JP3870857B2 - Limb body drive device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a lower limb drive device for driving a lower limb among limb body drive devices such as a rehabilitation support device and a training device used for restoring the function of the limb, and depends on a place to be treated or trained. It is related with the limb body drive device which can be used without doing.
[0002]
[Prior art]
It is an object of the present invention to provide a rehabilitation support device and a training device used for recovering the function of a limb whose muscle strength has decreased, and to provide a lower limb drive device that can move the lower limb smoothly without imposing an excessive load on the lower limb. Japanese Patent Application No. 11-347081 entitled “Lower limb drive device” has been filed. In this conventional example, the operation is controlled by a control device, and a lower limb drive comprising a thigh motion mechanism that applies force to the thigh to rotate the hip joint and a crus motion mechanism that applies force to the lower leg to rotate the knee joint The thigh motion mechanism is mounted on a base, and is connected to a first drive shaft driven by a motor built in the base, the first drive shaft and a link member, and the first An interlocking drive shaft that mechanically rotates reversely by the same angle according to the rotation of the drive shaft, a rotatable free joint connected to the interlocking drive shaft by a link member, a slide mechanism connected to the free joint, A thigh attachment portion that is fixed to the slide mechanism and fixes the thigh, wherein the lower thigh motion mechanism portion is installed on a base and is driven by a motor built in the base; 2 drive shafts and links A third drive shaft connected by a material and driven independently of the second drive shaft by a motor built in the base, and a freely rotatable free drive connected to the third drive shaft by a link member A joint, a free rotating part connected to the free joint, and a crus mounting part fixed to the free rotating part and fixing the crus are configured. With such a configuration, it is possible to absorb a positional shift generated in the wearing portion and an unreasonable load applied to the lower limbs, so that the lower limbs can be driven smoothly.
[0003]
In addition, when the patient's limb on the bed is attached to the limb body mounting part, a mark is placed on the bed to match the greater trochanter part of the patient's thigh, and the patient's body is aligned with the mark. The device has been devised so that the entire body can be moved and the patient's proper leg movement can be performed.
[0004]
[Problems to be solved by the invention]
However, in the above-described conventional example, the motion mechanism unit of the limb body driving device has a structure installed on a base that is flush with the patient's limb, and is commonly used in hospital rooms and training rooms. On the bed or training table, the patient had the problem of being unable to perform treatment or training. That is, in the conventional apparatus, the limb body driving device itself plays the role of a bed or a training table, and when a patient performs treatment or training, the patient is once transferred from the bed in the bed to the limb body driving apparatus by a nurse or a physical therapist. This has been a particularly heavy burden on patients.
In the case of critically ill patients, for example, patients who are admitted to an intensive care unit, etc., early rehabilitation is desired, but conventional limb drive devices must be transferred to patients and can be treated or trained. There wasn't. Naturally, there was a problem that there was no space to carry the device into the treatment room.
[0005]
Furthermore, when the patient's limbs are attached to the limb attachment part, the patient on the bed is in a prone position, and it is important to attach the patient without moving the patient as much as possible. Instead, it is necessary to adjust the limb body drive device to the patient as much as possible. However, in the conventional limb body drive device, the patient can only match the limb body drive device. In addition, when fitting on the bed with the greater trochanter part of the patient's thigh, there was a problem that it took time and effort to specify the site while palpating.
Recently, it has been reported that early rehabilitation immediately after the onset leads to early rehabilitation of the patient, and a device that can perform treatment or training without transferring the patient in an intensive care unit or the like is used for treatment and rehabilitation. It is much eagerly desired at the site.
[0006]
The present invention has been made to solve the above-described problems of the prior art. When a patient performs treatment or training, the apparatus can be easily moved to a place where treatment or training is desired. Can be performed in a place suitable for the patient's condition such as a bed or chair in an existing facility, can be easily worn on either the right or left limb, and treatment or training is completed Then, it aims at providing the limb body drive device which can accommodate apparatus itself compactly.
[0007]
[Means for Solving the Problems]
  In order to solve the above problems, the limb body drive device according to claim 1 includes a limb body drive unit (12) that arbitrarily drives the limb body (101) and a pedestal portion (20) that supports the limb body drive unit (12). A limb body driving device (100) comprising: a limb body mounting portion (10) to be mounted on a limb body (101) for treatment or training;The first arm (201) that rotates around one end and the second arm (202) provided at the other end of the first arm (201) are at least configured.An arm (11) that operates the limb body mounting unit (10), a limb body drive mechanism unit (60) configured at least; a limb body drive control unit (70) that controls the limb body drive mechanism unit (60); The pedestal part (20) includes a moving means (30) for moving to a desired location, a fixing means (40) for fixing after moving by the moving means, and the limb body driving part (12 Limb body drive device comprising elevating means (50) for elevating and lowering)The limb body drive control unit (70) includes a left / right selection unit (16) for selecting one of the left and right limbs of the limb (101), and according to either left or right instruction to the left / right selection unit (16). The arm (11) is reversed around the rotation center of the first arm (201), and the soft limit value for restricting the operation of the arm (11) is updated.It is characterized by this.
[0010]
  Claim1According to the described limb body drive device, the arm of the limb body drive mechanism section and the limb body mounting section can be inverted and fixed according to the limb body to be worn, so that desired treatment and training can be easily performed on both the right and left limb bodies. be able to. In addition, it is possible to treat or train knee joint flexion / extension with the limbs held in the hip extension position.
[0015]
  Claim2In the limb body drive device described above, the arm (11) includes a contact sensor (501) on an outer peripheral surface, and an output signal from the contact sensor (501).Based on this, the height of the limb body drive mechanism (60) is adjusted.It is characterized by this.
[0016]
  Claim2According to the described limb body drive device, when the height of the limb body drive mechanism section (60) is adjusted to the height of a fixed object such as a bed in an existing facility, the limb body and the limb body drive mechanism section (60). Therefore, the desired treatment and training can be easily performed.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
(Embodiment 1) A limb body driving apparatus according to a first embodiment of the present invention will be described with reference to FIG. 1A and 1B are diagrams showing a first embodiment of the present invention, in which FIG. 1A is a conceptual diagram, and FIG. 1B is a perspective view showing one embodiment. A limb body driving apparatus 100 shown in FIG. 1 includes a limb body driving unit 12 and a pedestal unit 20. The limb body driving unit 12 includes a limb body driving mechanism unit 60 configured by a limb body mounting unit 10 to be mounted on a limb body 101 for treatment or training and an arm 11 having at least two degrees of freedom for operating the limb body mounting unit 10, and the limb body. The limb body drive control unit 70 controls the drive mechanism unit 60. The limb drive control unit 70 is generated by an operation condition input unit 13 that inputs an operation condition for driving the limb, a track generation unit 14 that generates track information of the limb according to the input operation condition, and An operation control unit 15 that issues a trajectory command based on the trajectory information, and a left / right selection unit 16 that selects one of the left and right limbs of the limb 101 are provided. The pedestal portion 20 of the limb body driving device 100 includes a moving means 30 for moving the limb body driving device itself, a fixing means 40 for fixing the limb body driving device 100 itself after being moved by the moving means, Elevating means 50 for elevating and lowering the limb body drive unit 12.
[0020]
In this embodiment, a limb body 101 to be treated or trained is held and fixed by a limb body mounting portion 10 provided at the tip of the arm 11 of the limb body driving portion 12. The left or right limb body for treatment or training is selected in the left / right selection unit 16. When the operation conditions for driving the limb 101, for example, the joint movable range, joint angular velocity, drive pattern, training time, etc. of each joint are input from the operation condition input unit 13, the trajectory information of the limb 101 according to the input conditions is obtained. Based on the trajectory information generated by the trajectory generation unit 14, the trajectory command generated by the motion control unit 15 is commanded to an actuator (not shown) built in the limb body driving unit 12, so that an arm is connected via a speed reducer (not shown). By swinging 11, bending / extending movement of the limb 101 is realized. Further, the limb body driving device 100 is a driver that is operated manually by an operator giving an operating force having a direction and a size on the pedestal portion 20 or by a switch operation from the operation portion 71 provided on the pedestal portion 20. The pedestal portion 20 is moved to a desired position by automatic (including electric, hydraulic, and pneumatic) moving means 30 that gives a command (not shown), and then fixed by the fixing means 40.
[0021]
The pedestal 20 includes two legs 301 shown in FIG. The leg 301 is equipped with two wheels 310 as front and rear as the moving means 30. Further, the leg 301 can be opened at a free angle as shown in FIG. 2A for the purpose of stabilizing the limb body driving device 100 from falling down after moving to a desired position. The fixing means 40 projects the fixing bar 320 from the leg portion 301 of FIG. 2B toward the floor surface, and fixes the limb body driving device 100 at four points. Furthermore, the limb body drive unit 12 is moved up and down so as to match the limb body 101 on the bed or the training table by the manual or automatic lifting means 50 by the same operation as that of the moving means 30, and the position is fixed. The right or left selected limb 101 is mounted on the limb mounting unit 10 by the limb driving mechanism 60.
[0022]
According to this embodiment, when the patient performs treatment or training, the limb body driving device 100 itself can be moved to a desired location by the manual or automatic moving means 30 and can be easily moved by the fixing means 40 after the movement. The limb body drive unit can be moved up and down using the lifting means 50 according to the patient's limbs on the bed or training table, and when driving the limbs, the right or left of the limbs is selected and the desired limbs can be selected Can be attached to the limb body drive mechanism 60. In other words, it can be easily moved to the place where treatment or training is desired, can be performed in a place that suits the condition of the patient, such as a bed or chair in an existing facility, and can be easily worn on either the left or right side of the limb. can do.
[0023]
(Embodiment 2) A limb body driving apparatus according to a second embodiment of the present invention will be described with reference to FIGS.
FIG. 3 is a diagram showing a second embodiment of the present invention, and FIG. 4 is a diagram showing a form in correspondence with left and right lower limbs according to the second embodiment of the present invention. FIG. 5 is a diagram showing a form when performing knee joint flexion / extension training in the hip joint extension position according to the second embodiment of the present invention. That is, the limb body mounting unit 10 for holding the limb body 101 shown in FIG. 3 and the limb body driving unit 12 for arbitrarily driving the limb body 101 are configured.
[0024]
The limb body driving unit 12 includes a first arm 201, a second arm 202, and a limb body driving unit base 203 for enabling the limb body mounting unit 10 to operate in an arbitrary trajectory in the sagittal plane. In the drive unit base 203, for example, a rotary drive (not shown) such as an AC servo motor for driving the first arm 201 and the second arm 202, a speed reducer (not shown), a drive pulley (not shown), A transmission belt (not shown) and a driven pulley (not shown) are incorporated. The first arm 201 is attached to the limb body drive unit base 203 so as to be rotatable around the first arm rotation center axis 204 without any mechanical restriction, and the second arm 202 is attached to the first arm 201. Similarly, the second arm rotation center shaft 205 is rotatably attached without any mechanical restriction. At the distal end of the second arm 202, a detachable bracket 207 is provided for allowing the limb body mounting portion 10 to rotate about the limb body mounting portion rotation center axis 206 and to be easily detachably engaged. On the other hand, detachable shafts 208 for engaging with the distal ends of the second arms 202 via detachable brackets 207 are provided on both side surfaces of the limb mounting unit 10.
[0025]
The operation of each component according to the above embodiment will be described with reference to FIG. That is, FIG. 4 (b) in the center shows the time when the first arm 201 and the second arm 202 are in the neutral position state, and at the time of moving / fixing the limb body driving device 100 and during preparation work for treatment or training. Usually in this state. From this state, when the right lower limb is selected from the left / right selection unit (for example, on the operation unit 71 in FIG. 1B) as the limb body 101 to be treated or trained, the first arm 201 and the second arm 202 are respectively illustrated. 4 (a), the limb body mounting part 10 is fixed by engaging the detachable shaft 208 for the right lower limb with the detachable bracket 207. On the other hand, when the left lower limb is selected from the left / right selection unit (not shown) as the limb 101 to be treated or trained, the first arm 201 and the second arm 202 move to the posture shown in FIG. The limb body mounting portion 10 is fixed by engaging the detachable shaft 208 for the left lower limb. A soft limit value for restricting the movement of the first arm 201 and the second arm 202 is also updated and managed when the right lower limb or the left lower limb is selected in the movement control unit (not shown). In this way, the first arm 201 and the second arm 202 are inverted according to the selected limb body 101, the limb body mounting portion 10 is inverted according to the inversion, and the detachable bracket 207 and the detachable shaft 208 are engaged. As a result, the limb mounting part 10 and the second arm 202 are fixed.
[0026]
According to the limb body driving mechanism of this embodiment, the limb body driving mechanism and the limb body mounting section can be reversed and fixed according to the limb body to be treated or trained, so that desired treatment and training can be easily performed on both the right and left limb bodies. Can be done.
In addition, as shown in FIG. 5, the height of the limb body 101 of the patient and the height of the limb body drive unit 12 are matched by the lifting means 50 in the first embodiment, and the bed or training table used in a hospital bed or training room or the like. Set the side of the patient and move the patient's upper body slightly. In this state, the first arm 201 and the second arm 202 that can be rotated without mechanical restriction are moved to the posture shown in the figure, and the limb body mounting portion 10 engaged with the distal end of the second arm 202 is held by the limb body 101. As a result, it is possible to treat or train knee joint flexion / extension with the limbs held in the hip joint extension position.
[0027]
(Embodiment 3) A limb body driving apparatus according to a third embodiment of the present invention will be described with reference to FIG. FIG. 6 is a diagram showing a third embodiment of the present invention.
That is, the fixing means in FIG. 6 includes a fixing sling 401, a drum 402 provided on the pedestal portion 20, a rotary drive 403 as a drive source at one end thereof, a speed reducer (not shown), and a clutch (not shown). And a torque detector (not shown), and further, a hook 404 for mooring one end of the fixing sling 401 is provided on the pedestal portion 20.
[0028]
In this embodiment, first, the fixing sling 401 wound around the drum 402 is manually pulled out with the clutch released, and the fixing sling 401 is fixed through the legs and the frame 410 of the bed or chair in the existing facility. One end of the sling 401 is moored to a hook 404 provided on the pedestal 20. From this state, the clutch is enabled, the rotational motion of the rotary driver 403 is decelerated and transmitted through the reduction gear and the clutch, the drum 402 is rotated, and the fixing sling 401 is wound up. Thereby, the limb body drive device 100 is fixed to a fixed object such as a bed or a chair. At this time, by controlling the output torque of the rotation driver 403 by the output signal of the torque detector, the tension of the fixing sling 401 at the time of fixing can be kept constant, and a stable fixing state is ensured.
[0029]
According to this embodiment, since the limb body drive device can be fixed to a fixed object such as a bed or a chair in an existing facility, it is desired to be in a stable state and at any place that suits the patient's condition. Can be treated or trained.
[0030]
(Embodiment 4) A limb driving apparatus according to a fourth embodiment of the present invention will be described with reference to FIG. FIG. 7 is a diagram in which the requirement described in claim 4 is added to FIG. 1 showing the limb body driving apparatus of the embodiment of the first embodiment. The fixing means 40 is provided with a fixing state monitoring means 330 for monitoring the fixing state of the apparatus, and a fixing state signal is always sent from the fixing state monitoring means 330 to the limb drive power interlock circuit 17. The driving power source of the motion control unit 15 in the limb drive control unit 70 is turned on or off by the fixed state signal. That is, in a state where the fixing bar 320 shown in FIG. 2 is extended toward the floor and the limb body driving device 100 is fixed at four points, the limb body driving power supply interlock circuit 17 is set by the fixing state monitoring means 401. Accordingly, the driving power source of the motion control unit 15 in the limb body drive control unit 70 is turned on, and a state where treatment or training can be performed on the bed or the training table can be maintained. However, if the fixing bar 320 is removed from the floor surface due to some factor during treatment or training and the limb body driving device 100 becomes unstable, the limb body driving power supply interlock circuit 17 is set by the fixing state monitoring means 330. Accordingly, the power source for driving the motion control unit 15 in the limb body drive control unit 70 is quickly turned off, and the limb body drive device 100 can be safely stopped without excessive load on the limb of the patient being treated or trained. .
[0031]
In addition, when the limb body driving device 100 is installed, if the fixing bar 320 is projected toward the floor surface and the limb body driving device 100 is not securely fixed at four points, the operation control in the limb body driving control unit 70 is performed. Since the driving power source of the unit 15 is configured not to be turned on, an artificial mistake during installation can be prevented. The fixed state monitoring means 330 is configured by a contact or non-contact type sensor, and has a function of monitoring the contact state between the fixed bar 320 and the floor surface. Further, the limb body drive power interlock circuit 17 preliminarily prevents the drive power supply of the motion control unit 15 from being turned on or off inadvertently even if the signal received from the fixed state monitoring means 330 is chattered for some reason. It is possible to set so that it only operates after the set time has elapsed, and further, if the fixed state of three points is selectively maintained in the four fixed bars 320, the limb driving power interlock circuit 17 The driving power source of the operation control unit 15 can be maintained in an ON state by a signal from
[0032]
(Example 5) A limb body driving apparatus according to a fifth embodiment of the present invention will be described with reference to FIGS. FIG. 8 is a diagram showing a fifth embodiment of the present invention, and FIG. 9 is a diagram showing a form when the limb body driving device is fixed in the fifth embodiment. In other words, the pressure sensor type contact sensor 501 is provided on the outer peripheral side surfaces of the first arm 201 and the second arm 202 constituting the limb body driving unit 12.
In this embodiment, during the preparatory work, the first arm 201 and the second arm 202 that are in the neutral position shown in FIG. 4B are moved from the operation unit 71 (not shown) to the floor as shown in FIG. Move to a position that is horizontal to the surface or bed surface. At this time, the limb body drive mechanism 60 is positioned at its upper limit height as shown in FIG. From this state, when the elevating means 50 is driven by the operation from the operation unit 71 and the limb body drive mechanism unit 60 is lowered, the distance between the outer peripheral side surface of the first arm 201 or the second arm 202 and the bed surface gradually decreases. Finally, contact is made as shown in FIG. This contact state is detected by the contact sensor 501, and a detection signal from the contact sensor 501 is taken into an elevator control unit (not shown), and the elevator 50 is stopped.
[0033]
According to this embodiment, when the height of the limb body driving mechanism 60 is adjusted to the height of a fixed object such as a bed in an existing facility when the limb body driving device is fixed, the limb body and the limb body driving mechanism 60 Since the relative positional relationship can be appropriately adjusted, desired treatment and training can be easily performed.
In addition, it is assumed that the contact sensor 501 may unexpectedly occur between the first arm 201 and the second arm 202 when the limb body driving mechanism 60 operates during treatment or preparation work. The limbs on the healthy side of the patient, the limbs such as nurses and physical therapists who are operators, and other treatment devices around the patient are detected, and the detection signal is used to control the operation of the limb body drive control unit 70. By taking in the part 15, the limb body drive mechanism part 60 can be stopped, and pinching of the limb body and damage of other treatment equipment can also be avoided.
[0034]
(Embodiment 6) A limb body driving apparatus according to a sixth embodiment of the present invention will be described. The conceptual diagram regarding the limb body driving device and the perspective view showing one aspect are almost the same as those shown in FIG. 1, but new processing is added to the trajectory generation unit 14 and the motion control unit 15 of the limb body driving control unit 70. It has been realized. Specific processing is shown in FIG.
In the trajectory generator, the left / right selector 16 and the operating condition input unit 13 are given the name of the patient to be treated or trained, the right / left leg designation, and the leg length, based on these conditions. The trajectory generation unit 14 automatically generates a trajectory that moves to the target position / posture of the legs and ankles, which are leg attachment positions where the limb can be attached to the limb body mounting unit, and based on the trajectory information, the motion control unit 15 The arm attachment 11 can be attached to the limb body mounting portion 10 by moving the arm 11 through a speed reducer (not shown) by instructing the trajectory command generated in step 1 to an actuator (not shown) incorporated in the limb body driving portion 12. From the arm posture / position shown in FIG. 11A to the position, the arm posture / position shown in FIG. Before performing the above-described operation, the limb body driving device 100 is in the state where the limb body driving unit 12 is moved up and down by the lifting means 50 so as to match the limb body 101 on the bed or the training table.
[0035]
(Other application examples) It is also possible to achieve the object shown in the above-described embodiment by setting the arm part 11 of the limb body driving mechanism part 60 to have three or more degrees of freedom and using one degree of freedom of the arm part for the lifting means. .
[0036]
【The invention's effect】
  As mentioned above, ContractClaim1According to the described limb body driving device, the limb body driving mechanism section and the limb body mounting section can be reversed and fixed according to the limb body to be worn, so that desired treatment and training can be easily performed on both the right and left limb bodies. it can. It is also possible to treat or train knee joint flexion / extension with the limbs held in the hip extension position..
  ContractClaim2According to the described limb body drive device, when the height of the limb body drive mechanism unit is adjusted to the height of a fixed object such as a bed in an existing facility when the limb body drive device is fixed, the relative relationship between the limb body and the limb body drive mechanism unit is Since the positional relationship can be appropriately adjusted, desired treatment and training can be easily performed. In addition, when the limb body drive mechanism unit operates during treatment or preparation work, it is assumed that the limb body is caught unexpectedly between the first arm and the second arm, and other treatment devices. It is also possible to avoid damage.
[Brief description of the drawings]
1A and 1B are diagrams showing a limb body driving apparatus according to a first embodiment of the present invention, in which FIG. 1A is a conceptual diagram, and FIG. 1B is a perspective view showing one embodiment.
FIGS. 2A and 2B are diagrams showing a moving unit and a fixing unit in the portable limb driving apparatus according to the first embodiment of the present invention, where FIG. 2A is a view from above, and FIG. 2B is a side view;
FIGS. 3A and 3B are diagrams illustrating a limb body driving apparatus according to a second embodiment of the present invention, in which FIG. 3A is a front view and FIG. 3B is a right side view.
FIG. 4 is a front view showing a form in correspondence with left and right lower limbs by a limb body drive device according to a second embodiment of the present invention.
FIGS. 5A and 5B are diagrams showing a form when training of knee joint flexion and extension in the hip joint extension position by the limb body drive device according to the second embodiment of the present invention, FIG. 5A is a front view, and FIG. Is a right side view.
6A and 6B are diagrams showing a limb body driving apparatus according to a third embodiment of the present invention, in which FIG. 6A is a front view, and FIG. 6B is a right side view.
FIG. 7 is a view showing a limb body driving apparatus according to a fourth embodiment of the present invention.
FIGS. 8A and 8B are diagrams showing a limb body driving apparatus according to a fifth embodiment of the present invention, where FIG. 8A is a front view and FIG. 8B is a right side view;
FIG. 9 is a front view showing a form when the limb body driving device is fixed by the limb body driving device according to the fifth embodiment of the present invention;
FIG. 10 is a diagram showing a limb body driving apparatus according to a sixth embodiment of the present invention, in which (a) is a processing block diagram of an operation control unit and a trajectory generation unit.
FIGS. 11A and 11B are diagrams showing a limb body drive device according to a sixth embodiment of the present invention, where FIG. 11A is an arm posture / position state when stored, and FIG. 11B is an arm posture / position when operating to a leg attachment position. It is a side view which shows a state.
[Explanation of symbols]
100: Limb body drive device
101: Limb
10: Limb body wearing part
11: Arm
12: Limb body drive unit
13: Operating condition input section
14: Trajectory generator
15: Operation control unit
16: Left / right selection part
17: Limb body drive power supply interlock circuit
20: Base part
30: Moving means
40: Fixing means
50: Lifting means
60: Limb body drive mechanism
70: Limb body drive control unit
71: Operation unit
201: First arm
202: Second arm
203: Limb body drive base
204: First arm rotation center axis
205: Second arm rotation center axis
206: limb mounting part rotation center axis
207: Detachable bracket
208: Detachable shaft
301: Leg
310: Leg wheel
320: Fixed bar
330: Fixed state monitoring means
401: Sling for fixing
402: Drum
403: Rotation drive
404: Hook
410: Frame
501: Contact sensor

Claims (2)

A limb body drive device (100) comprising a limb body drive section (12) for arbitrarily driving a limb body (101) and a pedestal section (20) for supporting the limb body drive section (12),
The limb body drive unit (12) includes a limb body mounting unit (10) to be mounted on a limb body (101) for treatment or training, a first arm (201) that rotates around one end, and the first arm (201). A limb body drive mechanism section (60) comprising at least a second arm (202) provided at the other end of the limb body and an arm (11) configured to operate the limb body mounting section (10); A limb body drive control unit (70) for controlling the limb body drive mechanism unit (60),
The pedestal part (20) moves up and down the moving means (30) for moving to a desired place, the fixing means (40) for fixing after moving by the moving means, and the limb body driving part (12). In the limb body drive device comprising lifting means (50) for
The limb drive control unit (70) includes a left / right selection unit (16) that selects either the left or right limb of the limb (101),
In response to the left or right instruction to the left / right selection unit (16), the arm (11) is reversed around the rotation center of the first arm (201), and
The limb body drive device, wherein a soft limit value for restricting the operation of the arm (11) is updated . The arm (11) includes a contact sensor (501) on the outer peripheral surface,
On the basis of the output signal from the contact sensor (501), said limb drive mechanism (60) adjusting the height according to claim 1 Symbol mounting limb driving device characterized by the.

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