Gait disorder support apparatus and gait disorder support method

Abstract

A gait disorder support apparatus and gait disorder support method capable of detecting an onset sign of a gait disorder associated with motor symptoms in advance and performing motion assist are proposed. The onset sign of the gait disorder associated with the motor symptoms of a wearer is detected based on the correlation between a gait cycle and a reduction ratio of the gait cycle as compared to immediately preceding gait; and when the onset sign of the gait disorder is detected, a drive unit is controlled so that the drive unit applies assist power to a knee joint of the wearer; and on the other hand, when the onset sign of the gait disorder is not detected, the drive unit is controlled so that driving torque by the drive unit does not hinder the wearer's gait motion.

Claims

1. A gait disorder support apparatus assisting one leg of a wearer comprising: a power unit configured to be mounted around a knee joint of only one of either a right leg or a left leg of the wearer, such that gait disorder support apparatus does not assist an other of the left leg or the right leg of the wearer; a lower back unit configured to be mounted at a lower back of the wearer; and a pair of shoes configured to be worn by both feet of the wearer, wherein the power unit includes an actuator and a drive unit that is configured to drive frames configured to be mounted on a thigh part and a lower leg part relatively around a rotation axis corresponding to the knee joint of the wearer, wherein each of the pair of shoes is configured to hold a wearer's foot from toes to an angle, includes a floor reaction force sensor at a shoe sole, and is capable of measuring a load by using the sensor, wherein the power unit includes: a gait cycle calculation unit calculates, as a gait cycle of a wearer, an occurrence timing regarding the leg on which the drive unit is mounted among occurrence timings of a peak value of the measured load; an onset sign detection unit detects a sign indicating a possible onset of a gait disorder associated with a motor symptom of the wearer on a basis of a correlation between the gait cycle calculated by the gait cycle calculation unit and a reduction ratio of the gait cycle as compared to a gait cycle calculated immediately before the above-mentioned calculation; and a control unit that controls the drive unit so that the drive unit applies assist power to the knee joint of the wearer when the sign indicating the possible onset of the gait disorder is detected by the onset sign detection unit, while controlling the drive unit so that driving torque by the drive unit does not interfere with a gait motion of the wearer when the sign indicating the possible onset of the gait disorder is not detected, and wherein the control unit generates the assist power in synchronization with timing when a gravity center position of the wearer is located at the wearer's leg on which the drive unit is not mounted.

2. The gait disorder support apparatus according to claim 1, wherein, when the gait cycle calculated by the gait cycle calculation unit fails to satisfy a predetermined threshold value continuously for a specified number of times or more, the onset sign detection unit is configured to detect the gait cycle as the sign indicating the possible onset of the gait disorder associated with the motor symptom of the wearer.

3. The gait disorder support apparatus according to claim 1, wherein the floor reaction force sensor is configured to measure the load imposed not only on a front foot part of right and left foot sole surfaces of the wearer, but also on a middle foot part and a rear foot part, and wherein while detecting a gravity center position during the wearer's gait motion based on a change in the load measured by the floor reaction force sensor, the control unit is configured to control the drive unit so that the drive unit applies the assist power in synchronization with timing when the gravity center position is located at the wearer's leg on which the drive unit is not mounted.

4. The gait disorder support apparatus according to claim 1, wherein, when the sign indicating the possible onset of the gait disorder is detected by the onset sign detection unit, the control unit is configured to adjust size and duration of the assist power generated by the drive unit in accordance with a gait motion condition of the wearer.

5. The gait disorder support apparatus according to claim 4, wherein the control unit is configured to execute specified smoothing processing for a specified amount of time after generation of the driving torque is started by the drive unit.

6. The gait disorder support apparatus according to claim 1, wherein during a period of time when the sign indicating the possible onset of the gait disorder is not detected by the onset sign detection unit, the control unit is configured to cause a sum of viscous friction compensating torque applied to the drive unit and of a gravity compensating torque applied to the frames to act as the driving torque by the drive unit in order to not hinder the gait motion of the wearer.

7. A gait disorder support method for controlling a gait disorder support apparatus having a drive unit configured for driving frames mounted on a thigh part and a lower leg part of only one of either a right leg or a left leg of a wearer relatively around a rotation axis corresponding to a knee joint of the wearer such that the gait disorder support apparatus does not assist an other of the left leg or the right leg of the wearer, wherein the gait disorder support method comprises: first processing for measuring a load imposed on a front foot part of each of right and left foot sole surfaces of the wearer and calculating, as a gait cycle, an occurrence timing regarding the leg on which the drive unit is mounted among occurrence timings of a peak value of the measured load; second processing for detecting a sign indicating a possible onset of a gait disorder associated with a motor symptom of the wearer on a basis of a correlation between the gait cycle and a reduction ratio of the gait cycle as compared to immediately preceding gait; and third processing for controlling the drive unit for the drive unit to apply assist power to the knee joint of the wearer when the onset sign of the gait disorder is detected, while controlling the drive unit so that driving torque by the drive unit does not interfere with a gait motion of the wearer when the sign indicating the possible onset of the gait disorder is not detected, and wherein the assist power is generated in synchronization with timing when a gravity center position of the wearer is located at the wearer's leg on which the drive unit is not mounted.

8. The gait disorder support method according to claim 7, wherein in the second processing, when the gait cycle fails to satisfy a predetermined threshold value continuously for a specified number of times or more, the gait cycle is detected as the sign indicating the possible onset of the gait disorder associated with the motor symptom of the wearer.

9. The gait disorder support method according to claim 7, wherein in the first processing, the load imposed not only on the front foot part of the right and left foot sole surfaces of the wearer, but also on a middle foot part and a rear foot part is measured, and wherein in the third processing, while a gravity center position during the wearer's gait motion is detected based on a change in the measured load, the drive unit is controlled so that the drive unit applies the assist power in synchronization with timing when the gravity center position is located at the wearer's leg on which the drive unit is not mounted.

10. The gait disorder support method according to claim 7, wherein in the third processing, when the sign indicating the possible onset of the gait disorder is detected by the second processing, size and duration of the assist power generated by the drive unit are adjusted in accordance with a gait motion condition of the wearer.

11. The gait disorder support method according to claim 10, wherein in the third processing, specified smoothing processing is executed for a specified amount of time after generation of the driving torque is started by the drive unit.

12. The gait disorder support method according to claim 7, wherein in the third processing during a period of time when the onset sign is not detected by the second processing, a sum of viscous friction compensating torque applied to the drive unit and gravity compensating torque applied to the frames are caused to act as the driving torque by the drive unit in order to not hinder the gait motion of the wearer.

Description

BRIEF DESCRIPTION OF DRAWINGS

(1) FIG. 1 is a conceptual diagram illustrating walking and a gait cycle;

(2) FIG. 2 is a conceptual diagram for explaining the gait cycle calculated when performing a gait motion;

(3) FIG. 3 is a chart representing the correlation between the gait cycle and its reduction ratio;

(4) FIG. 4 is an external view illustrating an overall configuration of a gait disorder support apparatus according to an embodiment of the present invention;

(5) FIG. 5 is a block diagram illustrating the configuration of a control system of the gait disorder support apparatus according to the embodiment of the present invention;

(6) FIG. 6 is a conceptual diagram for explaining how to find a gravity center position from load balance relating to right and left foot sole surfaces;

(7) FIG. 7 is a conceptual diagram for explaining viscous friction torque and gravity compensating torque;

(8) FIG. 8 is a flowchart illustrating a processing sequence for a motion assist control structure for a wearer;

(9) FIG. 9 is a flowchart illustrating a processing sequence for a complementary motion assist control structure for the wearer;

(10) FIG. 10 is a conceptual diagram illustrating an experiment environment in a state where the gait disorder support apparatus is mounted;

(11) FIG. 11 is a timing chart illustrating a motion assist state when the wearer is performing a gait motion;

(12) FIG. 12 is a conceptual diagram illustrating an experiment environment of another embodiment in a state where the gait disorder support apparatus is mounted;

(13) FIG. 13 is a continuity chart illustrating how the motion assist is performed during a frozen gait simulating motion;

(14) FIG. 14 is a chart illustrating the correlation between a gait cycle and its reduction ratio;

(15) FIG. 15 is a timing chart illustrating the motion assist state when the wearer is performing the gait motion;

(16) FIG. 16 is a diagram for explaining a lag in detection after calibration;

(17) FIG. 17 is a flowchart illustrating an operation processing sequence using a dedicated controller;

(18) FIG. 18 is a diagram illustrating the outline of activities of a conventional cranial nervous system; and

(19) FIG. 19 is a conceptual diagram illustrating a solution method (external cue) when conventional frozen gait happens.

DESCRIPTION OF EMBODIMENTS

(20) An embodiment of the present invention will be explained below in detail with reference to the drawings.

(1) Gait Disorder Support for Frozen Gait According to the Present Invention

(21) So-called “frozen gait” is defined as a lack or a significant reduction of forward advance of lower limbs, which may sometimes happen in a short time, regardless of the intention to walk. Examples of the relevant symptoms include the incapability to move the feet away from the ground and the occurrence of slight shaking in the lower limbs; and the frozen gait tends to easily occur in the circumstances such as when starting walking or turning in direction, in front of a movement target such as a chair or a bed, and when passing through a narrow space.

(22) Furthermore, the gait ability changes diurnally, which is the characteristic that can rarely be observed with other diseases. So, although the symptoms cannot be often seen in rehabilitation scenes, the Parkinson's disease patients sometimes complain about their difficulty, which can be hardly imagined from the rehabilitation scenes, in walking in patient rooms or in daily life.

(23) Hoehm-Yahr Classification of Disability scale is used as an index for indicating the degree of symptoms of the Parkinson's disease when designing a treatment plan. This classifies severity classification levels into five stages: a first stage is symptoms on one side and mild disorder; a second stage is mild disorder on both sides; a third stage is a moderate degree of disorder on both sides; a fourth stage is a state where it is difficult to lead a self-sustaining daily life; and a fifth stage is a state of being on a wheelchair or bedridden.

(24) Since the present invention is aimed at the gait support for the frozen gait, a patient who suffers from the frozen gait and disorder of the severity classification levels from the first stage to the fourth stage with the ability to walk by themselves is assumed to be a wearer.

(25) According to the present invention, a motion assist apparatus is mounted on at least one leg of the wearer and the optimum gait support for the frozen gait can be realized in the actual environment by performing the motion assist while detecting an onset sign of the gait disorder associated with the wearer's motor symptom in advance.

(26) Walking is motions to move the body by repeating motions by two lower limbs as illustrated in FIG. 1. Since analysis of walking can be expressed comprehensively based on the cyclic nature, a gait cycle (GC) is used in many cases. The gait cycle is mainly classified into a stance phase during which a foot part which is being observed is touching the ground, and a swing phase during which a lower limb stays in the air and advances in order to functionally divide lower limb activities.

(27) Furthermore, the stance phase and the swing phase are subdivided into a total of eight periods in terms of impact absorption, weight support, and advancing. During a stance end phase which is one of divisions of the stance phase, the body weight is imposed only on the front foot part in a single leg state during gait, so that toe floor reaction force (tFRF) is expressed as in FIG. 2.

(28) According to the present invention, the gait cycle is calculated by defining the toe floor reaction force (tFRF) at its peak as a start point of the gait cycle. Also, it is confirmed that upon the onset of the frozen gait, the foot soles cannot be completely moved away from the ground and the gait cycle reduces immediately before the onset by 35.2% of the gait cycle during normal gait.

(29) Under this circumstance, when a gait cycle reduction ratio (GCRR) as compared to the immediately preceding gait is defined as GCRR.sub.n where GC.sub.n represents the gait cycle (that is, a peak interval of tFRF) at an n-th step, GCRR.sub.n is expressed as the following Expression (1).

(30) $\begin{matrix} [Math . 1] \\ {GCRR}_{n} = {\begin{matrix} 1 & (n = 1) \\ \frac{{GC}_{n}}{{GC}_{n - 1}} & (n > 1) \end{matrix} & (1) \end{matrix}$

(31) According to this Expression (1), the present invention detects a “behavior” which is expressed immediately before the onset of the frozen gait by calculating and comparing GC.sub.n and GCRR.sub.n for each gait on a real-time basis.

(32) The disease state of the parkinsonism is influenced by various elements such as disease duration, external factors such as air temperature and humidity, side effects of drugs being taken, and diurnal variations due to wearing-off, so that reproducibility of the frozen gait is poor and it is difficult to take initiative to set parameters for the detection.

(33) So, according to the present invention, parameters regarding detection of the onset of the frozen gait can be adjusted semi-automatically without requiring any special experience by using cluster analysis on data group on a GC-GCRR plane.

(34) Firstly, according to the present invention, the gait cycle GC and the reduction ratio GCRR during the normal gait and upon the onset of the frozen gait of a user are measured and the cluster analysis of the measured samples is performed. This cluster analysis implements classification into a cluster C.sub.Walking during the normal gait and a cluster C.sub.FOG upon the onset of the frozen gait and calculation of a centroid which is the center of gravity of each cluster. Regarding samples obtained for each gait after the cluster analysis, a norm between each sample and each centroid is calculated. It is judged that this sample belongs to the cluster regarding which the calculated norm is small.

(35) Accordingly, when regarding the GC-GCRR plane, a coordinate vector of an input sample of the n-th step is defined as x.sub.n, centroid coordinate vectors of C.sub.Walking and C.sub.FOG are defined as C.sub.Walking and C.sub.FOG respectively, norms between the respective centroids and the input samples are defined as L.sub.Walking and L.sub.FOG respectively, and a constant for adjusting detection sensitivity of the frozen gait is defined as α, L.sub.Walking, L.sub.FOG, and a frozen gait onset detection condition are expressed as the following Expressions (2) to (4), respectively.
[Math. 2]
L.sub.Walking=∥c.sub.Walking−x.sub.n∥ (2)
[Math. 3]
L.sub.FOG=∥c.sub.FOG−x.sub.n∥ (3)
[Math. 4]
αL.sub.FOG<L.sub.Walking (0<α≤1) (4)

(36) Under this circumstance, the gait state needs to be separated into two C.sub.Walking and C.sub.FOG regarding the detection of the onset of the frozen gait during gait, so that hierarchical clustering by setting the number of clusters as two is employed. The norms between each sample and the clusters are Euclidean distances and the method of elastic center is used as a combining method.

(37) During the normal gait, GC.sub.n is almost constant and GCRR.sub.n thereby becomes approximately 1; and immediately before the onset of the frozen gait, GCRR.sub.n becomes smaller along with a reduction of GC.sub.n. Therefore, the respective samples are in the positional relationship as illustrated in FIG. 3 when the vertical axis represents GCRR and the horizontal axis represents GC.

(2) Configuration of Gait Disorder Support Apparatus According to this Embodiment

(38) FIG. 4 illustrates an exoskeleton-type gait disorder support apparatus 1 for a single leg according to this embodiment. The gait disorder support apparatus 1 includes: a power unit 2 to be attached to around a knee joint of a wearer's left leg; a lower back belt 3 to be attached to the wearer's lower back; and a pair of dedicated shoes 4A, 4B to be worn by the wearer's both feet.

(39) The power unit 2 includes: a drive unit 10 including an actuator located on a lateral side of the wearer's left knee joint; a first transmission member (frame) 12 fastened to a thigh part of the wearer's left leg via a fastening member 11; and a second transmission member (frame) 14 fastened to the wearer's left shin via a fastening member 13. Therefore, the power unit 2 can relatively drive the first and the second transmission members 12, 14 around an output shaft of the actuator corresponding to the wearer's left knee joint.

(40) Furthermore, the first transmission member 12: is equipped with a control device 20 (FIG. 5) which performs integrated control of the entire apparatus; and is also equipped with a sensor group (not illustrated in the drawing) for detecting driving torque, a rotation angle, etc. of the actuator.

(41) Incidentally, each of the first and second transmission members 12, 14 has a frame body formed in a long plate shape made of, for example, metal such as stainless steel or carbon fibers and is formed to be lightweight and have high rigidity. In this embodiment, carbon fiber reinforced plastic (CFRP) and extra-super duralumin, which is an aluminum alloy, are used as strength members.

(42) Furthermore, each of the fastening members 11, 13 is formed of, for example, a cloth-made belt and is designed to be firmly retained at the wearer's left leg via an insertion part which is inserted into the relevant first or second transmission member 12, 14.

(43) A held part 15 which is secured to, and held at, a lateral-side coupling part of the dedicated shoes 4A, 4B for the left foot to be worn by the wearer is coupled to the second transmission member 14 in a freely movable manner at a lower end of the frame body. These dedicated shoes 4A, 4B have the configuration of a pair of right and left parts, are to hold the wear's feet from the tips of their toes to their ankles in a closely fitted manner, and are capable of measuring load with floor reaction force sensors (FRF sensors 50 described later) provided at their soles.

(44) Incidentally, the lower back belt 3 to be attached to the wearer's lower back is equipped with a battery unit 16 for supplying a drive power source for the entire apparatus.

(3) Internal System Configuration of Gait Disorder Support Apparatus

(45) FIG. 5 illustrates the configuration of a control system for the gait disorder support apparatus 1 according to this embodiment. The control system is mainly built in the power unit 2. The control system includes: the control device 20 which performs integrated control of the entire apparatus; a data storage unit 21 in which various kinds of data are formed into databases in a writable and readable manner in accordance with commands from the control device 20; and the drive unit 10 composed of the actuator which applies the assist force to the wearer.

(46) Furthermore, a potentiometer 30 for detecting a rotation angle of an output shaft of the actuator for the drive unit 10 is provided coaxially with the output shaft so as to detect a knee joint angle according to the wearer's motions. Furthermore, the first transmission member 12 for the power unit 2 is equipped with an absolute angle sensor 31 for measuring an absolute angle relative to a vertical direction of the thigh part.

(47) This absolute angle sensor 31 is composed of an acceleration sensor and a gyrosensor and is used for sensor fusion which is a method for extracting new information by using a plurality of pieces of sensor data. For the calculation of the absolute angle of the thigh part, a primary filter is used to eliminate influences of translational motion and temperature drift at each sensor. This primary filter is calculated by applying weighting and adding weight to a value obtained from each sensor. When the absolute angle relative to the vertical direction of the thigh part is defined as θ.sub.abs(k), angular velocity obtained by the gyrosensor is defined as ω, a sampling period is defined as dt, and acceleration obtained by the acceleration sensor is defined as α, θ.sub.abs(t) is expressed as the following Expression (5).
[Math. 5]
θ.sub.abs(k)=0.95*(θ.sub.abs(k−1)++0.05*α (5)

(48) Furthermore, a biological signal detection unit 32 composed of a biological signal detection sensor is located on a body surface of the wearer's left thigh part and is designed detect a bioelectric potential signal to move the wearer's left knee joint.

(49) The data storage unit 21 stores a command signal database 22 and a reference parameter database 23.

(50) A voluntary control unit 40 supplies a command signal according to the detection signal of the biological signal detection unit 32 to a power amplification unit 41.

(51) The voluntary control unit 40 generates a command signal by applying a specified command function f(t) or gain P to the biological signal detection unit 32. This gain P is a preset value or function and can be adjusted via a gain change unit 42 by external input.

(52) Furthermore, it is also possible to select a method for controlling the driving torque (torque size and rotation angle) of the actuator based on angle data of the knee joint which is detected by the potentiometer 30. This method is effective, for example, in the case where the degree of the gait order associated with the wearer's motor symptom is relatively light and the case where it is anticipated that the wearer's skin will become wet with sweat and there is a possibility that the input of the biological signal from the biological signal detection unit 32 could not be obtained.

(53) Data of the knee joint angle detected by the potentiometer 30, data of the absolute angle relative to the vertical direction of the thigh part which is detected by the absolute angle sensor 31, and the biological signal detected by the biological signal detection unit 32 are input to the reference parameter database 23.

(54) Furthermore, the FRF (floor reaction force) sensors 50 are provided at the soles of the one pair of dedicated shoes 4A, 4B and detect a reaction force to the load imposed on the wearer's right and left foot sole surfaces. This FRF sensor 50 can measure the load imposed on the foot sole surface by dividing the load into a front foot part (toe part) and a rear foot part (heel part) and measuring the divided loads independently.

(55) This FRF sensor 50: is composed of, for example, a piezoelectric device for outputting a voltage according to the applied load and a sensor with an electrostatic capacity which changes according to the load; and can detect changes in the load in association with movements of the body weight and whether the wearer's legs are in contact with the ground or not.

(56) Furthermore, regarding the one pair of dedicated shoes 4A, the gravity center position CoP can be found based on balance of the load relating to the right and left foot sole surfaces based on the detection results of the respective FRF sensors 50 as illustrated in FIG. 6. Accordingly, with the one pair of dedicated shoes 4A, 4B, it is possible to estimate on which side of the wearer's right and left legs the center of gravity is biased, based on the data measured by the respective FRF sensors 50.

(57) Each dedicated shoe 4A, 4B includes, other than the shoe configuration, an FRF control unit 51, which is composed of the FRF sensor 50 and an MCU (Micro Control Unit), and a transmitter 52. After the output from the FRF sensor 50 is converted into a voltage via a converter 53, a high frequency band is blocked via an LPF (Low Pass Filter) 54 and the obtained voltage is input to the FRF control unit 51.

(58) This FRF control unit 51 finds: changes in the load in association with movements of the wearer's body weight and whether the relevant foot is in contact with the ground or not, based on the detection results of the FRF sensor 50; and also finds the gravity center position according to the load balance relating to the right and left foot soles. The FRF control unit 51 wirelessly transmits the found gravity center position as FRF data via the transmitter to a receiver 60 in the power unit 2.

(59) After receiving the FRF data wirelessly transmitted from the transmitter 52 of each dedicated shoe 4A, 4B via the receiver 60, the power unit 2 stores the load and the gravity center position relating to the right and left foot soles based on the FRF data in the reference parameter database 23 of the data storage unit.

(60) The phase specifying unit 70 compares the data of the knee joint angle detected by the potentiometer 30 and the data of the load detected by the FRF sensor 50 with the knee joint angle and the load which are reference parameters stored in the reference parameter database 23. The phase specifying unit 70 specifies the wearer's motion phase based on this comparison result.

(61) Then, after obtaining control data of the phase specified by the phase specifying unit 70, the autonomous control unit 80 generates a command signal according to the control data of this phase and supplies the command signal, which is for the drive unit 10 to generates this motive power, to the power amplification unit 41.

(62) Furthermore, the gain adjusted by the aforementioned gain change unit 42 has been input to the autonomous control unit 80, which generates a command signal according to this gain and outputs the command signal to the power amplification unit 41. The power amplification unit 41 controls the torque size and rotation angle of the actuator by controlling an electric current for driving the actuator of the drive unit 10 and thereby applies the assist force by the actuator to the wearer's left knee joint.

(63) Accordingly, the gait disorder support apparatus 1 executes various processing based on the detection signal detected by the biological signal detection sensor of the biological signal detection unit 32 pasted on the wearer's left thigh part. Specifically speaking, the control signal for controlling the actuator of the drive unit 10 is amplified by the power amplification unit 41 and supplied to the actuator of the drive unit 10. Also, the torque of this actuator is transmitted as the assist force to the wearer's left knee joint via the first and second transmission members 12, 14.

(4) Drive Unit Control Method During Normal Gait

(64) Referring to FIG. 2 described earlier, the autonomous control unit 80 for the control device 20 in the gait disorder support apparatus 1 calculates an occurrence timing regarding the left leg, on which the power unit 2 is mounted, as the gait cycle among occurrence timings of peak values of the load imposed on the front foot parts of the foot sole surfaces detected by the FRF sensors 50 of the dedicated shoes 4A, 4B where the power unit 2 is mounted.

(65) Subsequently, when the gait cycle fails to satisfy a predetermined threshold value continuously for a specified number of times or more, the autonomous control unit 80 detects this as an onset sign of the gait disorder associated with the wearer's motor symptom.

(66) When the onset sign of the gait disorder is not detected as a result of this detection, it is necessary for the wearer to not be hindered by the power unit 2 from walking when swinging the wearer's legs forward during the normal gait. For this purpose, the autonomous control unit 80 controls the drive unit 10 so that the driving torque by the drive unit 10 will not hinder the wearer's gait motion.

(67) Now, a motion assist control method by which the driving torque by the drive unit 10 will not hinder the wearer's gait motion will be explained.

(68) During a period of time when the onset sign of the gait disorder is not detected, the autonomous control unit 80 causes output torque during the normal gait, which is the sum of viscous friction compensating torque applied to the drive unit 10 and gravity compensating torque applied to the first and second transmission members (frames) 12, 14, to act as the driving torque by the drive unit for not hindering the wearer's gait motion.

(69) Referring to FIG. 7, when the knee joint angle is defined as θ.sub.k, the absolute angle relative to the vertical direction of the thigh part is defined as θ.sub.abs, the lower leg weight is defined as m, the lower leg length is defined as 1, and viscosity of the power unit is defined as D.sub.act, viscous friction compensating torque τ.sub.Dcomp, gravity compensating torque τ.sub.gcomp, and output torque τ.sub.LOCO during the normal gait are expressed as the following Expressions (6) to (8), respectively.
[Math. 6]
τ.sub.Dcomp=D.sub.act{dot over (θ)}.sub.k (6)
[Math. 7]
τ.sub.gcomp=½mgl sin(θk−θ.sub.abs) (7)
[Math. 8]
τ.sub.LOCO=τ.sub.Dcomp+τ.sub.gcomp (8)

(70) Accordingly, as the autonomous control unit 80 controls the output torque τ.sub.Loco during the normal gait as the assist power of the drive unit 10, the wearer can walk without being hindered by the driving torque by the drive unit 10 during the normal gait.

(5) Drive Unit Control Method when Frozen Gait Onset Sign is Detected

(71) On the other hand, when the onset sign of the gait disorder associated with the wearer's motor symptom is detected as described earlier, the autonomous control unit 80 detects the gravity center position during the wearer's gait motion from changes in the load measured by each FRF sensor 50 of the one pair of dedicated shoes 4A, 4B in order for the power unit 2 to cause the wearer's knee joint to bend.

(72) For the purpose of securing the safety of the wearer's gait motion, the autonomous control unit 80 controls the drive unit 10 so as to cause the drive unit 10 to provide the assist power in synchronization with timing when the gravity center position is located at the wearer's leg on which the drive unit 10 is not mounted.

(73) Now, a method for controlling the assist power generated by the drive unit 10 when the frozen gait onset sign is detected will be explained. When the frozen gait onset sign is detected, the power unit 2 performs the motion assist to bend the knee joint to a target angle as the motion assist. In this embodiment, the target angle is set as 65 degrees which is a maximum bending position during gait.

(74) When the motion assist actually starts, a stretch reflex occurs due to a sudden joint assist motion, which induces actions of antagonist muscles against the driving torque as the motion support (hereinafter referred to as the “support torque”). Accordingly, in this embodiment, smoothing processing is executed upon start-up of generation of the support torque by the drive unit 10.

(75) When the target angle is defined as θ.sub.target, assist gain is defined as α, maximum duration of the motion assist is defined as t.sub.threshold, and current motion assist duration is defined as t.sub.assist, the support torque T.sub.FOG when the frozen gait onset sign is detected is expressed as the following Expression (9).

(76) $\begin{matrix} [Math . 9] \\ τ_{FOG} = {\begin{matrix} \frac{1 - \cos (4 π t_{assist})}{2} .Math. (θ_{target} - θ_{k}) β (0 \leq t_{assist} \leq 0.25) \\ (θ_{target} - θ_{k}) β (0.25 < t_{assist} < t_{threshold}) \end{matrix} & (9) \end{matrix}$

(77) FIG. 8 illustrates a processing sequence for a motion assist control structure for the wearer by the gait disorder support apparatus 1. Regarding switching of the control method between during the normal gait and upon detection of the frozen gait onset sign, the transition is made based on floor reaction force information knee joint angle information.

(78) Under this circumstance, a frozen gait flag (FOG_flag) is set to 1 when the frozen gait is detected; an assist flag (Assist_flag) is set to 1 during the motion assist; and the respective flags are set to 0 when the relevant condition is not satisfied. The autonomous control unit 80 starts both the frozen gait flag and the assist flag from 0 when activating the control system; and while the wearer continues the normal gait motion, it maintains the frozen gait flag and the assist flag as 0 (SP1).

(79) Subsequently, the autonomous control unit 80: calculates the gait cycle based on the FRF data on the side where the power unit 2 is mounted; judges whether or not the frozen gait onset sign is detected by the aforementioned frozen gait detection method (the frozen gait onset detection condition according to Expression (4)) (SP2); and determines that there is an onset sign of the gait disorder (frozen gait) associated with the motor symptom when it is detected.

(80) Then, the autonomous control unit 80 performs the motion assist by setting the frozen gait flag to 1 when detecting the frozen gait onset sign, and setting the assist flag to 1 at appropriate timing to prevent the wearer from falling down based on the floor reaction force information (SP3).

(81) When adjustment gain for judgment of a supporting leg is defined as γ, an upper limit of motion assist duration is defined as t.sub.threshold, and a target angle when bending the knee joint is defined as θ.sub.target, an assist flag changing condition, a motion assist continuation condition, and a normal gait resumption condition after the detection of the frozen gait are expressed as the following Expressions (10) to (12), respectively.
[Math. 10]
γFRF.sub.left<FRF.sub.right and 1<t (10)
[Math. 11]
θ.sub.target<θ.sub.knee and t.sub.threshold<t.sub.assist (11)
[Math. 12]
αL.sub.FOG>L.sub.Walking (12)

(82) When the knee joint of the supporting leg is bent by the motion assist, the wearer may possibly fall down due to buckling of the knee. So, when the frozen gait detection flag is 1, supporting leg judgment on the right leg where the control system is not mounted is conducted based on the FRF data from the right and left dedicated shoes 4A, 4B (SP4). When a foot pressure center position is located for one second or longer on the supporting leg side, the motion assist is performed by keeping the assist flag at 1 (SP5). Then, during the motion assist, the autonomous control unit 80 continues the motion assist by keeping the assist flag at 1 until the knee joint angle θ.sub.knee exceeds the target angle θ.sub.target and until the motion assist duration t.sub.assist exceeds the maximum duration t.sub.threshold (SP6).

(83) Furthermore, the situation is assumed where the duration of the frozen gait is extremely short and the wearer resumes walking by themselves as quickly as possible. So, when the frozen gait flag is 1 and the assist flag is 0 and the normal gait resumption condition after the detection of the frozen gait is satisfied and the wearer's gait condition is thereby judged as the normal gait by the frozen gait detection method, the frozen gait flag is set to 0 (SP7).

(84) Accordingly, as the autonomous control unit 80 controls the support torque T.sub.FOG upon detection of the frozen gait onset sign as the assist power of the drive unit 10, the wearer can perform the gait motion by repeating the motion to bend their knee joint to the target angle upon the onset sign of the gait disorder and then the motion to extend their knee joint.

(85) Furthermore, by executing the smoothing processing at the start-up of generation of the support torque of the drive unit 10, it is possible to prevent the induction of the antagonist muscles against the support torque T.sub.FOG and avoid the occurrence of physical burdens at the moment when the support torque T.sub.FOG is applied to the wearer and the joint assist motion is started.

(86) In this embodiment, the gait disorder support apparatus 1 may not only execute the processing sequence for the motion assist control structure for the wearer as described above, but also complementarily execute a motion assist control structure as illustrated in FIG. 9. Referring to FIG. 9, the autonomous control unit 80: starts the assist flag from 0 when activating the control system; and continues the assist flag as 0 while the wearer continues the normal gait motion (SP11).

(87) Subsequently, the autonomous control unit 80 calculates the gait cycle based on the FRF data on the side where the power unit 2 is mounted and judges whether or not it has detected a reduction in the gait cycle continuously for a specified number of times or more (SP12); and when the above-described reduction in the gait cycle is detected, the autonomous control unit 80 determines that there is an onset sign of the gait disorder (frozen gait) associated with the motor symptom.

(88) Then, the autonomous control unit 80 judges: the gravity center position based on the FRF data from the right and left dedicated shoes 4A, 4B (SP13); and performs the motion assist by setting the assist flag to 1 when such judgment is made (SP14).

(89) During the motion assist, the autonomous control unit 80 continues the motion assist by setting the assist flag to 1 until the knee joint angle θ.sub.knee exceeds the target angle θ.sub.target (SP15) or until the motion assist duration t.sub.assist exceeds the maximum duration t.sub.threshold (SP16).

(90) Accordingly, the autonomous control unit 80 controls the support torque T.sub.FOG upon the detection of the frozen gait onset sign as the assist power of the drive unit 10 in the same manner as described earlier by complementing the detection of the frozen gait onset sign. This control of the autonomous control unit 80 enables the wearer to perform the gait motion by repeating the motion to bend the knee joint to the target angle upon the onset sign of the gait disorder and then the motion to extend the knee joint.

(91) Furthermore, this embodiment has described the case where the power unit 2 performs the motion assist of the wearer's knee joint to the target angle (65 degrees) which is the maximum bending position during gait; however, the present invention is not limited to this example and the generation timing and duration of the assist power to be generated by the drive unit 10 may be adjusted in accordance with the wearer's gait motion condition.

(92) For example, when the degree of onset of the wearer's gait disorder is relatively light, the support torque T.sub.FOG by the drive unit 10 may be applied to the degree of slightly prompting the wearer's own gait motion. Basically, as long as the state where any frozen gait onset sign is no longer detected can be maintained while always monitoring the gait cycle and the gravity center position, the degree of application of the support torque T.sub.FOG may be freely adjusted in accordance with the wearer's gait motion condition.

(6) Experiment Results

(93) Experiments were actually conducted as illustrated in FIG. 10 in a state where the wearer wore the gait disorder support apparatus 1 according to this embodiment. There was one wearer who was a healthy male of 24 years old with the height of 165 cm and the body weight of 62 kg. This wearer performed the normal gait in a section from 0 m to 5 m and then performs a frozen gait simulating motion in a section from 5 m to 7.5 m. This sequence of motions was considered as one operation, which was carried out 10 times. When this experiment was conducted, the frozen gait simulating motion was performed by walking in small motions with short steps.

(94) FIG. 11 illustrates an example of the experiment results. It was confirmed that regarding the FRF data which represents the load on the foot soles, when the transition was made from the normal gait “Walking” to the frozen gait simulating motion “Short steps” (FIG. 11A and FIG. 11B), a reduction in the gait cycle was continuously detected ((a) in FIG. 11C and FIG. 11D); and the motion assist was performed by changing the assist flag from 0 to 1 on the basis of the gravity center position ((b) in FIG. 11E) and the knee joint was bent to the target angle of 65 degrees ((c) in FIG. 11F).

(7) Experiment Results by Other Methods

(95) Besides the above-mentioned experiment, an experiment as illustrated in FIG. 12 was conducted in a state where the wearer wore the gait disorder support apparatus 1 according to this embodiment. This wearer performed the normal gait for the section from 0 m to 5 m and then performed the frozen gait simulating motion by walking in small motions with one smaller steps.

(96) Under this circumstance, in consideration of the fact that the gait cycle upon the onset of the frozen gait reduces by 35.2% as compared to the immediately preceding normal gait, lines were drawn on the floor face so that the step lengths of the normal gait and the frozen gait simulating motion would become 0.5 m and 0.348 m, respectively; and the wearer walked by using the lines as indications. Providing these lines which serve as the indications ensures objectivity and reproducibility of the motion simulating the Parkinson's disease patient upon the onset of the frozen gait. Regarding this experiment, an operation was performed 5 times as calibration and then the operation was performed 10 times after the calibration.

(97) FIG. 13 illustrates how the motion assist is performed during the frozen gait simulating motion; and FIG. 14 illustrates the results of cluster analysis of measured data at the time the calibration. In FIG. 14, ∘ represents each data at the time of the calibration and x represents the centroid. Also, in FIG. 14, C.sub.Walking represents during the normal gait and C.sub.FOG represents during the frozen gait simulating motion.

(98) Furthermore, FIG. 15 illustrates the results of trial tests after setting a threshold by the calibration. FIG. 15A illustrates how the transition of the left-foot toe floor reaction force tFRF was made along with the passage of time. Also, FIG. 15B illustrates how the transition of the FOG_flag representing detection of the onset of the frozen gait was made along with the passage of time. Moreover, FIG. 15C illustrates how the transition of “Stance phase” for judging the stance phase on the side where the control system was not mounted was made along with the passage of time. Furthermore, FIG. 15D illustrates how the transition of the Assist_flag representing the flag to perform the motion assist was made along with the passage of time. Furthermore, FIG. 15E illustrates how the transition of the knee joint angle “Knee angle” was made along with the passage of time.

(99) The centroids of the clusters during the normal gait and during the frozen gait simulating motion are (1.12, 1.19) and (0.81, 0.72), respectively (FIG. 14); and the measured data were properly classified in all respects. Regarding the trials conducted 10 times after the calibration, it was confirmed that the motion assist was performed to bend the wearer's knee joint in all the trials. It should be noted that the motion assist is executed as the frozen gait detection flag is turned to 1 as indicated with (1) in FIG. 15B and then the motion assist flag is turned to 1 as indicated with (2) in FIG. 15D. Incidentally, the frozen gait detection flag is judged based on the result of the cluster analysis during the frozen gait simulating motion. Furthermore, the motion assist flag is judged based on the supporting leg judgment on the side where the system is not mounted.

(100) Furthermore, it was also confirmed that the motion assist was not performed during the normal gait, when active walking was stopped, and when the side where the control system was mounted was the supporting leg.

(101) FIG. 16A illustrates a response lag in the detection of the frozen gait simulating motion after the calibration and FIG. 16B illustrates a response lag in the motion assist. An error bar in each drawing represents a standard deviation. Average time of the response lag in the detection was 0.42 seconds and average time of the response lag of the motion assist was 1.67 seconds.

(8) Other Embodiments

(102) This embodiment has described the case where the gait disorder support apparatus 1 is of the single leg structure to mount the power unit 2 around the knee joint of the wearer's left leg; however, the present invention is not limited to this example and the gait disorder support apparatus 1 may be of a single leg structure for the right leg or may further be of a two-leg structure for both the left leg and the right leg basically as long as the motion assist can be performed so that the leg(s) can be moved to step forward with the motion support from outside.

(103) Furthermore, this embodiment has described the case where the frozen gait is applied as the gait disorder associated with the motor symptom; however, the present invention is not limited to this example and the motor symptom includes tremor, rigidity, akinesia, hypokinesis, muscle rigidity, postural reflex disorder, and so on, so that the present invention can be applied to wide variety of disorders, other than the frozen gait, which may influence the lower half of the body in association with various motor symptoms.

(104) Furthermore, this embodiment has described the case where the FRF sensor 50 (the foot load measurement unit) mounted on the one pair of dedicated shoes 4A, 4B is designed so that the foot sole surface is divided into the front foot part and the rear foot part and the FRF sensor 50 can measure the load on these parts independently; however, the present invention is not limited to this example and the position to locate the FRF sensor can be freely set as long as the load on the front foot parts (toe parts) of the foot sole surfaces is measured in order to detect the gait cycle and the load at each site of the foot sole in contact with the ground can be measured along with movements of the center of gravity at the rear foot part (heel part), an outer arch (from the heel part to the root of a little toe), an inner arch (from the heel part to the root of a big toe), and the big toe part in order to detect the gravity center position.

(105) Furthermore, this embodiment has described the case where the control device 20 (mainly the autonomous control unit 80) and the data storage unit 21 in the power unit 2 execute the gait cycle calculation unit which calculates the gait cycle, the onset sign detection unit which detects the onset sign of the gait disorder associated with the wearer's motor symptom, and the control unit which controls the drive unit 10 depending on whether the onset sign is detected or not; however, the present invention is not limited to this example and the gait cycle calculation unit, the onset sign detection unit, and the control unit may be executed by using a single control means.

(106) Furthermore, this embodiment has described the case where the parameters regarding the motions of the control system are input from the potentiometer 30, the absolute angle sensor 31, and the biological signal detection unit 32; however, the present invention is not limited to this example and the parameters regarding the motions of the control system may be set by using a dedicated controller (which is not illustrated in the drawings). The wearer's walking information is displayed on a display screen of this dedicated controller. This walking information includes the gait cycle, input samples during gait, Euclidean distances between the centroids of the respective clusters, and foot pressure center positions. Moreover, adjustable parameters are adjustment gain of an assist amount of the control system and detection sensitivity for the frozen gait detection method (the frozen gait onset condition according to Expression (4) mentioned earlier).

(107) FIG. 17 illustrates a flow of motions by the dedicated controller. When the control system is activated (SP20), the calibration of the FRF sensors 50 is firstly performed (SP21). Then, the centroid coordinates of the respective clusters used for the frozen gait detection method in the immediately preceding operation are presented (SP22) and whether the calibration should be executed on the centroid coordinates or not is selected (SP23).

(108) When the wearer uses this control system for the first time or the calibration is necessary due to a change in the disease state, the execution of the calibration is selected on the controller and a reduced amount of the immediately preceding gait cycle as compared to the gait cycle of the normal gait is measured (SP24). Incidentally, upon the execution of this calibration, measurement of an upright standing position, measurement of the gait cycle of the normal gait, and measurement of the gait cycle in the frozen gait motion may be performed other than the measurement of the reduced amount.

(109) Subsequently, by selecting the termination of the calibration (SP25), the cluster analysis within the control system is conducted (SP26), the respective centroid coordinates are presented in the same manner as at the time of the activation of the control system (SP22) and subsequent processing is executed. If the calibration is necessary again, the execution is selected; and if the calibration is not necessary, the coordinates calculated by the cluster analysis are set so as to enter the state of enabling the motion assist (SP27).

REFERENCE SIGNS LIST

(110) 1: gait disorder support apparatus 2: power unit 3: lower back belt 4A, 4B: dedicated shoes 10: drive unit 11, 13: fastening members 12: first transmission member 14: second transmission member 15: held part 16: battery unit 20: control device 21: data storage unit 23: reference parameter database 30: potentiometer 31: absolute angle sensor 32: biological signal detection unit 40: voluntary control unit 50: FRF sensor 51: FRF control unit 52: transmitter 60: receiver 70: phase specifying unit 80: autonomous control unit

Gait disorder support apparatus and gait disorder support method

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Abstract

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