Gait motion assisting apparatus

A gait motion assisting apparatus of the present invention includes an actuator unit controlling driver so that assisting force calculated by applying gait motion timing based on detected thigh phase angle to output pattern saved data is imparted to lower leg, and a terminal device capable of wireless-communicating with control device of the actuator unit. The terminal device can receive assisting force setting value including assisting force imparting period during gait cycle and create, based on the assisting force setting value, output pattern setting data indicating a relationship between the gait motion timing and a size of assisting force to be imparted to the lower leg. The control device is configured to overwrite-save the output pattern setting data received from the terminal device as the output pattern saved data.

FIELD OF THE INVENTION

The present invention relates to a gait motion assisting apparatus imparting gait assisting force to a user that wears a knee-ankle-foot orthosis.

BACKGROUND ART

Knee-ankle-foot orthoses for supporting a knee joint are utilized as gait assistance or rehabilitation devices for people with leg disability or people with paralysis due to a stroke or the like, and actuator-equipped knee ankle foot orthoses are also proposed that are equipped with an actuator unit including a driver such as an electric motor for assisting movement of a leg (see Patent Literatures 1 to 3 below).

Specifically, conventional actuator-equipped knee ankle foot orthoses include a thigh-side brace to be attached to a user's thigh, a lower leg-side brace to be attached to the user's lower leg and connected to the thigh-side brace so as to be rotatable around the user's knee joint, an actuator attached to the thigh-side brace and capable of imparting assisting force around the knee joint to the lower leg-side brace, a lower leg angle sensor for detecting the rotational angle of the lower leg around the knee joint relative to the thigh, and a control device responsible for operational control for the actuator, wherein the control device is configured to execute operational control for the actuator based on a detection signal from the lower leg angle sensor.

That is, the above conventional actuator-equipped knee ankle foot orthoses detect movement of the lower leg (the angle of the lower leg around the knee joint relative to the thigh), which is a control target site to which an assisting force is to be imparted by the actuator, by means of the lower leg angle sensor, and perform operational control for the actuator such that assisting force having a size and a direction calculated based on movement of the lower leg is imparted to the lower leg.

However, in the case of paralysis due to a stroke or the like, gait motion of the lower leg (forward and backward swing motion of the lower leg around the knee joint) often cannot be performed normally, while gait motion of the thigh (forward and backward swing motion of the thigh around the hip joint) can be performed relatively normally.

In such a case, since the above conventional actuator-equipped knee ankle foot orthoses perform operational control for the actuator based on movement of the lower leg that is incapable of normal gait motion, there is a possibility that suitable gait assisting force cannot be provided.

As another gait assisting device, proposed is a gait assisting device that includes an imparting unit for imparting assisting force, a control unit for performing operational control for the imparting unit, a detection unit for detecting at least one of a hip joint angle and a hip joint angular velocity, and a calculation unit for calculating the phase angle of the thigh based on a detection result of the detection unit, and that is configured such that the control unit performs operational control for the imparting unit based on the phase angle (see Patent Literature 4 below).

However, the gait assisting device of Patent Literature 4 also detects movement of a control target site (thigh) to which assisting force is to be imparted and performs operational control for the imparting unit that imparts assisting force to the thigh, which is the control target site, based on a detection result, and is thus based on the same technical idea as the actuator-equipped knee ankle foot orthoses described in Patent Literatures 1 to 3.

Meanwhile, a gait cycle includes a heel contact phase including a heel contact time point when the heel contacts the ground in front of a vertical axis line that passes through the hip joint (a period when the forward-raised foot contacts the floor), a stance phase when the heel-contacted leg after heel contact is relatively moved backward while being in contact with the ground (a period when the floor-contacted lower limb is relatively moved backward relative to the body), and a swing phase when the leg contacting the ground since the end of stance phase is raised and relatively moved forward.

Here, which timing during gait cycle becomes the heel contact phase, the stance phase, or the swing phase is different for each user and, even for the same user, is different depending on the extent of recovery.

Accordingly, it is preferable that the timing of imparting, and the size of, assisting force by the actuator (or the imparting unit) can be easily changed according to the current state of a user who is using the apparatus, and none of the patent documents sufficiently take this point into consideration.

PRIOR ART DOCUMENT

Patent Literature

SUMMARY OF THE INVENTION

The present invention has been conceived in view of such conventional art, and an object of the present invention is to provide a gait motion assisting apparatus that can be attached to a knee-ankle-foot orthosis wherein a lower leg-side brace is connected to a thigh-side brace so as to be rotatable around a brace-side pivot axis line and that includes an actuator unit capable of imparting assisting force around the brace-side pivot axis line to the lower leg-side brace, wherein the gait motion assisting apparatus is capable of imparting gait assisting force corresponding to the gait state during gait cycle to a lower leg even for a user having difficulty in performing normal gait motion of the lower leg and, moreover, enables the imparting timing of gait assisting force imparted to the lower leg during gait cycle to be easily changed as desired.

In order to achieve the object, the present invention provides a gait motion assisting apparatus including a terminal device and an actuator unit removably attachable to a knee ankle foot orthosis having a thigh-side brace and a lower leg-side brace to be respectively attached to a user's thigh and lower leg wherein the lower leg-side brace is connected to the thigh-side brace so as to be rotatable around a brace-side pivot axis line, wherein the actuator unit has an upper frame and a lower frame respectively connectable to the thigh-side brace and the lower leg-side brace, an actuator-side rotational connecting part for connecting both frames such that the lower frame is rotatable around an actuator-side pivot axis line relative to the upper frame, a driver attached to the upper frame to produce driving force for rotating the lower frame around the actuator-side pivot axis line, a thigh orientation detecting means capable of detecting an angle-related signal relating to a hip joint angle that is a front-back swing angle of the user's thigh, and an actuator-side control device responsible for operational control for the driver; the actuator-side control device is configured to calculate, based on the angle-related signal at a sampling timing, a thigh phase angle at the sampling timing, calculate, based on the thigh phase angle, a gait motion timing during gait cycle corresponding to the sampling timing, apply the gait motion timing of the sampling timing to output pattern saved data that is saved in the actuator-side control device and that indicates a relationship between a gait motion timing during gait cycle and a size of assisting force to be imparted to the lower frame to calculate assisting force to be imparted to the lower frame at the sampling timing, and execute operational control for the driver such that the assisting force is output; the terminal device has a display part, an input part, a terminal-side control part, and a wireless communication part for performing wireless communication with the actuator-side control device, and is capable of receiving via the input part an assisting force setting value including an assisting force imparting period obtained by specifying a period for imparting assisting force to the lower frame by using a gait motion timing during gait cycle; the terminal-side control part creates, based on the assisting force setting value received via the input part, output pattern setting data indicating a relationship between a gait motion timing during gait cycle and a size of assisting force to be imparted to the lower frame, and sends the output pattern setting data to the actuator-side control device via the wireless communication part according to manual send operation via the input part; and the actuator-side control device overwrite-saves the output pattern setting data received from the terminal device as the output pattern saved data.

Since the gait motion assisting apparatus according to the present invention includes the actuator unit removably attachable to the knee-ankle-foot orthosis and the terminal device separate from and capable of wireless-communicating with the actuator unit, wherein the actuator unit is configured to calculate, based on the angle-related signal relating to the hip joint angle at a sampling timing, a thigh phase angle at the sampling timing, calculate, based on the thigh phase angle, a gait motion timing during gait cycle, apply the gait motion timing to output pattern saved data that is saved in advance to calculate assisting force to be imparted to the lower frame at the sampling timing, and execute operational control for the driver such that the assisting force is output, the gait motion assisting apparatus makes it possible to impart gait assisting force corresponding to the gait state during gait cycle to the lower leg even for a user having difficulty in performing normal gait motion of the lower leg.

Moreover, since, the terminal device in the gait motion assisting apparatus according to the present invention is configured to be capable of receiving an assisting force setting value including an assisting force imparting period obtained by specifying a period for imparting assisting force to the lower frame by using the gait motion timing during gait cycle, create, based on the assisting force setting value, output pattern setting data indicating a relationship between the gait motion timing and a size of assisting force to be imparted to the lower frame, and send the output pattern setting data to the actuator-side control device in the actuator unit according to manual send operation, and the actuator-side control device is configured to overwrite-save the output pattern setting data received from the terminal device as the output pattern saved data, the gait motion assisting apparatus makes it possible to easily change the imparting timing of gait assisting force imparted to the lower leg during gait cycle as desired.

In one embodiment, the assisting force imparting period is a period defined by an assisting force start timing and an assisting force end timing specified in percentage relative to a gait cycle under a condition where a preset reference gait motion timing during gait cycle is regarded as a zero point.

In this case, the output pattern setting data is data indicating a relationship between percentage of a gait motion timing relative to a gait cycle in a state where the reference gait motion timing is regarded as a zero point and a size of assisting force to be imparted to the lower frame.

In a preferable configuration, the terminal device is configured to be capable of receiving via the input part a size of assisting force to be imparted during the assisting force imparting period in addition to the assisting force imparting period as the assisting force setting value.

In the preferable configuration, the size of assisting force that can be input as the assisting force setting value may include an output value specified in percentage relative to a predetermined reference output value of the driver and an output direction of the driver indicating a rotational direction of the lower frame around the actuator-side pivot axis line.

In the preferable configuration, the terminal-side control part may store a plurality of waveform patterns of assisting force to be output by the driver, and the terminal device may enable one waveform pattern to be selected from the plurality of waveform patterns via the input part.

In this case, the assisting force setting value includes the waveform pattern selected via the input part.

In a preferable embodiment, the terminal-side control part is configured to divide-manage a gait cycle into a preset number n (n is an integer of 2 or greater) of output setting periods, and the terminal device is capable of receiving an assisting force setting value for each of the n output setting periods via the input part.

In a more preferable embodiment, the terminal device enables one or a plurality of output setting periods in which the assisting force setting value is reflected in the output pattern setting data to be selected from the n output setting periods via the input part.

In a preferable embodiment, the display part is configured to have an input key display area for displaying an input key for performing manual operation and a data display area for displaying a graph of the output pattern setting data.

In a more preferable embodiment, the terminal-side control part is configured to read output pattern saved data from the actuator-side control device via the wireless communication part according to manual read operation via the input part, and display a graph of the output pattern saved data as output pattern setting data in the data display area.

In a preferable embodiment, the terminal device is a tablet terminal including a touch panel acting as the display part and the input part.

EMBODIMENT FOR CARRYING OUT THE INVENTION

Below, one embodiment of the gait motion assisting apparatus according to the present invention will now be described with reference to the attached drawings.

The gait motion assisting apparatus according to the present embodiment impart gait assisting force to a user wear a knee-ankle-foot orthosis1, and includes an actuator unit100detachably attached to the knee-ankle-foot orthosis1and a terminal device600separate from the actuator unit100and capable of performing wireless communication with the actuator unit100.

FIG.1is a schematic view of the gait motion assisting apparatus, and shows a state where the actuator unit100is attached to the knee-ankle-foot orthosis1.

FIGS.2and3respectively show partially exploded perspective views of the actuator unit100as viewed from the outer side and the inner side in the user width direction.

First, the configuration of the knee-ankle-foot orthosis1will now be described.

The knee-ankle-foot orthosis1is a device to be worn by a person with leg disability or a person with paralysis due to a stroke or the like for gait assistance or for rehabilitation, and is custom-made according to the user's physique.

As shown inFIGS.1to3, the knee-ankle-foot orthosis1has a thigh-side brace10and a lower leg-side brace30to be respectively attached to the user's thigh and lower leg, wherein the lower leg-side brace30is connected to the thigh-side brace10so as to be rotatable around a brace-side pivot axis line X relative to the thigh-side brace10.

The thigh-side brace10includes a thigh attachment11to which the user's thigh is attached and a thigh frame20supporting the thigh attachment11.

The lower leg-side brace30includes a lower leg attachment31to which the user's lower leg is attached and a lower leg frame40supporting the lower leg attachment31.

The thigh attachment11and the lower leg attachment31may take various forms as long as they are respectively attachable to the user's thigh and lower leg.

In the present embodiment, as shown inFIG.1, the thigh attachment11is in a cylindrical form having an attachment hole with such a size that the user's thigh can be inserted and the thigh attachment11fits the thigh.

Likewise, the lower leg attachment31is in a cylindrical form having an attachment hole with such a size that the user's lower leg can be inserted and the lower leg attachment31fits the lower leg.

As shown inFIGS.1to3, the thigh frame20has a first thigh frame20(1) vertically extending along the user's thigh on the outer side in the user width direction.

In the present embodiment, as shown inFIGS.1to3, the thigh frame20further has a second thigh frame20(2) vertically extending along the user's thigh on the inner side in the user width direction so as to be opposed to the first thigh frame20(1), with the user's thigh inserted in the thigh attachment11in-between.

As shown inFIGS.1to3, the lower leg frame40has a first lower leg frame40(1) vertically extending along the user's lower leg on the outer side in the user width direction.

In the present embodiment, as shown inFIGS.1to3, the lower leg frame40further has a second lower leg frame40(2) vertically extending along the user's lower leg on the inner side in the user width direction so as to be opposed to the first lower leg frame40(1), with the user's lower leg inserted in the lower leg attachment31in-between.

FIG.4shows a front view of the knee-ankle-foot orthosis1alone.

As described above, the thigh frame20and the lower leg frame40are custom-made according to a user so as to extend along the user's thigh and lower leg, respectively.

That is, the tilt angle and/or the curvature with respect to a user width direction W of the thigh frame20relative to the lower leg frame40is different for each knee-ankle-foot orthosis that is custom-made according to the user's physique.

In the present embodiment, as shown inFIGS.1and4, the knee-ankle-foot orthosis1further has a foot frame60on which a user places a foot.

In this case, the lower end part of the lower leg frame40is connected to the foot frame60.

FIG.5shows a perspective view of the V part inFIG.4.

The knee-ankle-foot orthosis1further has a brace-side rotational connecting part50.

The brace-side rotational connecting part50connects the thigh frame20and the lower leg frame40such that the lower leg frame40is rotatable relative to the thigh frame20around the brace-side pivot axis line X that is coaxial with the swing axis line of the user's knee joint.

As described above, in the present embodiment, the thigh-side brace10has the first and second thigh frames20(1),20(2), and the lower leg-side brace30has the first and second lower leg frames40(1),40(2).

Accordingly, as shown inFIGS.1to5, the brace-side rotational connecting part50has a first brace-side rotational connecting part50(1) for connecting the first thigh frame20(1) and the first lower leg frame40(1) positioned on the outer side in the user width direction so as to be rotatable around the brace-side pivot axis line X, and a second brace-side rotational connecting part50(2) for connecting the second thigh frame20(2) and the second lower leg frame40(2) positioned on the inner side in the user width direction so as to be rotatable around the brace-side pivot axis line X.

FIG.6shows an enlarged perspective view ofFIG.5in a state where a first connecting piece21a, which will be described below, of the first thigh frame20(1) and an externally threaded member55, which will be described below, of the first brace-side rotational connecting part50(1) inFIG.5are disassembled.

InFIG.6, illustration of a first locking member70(1), which will be described below, is omitted for easier understanding.

FIG.7shows a vertical cross-sectional front view corresponding toFIG.5.

In the present embodiment, as shown inFIGS.5to7, the thigh frame20has a vertically extending thigh frame main body and a pair of connecting pieces21a,21bfixed to the respective sides in the user width direction of the lower end part of the frame main body by pinning, welding, or the like. The upper part of the lower leg frame40is interposed between the pair of connecting pieces21a,21b.

As shown inFIG.6, the brace-side rotational connecting part50has a swinging connector51for connecting the thigh frame20and the lower leg frame40so as to be rotatable around the brace-side pivot axis line X by being inserted into a brace-side frame attachment hole formed by a thigh frame attachment hole20aprovided in the lower part of the thigh frame20coaxially with the brace-side pivot axis line X and a lower leg frame attachment hole40aprovided in the upper part of the lower leg frame40coaxially with the brace-side pivot axis line X.

In the present embodiment, as described above, the thigh frame20has a pair of connecting pieces21a,21b. Accordingly, the thigh frame attachment hole20ais formed in each of the pair of connecting pieces21a,21b.

As shown inFIGS.5to7, the swinging connector51has an internally threaded member52and an externally threaded member55separably screwed to each other in the brace-side frame attachment hole.

The internally threaded member52has a cylindrical part53to be inserted into the brace-side frame attachment hole from one side in the user width direction and a flange part54extending more radially outward than the brace-side frame attachment hole from one side in the user width direction of the cylindrical part53. The cylindrical part53has a screw hole that is open toward the free end side.

On the other hand, the externally threaded member55has a cylindrical part56having an external thread to be screwed into the screw hole from the other side in the user width direction and a flange part57extending more radially outward than the brace-side frame attachment hole from the other side in the user width direction of the cylindrical part56.

As shown inFIGS.5to7, in the present embodiment, the internally threaded member52is inserted into the brace-side attachment hole from the inner side in the user width direction, and the externally threaded member55is screwed to the internally threaded member52from the outer side in the user width direction.

Reference number54ainFIGS.6and7is a radially outward projection that is provided on the flange part53and that engages with a depression22(seeFIG.6) formed in the inner connecting piece21b, and thereby the internally threaded member52is retained so as to be incapable of relative rotation around the axis line relative to the inner connecting piece21b(i.e., the thigh frame20).

In the present embodiment, as shown inFIGS.5to7, the knee-ankle-foot orthosis1further has a locking member70for inhibiting the rotation of the lower leg frame40around the brace-side pivot axis line X relative to the thigh frame20.

The locking member70is configured so as to be capable of reaching a locked state (the state shown inFIG.5) where the thigh frame20and the lower leg frame40are surrounded by the locking member70to connect both frames20,40and prevent the lower leg frame40from being relatively rotated around the brace-side pivot axis line X relative to the thigh frame20, and a cancelled state where connection between the thigh frame20and the lower leg frame40is cancelled to permit the lower leg frame40to be relatively rotated around the brace-side pivot axis line X relative to the thigh frame20.

In the present embodiment, the locking member70has a first locking member70(1) positioned on the outer side in the user width direction and acting on the first thigh frame20(1) and the first lower leg frame40(1), and a second locking member70(2) positioned on the inner side in the user width direction and acting on the second thigh frame20(2) and the second lower leg frame40(2).

In the present embodiment, as shown inFIG.6, an upper-end surface45of the lower leg frame40(the end surface facing the thigh frame20) is a sloped surface such that the radial distance from the brace-side pivot axis line X increases from one side toward the other side around the brace-side pivot axis line X, and a lower-end surface25of the thigh frame20(the end surface facing the lower leg frame40) is a sloped surface corresponding to the upper-end surface45of the lower leg frame40.

Due to this configuration, the lower leg frame40rotates only toward one side around the brace-side pivot axis line X relative to the thigh frame20(in the direction in which the user's lower leg is bent relative to the thigh) and does not rotate toward the other side (in the direction in which the user's lower leg is extended relative to the thigh).

Below, the actuator unit100on the gait motion assisting apparatus1according to the present embodiment will now be described.

As shown inFIGS.1to3, the actuator unit100includes an upper frame120connectable to the thigh-side brace10, a lower frame140connectable to the lower leg-side brace30, an actuator-side rotational connecting part150connecting the upper frame120and the lower frame140such that the lower frame140is rotatable around an actuator-side pivot axis line Y relative to the upper frame120, and a driver110for producing driving force for rotating the lower frame140around the actuator-side pivot axis line Y.

As shown inFIGS.2and3, the upper frame120has a plate-like upper frame main body121facing the first thigh frame20(1)(20), a connecting wall body122extending outward in the user width direction from the vertically intermediate position of the upper frame main body121, and an outer wall body123extending downward from the connecting wall body122.

In the present embodiment, the upper frame main body121is opposed to the first thigh frame21(1) via inner cover main body210.

That is, as shown inFIGS.1to3, the actuator unit100has a cover200partially surrounding the upper frame120, the driver110, and the lower frame140.

The cover200has an inner cover main body210fixed to the inner side in the user width direction of the upper frame main body121, and an outer cover main body220detachably connected to the inner cover main body210so as to partially surround the upper frame120including the upper frame main body121, the driver110, and the lower frame140.

In this configuration, the upper frame main body121is opposed to the first thigh frame20(1) via the inner cover main body210.

The outer wall body123is opposed to a downward extending portion121aof the upper frame main body121, which extends downward below the connecting wall body122, while retaining an accommodating space in the user width direction between the outer wall body123and the downward extending portion121a.

FIG.8is a partially enlarged vertical cross-sectional view of a portion in the vicinity of the actuator-side rotational connecting part150.

FIG.9is a partially exploded perspective view corresponding toFIG.8, and shows cross-sections of only some components.

InFIGS.8and9, illustration of the outer cover main body220is omitted.

The actuator-side rotational connecting part150connects the upper frame120and the lower frame140such that the lower frame140is rotatable around the actuator-side pivot axis line Y relative to the upper frame120.

The actuator-side rotational connecting part150has a swing shaft151that supports the lower frame140and that is supported by the upper frame120so as to extend along the actuator-side pivot axis line Y.

In the present embodiment, as shown inFIGS.8and9, the inner end part in the user width direction of the swing shaft151is supported by the downward extending portion121aand the outer end part in the user width direction of the swing shaft151is supported by the outer wall body123such that the swing shaft151crosses the accommodating space in the user width direction and defines the actuator-side pivot axis line, and the intermediate part in the user width direction of the swing shaft151supports the lower frame140.

In the present embodiment, the upper frame main body121has a block body121bfixed to the outer side in the user width direction of the downward extending portion121a, and the inner end side in the user width direction of the swing shaft151is supported so as to be axially rotatable by the block body121bvia a bearing member152, and the outer side in the user width direction of the swing shaft151is supported so as to be axially rotatable by the outer wall body123via a bearing member153.

The driver110has a driving source111such as an electric motor, and a transmission mechanism115for transmitting driving force produced by the driving source111to the lower frame140.

The driving source111is supported by the upper frame120.

In the present embodiment, as shown inFIGS.2,8, and9, the driving source111is placed on the connecting wall body122of the upper frame120, with an output shaft111aextending downward.

In the present embodiment, as shown inFIG.8, the transmission mechanism115has a drive-side bevel gear116supported by the output shaft111aso as to be incapable of relative rotation, and a driven-side bevel gear117that is connected to the lower frame140so as to be incapable of relative rotation around the actuator-side pivot axis line Y and that is meshed with the drive-side bevel gear116.

In the present embodiment, the lower frame140is supported by the swing shaft151so as to be incapable of relative rotation, and the actuator unit100includes a sensor190for detecting the angle of axial rotation of the swing shaft151.

Detecting the angle of axial rotation of the swing shaft151by the sensor190enables the swinging angle of the lower frame140to be recognized.

The actuator unit100according to the present embodiment is detachably attached to three locations, i.e., the upper part, vertically intermediate part, and lower part, of the knee-ankle-foot orthosis1.

Specifically, as shown inFIGS.2,3,8, and9, the actuator unit100has an upper connecting body250for connecting the upper frame120to the thigh frame20, an intermediate connecting body300for connecting the vicinity of the actuator-side rotational connecting part150to the vicinity of the brace-side rotational connecting part50, and a lower connecting body350for connecting the lower frame140to the lower leg frame40such that the lower leg frame40is rotated around the brace-side pivot axis line X relative to the thigh frame20by utilizing the rotational movement of the lower frame140around the actuator-side pivot axis line Y relative to the upper frame120.

The intermediate connecting body300has a ball stud310provided on one of the knee-ankle-foot orthosis1and the actuator unit100(hereinafter referred to as a first unit), and an accommodation depression330that is provided on the other of the knee-ankle-foot orthosis1and the actuator unit100(hereinafter referred to as a second unit) and that receives the ball stud310by way of a ball-and-socket joint.

In the present embodiment, as shown inFIGS.8and9, the knee-ankle-foot orthosis1is the first unit provided with the ball stud310, and the actuator unit100is the second unit provided with the accommodation depression330.

The ball stud310has a shaft part311that is provided concentrically with the pivot axis line (the brace-side pivot axis line X in the present embodiment) of the first unit in a projecting manner and that extends toward the second unit, and a spherical head part313provided at the distal end part of the shaft part311.

As described above, in the present embodiment, the knee-ankle-foot orthosis1is the first unit, and the knee-ankle-foot orthosis is the second unit. Accordingly, the shaft part311is provided on the knee-ankle-foot orthosis1in a projecting manner so as to extend toward the actuator unit100coaxially with the brace-side pivot axis line X.

In the present embodiment, the ball stud310is provided on the knee-ankle-foot orthosis1in a projecting manner by utilizing the swinging connector51.

Specifically, as shown inFIG.8, the ball stud310is provided on the knee-ankle-foot orthosis1in a projecting manner by being screw-connected to the inner threaded member positioned on the inner side in the user width direction among the internally threaded member52and the externally threaded member55(the internally threaded member52in the present embodiment) in place of the outer threaded member positioned on the outer side in the user width direction among the internally threaded member52and the externally threaded member55(the externally threaded member55in the present embodiment) in the swinging connector51.

Specifically, as shown inFIG.8, the ball stud310has an axial hole315penetrating in the axial direction, and the ball stud310is screw-connected to the inner threaded member via a fastening member317such as a bolt inserted in the axial hole315.

Specifically, the axial hole315has a large diameter hole315athat is open on the side where the spherical head part313is positioned with respect to the axial direction, a small diameter hole315bthat is open on the side opposite to the spherical head part313with respect to the axial direction, and a step315cconnecting the large diameter hole315aand the small diameter hole315b.

The fastening member317has a head part317ainserted in the large diameter hole315aand a shaft part317bthat is reduced in diameter from the head part317avia a radially extending part317cand that penetrates the small diameter hole315bto extend outward.

The radially extending part317ccan be brought into contact with the step315c. A portion of the shaft part317bextending outward, with the radially extending part317cbeing in contact with the step315c, has a screw structure screwed to the inner threaded member.

According to this configuration, the ball stud310can be easily provided on the existing knee-ankle-foot orthosis1in a projecting manner so as to be coaxial with the brace-side pivot axis line X.

The actuator unit100according to the present embodiment has the following configuration for preventing the ball stud310from being unintentionally dislocated from the accommodation depression330.

Specifically, as shown inFIG.9, the spherical head part313has a large diameter part313ahaving the largest diameter, a distal end-side spherical surface part313b, the diameter of which is reduced toward the distal end side from the large diameter part313a, and a proximal end-side spherical surface part313c, the diameter of which is reduced toward the proximal end side from the large diameter part313a.

The accommodation depression330is provided with an annular engagement groove at a portion, which the proximal end-side spherical surface part313cof the spherical head part313faces when the spherical head part313is accommodated in the accommodation depression330, and a retaining member340is inserted into the annular engagement groove.

The retaining member340is shaped such that force for expanding the retaining member340in the radially outward direction is exerted on the retaining member by the movement of the spherical head part313in the axial direction, and the retaining member340is inserted into the annular engagement groove so as to prevent passage of the maximum diameter part313aof the spherical head part313when the force resulting from the axial movement of the spherical head part313is equal to or less than a predetermined value and so as to be elastically deformed in the radially outward direction by the spherical head part313and permit passage of the maximum diameter part313aof the spherical head part313when the force exceeds the predetermined value.

The retaining member340is formed by, for example, inserting an elongated body having a circular cross-section in a spirally wound state into the annular engagement groove and retaining it in a circular shape, and thereby the retaining member340is elastically deformable in the radially outward direction while being inserted in the annular engagement groove.

According to the intermediate connecting body300having this configuration, by moving the actuator unit100inward in the user width direction relative to the knee-ankle-foot orthosis1such that the ball stud310is accommodated in the accommodation depression330, the vicinity of the actuator-side rotational connecting part150of the actuator unit100can remain connected to the vicinity of the brace-side rotational connecting part50of the knee-ankle-foot orthosis1without precisely matching the brace-side pivot axis line X and the actuator-side pivot axis line Y, and by moving the actuator unit100outward in the user width direction from the knee-ankle-foot orthosis1(by moving the actuator unit100outward in the user width direction by force exceeding the predetermined value when the retaining structure is provided), connection between the vicinity of the actuator-side rotational connecting part150and the vicinity of the brace-side rotational connecting part50can be cancelled.

FIG.10is a perspective view of the vicinity of the upper connecting part250as viewed from the inner side in the user width direction.

InFIG.10, illustration of the thigh attachment10is omitted for easier understanding.

As shown inFIG.10, the upper connecting body250includes an upper rotational shaft251provided on the upper frame120so as to extend inward in the user width direction (in the state of penetrating the inner cover main body210in the present embodiment) and an upper fastening member260supported by the upper rotational shaft251so as to be rotatable around an axis line251a.

FIG.11is a partial cross-sectional perspective view in which a part of the upper fastening member260in the state depicted inFIG.10is cut away.

As shown inFIG.11, the upper fastening member260has a bearing part261supported by the upper rotational shaft251and a cam part263extending radially outward from the bearing part261.

The cam part263is configured such that the radial distance between the outer circumferential surface and the axis line251aof the upper rotational shaft251is increased toward a first side A1around the axis line251aof the upper rotational shaft251.

As shown inFIG.11, the upper connecting body250further includes an upper receiving member270supported (in the state of penetrating the inner cover main body210in the present embodiment) by the upper frame20in a position spaced apart in the user front-back direction from the upper rotational shaft251only a distance that enables the thigh frame20to be interposed between the upper receiving member270and the upper rotational shaft251.

In the present embodiment, the upper connecting body250includes the upper receiving shaft275provided (in the state of penetrating the inner cover main body210in the present embodiment) on the upper frame120so as to extend inward in the user width direction, and an elastic roller271supported by the upper receiving shaft275acts as the upper receiving member270.

FIG.12is a partial cross-sectional perspective view corresponding toFIG.11, and shows the state where the upper fastening member260is positioned in a predetermined released position around the upper rotational shaft251.

As shown inFIG.12, in the state where the upper fastening member260is positioned in a released position around the upper rotational shaft251, relatively moving the upper frame120and the thigh frame20toward each other with respect to the user width direction enables the thigh frame20to be positioned in the space between the upper fastening member260and the upper receiving member270, and in the state where the thigh frame20is positioned in the space, relatively moving the upper frame120and the thigh frame20away from each other with respect to the user width direction enables the thigh frame20to be retreated from the space.

Moreover, as shown inFIG.11, in the state where the thigh frame20is positioned in the space, rotating the upper fastening member260from the released position around the upper rotational shaft251to a second side A2opposite to the first side A1around the axis line causes the cam part263to hold the thigh frame20in cooperation with the upper receiving member270with respect to the user front-back direction, and thereby the state where the upper frame120is connected to the thigh frame20is attained.

As shown inFIGS.10to12, in the present embodiment, the upper fastening member260has an operation arm265extending radially outward from the bearing part261in a position circumferentially different from the cam part263.

The operation arm265is configured such that the radial length between the free end of the operation arm265and the axis line251aof the upper rotational shaft251is greater than the radial length between the radially outermost end of the cam part263and the axis line251aof the upper rotational shaft251.

This configuration, while making it easy to rotate the upper fastening member260around the upper rotational shaft251via the operation arm265, makes it possible to effectively prevent connection between the upper frame120and the thigh frame20from being cancelled by the rotation of the upper fastening member260around the upper rotational shaft251via the cam part263when the thigh frame20and the upper frame120are relatively moved unintentionally.

As shown inFIGS.10to12, in the present embodiment, the upper fastening member260has an engagement arm267extending radially outward from the bearing part261on the inner side in the user width direction than the cam part263.

InFIGS.11and12, the engagement arm267is indicated by an imaginary line (dashed double-dotted line).

The engagement arm267is provided on the upper fastening member260so as to be positioned on the inner side in the user width direction than the thigh frame20positioned in the space between the upper fastening member260and the upper receiving member270.

The engagement arm267is provided with an engagement groove267afor engagement with a portion of the upper receiving shaft275, which extends more inward in the user width direction than the upper receiving member270, when the upper fastening member260is rotated around the upper rotational shaft251from the released position toward the second side A2around the axis line to hold the thigh frame20with respect to the user front-back direction in cooperation with the upper receiving member270, and by the inward extending portion of the upper receiving shaft275inserted in the engagement groove267a, the unintentional relative movement of the upper frame120and the thigh frame20in the user width direction is prevented.

Reference number280inFIGS.11and12denotes a spacer for filling the gap between the thigh frame20and the upper frame120(the inner case main body210in the present embodiment) with respect to the user width direction when the thigh frame20is positioned in the space between the upper fastening member260and the upper receiving member270and the upper fastening member260is positioned in a held position. The spacer is preferably a rubber body.

Next, the lower connecting body350will be now described.

FIG.13shows a perspective view of the vicinity of the lower connecting body350as viewed from the inner side in the user width direction.

InFIG.13, illustration of the lower leg attachment30is omitted for easier understanding.

As shown inFIG.13, the lower connecting body350includes a lower rotational shaft351provided on the lower frame140so as to extend inward in the user width direction and a lower fastening member360supported by the lower rotational shaft351so as to be rotatable around an axis line351a.

FIG.14is a partial cross-sectional perspective view in which a part of the lower fastening member360in the state depicted inFIG.13is cut away.

As shown inFIG.14, the lower fastening member360has a bearing part361supported by the lower rotational shaft351and a cam part363extending radially outward from the bearing part361.

The cam part363is configured such that the radial distance between the outer circumferential surface and the axis line351aof the lower rotational shaft351is increased toward a first side B1around the axis line351aof the lower rotational shaft351.

As shown inFIG.14, the lower connecting body350further includes a lower receiving member370supported by the lower frame140in a position spaced apart in the user front-back direction from the lower rotational shaft351only a distance that enables the lower leg frame40to be interposed between the lower fastening member360and the lower rotational shaft351.

In the present embodiment, the lower connecting body350includes a lower receiving shaft375provided on the lower frame140so as to extend inward in the user width direction, and an elastic roller371supported by the lower receiving shaft375acts as the lower receiving member370.

FIG.15is a partial cross-sectional perspective view corresponding toFIG.14, and shows the state where the lower fastening member360is positioned in a predetermined released position around the lower rotational shaft351.

As shown inFIG.15, in the state where the lower fastening member360is positioned in a released position around the lower rotational shaft351, relatively moving the lower frame140and the lower leg frame40toward each other with respect to the user width direction enables the lower leg frame40to be positioned in the space between the lower fastening member360and the lower receiving member370, and in the state where the lower leg frame40is positioned in the space, relatively moving the lower frame140and the lower leg frame40away from each other with respect to the user width direction enables the lower leg frame40to be retreated from the space.

Moreover, as shown inFIG.14, in the state where the lower leg frame40is positioned in the space, axially rotating the lower fastening member360from the released position around the lower rotational shaft351to a second side B2opposite to the first side B1causes the cam part363to hold the lower leg frame40in cooperation with the lower receiving member370with respect to the user front-back direction, and thereby the state where the lower frame140is connected to the lower leg frame40is attained.

As shown inFIGS.13to15, in the present embodiment, the lower fastening member360has an operation arm365extending radially outward from the bearing part361in a position circumferentially different from the cam part363.

The operation arm365is configured such that the radial length between the free end of the operation arm365and the axis line351aof the lower rotational shaft351is greater than the radial length between the radially outermost end of the cam part363and the axis line351aof the lower rotational shaft351.

This configuration, while making it easy to rotate the lower fastening member360around the lower rotational shaft351via the operation arm365, makes it possible to effectively prevent connection between the lower frame140and the lower leg frame40from being cancelled by the rotation of the lower fastening member360around the lower rotational shaft351via the cam part363when the lower leg frame40and the lower frame140are relatively moved unintentionally.

As shown inFIGS.13to15, in the present embodiment, the lower fastening member360has an engagement arm367extending radially outward from the bearing part361in a position more inside in the user width direction than the cam part363.

InFIG.14andFIG.15, the engagement arm367is indicated by an imaginary line (dashed double-dotted line).

The engagement arm367is provided on the lower fastening member360so as to be positioned on the inner side in the user width direction than the lower leg frame40positioned in the space between the lower fastening member360and the lower receiving member370.

The engagement arm367is provided with an engagement groove367afor engagement with a portion of the lower receiving shaft375, which extends more inward in the user width direction than the lower receiving member370, when the lower fastening member360is rotated around the lower rotational shaft351from the released position toward the second side B2around the axis line to hold the lower leg frame40with respect to the user front-back direction in cooperation with the lower receiving member370, and by the inward extending portion of the lower receiving shaft375inserted in the engagement groove367a, the unintentional relative movement of the lower frame140and the lower leg frame40in the user width direction is prevented.

The lower connecting body350is also provided with a spacer380(seeFIG.3) for filling the gap between the lower leg frame40and the lower frame140with respect to the user width direction when the lower fastening member360is positioned in a held position, with the lower leg frame40being positioned in the space between the lower fastening member360and the lower receiving member370.

Moreover, with the actuator unit100in the present embodiment being attached to the knee-ankle-foot orthosis1, the position in the user width direction of the lower connecting body350is adjustable, and, accordingly, the actuator unit100can be effectively attached to knee-ankle-foot orthoses having various shapes and sizes.

That is, as shown in, for example,FIGS.8,9, and13to15, the lower frame140includes a first lower frame141connected to the upper frame120via the actuator-side rotational connecting part150so as to be rotatable around the actuator-side pivot axis line Y, and a second lower frame142directly or indirectly supporting the lower rotational shaft351and the lower receiving member370, and the second lower frame142is connected to the first lower frame141so as to be rotatable around a swing shaft145in the user front-back direction.

This configuration makes it possible to change the orientation of the attached actuator unit100, and thus the actuator unit100can be appropriately attached to variously shaped knee-ankle-foot orthoses1that are custom-made according to the user's physique.

That is, the knee-ankle-foot orthosis1is custom-made according to the user's physique, and thus the tilt angle and/or the curvature of the thigh frame20relative to the lower leg frame40with respect to the user width direction W (seeFIG.4) is different for each knee-ankle-foot orthosis1.

In this regard, adopting the configuration in which the second lower frame142directly or indirectly supporting the lower rotational shaft351and the lower receiving member370is connected so as to be rotatable around the swing shaft145in the user front-back direction to the first lower frame141connected to the upper frame120via the actuator-side rotational connecting part150so as to be rotatable around the actuator-side pivot axis line Y enables the actuator unit100to be effectively attached to various knee-ankle-foot orthoses1having different tilt angles and/or curvatures with respect to the user width direction W of the thigh frame20relative to the lower leg frame40.

Here, the control structure of the actuator unit100will now be described.

The actuator unit100recognizes a gait state during gait cycle based on a thigh phase angle, and performs operational control for the driver110such that gait assisting force suitable for the gait state is imparted.

As described above, the actuator unit100imparts gait assisting force to the lower leg.

That is, the actuator unit100is configured to detect movement of not the lower leg that is a control target site but the thigh that is a site different from the lower leg, and impart gait assisting force to the lower leg that is a control target site based on movement of the thigh.

FIG.16shows a control block diagram of the actuator unit100.

Specifically, the actuator unit100includes a thigh orientation detecting means510capable of detecting an angle-related signal relating to a hip joint angle that is a front-back swing angle of a user's thigh; a thigh phase angle calculating means550for calculating a thigh phase angle based on the angle-related signal; a gait motion timing calculating means560for converting the thigh phase angle into a gait state (a gait motion timing) during gait cycle; an assisting torque calculating means570for calculating a torque value that should be output at the gait motion timing; and a driver control means580responsible for operational control for the driver110.

As shown inFIG.1, the actuator unit includes an actuator-side control device500.

As shown inFIG.16, in the present embodiment, the actuator-side control device500acts as the thigh phase angle calculating means550, the gait motion timing calculating means560, the assisting torque calculating means570, and the driver control means580.

Specifically, as shown inFIG.16, the actuator-side control device500has an actuator-side control part501including a control processing means for executing processing based on a signal received from the thigh orientation detecting means510, a manually operated member, or the like; an actuator-side storage part502including a ROM storing a control program, control data, and the like, a non-volatile storage means storing a setting value or the like such that the setting value or the like is not lost even when a power supply is interrupted and is rewritable, a RAM temporarily storing data generated during processing by the processing part, or the like; and an actuator-side wireless communication part503for performing wireless communication such as Bluetooth® communication with the terminal device600.

The thigh orientation detecting means510detects the angle-related signal at each predetermined specific sampling timing during gait cycle.

The thigh orientation detecting means510may have various forms such as a gyro sensor, an acceleration sensor, and a rotary encoder as long as it can directly or indirectly detect the front-back swing angle of the thigh (the hip joint angle).

For example, the thigh orientation detecting means510can be configured to have only an acceleration sensor, and in this case, the thigh phase angle during walking can be calculated from the acceleration (or position) and speed of the acceleration sensor without calculating the hip joint angle.

In the present embodiment, the thigh orientation detecting means510has a triaxial angular velocity sensor (a gyro sensor)511capable of detecting the front-back swing angle velocity of the thigh, and is configured such that the thigh phase angle calculating means550calculates the hip joint angle, which is the front-back swing angle of the thigh, by integrating the angular velocity of the thigh detected by the triaxial angular velocity sensor511.

In the gait motion assisting apparatus according to the present embodiment, as shown inFIG.16, the actuator unit100includes a triaxial acceleration sensor515, and the thigh phase angle calculating means550is configured to calculate the hip joint angle (the front-back swing angle of the thigh) in which the vertical axis line that the triaxial acceleration sensor515detects when the user is in a standstill is the reference value.

Instead, the actuator unit100can be configured not to have the triaxial acceleration sensor515.

In this case, the hip joint angle (the front-back swing angle of the thigh) calculated by the thigh phase angle calculating means550is the thigh front-back swing angle in which an angle that the thigh phase angle calculating means550calculates when the main power source of the gait motion assisting apparatus1is turned on is the reference value.

Thus, in this case, the thigh phase angle calculating means550can correct the hip joint angle (the front-back swing angle of the thigh) by using a high-pass filter so that the median value of the hip joint angle is the reference value thereof.

Alternatively, instead of using a high pass filter, the thigh phase angle calculating means550can detect a deviation between the maximum value in the positive direction and the maximum value in the negative direction of a calculated hip joint angle (front-back swing angle of the thigh) and, based on the deviation, correct calculated hip joint angle so that the median value of the hip joint angle is the reference values thereof.

While it is also possible to detect the front-back swing angle of the thigh relative to the body axis line by a rotary encoder and use the detected value as a hip joint angle, in the present embodiment, the hip joint angle is calculated based on an angular velocity detected by the triaxial angular velocity sensor511, and thereby the degree of design freedom of the gait motion assisting apparatus is increased.

That is, in a case where the hip joint angle (the thigh front-back swing angle relative to the body axis line) is detected by a rotary encoder, it is necessary to detect the angle of relative movement between a torso-side detector secured to the torso and a thigh-side detector secured to the thigh so as to swing integrally with the thigh, and it is therefore necessary to attach both detectors such that the torso-side detector and the thigh-side detector do not positionally shift relative to the torso and the thigh, respectively.

On the other hand, the method of calculating a hip joint angle based on an angular velocity detected by the triaxial angular velocity sensor511does not have the above-described restrictions and can provide enhanced design freedom of the gait motion assisting apparatus.

As described above, in the actuator unit100in the gait motion assisting apparatus according to the present embodiment, the thigh orientation detecting means510has a triaxial acceleration sensor515in addition to the triaxial angular velocity sensor511.

In this case, the thigh phase angle calculating means550is configured to calculate a combined Eulerian angle by combining a high-frequency component of a first Eulerian angle calculated based on angular velocity data from the triaxial angular velocity sensor511and a low-frequency component of a second Eulerian angle calculated based on acceleration data from the triaxial acceleration sensor515, and calculate a thigh phase angle based on a hip joint angle calculated from the combined Eulerian angle and a hip joint angular velocity calculated from the hip joint angle.

Specifically, as shown inFIG.16, the thigh phase angle calculating means550receives sensor coordinate axis-based angular velocity data from the triaxial angular velocity sensor511at every sampling timing, and converts the angular velocity data into angular velocity data (Eulerian angular velocity) that indicates a correlation between a sensor coordinate axis and a global coordinate axis (a vertical direction-based spatial coordinate axis) using a predetermined conversion formula.

Then, the thigh phase angle calculating means550integrates the angular velocity data (Eulerian angular velocity) to calculate the first Eulerian angle.

Preferably, the thigh phase angle calculating means550can perform drift elimination on sensor coordinate axis-based angular velocity data received from the triaxial angular velocity sensor511at every predetermined sampling timing using angular velocity data received from the triaxial angular velocity sensor511when the user is in standstill (or when the user is not in motion).

Moreover, the thigh phase angle calculating means550receives sensor axis-based acceleration data from the triaxial acceleration sensor515at every sampling timing via a low-pass filter520, and calculates the second Eulerian angle indicating a correlation between a sensor coordinate axis and a global coordinate axis (a vertical direction-based spatial coordinate axis) from the acceleration data received via the low-pass filter520, based on acceleration data received when the user is in standstill (or when the user is not in motion) and gravitational acceleration.

Then, the thigh phase angle calculating means550calculates a hip joint angle θ from a unit vector indicating the orientation of the thigh and the combined Eulerian angle obtained by combining the high-frequency component of the first Eulerian angle obtained via a high-pass filter530and the low-frequency component of the second Eulerian angle obtained via the low-pass filter535.

Preferably, the thigh phase angle calculating means550can perform drift elimination by detecting heel contact based on acceleration data from the acceleration sensor515and, when heel contact is detected, adding a corrected Eulerian angle calculated from angular velocity data from the triaxial angular velocity sensor511to the combined Eulerian angle.

A thigh phase angle φ is calculated by the following algorithm.

The thigh phase angle calculating means550, at every sampling timing, calculates a hip joint angle θ and, also, differentiates it to calculate a hip joint angular velocity ω.

For example, the thigh phase angle calculating means550calculates a hip joint angle θk at the kthsampling timing Sk (k is an integer of 1 or greater) from a gait cycle reference timing, and then differentiates it to calculate a hip joint angular velocity ωk at the sampling timing Sk.

Then, the thigh phase angle calculating means550calculates a thigh phase angle φk (=−Arctan(ωk/θk) at the sampling timing Sk based on the hip joint angle θk and the hip joint angular velocity ωk at the sampling timing Sk.

In the actuator unit100, the thigh phase angle calculating means550is configured to plot, when a hip joint angle θ and a hip joint angular velocity ω are calculated based on an angle-related signal, a thigh motion state defined by the hip joint angle θ and the hip joint angular velocity ω on a phase angle plane to create a trajectory diagram.

FIG.17shows a trajectory diagram obtained by plotting thigh motion states (gait states) defined by the hip joint angle θ and the hip joint angular velocity ω over a gait cycle.

As shown inFIG.17, the thigh phase angle φ determined by the hip joint angle θ and the hip joint angular velocity ω varies between 0 and 2n in a gait cycle.

Specifically, the hip joint angle in a state where the thigh is positioned in front of and behind the vertical axis line is referred to as “positive” and “negative”, respectively, and the hip joint angular velocity in a state where the thigh is swung forward and backward is referred to as “positive” and “negative”, respectively.

Under this condition, if the phase angle in a state where the hip joint angle is largest in the “positive” direction and the hip joint angular velocity is “zero” (point P0inFIG.17) is regarded as 0, a gait area A1inFIG.17(a gait area from a state where the hip joint angle θ is largest in the “positive” direction and the hip joint angular velocity ω is “zero” to a state where the hip joint angle θ is “zero” and the hip joint angular velocity ω is largest in the “negative” direction) corresponds to the phase angle of 0 to π/2.

Also, a gait area A2inFIG.17(a gait area from a state where the hip joint angle θ is “zero” and the hip joint angular velocity is largest in the “negative” direction to a state where the hip joint angle is largest in the “negative” direction and the hip joint angular velocity is “zero”) corresponds to the phase angle of π/2 to π.

Moreover, a gait area A3inFIG.17(a gait area from a state where the hip joint angle θ is largest in the “negative” direction and the hip joint angular velocity ω is “zero” to a state where the hip joint angle θ is “zero” and the hip joint angular velocity ω is largest in the “positive” direction) corresponds to the phase angle of n to 3π/2.

Also, a gait area A4inFIG.17(a gait area from a state where the hip joint angle θ is “zero” and the hip joint angular velocity is largest in the “positive” direction to a state where the hip joint angle is largest in the “positive” direction and the hip joint angular velocity is “zero”) corresponds to the phase angle of 3π/2 to 2π.

The sampling timing of the thigh orientation detecting means510is determined such that a plurality of sampling timings are included in a gait cycle, and the thigh phase angle calculating means550calculates the thigh phase angle φ at each sampling timing.

In the present embodiment, the thigh phase angle calculating means550determines whether the vector length of a plot point Pk (the distance between the origin of the trajectory diagram (i.e., the point where the hip joint angle θ and the hip joint angular velocity ω are zero) and the plot point Pk) defined by the hip joint angle θk and the hip joint angular velocity ωk on the trajectory diagram exceeds a predetermined threshold value and, when the vector length exceeds the predetermined threshold value, calculates a thigh phase angle φk that is based on the hip joint angle θk and the hip joint angular velocity ωk, and sends the thigh phase angle φk to the gait motion timing calculating means560.

On the other hand, when the vector length is less than or equal to the predetermined threshold value, the thigh phase angle calculating means550outputs an actuator operation inhibitory signal.

This configuration enables the actuator unit100to be effectively prevented from being operated when gait motion is not started.

That is, a user wearing the actuator unit100may unintentionally change posture over a small range before starting gait motion. In particular, in the case of a user with hemiplegia or the like, such a situation likely arises.

When the thigh phase angle calculating means550has the above configuration, such a minor posture change is detected as a vector having a short vector length.

Accordingly, by determining that gait motion is being performed only when the vector length of the vector Vk (seeFIG.17) defined by the hip joint angle θk and the hip joint angular velocity ωk exceeds a predetermined threshold value, the actuator unit100can be effectively prevented from being unintentionally operated when gait motion is not started.

The gait motion timing calculating means560has a phase pattern function that defines a relationship between a thigh phase angle φ and a gait motion timing during gait cycle, and applies the thigh phase angle φ at a sampling timing sent from the thigh phase angle calculating means550to the phase pattern function to calculate which gait motion timing during gait cycle said the sampling timing corresponds to (which timing the sampling timing of the thigh phase angle φ corresponds to, when a gait cycle is 100%).

Moreover, the gait motion timing calculating means560, every time a gait cycle is completed, calculates the latest phase pattern function by performing the least-squares method on effective phase angle data including past phase angle data stored at that time and the latest phase angle data in which the thigh phase angle φ in the completed gait cycle and the gait motion timing corresponding to the thigh phase angle φ are associated with each other, and overwrite-saves the calculated latest phase pattern function.

Specifically, as shown inFIG.18, an initial phase pattern function φ(x)(C0) is stored as the phase pattern function in the gait motion timing calculating means560in an initial state.

This initial phase pattern function φ(x)(C0) is created for each user and stored in the gait motion timing calculating means560in advance.

For example, during a first gait cycle C1, the thigh phase angle calculating means550calculates φk as a thigh phase angle at a sampling timing Sk and sends it to the gait motion timing calculating means560.

At this time, the first gait cycle C1is not yet completed, and thus the gait motion timing calculating means560has the initial phase pattern function φ(x)(C0) as the phase pattern function.

Accordingly, the gait motion timing calculating means560, as shown inFIG.18, applies the thigh phase angle φk sent from the thigh phase angle calculating means550to the initial phase pattern function φ(x)(C0) to calculate a saved cycle gait motion timing tk corresponding to the sampling timing Sk, and sends it to the assisting torque calculating means570.

The gait motion timing calculating means560repeats this processing until the first gait cycle C1is completed.

Completion of a gait cycle can be determined, for example, based on whether the thigh phase angle φ defined by the hip joint angle θ and the hip joint angular velocity ω has returned to a preset gait cycle reference angle.

The gait motion timing calculating means560, when the first gait cycle C1is completed, adds the latest phase angle data in which a thigh phase angle received from the thigh phase angle calculating means550during the completed first gait cycle C1and a gait motion timing corresponding to the thigh phase angle are associated with each other to past phase angle data stored at that time (in this example, phase angle data created by the initial phase pattern function φ(x)(C0)), creates effective phase angle data that is effective at that time, calculates the latest phase angle pattern function (in this example, a phase pattern function upon first gait cycle completion φ(x)(C1)) by performing the least-squares method on the effective phase angle data, and overwrite-saves the latest phase angle pattern function.

Specifically, when the first gait cycle C1is completed, the gait motion timing calculating means560performs the least-squares method on the effective phase angle data that is effective at that time to calculate the coefficient parameter of:
φ(x)(C1)=a0(1)+a1(1)x+a2(1)x2+ . . . +am(1)xm
and save φ(x)(C1) as a phase pattern function of the thigh phase angle. In the above formula, m is a positive integer.

Then, in the second gait cycle C2, the gait motion timing calculating means560uses the phase pattern function upon first gait cycle completion φ(x)(C1) stored at that time to calculate a saved cycle gait motion timing tk.

When the second gait cycle C2is completed, the gait motion timing calculating means560performs the least-squares method on the effective phase angle data that is effective at that time to calculate the coefficient parameter of:
φ(x)(C2)=a0(2)x+a1(2)x+a2(2)x2+ . . . +am(2)xm
and overwrite-save φ(x)(C2) as a phase pattern function of the thigh phase angle.

Then, in the third gait cycle C3, the gait motion timing calculating means560uses the phase pattern function upon second gait cycle completion φ(x)(C2) stored at that time to calculate a saved cycle gait motion timing.

The gait motion timing calculating means560repeats this processing.

The effective phase angle data may include the phase angle data of all gait cycles that have been completed by that time and, alternatively, depending on the storage capacity of the gait motion timing calculating means560, may be limited to only the phase angle data of the latest gait cycles (such as 100 gait cycles).

In the present embodiment, having the following configuration, the gait motion timing calculating means560prevents abnormal phase angle data from being included in the effective phase angle data at the time of calculating a phase angle pattern function.

That is, the gait motion timing calculating means560calculates a difference ΔT between a current cycle gait motion timing Tk calculated based on a thigh phase angle φk at a sampling timing Sk received from the thigh phase angle calculating means550and a saved cycle gait motion timing tk calculated by applying the thigh phase angle φk to the phase pattern function φ(x) stored at that time.

Here, the current cycle gait motion timing Tk is calculated by:
Tk=(φk/2π)×100(%)

When the absolute value of the difference ΔT is less than or equal to a predetermined threshold value, the gait motion timing calculating means560stores the current cycle gait motion timing Tk as effective phase angle data to be used when calculating a new phase pattern function φ(x) upon completion of a gait cycle.

That is, when the absolute value of the difference ΔT is less than or equal to a predetermined threshold value, the gait motion timing calculating means560when calculating the latest phase pattern function upon completion of a gait cycle stores the current cycle gait motion timing Tk as a gait motion timing to be associated with a thigh phase angle φ received from the thigh phase angle calculating means550in the gait cycle.

On the other hand, when the absolute value of the difference ΔT exceeds a predetermined threshold value, the gait motion timing calculating means560stores the saved cycle gait motion timing tk as effective phase angle data to be used when calculating the latest phase pattern function upon completion of a gait cycle.

That is, when the absolute value of the difference ΔT exceeds a predetermined threshold value, the gait motion timing calculating means560when calculating the latest phase pattern function upon completion of a gait cycle stores the saved cycle gait motion timing tk as a gait motion timing to be associated with a thigh phase angle φ received from the thigh phase angle calculating means550in the gait cycle.

This configuration enables a current cycle gait motion timing Tk that has become an abnormal value for some reason to be effectively prevented from being included in the target data (effective phase angle data) at the time of calculating a phase pattern function.

The assisting torque calculating means570applies a gait motion timing tk sent from the gait motion timing calculating means560to output pattern saved data that is saved in the actuator-side control device500and that defines a relationship between a gait motion timing during gait cycle and a torque value to be output, to calculate a torque value that should be output at the sampling timing Sk.

The actuator-side control device500stores output pattern setting data sent from the terminal device600as the output pattern saved data.

This point will be described below.

The driver control means580executes operational control for the driver such that assisting force having a torque value calculated by the assisting torque calculating means570is output.

Thus, the actuator unit100is configured such that a gait state (a gait motion timing) during gait cycle is calculated based on a thigh phase angle φ, and assisting force corresponding to the gait state is output.

Accordingly, assisting force suitable for a gait state during gait cycle can be output.

Also, the actuator unit100is configured to apply the thigh phase angle φ at a sampling timing to the phase pattern function stored at that time to calculate a gait state (a gait motion timing) at the sampling timing.

Accordingly, even when irregular gait motion is performed during a gait cycle, corrected assisting force can be output.

In the actuator unit100, the thigh phase angle calculating means550, only when the vector length of a plot point on a trajectory diagram defined by the hip joint angle θ and the hip joint angular velocity ω exceeds a predetermined threshold value, calculates a thigh phase angle φ that is based on the hip joint angle θ and the hip joint angular velocity ω and sends the thigh phase angle φ to the gait motion timing calculating means and, on the other hand, when the vector length is less than or equal to the predetermined threshold, outputs an actuator operation inhibitory signal.

Accordingly, in the case where a user wearing the actuator unit100unintentionally changes posture, the actuator unit100can be effectively prevented from outputting gait assisting force even when gait motion is not started.

Moreover, the actuator unit100, as described above, is configured to recognize a gait state (a gait motion timing) during gait cycle based on the thigh phase angle φ and then impart gait assisting force to the lower leg by the driver110.

Accordingly, suitable gait assisting force can be supplied also to a user with hemiplegia due to a stroke or the like.

That is, conventional gait assisting devices configured to impart gait assisting force by a driver such as an electric motor are configured to detect movement of a control target site itself to which assisting force is to be imparted by the driver, and perform operational control for the driver based on the detection result.

For example, in conventional gait assisting devices that supply gait assisting force to the thigh, operational control for a driver that imparts gait assisting force to the thigh is performed based on the result of detecting thigh movement.

Also, in conventional gait assisting devices that supply gait assisting force to the lower leg, operational control for a driver that imparts gait assisting force to the lower leg is performed based on the result of detecting lower leg movement.

However, in the case of a patient with hemiplegia due to a stroke or the like, gait motion of the lower leg (forward and backward swing motion around the knee joint) often cannot be performed normally, while gait motion of the thigh (forward and backward swing motion around the hip joint) can be performed relatively normally.

When attempting to impart gait assisting force to the lower leg of such a patient, in the above conventional gait assisting devices, operational control for a driver that provides gait assisting force to the lower leg is performed based on the movement of the lower leg that is incapable of normal gait motion and, possibly, suitable gait assisting force cannot be provided.

On the other hand, the actuator unit100of the gait motion assisting apparatus according to the present embodiment is configured to perform operational control for the driver110that imparts gait assisting force to the lower leg based on the thigh phase angle φ as described above.

Accordingly, even in the case of a user with hemiplegia due to a stroke or the like, suitable gait assisting force can be supplied to the lower leg.

Next, the terminal device600will now be described.

The terminal device600has a display part, an input part, a terminal-side control part, a terminal-side storage part, and a terminal-side wireless communication part for performing wireless communication with the actuator-side control device.

For example, the terminal device600may take various forms such as a personal computer including a keyboard and/or a mouse acting as the input part and a liquid crystal display acting as the display part, a personal computer including the display part having a touch panel function in place of, or in addition to, the keyboard and/or the mouse, moreover a tablet terminal having a touch panel acting as the display part and the input part, and a smart phone.

In the present embodiment, the terminal device600is a tablet terminal in consideration of operational convenience.

That is, as shown inFIG.1, the terminal device600has a touch panel610acting as the display part and the input part, a terminal-side control part601, a terminal-side storage part602, and a terminal-side wireless communication part603for performing wireless communication such as Bluetooth® communication with the actuator-side wireless communication part503.

FIG.19shows a front view of the touch panel610.

The touch panel610includes a display part such as LCD or organic EL, and an input part superimposed on the display part and capable of detecting touch operation of an operator by a coordinate detection mechanism.

Various methods may be employed in the coordinate detection mechanism, such as a resistance film method in which a voltage produced when two pieces of film are brought into contact with each other by manual operation (such as touch operation, flick operation, and swipe operation) on the input part is detected, and a capacitance method in which a change in capacitance resulting from manual operation on the input part is detected.

The touch panel610is capable of receiving an assisting force setting value including an assisting force imparting period obtained by specifying a period for imparting assisting force to the lower frame140during gait cycle by using a gait motion timing during gait cycle.

Specifically, the display part is configured to display timing setting keys620.

Through the timing setting keys620, it is possible to input, for example, as the assisting force imparting period, a gait motion timing for starting assisting force application (an assisting force start timing) and a gait motion timing for ending assisting force application (an assisting force end timing) specified by using percentage relative to a gait cycle under a condition where a preset reference gait motion timing during gait cycle is regarded as a zero point.

In the present embodiment, as shown inFIG.19, the display part displays, as the timing setting keys620, an assisting force start timing slider key621and an assisting force end timing slider key622for inputting an assisting force start timing and an assisting force end timing, respectively.

The slider keys621,622can be slidably operated between the “0” position corresponding to the reference gait motion timing and the “100” position corresponding to the timing at which a gait cycle having, as a starting point, the reference gait motion timing ends.

The reference gait motion timing is any gait state (any gait motion timing) during gait cycle, and is stored in the actuator-side control part601in advance.

FIG.20is a schematic diagram showing gait posture during gait cycle over time.

As shown inFIG.20, a gait cycle includes a heel contact phase X1 including a heel contact time point when the heel contacts the ground in front of the vertical axis line (a period before and after the forward-raised foot contacts the floor), a stance phase X2 when the heel-contacted leg after heel contact is relatively moved backward while being in contact with the ground (a period when the floor-contacted lower leg is relatively moved backward relative to the body), an initial stage X3a of a swing phase when the lower leg of the leg contacting the ground since the end of the stance phase X2 is raised, and a later stage X3b of the swing phase when the raised lower leg is relatively moved forward and led to heel contact.

In the example shown inFIG.19, the initial stage X3a of the swing phase is the reference gait motion timing (the zero point position of timing inFIG.19) and, in this case, the heel contact phase X1 is in the vicinity of the position of timing 50%, and the stance phase X2 is at the position of timing 50% to 85%.

The reference gait motion timing can be set, for example, by measuring the lapse of a predetermined time from heel contact.

The timing of heel contact can be recognized by various methods.

For example, if the hip joint angular velocity when the thigh swings forward and backward based on the vertical axis line is referred to as positive and negative, respectively, the actuator-side control device can be configured to recognize as a heel contact timing a time point at which the calculated hip joint angular velocity advances by a predetermined phase angle Act from the timing (P0inFIG.17) at which the calculated hip joint angular velocity reaches zero from a positive value.

Alternatively, it is possible to provide the actuator unit100with a heel contact detecting means for detecting heel contact, and configure the thigh phase angle detecting means to recognize a timing detected by the heel contact detecting means as a heel contact time point and recognize the thigh phase angle φ at that timing as a heel contact phase angle.

When the acceleration sensor515is provided as in the actuator unit100of the gait motion assisting apparatus according to the present embodiment, the acceleration sensor515can also be used as the heel contact detecting means.

Alternatively, it is also possible to separately provide a pressure sensor capable of detecting ground contact of the heel and cause the pressure sensor to act as the heel contact detecting means.

Naturally, unlike the example shown inFIG.19, it is also possible to regard the heel contact time point as the reference gait motion timing.

As the timing setting keys620, the display part may be configured to display an assisting force start timing advancing-delaying key625and an assisting force end timing increase-decrease key626for respectively inputting an assisting force start timing and an assisting force end timing in place of, or in addition to, the assisting force start timing slider key621and the assisting force end timing slider key622.

As shown inFIG.19, in the present embodiment, the display part is configured to display, as the timing setting keys620, the assisting force start timing slider key621and the assisting force end timing slider key622as well as the assisting force start timing advancing-delaying key625and the assisting force end timing increase-decrease key626, and the assisting force start timing slider key621and the assisting force start timing advancing-delaying key625are linked to each other, and the assisting force end timing slider key622and the assisting force end timing increase-decrease key626are linked to each other.

The terminal-side control part601is configured to create, based on an assisting force setting value that is input into the touch panel610, output pattern setting data indicating a relationship between a gait motion timing during gait cycle and the size of assisting force to be imparted to the lower frame140and save it in the tablet-side storage part602. Then, when manual send operation is performed on the touch panel610, the terminal-side control part601sends the output pattern setting data to the actuator-side control device500via the actuator-side wireless communication part603.

In the present embodiment, as shown inFIG.19, the display part is configured to display an application key630, and when the application key630is operated, the terminal-side control part601sends to the actuator-side control device500the output pattern setting data that is based on an assisting force setting value input at that time.

Then, the actuator-side control device500is configured to overwrite-save, when receiving the output pattern setting data from the terminal device600(a tablet in the present embodiment), the output pattern setting data as the output pattern saved data.

This configuration enables the imparting timing of gait assisting force to be easily changed for each user and/or according to the extent of recovery of the user.

While the size (the output value and the output direction) of assisting force imparted during the assisting force imparting period can also be stored in the terminal-side control part601in advance, in the present embodiment, the size of assisting force can also be set by the terminal device600(a tablet in the present embodiment).

That is, in the present embodiment, the touch panel610is capable of receiving, in addition to the assisting force imparting period, the size (the output value and the output direction) of assisting force to be imparted during the assisting force imparting period as the assisting force setting value.

This configuration enables the output state of the driver110to be easily adjusted such that the driver110outputs gait assisting force having a necessary direction and a necessary output value for each user and/or according to the extent of recovery of the user.

Specifically, gait assisting force includes force for pushing the lower leg in the extending direction relative to the thigh and force for pushing the lower leg in the bending direction relative to the thigh, and the direction of necessary gait assisting force varies according to a motion timing during gait cycle.

For example, in the heel contact phase X1 and the stance phase X2, extending-direction gait assisting force for rotating the lower leg in the knee extending direction around the knee joint to prevent knee bending is necessary.

In the initial stage X3a of the swing phase, bending-direction gait assisting force for assisting the raising of the leg by rotating the lower leg around the knee joint in the knee bending direction is necessary.

In the later stage X3b of the swing phase, gait assisting force for rotating the lower leg around the knee joint in the knee extending direction is necessary.

In addition, whether gait assisting force is necessary in any or all of the four stages and/or what size of gait assisting force is necessary in a stage where gait assisting force is necessary varies for each user and/or according to the extent of recovery of the user.

In this regard, as in the present embodiment, a configuration, in which the size of assisting force can be input as the assisting force setting value via the touch panel610in addition to the assisting force imparting period, is effective.

In the present embodiment, the size of assisting force that can be input as the assisting force setting value include percentage relative to the predetermined reference output of the driver110and the output direction of the driver110indicating the rotational direction of the lower frame140around the actuator-side pivot axis line Y.

Specifically, the display part is configured to display an output setting key640for setting the output value and the output direction of gait assisting force.

In the present embodiment, as shown inFIG.19, the display part is configured to display an output slider key641as the output setting key640.

The output slider key641can be slidably operated between the “+100” position and the “−100” position, with the “0” position corresponding to the zero output of the driver110being in-between.

Here, + (plus) means that the output direction of the driver110is a direction in which the lower frame140is rotated toward one side around the actuator-side pivot axis line Y (e.g., a direction in which the lower leg is extended relative to the thigh), and − (minus) means that the output direction of the driver110is a direction in which the lower frame140is rotated toward the other side around the actuator-side pivot axis line Y (e.g., a direction in which the lower leg is bent relative to the thigh).

The display part may be configured to display, as the output setting key640, an output increase-decrease key645for inputting the size of assisting force in place of, or in addition to, the output slider key641.

As shown inFIG.19, in the present embodiment, the display part is configured to display, as the output setting key640, the output slider key641and the output increase-decrease key645, and the output slider key641and the output increase-decrease key645are linked to each other.

Moreover, in the present embodiment, a plurality of waveform patterns of assisting force to be output by the driver110are saved in the terminal-side control part601, and the touch panel610can be operated to select any waveform pattern from the plurality of waveform patterns.

Specifically, the display part is configured to display waveform pattern selecting keys650for selecting any waveform pattern from the plurality of waveform patterns. The terminal-side control part601creates output pattern setting data in which a period selected through a timing setting key620is used as a gait assisting force imparting period, an output value specified through the output setting key640is used as the size of gait assisting force, and a waveform pattern selected through a waveform pattern selecting key650is used as the output waveform of gait assisting force.

This configuration enables a user to be provided with more suitable gait assisting force.

In the embodiment shown inFIG.19, four waveform patterns P1to P4can be selected, and the display part displays, as the waveform pattern selecting keys650, first to fourth waveform pattern selecting keys651to654for selecting the waveform patterns P1to P4, respectively.

The pattern P1is an output pattern for gradually increasing the size of gait assisting force from the assisting force start timing to the assisting force end timing such that when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force start timing (87% in the example ofFIG.19), the output of gait assisting force is started, and when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force end timing (20% in the example ofFIG.19), the size of gait assisting force is at a set value (−100% in the example ofFIG.19).

The pattern P2is an output pattern for gradually decreasing the size of gait assisting force from the assisting force start timing to the assisting force end timing such that when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force start timing (87% in the example ofFIG.19), the output of gait assisting force having a size corresponding to the set value (−100% in the example ofFIG.19) is started, and when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force end timing (20% in the example ofFIG.19), gait assisting force is zero.

The pattern P3is an output pattern in which when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force start timing (87% in the example ofFIG.19), the output of gait assisting force having a size corresponding to the set value (−100% in the example ofFIG.19) is started, and this output is maintained until the assisting force end timing, and when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force end timing (20% in the example ofFIG.19), gait assisting force is terminated.

The pattern P4is an output pattern in which when the gait motion timing calculated based on the thigh phase angle φ reaches the assisting force start timing (87% in the example ofFIG.19), the output of gait assisting force is started and increased to a set value (−100% in the example ofFIG.19) at a preset inclination, and when the gait motion timing calculated based on the thigh phase angle φ reaches a predetermined timing that is before the assisting force end timing (20% in the example ofFIG.19), the output of gait assisting force is started to be decreased, and gait assisting force is zero when the gait motion timing reaches the assisting force end timing (20% in the example ofFIG.19), wherein the inclination of gait assisting force is set such that gait assisting force during a period of 20% to 80% between the assisting force start timing and the assisting force end timing is at a set value (−100% in the example ofFIG.19).

Moreover, in the present embodiment, the terminal-side control part601is configured to divide-manage a gait cycle into a preset number n (n is an integer of 2 or greater) of output setting periods, and the touch panel610is capable of receiving an assisting force setting value for each of the n output setting periods.

Specifically, the display part is configured to display an output setting period selecting key660for selecting, from the first to nthoutput setting periods, one output setting period for which an assisting force setting value is input.

In the embodiment shown inFIG.19, four output setting periods A1to A4are provided as the first to nthoutput setting periods, and the display part displays first to fourth period selecting keys661to664as the output setting period selecting key660.

When any one output setting period of the first to nthoutput setting periods is selected by manual operation on the output setting period selecting key, the terminal-side control part recognizes that the selected one output setting period is in an editable state, and stores the values set through the timing setting key, the output setting key, and the waveform pattern selecting key at that time as output pattern setting data of said one output setting period recognized as being in an editable state.

This configuration enables n output patterns of gait assisting force to be set during gait cycle and a user to be provided with more suitable gait assistance.

In the present embodiment, the touch panel610is configured such that only the assisting force setting value of one or a plurality of (two or more and n or less) output setting periods selected from the n output setting periods can be reflected in the output pattern setting data.

Specifically, through the terminal device600(a tablet in the present embodiment), whether the input assisting force setting value is reflected in the output pattern setting data for each of the n output setting periods can be selected by manual operation on data reflection keys670.

In the example shown inFIG.19, the display part is configured to display an ON key671and an OFF key672as the data reflecting keys670.

In this case, in a state where one output setting period is selected to be editable through an output setting period selecting key660, the terminal-side control part601when the ON key671is operated causes the assisting force setting value of said one output setting period to be reflected in the output pattern setting data.

On the other hand, in a state where one output setting period is selected to be editable through an output setting period selecting key660, the terminal-side control part601when the OFF key672is operated stores the assisting force setting value of said one output setting period but does not cause it to be reflected in the output pattern setting data.

In this case, when the output setting period in which the assisting force setting value is not reflected in the output pattern setting data by the operation of the OFF key672is selected through the output setting period selecting key660to be brought into an editable state again, and the ON key671is operated in this state, the terminal-side control unit601performs processing for reflecting the stored assisting force setting value of the output setting period in the output pattern setting data.

As shown inFIG.19, in the present embodiment, the display part has an input key display area611for displaying input keys including the timing setting keys620, the output setting key640and the waveform pattern selecting key650, and a data display area613provided in an area different from the input key display area611.

The display part is configured to display a graph of the output pattern setting data in the data display area613.

In the example shown inFIG.19, the displayed graph is a line graph.

This configuration enables a user to easily check the contents of the output pattern setting data at that time.

The graph depicted inFIG.19shows output pattern setting data in a state where the assisting force setting values of the A1output setting period and the A2output setting period are reflected in the output pattern setting data (i.e., an ON key671-operated state), a state where the assisting force setting values of the A3output setting period and the A4output setting period are not reflected in the output pattern setting data (i.e., an OFF key672-operated state), and a state where the assisting force setting value of the A1output setting period has an assisting force start timing of 87%, an assisting force end timing of 20%, a gait assisting force setting value of −100%, and a waveform pattern of P3, and the assisting force setting value of the A2output setting period has an assisting force start timing of 24%, an assisting force end timing of 40%, a gait assisting force setting value of +100%, and a waveform pattern of P3.

Preferably, the display part may be configured to display, among the plurality of output setting period selecting keys (four, i.e., A1to A4, in the example ofFIG.19), a period selecting key for an output setting period that is currently selected and is in an editable state (the first period selecting key661in the example ofFIG.19) in a first color; among the plurality of output setting period selecting keys, a period selecting key for an output setting period that is not currently selected but for which an assisting force setting value is already input (the second period selecting key662in the example ofFIG.19) in a second color different from the first color; and among the plurality of output setting period selecting keys, period selecting keys for output setting periods for which the assisting force setting value is not yet input (third and fourth period selecting keys663,664in the example ofFIG.19) in a third color different from the first and second colors.

This configuration enables whether an assisting force setting value is already input for each of the plurality of output setting periods to be easily checked.

As described above, while the terminal-side control part601is configured to send the output pattern setting data to the actuator-side control device500according to manual operation on the application key630, and the actuator-side control device500is configured to overwrite-save, when receiving the output pattern setting data from the terminal device600(a tablet in the present embodiment), the output pattern setting data as the output pattern saved data, in the present embodiment, they are also configured to be capable of sending data in the opposite direction (i.e., sending data from the actuator-side control device500to the terminal device600(a tablet in the present embodiment)).

That is, as shown inFIG.19, the display part is configured to display a read key635, and the terminal-side control part601is configured to read, when the read key635is operated, output pattern saved data from the actuator-side control device500via the wireless communication parts503,603and display the read output pattern setting data as a graph of output pattern setting data in the data display area613.

This configuration makes it possible to easily confirm the assisting force setting value of the output pattern saved data being used by the actuator unit100at that time through the terminal device600(a tablet in the present embodiment), and also facilitate the work of creating new output pattern setting data by editing this output pattern saved data.

Preferably, the display part is configured such that when the output pattern setting data displayed in the data display area613is the same data as the output pattern saved data saved in the actuator-side control device500, the graph is displayed in a first color, and when the output pattern setting data displayed in the data display area613is different from the output pattern saved data saved in the actuator-side control device500, the graph is displayed in a second color different from the first color.

Specifically, at a stage where output pattern saved data is read from the actuator side control device500through the read key635and displayed in the data display area613as a graph, the output pattern data displayed in the data display area613is the same as the output pattern setting data stored in the terminal device600(a tablet in the present embodiment). Accordingly, in this state (a read and non-edited state), the graph is displayed in a first color.

When an input key (any of the timing setting keys620, the output setting key640, and the waveform pattern selecting key650in the example ofFIG.19) is operated in the read and non-edited state, the contents after operation are reflected in the graph displayed in the data display area613. At this time, the contents of the output pattern setting data displayed in the data display area613are different from the contents of the output pattern saved data saved in the actuator-side control device500. Accordingly, the displayed graph is changed from the first color to the second color.

Then, when the application key630is operated, thus the output pattern setting data of the terminal device600(a tablet in the present embodiment) is sent to the actuator-side control device500, and the actuator-side control device500overwrite-saves the output pattern setting data as the output pattern saved data, the output pattern setting data displayed in the data display area613and the output pattern saved data saved in the actuator-side control device500have the same contents at that time. Accordingly, the displayed graph is returned from the second color to the first color.

This configuration enables the actuator unit100to be effectively prevented from being operated in an unintended assisting force set state, i.e., a state where the output pattern setting data displayed on the terminal device600(a tablet in the present embodiment) and the output pattern saved data saved in the actuator unit100are different from each other.

Reference number680shown inFIG.19indicates whether the terminal device600(a tablet in the present embodiment) and the actuator unit-side control device500are in a wirelessly communicable state, and reference number682is an operation stop key for turning the actuator unit100into an operation-off state from the terminal device600(a tablet in the present embodiment).

The terminal device600(a tablet in the present embodiment) is capable of saving an assisting force setting value after associating it with an ID and a password for each user, and is capable of causing the saved assisting force setting value to be displayed on the display part after receiving the ID and the password.

DESCRIPTION OF THE REFERENCE NUMERALS