Assist device
An assist device includes: a first harness to be fitted to at least one of a shoulder region and a breast region of a user; a second harness configured to be fitted to one of a leg region and a waist region, of the user; a belt body provided so as to extend to the first harness and to the second harness along a back side of the user; an actuator provided in one of the first harness and the second harness; and a controller performs operation control of the actuator. The actuator winds a part of the belt body and unwinds the part of the belt body. The controller performs the operation control of the actuator based on a posture change of the user.
1. An assist device comprising:
a first harness to be fitted to at least one of a shoulder region and a breast region of a user;
a second harness configured to be fitted to one of a leg region and a waist region of the user;
a belt body provided so as to extend to the first harness and to the second harness along a back side of the user;
wherein the belt body comprises a first belt, a second belt and a joining member;
wherein the joining member is a rectangular ring;
wherein one end of the first belt is wound on a drive pulley and the other end of the first belt is fixed to a first attachment portion of the rectangular ring;
wherein a second attachment portion of the rectangular ring comprises a shaft portion and a rotary pulley and wherein the second belt is hung on the rotary pulley so as to be folded at an intermediate portion of the second belt;
an actuator provided in one of the first harness and the second harness, the actuator being configured to wind a part of the belt body and being configured to unwind the part of the belt body; and
a controller configured to perform operation control of the actuator, characterized in that the controller is configured to perform the operation control of the actuator based on a posture change of the user,
wherein the first harness includes a sensor that outputs a signal to the controller according to a posture of the user; and
the controller performs the operation control of the actuator in order to provide an assist force to the user, based on the signal of the sensor.
2. The assist device according to claim 1 , wherein the controller is configured to obtain a posture parameter indicating a posture of the user based on an amount of operation of the actuator in winding or unwinding of the belt body due to the posture change of the user and is configured to perform the operation control of the actuator based on the posture parameter in order to provide an assist force to the user.
3. The assist device according to claim 2 , wherein:
the controller includes a storage section, a posture estimation section and a determination section;
the storage section is configured to store correspondence information indicating a relationship between the amount of operation of the actuator in winding or unwinding of the belt body due to the posture change of the user, and the posture parameter;
the posture estimation section is configured to, upon the amount of operation of the actuator being obtained along with the posture change of the user, obtain the posture parameter based on the amount of operation and the correspondence information; and
the determination section is configured to obtain a physical amount for making the actuator operate, based on the obtained posture parameter.
4. The assist device according to claim 1 , wherein:
the controller is configured to:
estimate a posture parameter indicating the posture of the user;
obtain a physical amount for making the actuator operate, based on the estimated posture parameter; and
estimate the posture parameter based on the output of the sensor, using a result of one of first estimation processing and second estimation processing
wherein the first estimation processing is estimation processing performed based on an amount of operation of the actuator in winding or unwinding of the belt body due to the posture change of the user, and the second estimation processing is estimation processing performed based on the output of the sensor.
5. The assist device according to claim 4 , wherein:
the posture estimation section is configured to repeatedly perform estimation of the posture parameter; and
the posture estimation section is configured to, where an amount of change of the posture parameter exceeds a threshold value, obtain a new posture parameter based on the past estimated posture parameter and the amount of change.
6. The assist device according to claim 3 , wherein the correspondence information is information set for respective body heights for the user.
7. The assist device according to claim 3 , wherein:
the storage section is configured to store conversion information indicating a relationship between the posture parameter and the assist force to be provided to the user; and
the determination section is configured to, upon the posture parameter being obtained, determine the assist force based on the conversion information and is configured to obtain the physical amount corresponding to the assist force.
8. The assist device according to claim 7 , wherein: the actuator includes the drive pulley configured to wind the belt body and a motor configured to make the drive pulley perform an operation of winding the belt body; and the determination section is configured to correct the determined assist force using a radius of the drive pulley including the belt body wound on the drive pulley.
9. The assist device according to claim 1 , wherein the controller is configured to perform the operation control of the actuator in order to provide an assist force to the user, using an amount of operation of the actuator in winding or unwinding of the belt body due to the posture change of the user, and an output of the sensor.