Assist device
An assist device includes a body mounting fixture, an actuator, an operation state detector, and a controller. The controller is configured to control drive of the actuator. The controller is configured to acquire an estimated posture of the wearer, which is estimated based on operation detection information detected by the operation state detector, when the actuator generates the assist torque. The controller is configured to determine whether or not the estimated posture is an unreasonable posture in which an excessive force is applied to a lower back portion.
1. An assist device comprising:
a body mounting fixture to be mounted to at least a lower back portion of a wearer;
an actuator mounted to the body mounting fixture and a thigh portion of the wearer, the actuator being configured to generate assist torque for assisting operation of the thigh portion with respect to the lower back portion of the wearer or operation of the lower back portion with respect to the thigh portion of the wearer;
an operation state detector configured to detect an operation state of the wearer; and
a controller configured to:
control drive of the actuator,
acquire an estimated posture of the wearer estimated based on operation detection information detected by the operation state detector when the actuator generates the assist torque,
determine which of a safe posture in which an excessive force is not applied to the lower back portion, an unreasonable posture in which the excessive force is applied to the lower back portion, and an intermediate posture between the safe posture and the unreasonable posture the estimated posture is categorized as based upon posture region information, and
when it is determined that the estimated posture is not the safe posture and is not the unreasonable posture:
estimate a posture change from an initially estimated posture to the estimated posture, and
determine whether or not the posture change indicates a transition to the unreasonable posture based on the estimated posture change and the posture region information, wherein
the posture region information includes a data map,
a first axis of the data map corresponds to a pitch angle of an upper body in a forward direction with respect to a vertical direction, and
a second axis of the data map corresponds to a forward tilt angle of the lower back portion with respect to the thigh portion.
2. The assist device according to claim 1 , further comprising an informing device configured to inform the wearer, wherein the controller is configured to control the informing device so as to inform the wearer that the estimated posture is the unreasonable posture when it is determined that the estimated posture is categorized as the unreasonable posture and inform the wearer that the estimated posture indicates the transition to the unreasonable posture when it is determined that the posture change indicates the transition to the unreasonable posture.
3. The assist device according to claim 1 , further comprising an informing device configured to inform the wearer, wherein:
the controller is configured to:
determine a correction operation for correcting the estimated posture such that the wearer is allowed to take the safe posture,
control the informing device so as to inform the wearer that the wearer transitions to the unreasonable posture when it is determined that the estimated posture transitions to the unreasonable posture, and
control the informing device so as to indicate the correction operation to the wearer.
4. The assist device according to claim 1 , wherein:
the operation state detector includes a pitch angle detector and a lower back portion angle detector, the pitch angle detector being configured to detect a pitch angle of an upper body of the wearer in a forward direction with respect to a vertical direction, and the lower back portion angle detector being configured to detect a forward tilt angle of the lower back portion with respect to the thigh portion of the wearer; and
the controller is configured to estimate the estimated posture of the wearer based on the pitch angle and the forward tilt angle.
5. The assist device according to claim 1 , wherein the controller is configured to:
store a learning model that has learned the estimated posture; and
acquire the estimated posture based on the learning model when the actuator generates the assist torque.
6. The assist device according to claim 1 , wherein the controller is configured to:
store a learning model that has learned a determination as to whether or not the estimated posture is categorized as the unreasonable posture; and
determine, based on the learning model, whether or not the estimated posture is categorized as the unreasonable posture.
7. The assist device according to claim 4 , wherein the lower back portion angle detector includes a first lower back portion angle detector configured to detect a first forward tilt angle of the lower back portion with respect to a right thigh portion of the wearer and a second forward tilt angle of the lower back portion with respect to a left thigh portion of the wearer.
8. The assistance device according to claim 1 , wherein the controller is configured to set the initially estimated posture when it is determined that the estimated posture is not the safe posture.
9. The assistance device according to claim 1 , wherein the controller is configured to:
determine which of the safe posture, the unreasonable posture, the intermediate posture, and a difficult posture different from the intermediate posture the estimated posture is categorized as,
when it is determined that the estimated posture is the intermediate posture, estimate the posture change from the initially estimated posture to the estimated posture and determine whether or not the posture change indicates the transition to the unreasonable posture based the estimated posture change and the posture region information, and
when it is determined that the estimated posture is the difficult posture, estimate the posture change from the initially estimated posture to the estimated posture and determine whether or not the posture change indicates the transition to the unreasonable posture based the estimated posture change and the posture region information.
10. The assistance device according to claim 1 , wherein
the controller is configured to determine which of the safe posture, the unreasonable posture, and the intermediate posture the estimated posture is categorized as by determining where a point corresponding to the estimate posture falls within the data map, and
the point includes a pitch angle data value and a forward tilt angle data value.
11. The assistance device according to claim 10 , wherein
the first axis is a vertical axis of a coordinate plane, and
the second axis a horizontal axis of the coordinate plane.
12. The assistance device according to claim 11 , wherein
the pitch angle on the vertical axis of the coordinate plane is set to increase at an equal pitch from 0 degrees to 90 degrees, and
the forward tilt angle on the horizontal axis of the coordinate plane is set to decrease at an equal pitch from 180 degrees to 0 degrees.
13. The assistance device according to claim 10 , wherein the data map is divided into a safe posture region, an unreasonable posture region, and an intermediate posture region between the safe posture region and the unreasonable posture region.
14. The assistance device according to claim 13 , wherein the controller is configured to:
categorize the estimated posture as the safe posture when the point falls within the safe posture region,
categorize the estimated posture as the unreasonable posture when the point falls within the unreasonable posture region, and
categorize the estimated posture as the intermediate posture when the point falls within the intermediate posture region.
15. The assistance device according to claim 9 , wherein
the controller is configured to determine which of the safe posture, the unreasonable posture, the intermediate posture, and the difficult posture the estimated posture is categorized as by determining where a point corresponding to the estimate posture falls within the data map, and
the point includes a pitch angle data value and a forward tilt angle data value.
16. The assistance device according to claim 15 , wherein
the first axis is a vertical axis of a coordinate plane, and
the second axis is a horizontal axis of the coordinate plane.
17. The assistance device according to claim 16 , wherein
the pitch angle on the vertical axis of the coordinate plane is set to increase at an equal pitch from 0 degrees to 90 degrees, and
the forward tilt angle on the horizontal axis of the coordinate plane is set to decrease at an equal pitch from 180 degrees to 0 degrees.
18. The assistance device according to claim 15 , wherein the map data is divided into a safe posture region, an unreasonable posture region, an intermediate posture region between the safe posture region and the unreasonable posture region, and a difficult posture region under the safe posture region.
19. The assistance device according to claim 18 , wherein the controller is configured to:
categorize the estimated posture as the safe posture when the point falls within the safe posture region,
categorize the estimated posture as the unreasonable posture when the point falls within the unreasonable posture region,
categorize the estimated posture as the intermediate posture when the point falls within the intermediate posture region, and
categorize the estimated posture as the difficult posture when the point falls within the difficult posture region.