JP6691367B2 - Walking aid - Google Patents

Description

  The present invention relates to a walking assist device.

  The inventors of the present invention, as a walking support machine effective for a person suffering from a leg, have a waist mounting member to be mounted on the waist of the user, and a first link portion arranged on the side of the thigh of the user. A first rotation support portion that rotatably supports the waist attachment member and the first link portion, a thigh attachment member that is attached to a user's thigh or lower leg, the thigh attachment member, and the first A second assisting device that rotatably supports the link part, and the first link part is composed of a plurality of rod-shaped members, and a walking assist device is proposed (Patent Document 1).

  Such a walking assist device is a walking assist device that is used by being worn on the waist, and is mainly a device that performs light assist so that a person with weak walking ability such as hemiplegia can walk naturally. is there. Therefore, when it is used for the purpose of reducing the physical burden of heavy work such as carrying luggage on healthy people, or when it is used for assistance such as mountain roads, the assist power is small and use for such purposes is not possible. The effectiveness was low. On the other hand, in order to increase the assist force, it is necessary to increase the rotational force of the first rotation support portion. However, if the force of the internal spring is simply increased while maintaining the current size of the first rotation support part, the pressing force between the internal parts becomes too high, or the frictional force becomes too high. , The parts strength is insufficient, or the life is shortened. On the other hand, if the size of the first rotation support portion is increased, it is possible to prevent the pressing force between the internal parts from becoming too high and the frictional force from becoming too high, so that the rotation force of the first rotation support portion is increased. You can be strong. However, if the size of the first rotation support portion is large, it is an obstacle, and the weight of the first rotation support portion itself becomes heavy, which makes it difficult to handle. On the other hand, if the rotational force is increased, a large reaction force is applied to the waist mounting portion, so that it cannot be supported by the waist mounting member, and there is a problem that it is easily displaced.

  On the other hand, walking assist has also been proposed in which an electric actuator is attached to assist walking movement. However, the actuator using such electric power has the drawbacks that it can only assist the duration of the battery, the assist time is short, and the battery itself is heavy.

JP, 2014-164483, A JP, 2014-90799, A

  Therefore, the present invention has been made in view of these problems, and is capable of exerting a large rotational force without changing the size of the first rotation support portion itself, and adjusting the torque characteristic and the assist range. It is an object of the present invention to provide a walking assist device that can enable the following. Further, it is an object of the present invention to provide a walking assist device that can reduce the displacement of the position of the first rotation support part even if a large reaction force is applied by the first rotation support part.

  The present invention adopts the following means in order to achieve the above object.

The walking assist device of the present invention is
A first link portion arranged on the side of the user's thigh,
A base portion directly or indirectly fixed to the body,
A first rotation support portion that rotatably supports the first link portion with respect to the base portion and biases the first link portion in a predetermined direction;
A thigh attachment member that is directly or indirectly provided on the first link portion and that is attached to the thigh or lower leg of the user,
Equipped with
The one-rotation support part is provided with a plurality of torque generation parts.

  The present invention obtains a strong rotational force by providing a plurality of torque generating portions on the first rotation support portion that moves the first link portion that assists the thigh, and moves the first link portion with a stronger force. I am able to assist the leg. As described above, by using the plurality of torque generating portions, stronger torque can be generated without increasing the diameter of the first rotation support portion. Further, the torque characteristics and the assist range can be adjusted by adjusting the mounting angles of the plurality of torque generating portions.

  Further, the walking assist device according to the present invention may be characterized by including the thigh attachment member and a second rotation support portion that rotatably supports the first link portion. By adopting such a configuration, not only the thigh but also the lower leg can be supported, so that the walking assist device having higher assisting ability can be obtained.

  Further, in the walking assist device according to the present invention, the torque generating unit may be provided on both sides of the base unit. By adopting such a configuration, it is possible to provide the two torque generating parts with one base part in a narrow area.

  Further, in the walking assist device according to the present invention, the torque generating unit may be capable of adjusting torque. By adopting such a configuration, the force applied to the first link portion can be adjusted.

  Further, in the walking assist device according to the present invention, the plurality of torque generating portions may be capable of changing their mounting angles. By adopting such a configuration, it becomes possible to easily adjust the torque characteristic and the assist range.

  Further, in the walking assist device according to the present invention, the base portion may be a member having high rigidity. By adopting such a configuration, when the base portion is directly or indirectly attached to the body, it is possible to reduce the possibility that the reaction force is canceled by the bending of the base portion itself.

  Furthermore, in the walking assist device according to the present invention, the base portion may include a fixing portion that is fixed to a body above the navel. Since it can be fixed at a position farther from the first rotation support portion, it becomes possible to counter the reaction force with a weak force.

  Further, in the walking assist device according to the present invention, the base portion may be connected to a backpack. By fixing the base portion to the backpack, it is possible to effectively fix the base portion without feeling the force of the base portion on the body.

  According to the walking assist device of the present invention, a large turning force can be exerted without changing the size of the first rotation support portion itself, and the torque characteristics and the assist range can be adjusted. The purpose is to provide a walking support device. Furthermore, it is possible to provide a walking assist device that can reduce the displacement of the first rotation support portion even if a large reaction force acts on the first rotation support portion.

FIG. 1 is a front perspective view showing the outline of the configuration of a walking assist device 100 according to an embodiment. FIG. 2 is an exploded perspective view showing the outline of the configuration of the first rotation support portion 20 of the walking assistance device 100 according to the embodiment. FIG. 3 is a schematic diagram showing an embodiment of the first rotation support portion 20 of the walking assistance device 100 according to the embodiment. FIG. 4 is a schematic diagram showing another embodiment of the walking assist device 100 according to the embodiment. FIG. 5 is an exploded perspective view showing the second rotation support portion 40 of the walking assistance device 100 according to the embodiment. FIG. 6 is an exploded perspective view showing another embodiment of the second rotation support portion 40 of the walking assistance device 100 according to the embodiment. FIG. 7 is a schematic diagram showing a usage state of the walking assist device 100 according to the embodiment. 8A and 8B are schematic diagrams showing another usage state of the walking assistance device 100 according to the embodiment. FIG. 9 is a schematic diagram showing another embodiment of the walking support device 100 according to the embodiment. FIG. 10 is a schematic diagram showing still another embodiment of the walking assist device 100 according to the embodiment. FIG. 11 is a schematic diagram showing still another embodiment of the walking assist device 100 according to the embodiment.

  Hereinafter, a walking assistance device 100 according to an embodiment of the present invention will be described in detail with reference to the drawings. The embodiments and the drawings described below exemplify a part of the embodiments of the present invention, and are not used for the purpose of limiting the configurations. It should be noted that the same or similar reference numerals are given to corresponding components in each drawing. In the present embodiment, the right leg and the left leg are bilaterally symmetric, so that the right leg will be described by explaining the walking assist device 100 for the left leg that is used by being worn on the left leg of the user. Instead of the description of the walking support device 100 for legs.

  FIG. 1 is a perspective view of a walking assistance device 100 according to the first embodiment. The walking support device 100 of the present embodiment is a passive walking type walking support device, and as shown in FIG. 1, mainly includes a base portion 10 directly or indirectly fixed to a body and a first link portion 30. A first rotation support portion 20 that rotatably supports the first link portion 30 with respect to the base portion 10, a thigh attachment member 50 that is attached to a thigh or a lower leg, a first link portion 30 and a thigh. A pair of left and right walking support devices 100 including a second rotation support portion 40 that rotatably supports the mounting member 50, and a backpack 90 to which the walking support device 100 is attached.

  The base portion 10 has a function as a fixed side of the first rotation support portion 20, a so-called fulcrum, when the first rotation support portion 20 generates torque and rotates the first link portion 30. Therefore, a reaction force corresponding to the torque applied to rotate the first link portion 30 by the first rotation support portion 20 is applied to the base portion 10. Therefore, the base portion 10 needs to be supported and fixed by a force that does not lose against this reaction force. This is because if the base portion 10 itself moves, the force may not be effectively transmitted to the first link portion 30. Conventionally, in order to support such a rotation supporting portion, it has been usual to support it by a waist belt or the like. However, since the present invention is mainly intended to assist the work of a healthy person, a large torque is generated as compared with the related art. Therefore, in the waist belt or the like, since the fixing is loose, the supporting force is weak in the first place, and a large reaction force is applied to the waist belt itself because it is too close to the waist, that is, the attached first rotation supporting portion 20. . As described above, due to the characteristics of the belt that is loosely fixed and has low rigidity, the belt itself is moved or deformed, so that the first rotation support portion 20 is easily moved, and it is difficult to securely fix and support the first rotation support portion 20. Therefore, in the present embodiment, the base portion 10 is made of a metal having high rigidity, and is formed so as not to be easily deformed or curved. Further, it has a high-rigidity extension portion 11 extending from the base portion 10, and means for directly or indirectly attaching the extension portion 11 to a body far from the first rotation support portion 20 is used. It is adopted. Accordingly, the base portion 10 itself can be prevented from being deformed and can be fixed at a position farther from the first rotation support portion 20, so that the base portion 10 can be supported with a weak force by using the lever principle. You can Therefore, it is possible to easily counter the reaction force from the first rotation support portion 20. Accordingly, the first rotation support portion 20 can effectively transmit the force to the first link portion 30. The portion to which the extended portion 11 is fixed is not particularly limited, but it is preferably attached to the upper body or a member attached to the upper body (for example, a backpack, a protective suit containing metal, etc.). More preferably, it is preferably attached at least above the navel. This is because by mounting above the navel, a distance from the first rotation support portion 20 can be secured, the base portion 10 can be supported with a weaker force, and the force applied to the upper body can be reduced. . When directly attached to the body, for example, a method in which a chest belt is provided in the extending portion and the belt is wound around the chest and fixed is conceivable. Further, as an example of the member indirectly attached to the upper half of the body, it is considered that the member is attached to a backpack, a cylinder of a firefighter, a protective suit containing metal, or the like. Of course, it is not limited to these, and may be attached to other places.

  The 1st rotation support part 20 is a member for applying a torque to the 1st link part 30, as shown in FIG. As shown in FIG. 2, the first rotation support portion 20 is mainly composed of a substantially disc-shaped rotation plate 21, an outer housing 22 arranged inside the rotation plate 21 so as to be rotatable, and a first link portion. A plurality of torque generators 29 each including a first link attachment portion 23 for fixing 30 and an urging force generator 24 for urging the outer housing 22 in a constant rotation direction are formed.

  As shown in FIG. 3, the rotary plate 21 is formed in an eccentric disk shape, and as shown in FIG. 2, a mounting hole 21a is provided substantially at the center thereof, and the mounting hole 21a is used. Then, it is mounted in the outer housing 22 so as to be rotatable by a fixing screw member 91 or the like. The rotary plate 21 is provided with a plurality of screw holes 21b and is fixed to an angle adjusting member 60 described later.

  The outer housing 22 has a recess in which the rotating plate 21 can be accommodated, and a first link attachment portion 23 for fixing the first link portion 30 and an outer housing 22 are attached in a fixed rotation direction around the recess. A biasing force generating device 24 for biasing is provided.

  As shown in FIG. 2, the first link attachment portion 23 can fasten the two first link portion insertion holes 23a into which the first link portion 30 is inserted and the two first link portion insertion holes 23a. It has a cutout piece 23d and a tightening bolt 23e that can tighten the cutout piece 23d. The first link portion 30 is fixed to the first link attachment portion 23 by inserting the first link portion 30 into the first link portion insertion hole 23a and then tightening the tightening bolt 23e. The method of attaching the first link portion 30 is not particularly limited, and the first link portion 30 may be fixed by another method. The first link portion insertion hole 23a of the first link attachment portion 23 may be formed as a hole having a length (depth) longer than the length required for fixing. By adopting such a configuration, the length of the first link portion 30 can be adjusted by the insertion amount of the rod-shaped member forming the first link portion 30.

  As shown in FIG. 2, the urging force generator 24 is provided so as to extend substantially downward from the outer housing 22 with the walking assistance device 100 attached to the body. As shown in FIG. 3, the urging force generator 24 is provided with a tubular member 24a, and inside the tubular member 24a, a compression spring 24c having a pressing portion 24b provided with a roller at its tip is provided. It is built in and presses the peripheral surface of the rotary plate 21. The rotary plate 21 is eccentrically formed as described above, and is formed so that the radius gradually increases from the position of the radius A to the position of the radius B. Therefore, as the rotary plate 21 rotationally moves in the direction of arrow α, the compression spring 24c is compressed and elastic energy is accumulated. Therefore, the rotating plate 21 is biased in the direction opposite to the arrow α. In practice, the rotating plate 21 is fixed to the waist of the body via the base 10 so as not to rotate, so that the outer housing 22 side is indicated by the arrow when the walking support device 100 is attached to the body. It means that it is biased in the direction of β. That is, the first link portion 30 is urged in the direction to pull up the foot. By adopting such a configuration, the spring feeling can be further reduced and a smooth biasing force can be applied.

  As shown in FIG. 2, the torque generating portions 29 thus manufactured are attached to the base portion 10 via the angle adjusting members 60, one each on each side. Specifically, the torque generating unit 29 fixedly attached to the angle adjusting member is attached to the base unit 10 so that the angle can be adjusted. The angle adjusting member 60 is provided with a circular arc-shaped hole 61 centered on the center of rotation, and by fixing with a bolt or the like through this hole 61, the angle can be adjusted by loosening the bolt. . By providing a plurality of torque generating portions 29 in this way, a large torque can be generated without increasing the diameter of the first rotation support portion 20, as compared with the case where one torque generating portion 29 is provided. . Further, since the load applied to each torque generating unit 29 applies only the same force as when one torque generating unit 29 is provided, the load applied to each component does not become large. Therefore, although the torque is strong, it is possible to provide the first rotation support portion 20 having the reliability and life similar to those in the case of one. Further, when the two first rotation support portions 20 are attached, the respective torque generation curves are different, that is, the angle adjustment members 60 are provided so that the respective attachment angles of the respective torque generation portions 29 are different. Then, the load can be adjusted according to the position of the first link portion 30. For example, according to the movement of the legs required to lift the luggage, when the most torque is generated at the part that requires the most force, or when walking on a slope when climbing, the extension motion part of the hip joint, which has a large margin of muscle power, is used. For example, the force is stored in the spring to distribute the rotational torque of the first rotation support portion 20 when the hip joint having a small remaining force is bent to assist the bending operation. Note that the adjustment of the strength of the torque itself can be performed by the inertia force generating device.

  The first link portion 30 is a portion that is mainly arranged outside the thighs of the legs when the walking assistance device 100 is attached to the body. In the present embodiment, as shown in FIG. 1, the first link portion 30 is formed of two elastic rod-shaped members arranged in front or rear in parallel or substantially in parallel. Of course, the present invention is not limited to this, and the first link portion may be composed of one large metal plate material or the like. By using the two elastic rod-shaped members, each rod-shaped member can be individually curved, so that it can be more easily buffered against twisting and pressing, and a heavy object can be loaded. When carrying or climbing up a slope, the places and parts of the burden to be applied vary depending on the legs of each person, but this difference can be buffered. Examples of the material of the rod-shaped member include rigid resins such as polypropylene and polyethylene, and fiber reinforced plastics (FRP) such as carbon fiber reinforced plastics (CFRP). The rod-shaped member may have various sectional shapes such as a quadrangle, a triangle, and a circle. Alternatively, a hollow cylindrical member (pipe-shaped member) may be used. The pipe-shaped CFRP is preferably used because it may come into direct contact with the user, has similar bending elasticity in any bending direction, and is easy to adjust the elasticity. For the two rod-shaped members, rod-shaped members having different thicknesses or rod-shaped members made of different materials may be used so that the two rod-shaped members have different physical properties such as elastic force and torsional rigidity. May be used. As described above, according to the walking assist device 100 in the present embodiment, the rigidity, the twist, the curve, and the like of the first link portion 30 can be more finely adjusted. Also, the two rod-shaped members may be arranged non-parallel. For example, it may be arranged such that the upper side (first rotation support section 20 side) is narrower and the lower side (second rotation support section 40 side) is wider, and vice versa. By adopting such a configuration, when a force that vertically compresses is applied to the first link portion 30, as shown in FIG. 4, a force is also applied to the rod-shaped member in a direction deviated from the axial direction. Therefore, the rod-shaped member is easily bent (it is easily bent inward in the case of FIG. 4), and the compression force can be easily buffered as compared with the case where they are arranged in parallel.

  The second rotation support portion 40 is rotatably attached to the opposite side of the first link portion 30 with respect to the first rotation support portion 20. As shown in FIG. 5, the second rotation support portion 40 includes a first link fixing portion 41 that fixes the first link portion 30, and a rotation link portion 42 that is rotatably attached to the first link fixing portion 41. The first link fixing portion 41 and the support member 43 that rotatably supports and fixes the rotation link portion 42 are provided. The first link fixing portion 41 is provided with a notch portion 41a and a columnar first link portion insertion hole 41b into which the first link portion 30 can be inserted, and the first link portion insertion hole. A rod-shaped member that constitutes the first link portion 30 is inserted into 41b, and is fixed by tightening with a tightening bolt 41c. Of course, the first link fixing portion 41 may be formed by separating one notch piece forming the notch portion 41a, similarly to the first link attaching portion 23. Further, the first link fixing portion 41 has a cylindrical through hole 41d formed on the side opposite to the side on which the first link portion 30 is fixed. Around the through hole 41d, there is a ring-shaped protruding portion 41e. The rotary link portion 42 is formed with a through hole 42a having the same diameter as the through hole 41d, and a concave portion 42b that fits into the convex portion 41e is provided around the through hole 42a. The convex portion 41e of the first link fixing portion 41 and the concave portion 42b of the rotary link portion 42 are rotatably fitted and fixed by the support member 43 so as not to be separated from each other.

  The thigh attachment member 50 includes a thigh address portion 54 made of plastic, cloth, or the like that is applied to a flexible thigh, and a thigh attachment belt 56 that is passed through a through hole 54a formed in the thigh address portion 54. Is equipped with. The thigh attachment portion 57 is attached to the opposite side of the through hole 42a of the rotary link portion 42. Therefore, the thigh mounting member 50 and the first link portion 30 are in a rotatable relationship with each other. The rotary link part 42 may be formed completely integrally, but as shown in FIG. 6, the two rod-shaped members 48a and 48b are inserted in the same manner as when the first link part 30 is fixed. By making the first rotary link portion 42d and the second rotary link portion 42e, each of which has a second link insertion hole 42f that can be formed, separately, the distance between the thigh addressing portion 54 and the first link fixing portion 41 can be easily Can be changed to. Therefore, the position of the thigh mounting portion 57 can be adjusted according to the physique. Further, by using longer rod-shaped members 48a and 48b, the rod-shaped members 48a and 48b can be arranged on the side of the lower leg of the knee and function as the second link portion.

  Next, a method of using the walking assist device 100 manufactured as described above will be described. First, as shown in FIG. 7, the walking support device 100 directly or indirectly attaches the extension portion 11 extended from the base portion 10 to the upper body. In the present embodiment, the state of being attached to the backpack 90 is shown. Since the extension portion 11 has high rigidity, the extension portion 11 is attached to the backpack so that the first rotation support portion 20 is stably arranged near the greater trochanter. The thigh attachment belt 57 is wound around and fixed to the lower leg with the thigh attachment portion 57 being directed to the thigh attachment portion 54 near the upper part of the calf below the knee. As a result, the second rotation support portion 40 is arranged near the knee. The walking support device 100 according to the present embodiment is mainly attached to both legs because its main purpose is to reduce the physical burden on the healthy person. Any of the walking support devices 100 is fixed to the backpack, and the walking support devices 100 on both sides can be more stably arranged on the sides of both legs.

  The walking assist device 100 thus mounted on the user operates as follows. When the user stands up on the ground, the first link portion 30 and the second rotation support portion 40 are linearly arranged along the vertical direction. The first link portion 30 and the second rotation support portion 40 respectively support the waist, the thighs, and the lower legs, so that the user can stand up in a stable state.

  When the user walks, the leg to which the walking support device 100 is attached repeats the support leg and the swing leg. In the walking assist device 100, the first link portion 30 moves along the thigh and the second rotation support portion 40 moves along the lower leg, so that the natural movement of the free leg and the support leg is adjusted. To move. Therefore, it does not disturb walking. At this time, the first link portion 30 is biased forward by the biasing force generation device 24. Therefore, when the leg becomes a free leg, the lower leg is promoted to be swung forward. Therefore, the force to push the legs forward is added, and even when carrying a heavy load or climbing a slope, the strong torque generated by the first rotation support portion 20 causes a normal force or a normal force. You can easily move your legs with less force. Further, since the walking support device 100 simultaneously prevents the legs from spreading outward, it is possible to effectively prevent staggering and the like when carrying a heavy load.

  When the leg moves forward, the urging force generator 24 releases elastic energy, but when the leg lands on the ground and becomes a support leg, and the leg on the opposite side is pushed forward, the first link portion 30 moves to the first position. It rotates rearwardly around the one-rotation support portion 20. Then, the compression spring 24c is again pressed by the rotary plate 21, and elastic energy is accumulated. When the swing leg becomes the swing leg again, the swing leg can be pushed forward. In this way, when the user has a free leg during walking, the leg can always be pushed forward.

  Further, according to the walking support device 100 according to the embodiment, the first link portion 30 is made of a rod-shaped member, so that the weight is significantly reduced compared to the first link portion made of a thick rod-shaped member made of metal. Therefore, the burden on the user can be greatly reduced.

  In addition, when the user actually walks, the leg does not move completely back and forth, but the leg moves while drawing an arc that spreads outward. , Twisting force may be applied. Also, the twisting force is applied to the first link portion 30 by the twisting of the waist during walking or the sudden change of the direction of the foot during landing of the foot. However, in the present embodiment, since the first link portion 30 is the two rod-shaped members, the rod-shaped members can be elastically deformed in different directions, so that the first link portion 30 absorbs this twist. can do. Therefore, it is possible to walk in a natural state without applying extra force to the legs. Such twisting of the first link portion 30 may exert a twisting force not only when walking but also when trying to twist the body when standing up or when sitting, but in such a situation, the first link portion 30 is also twisted. The twisting force can be absorbed by the portion 30. Furthermore, by using two elastic rod-shaped members for absorbing this twist, it becomes easier to return to the initial state as compared with the case where a metal plate or the like is used. The force to restore the twist restricts the user to walk properly.

  Further, when walking, in addition to twisting, a force that vertically compresses the first link portion 30 may be applied. In such a case, when the metal first link portion is used, this force cannot be absorbed, but according to the first link portion 30 of the present embodiment, such a force is generated by bending the rod-shaped member. Can be absorbed.

(First usage)
As shown in FIG. 8A, in the walking support device 100 according to the present embodiment, the first link portion 30 is set to be short, the rod-shaped member of the first link portion 30 is directly attached to the second rotation link portion 42e, and the above-knee position is provided. The thigh attachment member 50 may be attached to the thigh. Since the width and the position of the two rod-shaped members that form the first link portion 30 in the present embodiment can be freely changed, they are attached even if the width of the second link insertion hole 42f of the second rotary link portion 42e is different. It is possible. When used in such a manner, the thigh can be lifted more easily than when the thigh mounting member 50 is mounted on the calf below the knee, and the thigh mounting member 50 is an effective mounting method when performing an operation of lifting the thigh.

(Second usage)
Further, as shown in FIG. 8B, the walking assist device 100 according to the present embodiment uses the rod-shaped members 48a and 48b having a longer length so that the rod-shaped members 48a and 48b are arranged laterally of the lower leg of the knee. It can be made to function as a 2nd link part. When used in such a manner, the lower part of the leg can be fixed, so that the entire leg can be held.

  It should be noted that the present invention is not limited to the above-described embodiments, and can be implemented in various modes within the technical scope of the present invention.

  Further, in the present embodiment, the first link portion 30 has been described using the circular rod-shaped member, but the present invention is not limited to this, and as shown in FIG. 9, it may be a flat rod-shaped member. However, the cross-sectional shape is not particularly limited.

  Further, in the present embodiment, as shown in FIG. 10, the weight member 70 may be attached between the rod-shaped members forming the first link portion 30. By providing such a weight member 70, the first link portion 30 can easily swing back and forth on the principle of a pendulum, and even a user who has a weak leg swinging power can easily swing the first link portion 30. It can assist walking effectively. The structure of the weight member itself is not particularly limited, but it is manufactured to have concave portions 71 on both sides which are inverted with respect to the peripheral surface of the rod member so that the weight member can be fitted between the two rod members. Good to do. By adopting such a configuration, the rod-shaped member that constitutes the first link portion 30 of the present invention is curved, so that it can be easily fitted into the first link portion 30. Further, since the weight member 70 can be moved up and down after being fitted, the potential energy of the pendulum can be changed, and the walking assist device can have an optimal swing strength.

Furthermore, in the present embodiment, the first rotation support portion 20 is arranged on both sides of the base portion 10, but the present invention is not limited to this, and as shown in FIG. Two combinations may be arranged.

  As shown in the above-described embodiment, it can be industrially used as a walking support machine that reduces the physical burden on a healthy person.

  10 ... Base part, 11 ... Extension part, 20 ... 1st rotation support part, 21 ... Rotation plate, 21a ... Attachment hole, 21b ... Screw hole, 22 ... Outer housing, 23 ... 1st link attachment part, 23a ... 1 link part insertion hole, 23d ... Notch piece, 23e ... Tightening bolt, 24 ... Energizing force generating device, 24a ... Cylindrical member, 24b ... Pressing part, 24c ... Compression spring, 29 ... Torque generating part, 30 ... 1 link part, 40 ... 2nd rotation support part, 41 ... 1st link fixing part, 41a ... Notch part, 41b ... 1st link part insertion hole, 41c ... Tightening bolt, 41d ... Through hole, 42 ... Rotation link Part, 42a ... Through hole, 42d ... 1st rotation link part, 42e ... 2nd rotation link part, 42f ... 2nd link insertion hole, 43 ... Support member, 48a ... Rod member, 50 ... Thigh mounting member, 54 ... Thigh Address, 56 ... Thigh wearing belt, 57 ... Thigh Adhering part, 60 ... angle adjusting member, 61 ... hole, 70 ... weight member, 71 ... recess, 90 ... backpack carrier, 100 ... walking support machine

Claims (7)

A first link portion arranged on the side of the user's thigh,
A base portion directly or indirectly fixed to the body,
A first rotation support portion that rotatably supports the first link portion with respect to the base portion and biases the first link portion in a predetermined direction;
A thigh attachment member which is directly or indirectly provided on the first link portion and which is attached to a user's thigh or lower leg,
Equipped with
The first rotation support portion is provided with a plurality of torque generation portions,
The walking assist device , wherein the torque generating unit is provided on both sides of the base unit . In the walking support device according to claim 1,
A walking assist device comprising: the thigh attachment member and a second rotation support portion that rotatably supports the first link portion.   The walking assist device according to claim 1, wherein the torque generation unit is capable of adjusting torque.   The walking assist device according to any one of claims 1 to 3, wherein each of the plurality of torque generating units has a changeable mounting angle.   The walking support aircraft according to claim 1, wherein the base portion is a member having high rigidity.   The walking support device according to claim 1, wherein the base portion includes a fixing portion that is fixed to a body above the navel. The walking assist device according to claim 1, wherein the base portion is connected to a backpack.

Images