed in the following Expression (6) by using the joint angle θh of the hip joint according to the estimation formula of Morris et al.
[Math. 6]
D
a=0.067+0.082 sin θh (6)
The force Fe [N] caused by the erector spinae muscles is found by the following Expression (7). However, De [m] represents a moment arm of the erector spinae muscles and 0.05 [m] is used.
[Math. 7]
F
e=(Ml−Fa·Da)/De (7)
Since the articular facet of the L5-S1 intervertebral disks is inclined as illustrated in
The inclination angle θa [deg] of the articular facet of the L5-S1 intervertebral disks is estimated by the following Expression (8) according to the estimation formula of Anderson et al. However, θk [deg] represents the joint angle of the knee joint. Incidentally, the joint angle θk of the knee joint can be estimated from the joint angle θh of the hip joint and the trunk angle θt which are measured.
[Math. 8]
θa=−17.519−0.11863θt+0.2268θk+0.00119040θt·θk+0.00499θt2−0.000753θt2+40 (8)
The intervertebral disks are damaged by the intervertebral disk pressure force which presses the intervertebral disks vertically and an intervertebral disk pressure force Fc [Nm] is found according to the following Expression (9).
[Math. 9]
F
c
=W
u
·g·cos θa+Wo·g·cos θa−Fa+Fe (9)
An intervertebral disk shearing force Fs [Nm] is found according to the following Expression (10).
[Math. 10]
F
s
=W
u
·g·sin θa+Wo·g·sin θa (10)
The permissible limit of the intervertebral disk pressure force imposed on the L5-S1 intervertebral disks is determined as 3,400 [N] by NIOSH (National Institute for Occupational Safety Health); and if the intervertebral disk pressure force exceeds this value, it is said that the lower back pain will be caused.
For example, if the aforementioned Expression (9) is calculated under the condition that a person with a body height of 1.75 [m] and body weight of 65 [kg] holds an object of 30 [kg] with a posture bending their trunk at 60 [deg], approximately 3,525 [N] of the intervertebral disk pressure force will be imposed on the L5-S1 intervertebral disks. This shows that the intervertebral disk pressure force imposed on the L5-S1 intervertebral disks exceeds the permissible limit.
According to the present invention, the lower back part load evaluation apparatus 60 using the aforementioned wearable motion assistance device 1 is designed to estimate the wearer's risk of developing the lower back pain symptom with very high accuracy.
This lower back part load evaluation apparatus 60 is a control system constituent element provided in the control apparatus 33 in the wearable motion assistance device 1 illustrated in
The trunk angle measuring unit 61 continuously measures an inclination angle of the wearer's lower back part as the wearer's trunk angle by using an absolute angle sensor attached to the lower-back frame 2 (particularly, the first lower-back frame 2A).
The intervertebral disk pressure force estimation unit 62 continuously measures the intervertebral disk pressure force applied to the wearer's intervertebral disks in the vertebral-bodies-connecting direction on the basis of the weight of the object held by the wearer and the wearer's body height and body weight, which are input externally, and the trunk angle measured by the trunk angle measuring unit 61.
Furthermore, in order to enhance the accuracy to estimate the wearer's intervertebral disk pressure force, the intervertebral disk pressure force estimation unit 62 may continuously estimate the intervertebral disk pressure force applied to the wearer's intervertebral disks in the vertebral-bodies-connecting direction on the basis of a combination of the wearer's trunk angle and the wearer's right and left hip joint angles.
Incidentally, the weight of the object may be measured by mounting a floor reaction force sensor (which is not shown in the drawing) on each of the wearer's legs and measuring the weight of the object as an amount increased by holding the object. Also, the wearer's body height and body weight are input by using a specified input device (which is not shown in the drawing) attached to the wearable motion assistance device 1.
The section elapsed time measuring unit 63 divides the intervertebral disk pressure force estimated by the intervertebral disk pressure force estimation unit 62 into sections according to the load level and, at the same time, measures elapsed time with respect to each section in chronological order.
The intervertebral disk pressure force is divided into five load levels as illustrated in
Furthermore,
The lower back pain occurrence risk forecasting unit 64 forecasts the wearer's risk of developing the lower back pain symptom on the basis of the measurement history of the section elapsed time measuring unit 63 during the work time of the heavy muscular work to handle the object.
Accordingly, the lower back part load evaluation apparatus 60 using the wearable motion assistance device 1 is designed to forecast the wearer's risk of developing the lower back pain symptom during the work time of the heavy muscular work to handle the object, while continuously estimating the wearer's intervertebral disk pressure force on the basis of the weight of the object and the wearer's body height and body weight, and the trunk angle of the wearer, and measuring the elapsed time in chronological order with respect to each section of the intervertebral disk pressure force according to the load level. As a result, it is possible to acquire a forecast index of the risk of developing the lower back pain symptom with respect to not only the instant loads, but also the repetitive loads and the continuous loads imposed on the wearer's lower back part.
Moreover, with the lower back part load evaluation apparatus 60, the lower back pain occurrence risk forecasting unit 64 determines, on the basis of the estimation history of the intervertebral disk pressure force estimation unit 62, that the wearer's risk of developing the lower back pain symptom is high when a maximum value of the intervertebral disk pressure force during the work time is close to a specified threshold limit value (3,400 [N]).
As a result, the lower back part load evaluation apparatus 60 can measure the intervertebral disk pressure force in real time during the work time and determine, regardless of the load level sections, that there is the risk of developing the lower back pain symptom when its maximum value instantly reaches close to the threshold limit value.
Furthermore, with the lower back part load evaluation apparatus 60, the lower back pain occurrence risk forecasting unit 64 determines, on the basis of the measurement history of the trunk angle measuring unit 61, that the wearer's risk of developing the lower back pain symptom is high when the trunk angle of the wearer continues to be within a specified range (for example, 45*3 [deg]) to take a half-crouching posture during the work time for a specified period of time. As a result, the lower back part load evaluation apparatus 60 can determine that the risk of developing the lower back pain symptom is high when the wearer's half-crouching posture continues for the specified period of time.
Furthermore, with the lower back part load evaluation apparatus 60, the lower back pain occurrence risk forecasting unit 64 calculates an average value of load imposed on the lower back part of the wearer during the work time on the basis of each measurement history of the intervertebral disk pressure force estimation unit 62 and the section elapsed time measuring unit 63 and determines that the wearer's risk of developing the lower back pain symptom is high when the average value becomes equal to or larger than a specified threshold value.
As a result, the lower back part load evaluation apparatus 60 can determine that the risk of developing the lower back pain symptom is high when an average of the load imposed on the wearer's lower back part during the work time becomes equal to or larger than the specified threshold value even if the load is not instantly high and temporal length of the half-crouching posture is relatively short.
Furthermore, with the lower back part load evaluation apparatus 60, the lower back pain occurrence risk forecasting unit 64 forecasts the wearer's risk of developing the lower back pain symptom according to a relation between a maximum value of the trunk angle of the wearer and a weight of the object during the work time on the basis of the measurement history of the trunk angle measuring unit 61.
As a result, the lower back part load evaluation apparatus 60 can determine that the risk of developing the lower back pain symptom is high if the weight of the object is heavier than its permissible range relative to the wearer's half-crouching posture during the work time.
Furthermore, with the lower back part load evaluation apparatus 60, the lower back pain occurrence risk forecasting unit 64 determines, on the basis of the measurement history of the section elapsed time measuring unit 63 during the work time, that the wearer's risk of developing the lower back pain symptom is high when accumulated time in which the load level of the intervertebral disk pressure force during the work time belongs to a section equal to or higher than a specified level is equal to or longer than a specified period of time.
As a result, the lower back part load evaluation apparatus 60 can determine that the risk of developing the lower back pain symptom is high when the accumulated time in which the load level of the intervertebral disk pressure force during the work time belongs to the section equal to or higher than the specified level is equal to or longer than a specified period of time even if the state where the load level of the intervertebral disk pressure force during the work time is not extremely high continues.
Furthermore, with the lower back part load evaluation apparatus 60, the workload analysis unit 70 analyzes a work load for reducing load on the wearer's lower back part and endoskeleton system relating to the heavy muscular work on the basis of a forecasted result of the lower back pain occurrence risk forecasting unit 64. Then, the optimization control data generation unit 71 generates control data in order to optimize motion assistance control performance by the wearable motion assistance device 1 on the basis of an analysis result of the workload analysis unit 70.
Examples of the motion assistance control performance by the wearable motion assistance device 1 include average output torque and maximum output torque of the drive mechanism (actuator) 31, and torque tuner settings.
As a result, the lower back part load evaluation apparatus 60 which uses the wearable motion assistance device 1 can reduce the work load on the wearer's lower back part and endoskeleton system relating to the heavy muscular work by optimizing the motion assistance control performance by the wearable motion assistance device 1.
Incidentally, this embodiment has described the case where the device which is configured to be worn by securing the wearer's both femoral parts and abdominal part, and assist the motions of the wearer's lower back part is applied as the wearable motion assistance device; however, the present invention is not limited to this example and a device which is designed to be worn by securing either the wearer's both femoral parts or their abdominal part and shoulder parts, or both of them, as long as it can assist the motions of the wearer's lower back part.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-159978 | Sep 2019 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2020/027170 | 7/10/2020 | WO |
