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WO2009081710A1 - Dispositif portable d'assistance à la mobilité - Google Patents

Dispositif portable d'assistance à la mobilité Download PDF

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Publication number
WO2009081710A1
WO2009081710A1 PCT/JP2008/072081 JP2008072081W WO2009081710A1 WO 2009081710 A1 WO2009081710 A1 WO 2009081710A1 JP 2008072081 W JP2008072081 W JP 2008072081W WO 2009081710 A1 WO2009081710 A1 WO 2009081710A1
Authority
WO
WIPO (PCT)
Prior art keywords
wearer
fitting
pressure
fastening member
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/072081
Other languages
English (en)
Japanese (ja)
Inventor
Yoshiyuki Sankai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Tsukuba NUC
Original Assignee
University of Tsukuba NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Tsukuba NUC filed Critical University of Tsukuba NUC
Priority to JP2009547013A priority Critical patent/JP5002655B2/ja
Publication of WO2009081710A1 publication Critical patent/WO2009081710A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus

Definitions

  • the present invention relates to a wearable motion assist device, and more particularly to a wearable motion assist device configured to transmit a driving force that assists the wearer's motion to the wearer.
  • a wearable movement assist device that assists the movement of the joint by attaching a movement assist tool to the arm or leg is available. It is being developed (see Patent Document 1).
  • the wearable movement assist device is configured to detect a bioelectric potential generated based on the wearer's intention, and to generate a control signal for controlling the motor (drive unit) from the detected bioelectric potential signal. It becomes possible to transmit the driving force of the motor to the arms and legs in the same way as their muscle strength.
  • the wearable movement assist device includes a frame member for transmitting the driving force of the drive unit to the wearer when worn on the wearer, and a predetermined position (for example, waist, thigh) of the wearer. Fastened by a fastening member.
  • a fastening member for example, a belt having elasticity that can be stretched is wound and fastened so that a predetermined position of the wearer and the frame member are integrated, so that the driving force of the driving unit is interposed between the frame member and the fastening member. Is transmitted to the wearer.
  • the belt-like fastening member is fastened in a state of being in close contact with the wearer's body. desirable.
  • the fastening member of the wearable movement assist device is usually attached so as to be wound around the outer surface of the wearer's waist, thigh, shin, etc. so as to bite into the skin surface.
  • the conventional one is configured such that a shock-absorbing member such as felt or sponge is brought into contact with a predetermined portion of the mounting on the fastening member formed in a belt shape.
  • the muscle expands or contracts when the wearer performs an operation such as walking, or the wearer's skin or subcutaneous fat changes to a depressed state due to the pressing force of the fastening member. Therefore, the fastening by the fastening member gradually weakens, and there is a problem that the fastening force by the fastening member has to be adjusted again and again.
  • an object of the present invention is to provide a wearable movement assist device that solves the above problems.
  • the present invention includes a drive unit that generates a drive force according to the wearer's intention; A frame member for transmitting a driving force by the driving unit to the wearer; A fastening member for fastening the frame member to a predetermined location of the wearer; A fitting portion interposed between the fastening member and the wearer and abutting on a predetermined location of the wearer; A wearable motion assist device comprising: The fitting portion is in a flowable state that can be deformed until being worn by the wearer, and is configured to change into a shape corresponding to a body shape of a portion that contacts the wearer after being worn by the wearer.
  • the present invention is the wearable movement assist device according to (1),
  • the fitting portion is filled with a filler whose hardness changes in accordance with supply and discharge of gas, and a portion of the fitting portion that comes into contact with the wearer when the gas is discharged while being worn by the wearer.
  • the filler is solidified into a shape corresponding to the body shape and the gas is supplied, the filler is returned to a fluidized state, thereby solving the above problem.
  • the present invention is the wearable movement assist device according to (1),
  • the fitting part is A bag-like member having a shape corresponding to the contact portion of the wearer;
  • a plurality of granular members filled in the bag-shaped member The bag-shaped member solves the above problems by introducing a negative pressure in a state where the bag-shaped member is in contact with the wearer and changing the numerous granular members into a solidified state.
  • the present invention is the wearable movement assist device according to (3), The bag-shaped member solves the above problems by having a plurality of filling chambers filled with the granular member.
  • the present invention is the wearable movement assist device according to (4), The plurality of filling chambers solve the above problems by being filled with different types of granular members.
  • the present invention is the wearable movement assist device according to (4),
  • the plurality of filling chambers solve the above problems by filling the granular members with different filling rates.
  • the present invention is the wearable movement assist device according to (4),
  • the plurality of filling chambers are formed in a shape corresponding to the body shape of the abutting portion of the wearer that abuts in advance, thereby solving the above problem.
  • the present invention is the wearable movement assist device according to (4), The above-described problems are solved by including a pressure adjusting unit that is provided in each of the plurality of filling chambers and individually adjusts the pressure of the plurality of filling chambers.
  • the present invention is the wearable movement assist device according to (8),
  • the pressure adjusting unit is Pressure detecting means for individually detecting the pressure of each of the plurality of filling chambers; Pressure introducing means for pressurizing or depressurizing the pressure in the plurality of chambers to a preset target value based on the pressure value detected by the pressure detecting means;
  • the present invention is the wearable movement assist device according to (1),
  • the fitting portion is provided so as to be separable from the fastening member, thereby solving the above-described problem.
  • the present invention is the wearable movement assist device according to (10), The fitting part is attached to inner wear worn by the wearer, and solves the above problem by being fastened to the fastening member at the time of wearing.
  • the present invention is the wearable movement assist device according to (3), A plurality of the fitting portions are provided so as to contact a plurality of locations of the wearer, Each of the plurality of fittings includes a pressure adjusting unit that is connected to each other by a negative pressure introduction path, and collectively switches to a negative pressure state by sucking gas through the negative pressure introduction path. It solves the problem.
  • the present invention is the wearable movement assist device according to (1), The above-mentioned problem is solved by interposing a support member having stretchability and high friction between the fitting portion and the wearer.
  • the present invention is a first fastening member that is worn on the waist of the wearer and fastened to the back side of the wearer; A first fitting part attached to the inner surface of the first fastening member and abutting on the waist back side of the wearer; A right leg auxiliary part provided downward from the right side part of the first fastening member; A left leg auxiliary portion provided below from the left side of the first fastening member, The right leg auxiliary part and the left leg auxiliary part are A bracket extending downward to support the first fastening member; A first frame extending in parallel with the wearer's thigh from the bracket; A second fastening member provided on the first frame and fastened to an outer periphery of the wearer's thigh; A second fitting portion attached to the inner surface of the second fastening member and contacting the
  • the fastening member is in a deformable flow state until the fitting portion is attached to the wearer, and changes to a shape corresponding to the body shape of the portion that comes into contact with the wearer after being attached to the wearer. For example, even when the wearer's body shape changes or when the wearer wears a different wearer, the fitting portion is shaped according to the wearer's body shape. By deforming, the effect that adjustment work of the fitting part for the wearer can be made unnecessary can be obtained.
  • the fitting part when attached to the wearer, it is solidified to a shape corresponding to the shape of the part that comes into contact with the wearer, thereby assisting the wearer with the driving force of the drive part without rattling. It can be transmitted as a force to the wearer.
  • FIG. 6 is a cross-sectional view showing a mounted state of the waist fastening member 30.
  • FIG. 4 is a perspective view showing a state in which a fitting part 31 is fixed to an inner peripheral surface of a reinforcing part 100. It is a longitudinal cross-sectional view which expands and shows the closed state of the valve part 150.
  • FIG. 10 is a perspective view showing a modification of the fitting part 31. It is a perspective view which shows the operation
  • FIG. 6 is a cross-sectional view showing a mounting state of Example 2.
  • FIG. It is a perspective view which shows the state by which the fitting part 31 of Example 2 was fixed to the internal peripheral surface of the reinforcement part 100.
  • FIG. It is a figure which shows the method at the time of reducing the internal pressure of the fitting part 31 of Example 2.
  • FIG. 10 is a perspective view showing a modification of the second embodiment. It is a figure which shows the method of decompressing fitting part 300,310,320 at the time of mounting
  • FIG. FIG. 3 is a diagram schematically showing a schematic configuration of a pressure adjustment unit 400.
  • 10 is a flowchart of a control process executed when the motion assisting mounting frame 18C is mounted on the wearer 12.
  • 7 is a flowchart of a control process 1 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12.
  • 12 is a flowchart of a control process 2 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12.
  • FIG. 6 is a cross-sectional view showing another modification of the first embodiment.
  • FIG. 10 is a transverse cross-sectional view showing another modified example of the second embodiment.
  • FIG. 10 is a perspective view showing a modified example of the fourth embodiment.
  • FIG. 10 is a transverse cross-sectional view showing a modified example of the fourth embodiment.
  • FIG. 1 is a perspective view of a wearing type movement assisting device according to an embodiment of the present invention as seen from the front side when worn by a wearer.
  • FIG. 2 is a rear perspective view of a state in which the wearable movement assisting device according to the embodiment of the present invention is worn by a wearer.
  • the wearable movement assist device 10 is, for example, a lower limb motor function disabled person who is unable to walk due to a decrease in muscle strength of skeletal muscles, or It is a device that assists (assides) the walking motion of a person who is difficult to walk on their own, such as a patient who performs rehabilitation of walking motion. Further, the motion assisting device 10 operates so as to detect a biological signal (surface myoelectric potential) generated when a muscle force is generated by a signal from the brain and to apply a driving force from the actuator based on the biological signal.
  • a biological signal surface myoelectric potential
  • the wearer 12 wearing the motion assisting device 10 is given a driving torque according to a biological signal generated when performing a walking motion on his / her own intention as an assisting force, and is necessary for normal walking, for example. It becomes possible to walk with half the strength of the muscle strength. Therefore, the wearer 12 can walk while supporting the overall weight by the resultant force of his / her muscle strength and the driving torque from the actuator (in this embodiment, an electric driving motor is used).
  • the motion assisting device 10 controls the assist force (motor torque) applied in accordance with the movement of the center of gravity accompanying the walking motion of the wearer 12 to reflect the intention of the wearer 12. Therefore, the actuator of the motion assisting device 10 is controlled so as not to apply a load that is against the intention of the wearer 12 and is controlled so as not to hinder the operation of the wearer 12.
  • the motion assisting device 10 can also assist, for example, the motion when the wearer 12 stands up from the sitting state or the motion when sitting on the chair from the standing state. Furthermore, power assist can be performed even when the wearer 12 goes up or down the stairs. In particular, when the muscular strength is weak, it is difficult to move up the stairs or move up from the chair, but the wearer 12 wearing the movement assisting device 10 is given drive torque according to his / her intention. This makes it possible to operate without worrying about muscular weakness.
  • the motion assisting device 10 is provided with a drive unit on a motion assisting mounting frame 18 ⁇ / b> A that is worn by the wearer 12.
  • the drive unit includes a right thigh drive motor 20 located at the right hip joint of the wearer 12, a left thigh drive motor 22 located at the left hip joint of the wearer 12, and a right knee drive located at the right knee joint of the wearer 12.
  • the motor 24 and the left knee drive motor 26 located at the left knee joint of the wearer 12 are included.
  • These drive motors 20, 22, 24, and 26 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device.
  • Each of the drive motors 20, 22, 24, and 26 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a small but sufficient driving force. Can do. Further, as a drive motor, it is needless to say that an ultrasonic motor thinned so that the installation space can be reduced may be used.
  • batteries 32 and 34 functioning as power sources for driving the drive motors 20, 22, 24, and 26 are attached to the waist fastening member (first fastening member) 30 that is worn around the waist of the wearer 12. It has been.
  • the batteries 32 and 34 are rechargeable batteries, and are distributed on the left and right so as not to hinder the walking motion of the wearer 12.
  • control unit 36 is attached to the rear side of the waist fastening member 30 which is the back side of the wearer 12.
  • the motion assisting device 10 detects the bioelectric potential associated with the movement of the right thigh of the wearer 12 and the biosignal detection of detecting the biopotential associated with the movement of the left thigh of the wearer 12.
  • Sensors 40a and 40b, biosignal detection sensors 42a and 42b that detect biopotentials associated with the movement of the right knee, and biosignal detection sensors 44a and 44b that detect biopotentials associated with the movement of the left knee are examples of the motion assisting device 10 that detect bioelectric potential associated with the movement of the right thigh of the wearer 12 and the biosignal detection of detecting the biopotential associated with the movement of the left thigh of the wearer 12.
  • Each of these biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is a biosignal detection means for detecting biopotential signals such as myopotential signals and nerve transmission signals through the skin, It has an electrode (not shown) for detecting a weak potential.
  • each of the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is attached so as to be attached to the skin surface of the wearer 12 with an adhesive seal covering the periphery of the electrodes. It is done.
  • acetylcholine a synaptic transmitter
  • acetylcholine a synaptic transmitter
  • the ionic permeability of muscle fiber membranes changes and action potentials are generated.
  • the action potential causes contraction of muscle fibers and generates muscle force. Therefore, by detecting the potential of the skeletal muscle, it is possible to estimate the muscle strength that occurs during the walking motion, and it is possible to determine the assist force required for the walking motion from the virtual torque based on the estimated muscle strength Become.
  • the four drive motors 20, 22, 24, and 26 are based on the biological signals detected by the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, and 44b.
  • the driving current to be supplied to the vehicle is obtained, and the driving motors 20, 22, 24, and 26 are driven with the driving current, whereby an assist force is applied to assist the walking motion of the wearer 12.
  • floor reaction force sensors 50a, 50b, 52a, 52b are provided on the backs of the left and right legs of the wearer 12.
  • the floor reaction force sensor 50a detects a reaction force with respect to the load on the right leg front side
  • the floor reaction force sensor 50b detects a reaction force with respect to the load on the rear side of the right leg.
  • the floor reaction force sensor 52a detects a reaction force against the load on the left leg front side
  • the floor reaction force sensor 52b detects a reaction force against the load on the left leg rear side.
  • Each of the floor reaction force sensors 50a, 50b, 52a, and 52b includes, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, and changes in load due to weight shift and between the legs of the wearer 12 and the ground. The presence or absence of grounding can be detected.
  • FIG. 3 is a perspective view showing a state before the operation auxiliary mounting frame 18A is mounted.
  • the motion assisting mounting frame 18 ⁇ / b> A includes a waist fastening member 30 attached to the waist of the wearer 12, a right leg auxiliary portion 54 provided below from the right side of the waist fastening member 30, A left leg auxiliary portion 55 provided below the left side portion of the waist fastening member 30.
  • a fitting part 31 that is in close contact with the back of the waist 12 of the wearer 12 is attached.
  • the right leg auxiliary part 54 and the left leg auxiliary part 55 are disposed symmetrically, and are provided with a bracket 56 fixed to the waist fastening member 30 and extending downward from the bracket 56 along the outer side of the thigh of the wearer 12.
  • a first frame 58 formed as described above, a second frame 60 formed so as to extend below the first frame 58 and along the outside of the shin of the wearer 12, When wearing it, it has the 3rd frame 62 in which a shoe sole) is mounted.
  • a first joint 64 having a bearing structure is interposed between the lower end of the bracket 56 and the upper end of the first frame 58, and the bracket 56 and the first frame 58 are rotatably connected.
  • the first joint 64 is provided at a height position that coincides with the hip joint of the wearer 12, the bracket 56 is fastened to the support side of the first joint 64, and the first frame 58 is the rotation side of the first joint 64. It is concluded to. Further, the first joint 64 incorporates drive motors 20 and 22, and the first joint 64 and the drive motors 20 and 22 are integrated in appearance.
  • a second joint 66 having a bearing structure is interposed between the lower end of the first frame 58 and the upper end of the second frame 60, and the first frame 58 and the third frame 62 can be rotated. It is linked to.
  • the second joint 66 is provided at a height position that coincides with the knee joint, the first frame 58 is fastened to the support side of the second joint 66, and the second frame 60 is on the rotation side of the second joint 66. It is concluded.
  • the second joint 66 incorporates drive motors 24 and 26, and the second joint 66 and the drive motors 24 and 26 are integrated in appearance.
  • a third joint 68 having a bearing structure is interposed between the lower end of the second frame 60 and the upper end of the third frame 62, and the second frame 60 and the third frame 62 can be rotated. It is linked to.
  • a shoe 84 on which the foot of the wearer 12 is to be worn is fixed inside the third frame 62.
  • the first frame 58 and the second frame 60 are attached to the bracket 56 fixed to the waist fastening member 30 so as to be able to perform a walking motion with the first joint 64 and the second joint 66 as pivot points.
  • the first frame 58 and the second frame 60 are configured to perform the same operation as the leg of the wearer 12.
  • the third joint 68 is provided so as to be located on the side of the ankle of the wearer 12. Therefore, the angle of the shoe 84 with respect to the floor surface (or the ground surface) is changed in the same manner as the ankle of the wearer 12 according to the walking operation by the rotation operation of the third joint 68.
  • first joint 64 and the second joint 66 transmit the drive torque to the first frame 58 and the second frame 60 on which the rotation shafts of the drive motors 20, 22, 24, and 26 are driven via gears. Is configured to do.
  • the drive motors 20, 22, 24, and 26 have angle sensors that detect joint angles.
  • the angle sensor includes, for example, a rotary encoder that counts the number of pulses proportional to the joint angles of the first joint 64 and the second joint 66, and outputs an electrical signal corresponding to the number of pulses corresponding to the joint angle as a sensor output. .
  • the angle sensor of the first joint 64 detects a rotation angle between the bracket 56 and the first frame 58 corresponding to the joint angle of the hip joint of the wearer 12. Further, the angle sensor of the second joint 66 detects a rotation angle between the lower end of the first frame 58 and the second frame 60 corresponding to the joint angle of the knee joint of the wearer 12.
  • a belt-like thigh fastening member (second fastening member) 78 fastened to the thigh of the wearer 12 is attached to an intermediate position in the longitudinal direction of the first frame 58.
  • a fitting portion 79 that is in close contact with the thigh of the wearer 12 is attached.
  • a belt-like shin fastening member (third fastening member) 80 that is fastened to the shin below the knee of the wearer 12 is attached to an intermediate position in the longitudinal direction of the second frame 60.
  • a fitting portion 81 that is in close contact with the wearer 12 with no gap is attached.
  • the drive torque generated by the drive motors 20, 22, 24, 26 is transmitted to the first frame 58 and the second frame 60 via gears, and is further attached via the thigh fastening member 78 and the shin fastening member 80. It is transmitted to the leg of the person 12 as assist force.
  • a shoe 84 is rotatably connected to the lower end of the second frame 60 via a third joint 68.
  • the first frame 58 and the second frame 60 are adjusted to a length corresponding to the length of the leg of the wearer 12.
  • Each frame 58, 60, 62 is configured to cover the periphery of a metal material reduced in weight such as duralumin with a resin material having elasticity, and the batteries 32, 34 attached to the waist fastening member 30, the control
  • the weight of the operation assisting mounting frame 18A such as the unit 36 can be supported. That is, the motion assisting device 10 is configured such that the weight of the motion assisting mounting frame 18A or the like does not act on the wearer 12, and is attached so as not to apply an extra load to the wearer 12.
  • the waist fastening member 30 includes belts 120 and 130 connected via a hinge 110, a buckle 140 attached to an end portion of one belt 120, and a locking metal fitting attached to an end portion of the other belt 130. 142 (see FIG. 4).
  • the locking metal fitting 142 is inserted into the insertion port of the buckle 140 and locked with the reinforcing portion 100 in contact with the back side of the waist. Then, the lengths of the belts 120 and 130 are adjusted to a length corresponding to the degree of protrusion of the wearer 12. As a result, the waist fastening member 30 is in close contact with the outer circumference of the wearer 12 around the waist.
  • the buckle 140 has a configuration similar to that of a seat belt of an automobile, and is configured so that the locking of the locking metal fitting 142 can be released by operating the locking release portion.
  • fitting parts 31, 79, 81 provided inside the waist fastening member 30, the thigh fastening member 78, and the shin fastening member 80 will be described.
  • each fitting part 31,79,81 has the respectively same structure, the structure of the fitting part 31 is demonstrated in the following description.
  • FIG. 4 is a cross-sectional view showing a mounted state of the waist fastening member 30.
  • the waist fastening member 30 is provided along the reinforcement portion 100 formed in a C shape as viewed from above so as to cover the back side of the waist of the wearer 12, and along the inside of the reinforcement portion 100.
  • the fitted fitting portion 31 is formed of a rigid resin material, a metal material, or a high-strength material configured to cover the surface of the metal material with a resin material.
  • the fitting part 31 is filled with many granular members (filler) 182 inside, for example. The large number of granular members 182 change from a fluidized state to a solidified state due to an increase in friction between the granular members 182 due to a pressure (negative pressure) adjusted by supplying and discharging air.
  • the waist fastening member 30 when the waist fastening member 30 is attached to the wearer 12, a large number of granular members 182 filled in the fitting portion 31 are in a fluid state, and the surface is in a soft state. Therefore, the waist fastening member 30 can be mounted relatively easily without excessive tightening force acting on the wearer 12 until the large number of granular members 182 filled in the fitting portion 31 change to a solidified state. Can do.
  • examples of the filler other than the granular member 182 include foamed urethane (rigid urethane foam) that solidifies after filling the bag-like member by spraying.
  • the urethane foam (filler) is a substance that can be filled into the fitting part 31 in a fluidized state and solidifies by discharging a volatile substance together with the gas in the fitting part 31. Therefore, when the fitting part 31 has a shape corresponding to the body shape of the contact part of the wearer 12, the foamed urethane filled in the fitting part 31 is discharged by the gas inside the fitting part 31, so that the wearer 12 It is solidified with the shape corresponding to the body shape of the contact part. Thereby, the fitting part 31 can couple
  • FIG. 5 is a perspective view showing a state where the fitting portion 31 is fixed to the inner peripheral surface of the reinforcing portion 100.
  • the fitting portion 31 has substantially the same height as the reinforcing portion 100 formed in a band shape, and is formed in a curved shape so as to cover the back side of the waist of the wearer 12.
  • the bag-shaped member made of resin is filled with a number of granular members 182 (see FIG. 4).
  • valve part 150 for intake and exhaust of air is provided.
  • the valve portion 150 is normally closed to close the air flow, and is opened when adjusting the fitting pressure.
  • fitting part 31 is not decompressed until it is attached to the wearer 12, and a large number of granular members 182 are in a flow state, and after being attached to the wearer 12, the fitting part 31 is decompressed by exhaust from the valve part 150 and attached.
  • a large number of granular members 182 are solidified into a shape corresponding to the body shape of the portion that contacts the waist back side of the person 12.
  • FIG. 6A is an enlarged longitudinal sectional view showing the closed state of the valve portion 150.
  • the valve portion (negative pressure holding means) 150 is formed of an elastic resin material such as urethane resin, and has a cylindrical portion 152 that connects the inside and the outside, and a cylindrical portion.
  • An outer closing portion 154 that closes the outer opening 152a of 152 from the outside, and an inner closing portion 156 that closes the inner opening 152b of the cylindrical portion 152 from the inside.
  • the valve portion 150 is closed by fitting the outer closing portion 154 to the outer opening 152 a of the cylindrical portion 152.
  • the inner closing portion 156 is a so-called leaf valve having one end coupled to the inner wall of the bag-like member and the other end being displaceable, and closes the inner opening 152b of the cylindrical portion 152 by internal pressure.
  • FIG. 6B is an enlarged longitudinal sectional view showing the pressure adjustment state of the valve unit 150.
  • the needle portion 160 is inserted into the tubular portion 152.
  • the inner closing portion 156 of the valve portion 150 is pressed by the tip of the needle portion 160 inserted into the cylindrical portion 152 and displaced inward to be in a valve open state. Therefore, when a negative pressure is introduced from the upper end of the needle part 160, the internal pressure of the fitting part 31 can be reduced.
  • the fitting part 31 can adjust the internal pressure of the fitting part 31 by inserting the needle part 160 into the cylindrical part 152 of the valve part 150, and can introduce a large number of granular members together with the introduction of negative pressure. 182 changes to a solidified state while deforming into a shape corresponding to the body shape of the wearer. After the negative pressure is introduced, the needle portion 160 is pulled out from the cylindrical portion 152, and then the outer closing portion 154 of the valve portion 150 is fitted into the cylindrical portion 152 to switch to the valve closed state. Thus, the fitting unit 31 maintains a solidified state corresponding to the wearer's body shape by closing the valve unit 150.
  • a closing clip that presses the cylindrical portion 152 of the valve unit 150 from the side to close the internal passage may be attached.
  • FIG. 7 is a diagram showing a method for reducing the internal pressure of the fitting part 31.
  • the bag-like member 180 constituting the fitting portion 31 is in a fluid state that can be deformed until it is worn by the wearer 12, and is attached to the wearer after being worn by the wearer 12.
  • a filler that changes to a shape corresponding to the body shape of the abutting portion is filled.
  • a large number (for example, about 10,000 to 100,000 pieces) of granular members 182 made of minute (for example, a diameter of about 1 mm to 2 mm) spheres are filled.
  • the granular member 182 is not limited to a sphere, and may be a hexahedron or a polyhedron of higher than that, or may be provided with minute irregularities on the surface to increase intergranular friction during decompression.
  • the granular member 182 can be adjusted in hardness during decompression by mixing a plurality of members having different diameters. Further, by preparing in advance the fitting part 31 having a different filling rate of the granular member 182 with respect to the volume of the bag-like member 180, it is possible to adjust without changing the waist fastening member 30 according to the body shape of the wearer 12, for example. become. For example, when the waist of the wearer 12 is equal to or greater than a specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is reduced by 20% may be used. Conversely, when the waist of the wearer 12 is equal to or less than the specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is increased by 20% may be used.
  • the needle part 160 When discharging the gas in the bag-like member 180, the needle part 160 is inserted into the valve part 150 of the fitting part 31, and the negative pressure generating means 170 for introducing a negative pressure is connected to the other end of the needle part 160.
  • the negative pressure generating means 170 is configured to suck a gas.
  • the negative pressure generating means 170 is configured to have a cylinder and a cylinder having an airtight structure such as a vacuum pump, a cylinder held in a vacuum state, or a syringe that can be easily performed.
  • a manual suction device having a sliding piston rod may be used.
  • FIG. 8 is a diagram showing a change in the internal state of the fitting unit 31.
  • the fitting part 31 has a soft surface because many granular members 182 are in a fluid state.
  • the inner shape of the bag-like member 180 of the fitting part 31 is reduced to the atmospheric pressure or lower by the negative pressure generating means 170 at the time of wearing, so that the outer shape of the bag-like member 180 of the fitting part 31 becomes the contact part of the wearer 12. It is deformed into a shape corresponding to the body shape (state (B) after decompression). As a result, the large number of granular members 182 filled in the fitting portion 31 come into contact with each other and change into a solidified state due to increased friction between the grains. Therefore, the fitting part 31 is changed to a solidified state in which a large number of granular members 182 are in contact with each other while the surface is in a shape corresponding to the body shape of the wearer 12. Therefore, the fitting part 31 is able to transmit the driving force from the motion assisting mounting frame 18A to the wearer 12 without loss by being solidified into a shape in close contact with the back side and the left and right sides of the waist of the wearer 12. become.
  • the inner closing portion 156 returns to the valve closing state in which the inner opening 152b of the cylindrical portion 152 is closed from the inner side by pulling out the needle portion 160 from the cylindrical portion 152.
  • the fitting part 31 can hold
  • the negative pressure introduced into the fitting part 31 returns to atmospheric pressure by fitting the outer closing part 154 to the outer opening 152a of the cylindrical part 152 and closing the outer opening 152 of the cylindrical part 152. To prevent that.
  • outside air atmospheric pressure
  • outside air atmospheric pressure
  • the fitting portion 31 enters a fluidized state with reduced friction between the large number of granular members 182 filled in the bag-like member 180. Therefore, the fitting part 31 returns to a soft state because the many granular members 182 can freely move inside the bag-shaped member 180.
  • FIG. 9 is a perspective view showing a modified example of the fitting portion 31.
  • the fitting portion 31 of the modified example is formed in a C shape as viewed from above along the inner periphery of the reinforcing portion 100 and is in contact with the back of the wearer 12. Is curved to the rear side.
  • the wearer 12 does not bite the upper edge of the fitting portion 31 into the back when the back is bent backwards even when the motion assisting mounting frame 18A is mounted. For this reason, the wearer 12 can easily operate even when the motion assisting mounting frame 18A is mounted, without hindering the movement of the upper body.
  • FIG. 10 is a perspective view showing the operation assisting mounting frame 18B of the second embodiment.
  • FIG. 11 is a cross-sectional view showing a mounting state of the second embodiment.
  • FIG. 12 is a perspective view showing a state in which the fitting part 31 of Example 2 is fixed to the inner peripheral surface of the reinforcing part 100.
  • FIG. 13 is a diagram illustrating a method for reducing the internal pressure of the fitting unit 31 according to the second embodiment. 10 to 13, the same parts as those of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. Moreover, since each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • the bag-like member 180 of the fitting part 31 has a plurality of filling chambers 200 in the operation assisting mounting frame 18 ⁇ / b> B.
  • the plurality of filling chambers 200 are partitioned by partition walls 202 extending in the vertical direction.
  • a communication pipe 204 that communicates between adjacent filling chambers 200 is provided on the upper part of the partition wall 202.
  • Each filling chamber 200 is filled with the numerous granular members 182 described above. Since the granular member 182 is partitioned by the partition wall 202 extending in the vertical direction, the granular member 182 cannot move to another filling chamber 200 adjacent to the partition wall 202. Therefore, even when the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the filling rate of the granular member 182 filled in the plurality of filling chambers 200 is increased. An averaged state can be maintained.
  • each filling chamber 200 it is possible to adjust the hardness during decompression for each filling chamber 200 by mixing a plurality of types of granular members 182 having different diameters. Moreover, it is also possible to change the hardness in each site
  • FIG. it is possible to harden the part that contacts the back side of the waist of the wearer 12 and soften the part that contacts the left and right sides of the waist of the wearer 12.
  • valve portion 150 is only one place. Therefore, by connecting the negative pressure generating means 170 to the valve unit 150, the pressures of the plurality of filling chambers 200 can be collectively reduced at the time of mounting. Moreover, at the time of desorption
  • FIG. 14 is a perspective view showing a modification of the second embodiment. As shown in FIG. 14, a plurality (three in this embodiment) of fitting portions 300, 310, and 320 are fixed to the reinforcing portion 100 of the waist fastening member 30.
  • the first fitting unit 300 includes a bag-like member 302 that is formed into a shape having a curved surface 301 that roughly corresponds to the shape of the back side of the waist of the wearer 12. Further, the interior of the bag-like member 302 is partitioned into a plurality of (three in this embodiment) filling chambers 306 by partition walls 304 extending in the vertical direction. Each filling chamber 306 is filled with a number of granular members 182. A communication pipe 308 that communicates between the adjacent filling chambers 200 is provided above the partition wall 304.
  • the second and third fitting parts 310 and 320 have bag-like members 312 and 322 formed into shapes having curved surfaces 311 and 321 corresponding to body shapes on the left and right sides of the waist of the wearer 12.
  • the bag-shaped members 312 and 322 are partitioned into a plurality of (two in this embodiment) filling chambers 316 and 326 by partition walls 314 and 324 extending in the vertical direction.
  • Each of the filling chambers 316 and 326 is filled with a number of granular members 182.
  • communication pipes 318 and 328 communicating between adjacent filling chambers 200 are provided above the partition walls 314 and 324.
  • the fitting portions 300, 310, and 320 are formed into shapes in which the bag-shaped members 302, 312, and 322 have curved surfaces 301, 311, and 321 corresponding to the body shape of the contact portion of the wearer 12, respectively.
  • the amount of deformation due to reduced pressure during mounting can be small. Thereby, in the fitting parts 300, 310, and 320, the amount of air sucked also decreases, and the solidification time due to decompression can be shortened.
  • an elastic body 340 such as a sponge is attached between the fitting parts 300, 310, and 320.
  • the elastic body 340 is also formed in a curved surface shape corresponding to the contact portion of the wearer 12.
  • the elastic body 340 is a spacer that fills the valley between the fitting portions 300, 310, and 320 and does not affect the fitting pressure on the wearer 12.
  • Each of the filling chambers 306, 316, 326 is filled with the above-described many granular members 182. Since each of the filling chambers 306, 316, 326 is partitioned by partition walls 304, 314, 324 extending in the vertical direction, the granular member 182 is separated from the other filling chambers adjacent by the partition walls 304, 314, 324. Cannot move to 306, 316, 326. Therefore, even if the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the granular member 182 filled in the plurality of filling chambers 306, 316, 326. It is possible to maintain a state in which the filling rate is averaged.
  • FIG. 15 is a diagram showing a method of depressurizing the fitting parts 300, 310, and 320 when being mounted. As shown in FIG. 15, branch pipes 361 to 363 of the pressure introduction pipe 360 connected to the vacuum generating means 170 are connected to the valve parts 150 of the fitting parts 300, 310, and 320.
  • valve devices 371 to 373 are arranged in the branch pipes 361 to 363.
  • the valve devices 371 to 373 are normally closed valve devices that maintain a normally closed state, and are switched to an open state by, for example, pressing an operation unit. Further, when the negative pressure generated by the negative pressure generating means 170 is introduced into the fitting units 300, 310, and 320 via the valve devices 371 to 373, the internal pressures of the fitting units 300, 310, and 320 are individually reduced. The Therefore, it is possible to appropriately adjust the fitting pressure for the contact portion of the wearer 12 by individually adjusting the pressures of the fitting portions 300, 310, and 320 using the negative pressure generating means 170.
  • FIG. 16 is a perspective view showing an operation assisting mounting frame of the third embodiment.
  • the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof is omitted.
  • each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • a pressure adjustment unit 400 that automatically adjusts the pressure in each filling chamber 200 is mounted on the operation assistance mounting frame 18 ⁇ / b> C of the third embodiment.
  • a surface pressure detection sensor (pressure detection means) 410 for detecting the fitting pressure is fixed to the contact surface of each filling chamber 200.
  • a detection means such as a strain gauge or a piezoelectric element is used.
  • the buckle 140 of the waist fastening member 30 is provided with a buckle coupling detection switch 420 that detects that the locking metal fitting 142 is inserted and locked.
  • a buckle coupling detection switch 420 a micro switch that is turned on when the locking metal fitting 142 is inserted into the buckle 140 is used.
  • FIG. 17 is a diagram schematically showing a schematic configuration of the pressure adjusting unit 400.
  • the pressure adjustment unit 400 reads the detection signals from the surface pressure detection sensor 410 and the buckle coupling detection switch 420 and performs pressure control calculation processing, and the control device 430 A small motor 440 that is driven and controlled by a control signal. Further, the pressure adjusting unit 400 inputs a piston / cylinder mechanism 460 as pressure introducing means to which the rotational driving force of the small motor 440 is transmitted via the reduction gear 450, and a target for inputting an arbitrary target pressure in each filling chamber 200. Pressure input means 500. Control device 430 performs pressure adjustment control by power supply from battery 432.
  • the memory 431 of the control device 430 stores a control program as a mounting determination unit that determines that the motion assisting mounting frame 18C is mounted on the wearer 12 based on the detection signal output from the buckle coupling detection switch 420. ing. Furthermore, the memory 431 of the control device 430 stores the surface pressure (fitting pressure) between each filling chamber 200 of the fitting unit 31 and the contact portion of the wearer 12 based on the detection signal output from the surface pressure detection sensor 410. A control program as pressure adjusting means for adjusting to the specified pressure is stored.
  • the piston / cylinder mechanism 460 includes a cylinder 470 connected to the other end of the pressure introducing pipe 360, a piston 480 inserted into the cylinder 470 so as to reciprocate, and a piston rod 490 provided integrally with the piston 480.
  • a male screw 492 is formed on the outer periphery of the piston rod 490, and the male screw 492 is screwed into a screw hole 472 that passes through the cylinder 470.
  • the piston 480 moves in the axial direction to increase or decrease the volume in the cylinder 470. Further, since the outer periphery of the piston 48 is hermetically sealed by a seal member 482, the air in the filling chamber 200 to which one end of the pressure introducing pipe 360 is connected is supplied and discharged according to the moving direction of the piston 480. The pressure can be finely adjusted.
  • the pressure adjusting unit 400 is connected to each valve unit 150 of each of the plurality of filling chambers 200 by one pressure introduction pipe 360, and is provided corresponding to each of the plurality of filling chambers 200. It is possible to adjust. Moreover, it is also possible to collectively adjust the pressures of the plurality of filling chambers 200 by connecting the pressure introducing pipes 360 in parallel to the valve portions 150 of the plurality of filling chambers 200.
  • FIG. 18 is a flowchart of control processing executed when the motion assisting mounting frame 18 ⁇ / b> C is mounted on the wearer 12.
  • FIG. 19A is a flowchart of the control process 1 executed when the motion assisting mounting frame 18C is attached to the wearer 12.
  • FIG. 19B is a flowchart of the control process 2 executed when the motion assisting mounting frame 18 ⁇ / b> C is attached to the wearer 12.
  • the control device 430 checks whether or not the buckle coupling detection switch 420 is turned on in S11 shown in FIG. When the motion assisting mounting frame 18C is mounted on the wearer 12 and the locking bracket 142 is inserted into the buckle 140 and locked, the buckle coupling detection switch 420 is turned on and a detection signal is output. If the buckle connection detection switch 420 is turned on in S11 (in the case of YES), it is determined that the mounting operation of the motion auxiliary mounting frame 18C is completed, and the process proceeds to S12.
  • the small motor 440 is rotationally driven in the negative pressure generation direction (depressurization direction), the piston 480 is moved to increase the volume in the cylinder 470, and the air in the filling chamber 200 is sucked to each of the fitting portions 31. A negative pressure is introduced into the filling chamber 200. Thereby, since the air in each filling chamber 200 is sucked, the friction between the granular members 182 filled in each filling chamber 200 is increased and changed into a solidified state.
  • the fitting pressure detected by the surface pressure detection sensor 410 is read.
  • the detected fitting pressure (detected pressure) is compared with a preset target pressure (set value) to determine whether or not the fitting pressure (detected pressure) has reached the target pressure (set value). To check.
  • the pressure adjustment processing shown in FIG. 19A is performed by the control device 430 at predetermined time intervals (for example, every 5 to 10 minutes).
  • predetermined time intervals for example, every 5 to 10 minutes.
  • S21 shown in FIG. 19A it is confirmed that the buckle coupling detection switch 420 is on, and the process proceeds to S22.
  • S22 the fitting pressure detected by the surface pressure detection sensor 410 is read.
  • S23 it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is larger than the upper limit target pressure (set value A).
  • the process proceeds to S28, in which it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is smaller than the lower limit pressure (set value C ⁇ B).
  • the fitting pressure (detected pressure) is larger than the lower limit pressure (set value C) (in the case of NO)
  • the process proceeds to S25, and whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is constant. To check.
  • the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the shape of the wearer 12. It becomes possible to adjust to. Subsequently, the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
  • the pressure of the fitting unit 31 can always be adjusted to the target pressure by the pressure adjusting unit 400, the transmission of the driving force between the operation assisting mounting frame 18C and the wearer 12 can be performed without loss.
  • the pressure adjustment of the fitting portion 31 by the pressure adjustment portion 400 is performed in a state where the locking metal fitting 142 is locked to the buckle 140 of the operation assisting mounting frame 18C, and therefore pressure control can be performed in a non-mounted state.
  • the burden on the fitting unit 31 and the pressure adjustment unit 400 can be reduced.
  • FIG. 19B a modified example of the control process executed by the control device 430 will be described with reference to FIG. 19B.
  • FIG. 19B the same processes as those in FIG. 19A described above are denoted by the same processing numbers and description thereof is omitted.
  • the filling chamber 200 returns to the expanded state, and the fitting operation (air introduction and negative pressure introduction into the filling chamber 200) can be repeated again.
  • the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the body shape of the wearer 12. It becomes possible to adjust the shape.
  • the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
  • the number of times of pressure adjustment is three, but the number of times of pressure adjustment can be set to three or more in accordance with the movement of the wearer 12.
  • FIG. 20 is a view showing a modification of the pressure adjusting unit.
  • the pressure adjustment unit 600 includes a vacuum tank 610 whose inside is evacuated, a negative pressure electromagnetic valve 620 that opens or closes a pressure introduction pipe 360 connected to the vacuum tank 610, a pressure An atmospheric electromagnetic valve 640 that opens or closes the branch pipe 630 branched from the introduction pipe 360 and a throttle 650 that suppresses the flow rate of the pressure introduction pipe 360 to a minute flow rate are provided.
  • the vacuum tank 610 and the negative pressure solenoid valve 620 constitute pressure introducing means.
  • the control device 430 of the pressure adjustment unit 600 is similar to the pressure adjustment unit 400 described above in that the negative pressure solenoid valve 620 or the atmospheric solenoid valve is based on the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410.
  • Switch 640 to open or closed. Note that the internal flow paths of the negative pressure solenoid valve 620 and the atmospheric solenoid valve 640 are throttled so as to have a minute flow rate. Therefore, the flow path area is set so that the pressure of the fitting portion 31 does not change suddenly even if the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened.
  • the pressure adjusting unit 600 since only the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened and closed, the power consumption of the battery 432 can be saved, but the vacuum tank 610 is periodically changed according to the number of pressure adjustments. Will be replaced.
  • FIG. 21 is a perspective view showing the operation assisting mounting frame of the fourth embodiment.
  • FIG. 22 is a perspective view showing the fitting unit 700 separated.
  • the same parts as those of the first, second, and third embodiments described above are denoted by the same reference numerals and the description thereof is omitted.
  • each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • the operation assisting mounting frame 18 ⁇ / b> D is provided with the fitting unit 700 so as to be separable from the reinforcing portion 100 of the waist fastening member 30.
  • An engaging portion 710 for holding the fitting unit 700 protrudes from the inner peripheral surface of the reinforcing portion 100.
  • the protruding position of the engaging portion 710 is provided at a position corresponding to a concave portion 720 of the fitting unit 700 described later.
  • the fitting unit 700 is integrally provided on the outer surface of the inner wear 730 worn by the wearer 12 on the underwear.
  • the fitting unit 700 includes a first fitting portion 740 stitched to the back side of the inner wear 730, a second fitting portion 750 stitched to the left and right sides of the inner wear 730, and a third fitting portion 760.
  • the first fitting portion 740 is made of a bag-like member that is shaped so as to be positioned on the back side of the waist of the wearer 12, and the bag-like member is filled with a granular member 182.
  • the second and third fitting portions 750 and 760 are formed of bag-shaped members that are formed on the left and right sides of the waist of the wearer 12, and the bag-shaped member is filled with a granular member 182. ing.
  • FIG. 23 is a cross-sectional view showing a state in which the fitting unit 700 is engaged with the motion assisting mounting frame 18D.
  • the wearer 12 wearing the inner wear 730 aligns the concave portion 720 of the fitting unit 700 with the engaging portion 710 of the reinforcing portion 100 when wearing the motion assisting wearing frame 18D.
  • the locking metal fitting 142 is inserted into the buckle 140 and locked.
  • an operation of introducing a negative pressure to each fitting part 740, 750, 760 is performed to solidify each fitting part 740, 750, 760.
  • the fitting unit 700 is solidified into a shape that is in close contact with the back side and the left and right sides of the waist of the wearer 12, and can transmit the driving force from the motion assisting wearing frame 18D to the wearer 12 without loss.
  • each fitting portion 740, 750, 760 by introducing air (atmospheric pressure) to each fitting portion 740, 750, 760, the engagement state between the reinforcing portion 100 of the motion assisting mounting frame 18D and the fitting unit 700 is released, and motion assisting from the wearer 12 is performed.
  • the mounting frame 18D can be removed.
  • the fitting unit 700 is separable from the motion assisting mounting frame 18D, for example, when a plurality of patients share one motion assisting mounting frame 18D in a facility such as rehabilitation, each person has the fitting unit 700D. If the inner wear 730 having 700 is prepared, it is possible to perform rehabilitation using the motion assisting mounting frame 18D regardless of the difference in the body shape of each person.
  • the form of the inner wear 730 is not limited to the spats type as shown in FIG. 22, for example, a belly-wrap type that adheres around the waist of the wearer 12, or a vest that covers from the shoulder to the waist.
  • a mold may be used.
  • FIG. 24 is a cross-sectional view showing another modification of the first embodiment.
  • a support member 800 is attached around the waist of the wearer 12.
  • the support member 800 is woven by a fiber material having stretchability and high friction properties that are spread outward when worn around the waist of the wearer 12 and generates a tightening force on the wearer 12 inside. ing.
  • the support member 800 has a large number of irregularities on the surface and has a high friction coefficient like a rubber material, and also acts as a slip stopper between the wearer 12 and the fitting portion 31. That is, the support member 800 has an inner peripheral surface that is in close contact with the waist of the wearer 12 and an outer peripheral surface that is in close contact with the surface of the fitting portion 31.
  • Each of the granular members 182 filled in the fitting portion 31 is depressurized in the fitting portion 31 by the pressure adjustment described above, and changes into a solidified state according to the body shape of the wearer 12 via the support member 800. Shape. Accordingly, the fitting portion 31 changes to a shape that matches the shape of the outer peripheral surface of the support member 800 and maintains the close contact state when each granular member 182 changes to a solidified state.
  • the support member 800 having stretchability and high friction on the surface makes it difficult for the fitting portion 31 to slip when the wearer 12 performs a walking motion, and the wearer 12 and the fitting portion 31 when the motor driving force is generated. The rattling between them is prevented.
  • the support member 800 has a size that can be attached to the thigh to which the fitting portion 79 of the thigh fastening member 78 is attached and the shin to which the fitting portion 81 of the shin fastening member 80 is attached. It is appropriately worn according to the intention of the wearer 12.
  • FIG. 25 is a cross-sectional view showing another modification of the second embodiment.
  • the fitting portion 31 is provided with a plurality of filling chambers 200, and the surfaces of the plurality of filling chambers 200 are in close contact with the outer peripheral surface of the support member 800.
  • a plurality of filling chambers 200 in which a large number of granular members 182 are filled in the fitting portion 31 are provided.
  • a support member 800 having stretchability and high friction on the surface is interposed. Therefore, regardless of the shape when the surface of each filling chamber 200 is individually deformed by the pressure adjustment described above, the wearer 12 and the fitting portion 31 are less likely to slip, and the wearer 12 when the motor driving force is generated Shaking between the fitting part 31 is prevented.
  • the support member 800 ensures the adhesion between the surface of each filling chamber 200 and the wearer 12.
  • FIG. 26 is a perspective view showing a modification of the fourth embodiment.
  • FIG. 27 is a cross-sectional view showing a modification of the fourth embodiment.
  • the inner wear 730 integrally stitches together the support member 800 to which the fitting portions 740, 750, and 760 are attached and the spats portion 810 formed of a softer and thinner material than the support member 800. Do it.
  • the support member 800 is in close contact with the waist portion of the wearer 12, and the spats 810 is in close contact with the hip and lower limb portions below the support member 800.
  • the support member 800 constitutes a waist portion of the inner wear 730, and the wearer 12 wears the inner wear 730 and is in close contact with the waist of the wearer 12.
  • the fitting portions 740, 750, and 760 are integrally provided on the outer peripheral surface of the support member 800, so that the inner wear 730 is attached as in the case of the fourth embodiment described above.
  • the wearer 12 performs positioning so that the engaging portion 710 of the reinforcing portion 100 fits into the concave portion 720 between the fitting portions 740, 750, and 760, and attaches the motion assisting mounting frame 18D. Then, the locking fitting 142 of the waist fastening member 30 is inserted into the buckle 140 and locked.
  • each of the fitting parts 740, 750, 760 changes the number of granular members 182 filled therein from a fluidized state to a solidified state. It changes and is shape
  • the wearer 12 can wear the support member 800 and the fitting portions 740, 750, and 760 by wearing the inner wear 730. Therefore, the preparatory work before the operation assisting mounting frame 18D is mounted can be performed. It becomes easy.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne une structure portable d'assistance à la mobilité (18A) ayant un organe s'attachant à la taille (30) destiné à être attaché à la taille d'une personne (12), une partie assistance côté jambe droite (54) mise en œuvre vers le bas en provenance de la partie latérale droite de l'organe s'attachant à la taille (30), et une partie assistance côté jambe gauche (55) mise en œuvre vers le bas en provenance de la partie latérale gauche de l'organe s'attachant à la taille (30). Une partie d'ajustement (31) destinée à être adaptée sur le côté arrière au niveau de la taille d'une personne (12) sans dégagement est fixée sur le côté arrière de l'organe s'attachant à la taille (30). La partie d'ajustement (31) est composée d'un organe en résine en forme de poche doté d'une forme courbe pour recouvrir le côté arrière au niveau de la taille de la personne (12). La partie d'ajustement (31) est dans un état fluide déformable jusqu'à ce qu'elle soit attachée à la personne (12) dans un état où la pression interne est la pression atmosphérique. Après fixation sur la personne (12), la pression interne est réduite de manière à faire varier la forme en fonction de la silhouette de la personne (12) au niveau d'une partie venant en butée contre le côté arrière au niveau de la taille.
PCT/JP2008/072081 2007-12-21 2008-12-04 Dispositif portable d'assistance à la mobilité Ceased WO2009081710A1 (fr)

Priority Applications (1)

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JP2009547013A JP5002655B2 (ja) 2007-12-21 2008-12-04 装着式動作補助装置

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JP2007-330628 2007-12-21

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JP2011110154A (ja) * 2009-11-25 2011-06-09 Toyota Motor Corp 歩行補助装具
CN102846450A (zh) * 2012-09-28 2013-01-02 中国科学院深圳先进技术研究院 外骨骼机器人的腰部支撑部件及外骨骼机器人
JP2013022296A (ja) * 2011-07-22 2013-02-04 Keijiro Yamamoto 関節運動アシスト装置
JP2013102827A (ja) * 2011-11-10 2013-05-30 Honda Motor Co Ltd 力付与装置及びその制御方法
JP2013116206A (ja) * 2011-12-02 2013-06-13 Dainippon Printing Co Ltd 歩行補助装置
WO2014138876A1 (fr) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Sangle destinée à être utilisée dans un exosquelette
WO2014138871A1 (fr) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Ensemble de transmission à utiliser dans un exosquelette
CN106272337A (zh) * 2016-08-25 2017-01-04 西南交通大学 一种可穿戴下肢外骨骼助力机器人
JP2017094425A (ja) * 2015-11-20 2017-06-01 株式会社クボタ アシストスーツ
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
CN107307971A (zh) * 2017-06-09 2017-11-03 浙江安控科技有限公司 一种助步机器人
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
JP2018096001A (ja) * 2016-12-14 2018-06-21 帝人株式会社 空調服
JP2018096003A (ja) * 2016-12-15 2018-06-21 帝人株式会社 加温機能または冷却機能を有する衣料
WO2019149316A1 (fr) * 2018-01-31 2019-08-08 ReActive Robotics GmbH Manchette d'accueil d'au moins une partie d'une extrémité extérieure d'une personne
WO2019221101A1 (fr) * 2018-05-15 2019-11-21 パナソニック株式会社 Dispositif d'aide au mouvement
CN111110519A (zh) * 2019-12-25 2020-05-08 南京理工大学 一种多传感智能化可穿戴下肢外骨骼机器人
US10736810B2 (en) 2013-07-19 2020-08-11 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
JP2020532436A (ja) * 2017-08-29 2020-11-12 ローム ロボティクス インコーポレイテッド 外骨格適合評価システム及び方法
JP2021023749A (ja) * 2019-08-09 2021-02-22 本田技研工業株式会社 アシスト装置制御システム、及び、駆動許可範囲決定方法
JP2022029066A (ja) * 2020-08-04 2022-02-17 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 アシストウェア
US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
JP2023136143A (ja) * 2022-03-16 2023-09-29 本田技研工業株式会社 歩行アシスト装置
US11872181B2 (en) 2017-08-29 2024-01-16 Roam Robotics Inc. Semi-supervised intent recognition system and method
US11931307B2 (en) 2019-12-13 2024-03-19 Roam Robotics Inc. Skiing exoskeleton control method and system
US12115663B2 (en) 2021-08-17 2024-10-15 Roam Robotics Inc. Maritime applications for a mobile robot
US12251355B2 (en) 2020-05-27 2025-03-18 Roam Robotics Inc. Modular exoskeleton systems and methods
US12251826B2 (en) 2013-12-19 2025-03-18 Roam Robotics Inc. Pneumatic exomuscle system and method
US12377010B2 (en) 2017-02-03 2025-08-05 Roam Robotics Inc. Exoskeleton data labeling system and method
US12454047B2 (en) 2020-05-27 2025-10-28 Roam Robotics Inc. Fit and suspension systems and methods for a mobile robot
US12466060B2 (en) 2021-08-17 2025-11-11 Roam Robotics Inc. Mobile power source for a mobile robot

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JP2014023773A (ja) * 2012-07-27 2014-02-06 Dainippon Printing Co Ltd 装着具の取付状態監視装置、歩行補助装置
KR102250225B1 (ko) * 2014-07-24 2021-05-10 삼성전자주식회사 운동 보조 장치 및 그 제어 방법
KR101806670B1 (ko) * 2016-03-04 2017-12-08 현대자동차주식회사 착용식 로봇의 착탈장치
KR102169829B1 (ko) * 2016-06-28 2020-10-27 가부시끼 가이샤 구보다 어시스트 슈트
JP2018176343A (ja) * 2017-04-11 2018-11-15 パナソニック株式会社 装着具、及び、動作支援装置

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Publication number Priority date Publication date Assignee Title
JP2011110154A (ja) * 2009-11-25 2011-06-09 Toyota Motor Corp 歩行補助装具
JP2013022296A (ja) * 2011-07-22 2013-02-04 Keijiro Yamamoto 関節運動アシスト装置
JP2013102827A (ja) * 2011-11-10 2013-05-30 Honda Motor Co Ltd 力付与装置及びその制御方法
JP2013116206A (ja) * 2011-12-02 2013-06-13 Dainippon Printing Co Ltd 歩行補助装置
CN102846450A (zh) * 2012-09-28 2013-01-02 中国科学院深圳先进技术研究院 外骨骼机器人的腰部支撑部件及外骨骼机器人
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
WO2014138871A1 (fr) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Ensemble de transmission à utiliser dans un exosquelette
US9421143B2 (en) 2013-03-15 2016-08-23 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
WO2014138876A1 (fr) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Sangle destinée à être utilisée dans un exosquelette
US10736810B2 (en) 2013-07-19 2020-08-11 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
US12251826B2 (en) 2013-12-19 2025-03-18 Roam Robotics Inc. Pneumatic exomuscle system and method
JP2017094425A (ja) * 2015-11-20 2017-06-01 株式会社クボタ アシストスーツ
CN106272337A (zh) * 2016-08-25 2017-01-04 西南交通大学 一种可穿戴下肢外骨骼助力机器人
JP2018096001A (ja) * 2016-12-14 2018-06-21 帝人株式会社 空調服
JP2018096003A (ja) * 2016-12-15 2018-06-21 帝人株式会社 加温機能または冷却機能を有する衣料
US12377010B2 (en) 2017-02-03 2025-08-05 Roam Robotics Inc. Exoskeleton data labeling system and method
CN107307971A (zh) * 2017-06-09 2017-11-03 浙江安控科技有限公司 一种助步机器人
JP2020532436A (ja) * 2017-08-29 2020-11-12 ローム ロボティクス インコーポレイテッド 外骨格適合評価システム及び方法
US11872181B2 (en) 2017-08-29 2024-01-16 Roam Robotics Inc. Semi-supervised intent recognition system and method
JP7066830B2 (ja) 2017-08-29 2022-05-13 ローム ロボティクス インコーポレイテッド 外骨格適合評価システム及び方法
US11266561B2 (en) 2017-08-29 2022-03-08 Roam Robotics Inc. Exoskeleton fit evaluation system and method
CN111683638A (zh) * 2018-01-31 2020-09-18 反应机器人技术有限公司 用于容纳人的外部肢体的至少一部分的袖带
WO2019149316A1 (fr) * 2018-01-31 2019-08-08 ReActive Robotics GmbH Manchette d'accueil d'au moins une partie d'une extrémité extérieure d'une personne
WO2019221101A1 (fr) * 2018-05-15 2019-11-21 パナソニック株式会社 Dispositif d'aide au mouvement
JP7099999B2 (ja) 2019-08-09 2022-07-12 本田技研工業株式会社 アシスト装置制御システム、及び、駆動許可範囲決定方法
JP2021023749A (ja) * 2019-08-09 2021-02-22 本田技研工業株式会社 アシスト装置制御システム、及び、駆動許可範囲決定方法
US11931307B2 (en) 2019-12-13 2024-03-19 Roam Robotics Inc. Skiing exoskeleton control method and system
US12324780B2 (en) 2019-12-13 2025-06-10 Roam Robotics Inc. Powered device to benefit a wearer during skiing
CN111110519B (zh) * 2019-12-25 2022-06-24 南京理工大学 一种多传感智能化可穿戴下肢外骨骼机器人
CN111110519A (zh) * 2019-12-25 2020-05-08 南京理工大学 一种多传感智能化可穿戴下肢外骨骼机器人
US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
US12251355B2 (en) 2020-05-27 2025-03-18 Roam Robotics Inc. Modular exoskeleton systems and methods
US12454047B2 (en) 2020-05-27 2025-10-28 Roam Robotics Inc. Fit and suspension systems and methods for a mobile robot
JP2022029066A (ja) * 2020-08-04 2022-02-17 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 アシストウェア
JP7470278B2 (ja) 2020-08-04 2024-04-18 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 アシストウェア
US12115663B2 (en) 2021-08-17 2024-10-15 Roam Robotics Inc. Maritime applications for a mobile robot
US12466060B2 (en) 2021-08-17 2025-11-11 Roam Robotics Inc. Mobile power source for a mobile robot
JP2023136143A (ja) * 2022-03-16 2023-09-29 本田技研工業株式会社 歩行アシスト装置
JP7737939B2 (ja) 2022-03-16 2025-09-11 本田技研工業株式会社 歩行アシスト装置

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