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WO2017213198A1 - Dispositif d'aide au mouvement - Google Patents

Dispositif d'aide au mouvement Download PDF

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Publication number
WO2017213198A1
WO2017213198A1 PCT/JP2017/021205 JP2017021205W WO2017213198A1 WO 2017213198 A1 WO2017213198 A1 WO 2017213198A1 JP 2017021205 W JP2017021205 W JP 2017021205W WO 2017213198 A1 WO2017213198 A1 WO 2017213198A1
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WO
WIPO (PCT)
Prior art keywords
wire
actuator
drive mechanism
brace
thigh
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/JP2017/021205
Other languages
English (en)
Japanese (ja)
Inventor
中村　太郎
駿 毛利
洸樹 猪瀬
功 菊谷
和也 横山
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.)
Nabtesco Corp
Chuo University
Original Assignee
Nabtesco Corp
Chuo University
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 Nabtesco Corp, Chuo University filed Critical Nabtesco Corp
Priority to JP2018521764A priority Critical patent/JP6698835B2/ja
Publication of WO2017213198A1 publication Critical patent/WO2017213198A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a motion assist device, and in particular, provides a motion assist device suitable for extending a bent joint.
  • JP2012-147944A discloses an exoskeleton-type lower limb movement support device.
  • the lower limb movement support device is configured to be rotatable around the knee joint and tow the lower leg link extending along the lower leg part of the human body by an actuator disposed around the human thigh part.
  • the present invention has been made in view of the above problems, and provides an operation assist device capable of obtaining an assist force sufficient to bring a bent joint into an extended state.
  • the operation assist device that assists the operation when the portion connected by the joint is changed from the bent state to the extended state
  • the first device attached to one portion, and the other
  • a drive mechanism having a second device mounted on the part, a third device mounted on a joint, an extendable actuator, and a wire connected to the actuator, and one end of the drive mechanism is The first device is connected, the wire is guided by a wire guide provided in the third device, the other end of the drive mechanism is connected to the second device, and the actuator contracts to Three orthoses are configured to press the joint toward the virtual straight line connecting both ends of the drive mechanism.
  • the joint connecting the first part and the second part is pressed toward the virtual straight line connecting both ends 5a and 5b of the drive mechanism, so that the part in the bent state is in the extended state. It is possible to obtain a sufficient assist force to
  • the actuator has a reversing unit that reverses the path of the wire, and both ends of the wire or any one end thereof are fixed via the reversing unit, so that the wire larger than the contraction amount of the actuator. Traction amount can be obtained.
  • both ends of the wire or any one of the end portions are fixed to the third device, so that the wire path from the third device to the first device or the second device, and the reversing unit to the third device.
  • the path of the wire leading to the brace can be made parallel to each other, and the pulling amount of the wire can be made efficient.
  • FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVB-IVB line of FIG. 4A. It is a figure which shows one of the artificial muscles of an actuator in a contracted state.
  • FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVD-IVD line in FIG.
  • FIG. 3 is a geometric model diagram when the motion assist device is mounted on a human body. It is a figure which shows the joint angle of a knee. It is a figure which shows a stand-up operation
  • the motion assist device 1 shown in FIG. 1 is, for example, a so-called endoskeleton-type brace that assists a rising motion when a person lifts a load.
  • An endoskeleton-type appliance functions by utilizing a skeleton in the human body.
  • a bone-to-bone connection in the human body is regarded as one link mechanism and assists the joint operation.
  • the motion assist device 1 is applied to a leg portion of a human body is shown.
  • the motion assist device 1 can be bent such as an arm portion centered on an elbow joint or a waist portion centered on a lumbar spine.
  • the present invention can be applied to any part that can take a stretched state and an extended state.
  • the motion assist device 1 includes a thigh brace 2 attached to the thigh, a knee brace 3 attached to the knee, a crus brace 4 attached to the crus, the thigh brace 2, and the knee brace. 3 and a drive mechanism 5 for applying a driving force to the lower leg orthosis 4. That is, the motion assist device 1 regards the knee joint that rotatably connects the thigh bone in the thigh and the crus bone in the lower thigh as a pair of joints, and considers bending of the knee. Assisting (assisting) the movement of the legs, especially when moving from the bent state to the extended state.
  • the lower thigh brace 4 is the first brace
  • the thigh brace 2 is the second brace
  • the knee brace 3 is the third brace
  • the thigh orthosis 2, the knee orthosis 3 and the lower thigh orthosis 4 are respectively a mechanism attaching member 2A; 3A; 4A for attaching the drive mechanism 5, and these mechanism attaching members 2A; 3A; 4A to the thigh, knee joint, Fixed belts 2B; 3B; 4B for fixing to the crus.
  • the cushioning material etc. which are not shown in figure are provided in the back surface of mechanism attachment member 2A; 3A; 4A, and a buffer with a human body is aimed at.
  • the mechanism attachment members 2A; 3A; 4A are made of, for example, a hard resin having flexibility.
  • the fixing belts 2B; 3B; 4B are made of, for example, a non-stretchable belt and are provided with hook-and-loop fasteners that function as fixing means at the ends.
  • the mechanism attachment member 2A is formed to be attachable along the side of the thigh, for example, and is fixed to the base of the thigh by the fixing belt 2B.
  • the mechanism attaching member 2A is provided with a wire fixing portion 11 to which an end portion of a wire 8 constituting a drive mechanism 5 described later is fixed.
  • the wire fixing part 11 is constituted by, for example, a plate-like member 12 and is fixed to the mechanism attaching member 2A by sandwiching the end of the wire 8 by being screwed to the mechanism attaching member 2A.
  • the mechanism attachment member 3A is formed, for example, so as to wrap the kneecap in the knee joint, and is fixed to the knee joint portion by the fixing belt 3B.
  • the mechanism attachment member 3A includes a wire guide 15 that constitutes the drive mechanism 5 and on which the wire 8 is hung.
  • the wire guide 15 may be any member that does not hinder the movement of the wire 8 pulled by the actuator 9 described later, such as a pulley, a pin, or a groove, and preferably can guide the movement of the wire 8. Thus, the extending direction of the wire 8 is bent. In the illustrated example, a pulley is used as the wire guide 15.
  • the mechanism attachment member 4A is formed, for example, so as to be attachable along the side of the lower leg, and is fixed to the ankle side by the fixing belt 4B.
  • the mechanism mounting member 4A is provided with an actuator mounting portion 16 to which the actuator 9 can be fixed.
  • the drive mechanism 5 is generally composed of an actuator 9 and a wire 8.
  • the actuator 9 is configured to be extendable and contractible.
  • the actuator 9 and the wire 8 are connected to each other at the wire fixing portion 14 of the actuator 9.
  • the drive mechanism 5 has one end 5a and the other end 5b.
  • the one end 5a of the drive mechanism 5 is configured by an end portion on the opposite side of the wire 8 in the actuator 9, and the other end 5b is
  • the wire 8 is constituted by an end portion on the opposite side to the actuator 9.
  • One end 5 a of the drive mechanism 5 is connected to the lower leg brace 4 at the actuator attachment portion 16, and the other end 5 b is connected to the thigh orthosis 2 at the wire fixing portion 11.
  • the actuator 9 includes a plurality (two in this embodiment) of axial fiber-reinforced artificial muscles (hereinafter simply referred to as artificial muscles) 18 that expand and contract in the axial direction by the supply of a fluid; 18.
  • the artificial muscle 18 has a configuration in which a carbon fiber sheet 22 is inserted into a cylindrical body 19 made of, for example, natural latex rubber.
  • a plurality of carbon fibers 21 are oriented along the axial direction of the cylindrical body 19, and restrains the extension of the cylindrical body 19 in the axial direction. Both ends of the cylindrical body 19 are closed by terminal members 23A and 23B.
  • an air chamber 26 is formed on the inner peripheral side of the cylindrical body 19.
  • One terminal member 23 ⁇ / b> A is connected to a tube 45, which will be described later, and is provided with an air inlet 25 communicating with the air chamber 26.
  • a plurality of rings 24 are provided on the outer periphery of the cylindrical body 19 at equal intervals in the axial direction.
  • the artificial muscle 18 has a characteristic that an output characteristic (traction force) with respect to the contraction stroke is large at the initial stage of contraction and gradually decreases toward the end of contraction. This characteristic corresponds to the human characteristic that a large force is required at the initial stage of a person's rising motion and the required force gradually decreases as the rising motion progresses. It is preferable as a power source for obtaining.
  • the artificial muscle is not limited to the above-described one, and may be another Macchiben type artificial muscle or the like.
  • the actuator 9 is arranged in parallel so that the telescopic axes of the pair of artificial muscles 18; 18 are parallel to each other.
  • the respective ends of the artificial muscles 18; 18 are connected to each other by a lower connecting member 30 and an upper connecting member 31 to be integrally formed.
  • the lower connecting member 30 is made of, for example, a metal flat plate member, and the artificial muscles 18; 18 are positioned at regular intervals by fixing the terminal members 23A of the artificial muscles 18; 18 by fixing means such as bolts. Is done.
  • the lower connecting member 30 is provided with an L-shaped connecting portion 32 that is connected to the lower leg brace 4. One of the connection portions 32 is fixed to the lower connecting member 30, and the other is connected to the crus orthosis 4 through the through hole 33.
  • the upper connecting member 31 is made of, for example, a metal angle member, and the terminal members 23B of the artificial muscles 18; 18 are fixed by fixing means such as bolts, whereby the artificial muscles 18; 18 are positioned at regular intervals.
  • a wire fixing portion 14 for fixing the end portion of the wire 8 is provided at the center of the upper connecting member 31.
  • the wire fixing portion 14 only needs to be able to be connected by folding the wire 8 such as a circular hole or a screw hole, or by a fixing means such as a set screw, and the end portion of the wire 8 is interposed via the wire fixing portion 14.
  • the actuator 9 is firmly connected.
  • the actuator 9 having the above-described configuration is screwed to the actuator attachment portion 16 provided in the crus orthosis 4 through the through hole 33 formed in the connection portion 32 of the lower coupling member 30. It is rotatably attached to the lower leg orthosis 4. In addition, it is good also as rotation not only by screwing but by insertion of a pin.
  • FIG. 5 is a geometric model diagram when the motion assist device 1 is worn on a human body.
  • the number of artificial muscles 18 constituting the actuator 9 can be calculated based on the following equations (1) and (2). That is, the required quantity of the artificial muscle 18 can be estimated by calculating in advance the assist force (assist torque) T required for the actuator 9 by the equation (1).
  • both ends of the wire 8 are fixed to the actuator 9 connected to the thigh brace 2 and the lower leg brace 4. More specifically, when viewed from the thigh orthosis 2 side, the wire 8 extends toward the knee orthosis 3 and the direction in which the wire 8 extends by being hung on the wire guide 15 provided on the knee orthosis 3 is bent, It extends toward the actuator 9 and the lower leg orthosis 4.
  • the wire 8 reaching the actuator 9 is fixed via a wire fixing portion 14 provided on the actuator 9.
  • the wire 8 having such a path is not limited to a metal and may be a synthetic fiber obtained by twisting organic fibers.
  • the wire 8 is preferably made of a material that is less stretchable when tension is applied. Moreover, when considering durability, those made of metallic or non-metallic inorganic fibers are preferable, and from the viewpoint of weight, those made of twisted organic fibers are preferable.
  • the length of the wire 8 is adjusted so that there is no play when, for example, the knee joint is in the maximum bending state.
  • the intersection angle (joint angle) ⁇ between the extension line p1 of the thigh and the extension line p2 of the crus takes the minimum angle.
  • the minimum angle is, for example, the joint angle between the femur and the lower leg (tibia) when the knee is bent to the maximum. That is, the joint angle ⁇ is also an inclination angle of the thigh with respect to the crus, for example.
  • the actuator 9 is controlled by the driving device 40.
  • the driving device 40 includes an air supply means 41 that supplies compressed air to the actuator 9, a control valve 42 that controls the pressure of the compressed air, and a control unit 43 that controls the compressed air supplied from the air supply means 41 to the actuator 9. Is provided.
  • the air supply means 41 is constituted by, for example, an air compressor or an air tank.
  • the control valve 42 adjusts the flow rate of air supplied to the actuator 9.
  • a proportional solenoid valve is applied to the control valve 42.
  • the proportional solenoid valve adjusts the flow rate of air when the compressed air accumulated in the air supply means 41 is supplied to the actuator 9 based on a signal output from the control unit 43.
  • the proportional solenoid valve is a normally closed type that shuts off the supply of air to the actuator 9 when no signal is input.
  • the control valve 42 is connected to the air supply means 41 and the tube 44, and is connected to the actuator 9 and the tube 45.
  • the tube 44 and the tube 45 preferably have pressure resistance and flexibility.
  • a branch pipe 46 is provided in the middle of the tube 45 connecting the control valve 42 and the actuator 9, and an exhaust valve 47 for exhausting the air supplied to the actuator 9 is provided.
  • the exhaust valve 47 opens and closes the exhaust valve 47 based on a signal output from the control unit 43 to exhaust the air supplied to the air chamber 26 of the actuator 9.
  • the control unit 43 includes a CPU as a calculation means, a ROM that stores a program for controlling the assist force, a ROM that temporarily stores input values and calculation results from the motion detection sensor 50 and the load detection sensor 51, and the like.
  • a microcomputer including the storage means.
  • the control unit 43 controls signals output to the control valve 42 and the exhaust valve 47 in accordance with output values output from the motion detection sensor 50 and the load detection sensor 51.
  • the control unit 43 stores, in advance, data in which the correspondence relationship between the load value and the pressure of the air supplied to the air chamber 26, a pressure calculation formula, and the like are stored in the storage unit. Based on the load value and the operation value detected by 51, the signal output to the control valve 42 and the exhaust valve 47 is controlled.
  • the motion detection sensor 50 is a sensor for detecting a motion of a human body, and detects a motion (rising motion) that rises from a state where a person is squatting. For example, a change in the tension of the wire 8 or an acceleration sensor can be used.
  • the load detection sensor 51 is a sensor for setting an assist force in the rising motion, and detects, for example, a load value related to the sole. For example, a pressure sensor or the like can be used as the load detection sensor 51.
  • the motion detection value detected by the motion detection sensor 50 and the load value detected by the load detection sensor 51 are output to the control unit 43, respectively.
  • the flow rate of the air supplied to the actuator 9 is calculated based on the input detection value and load value.
  • the method for attaching the motion assist device 1 to the human body will be described.
  • the thigh brace 2, the knee brace 3, and the lower leg brace 4 are attached to each part of the leg.
  • tension adjustment of the wire 8 is performed in the wire fixing portion 11 on the thigh side in a squatting posture so that the bent state of the knee is maximized.
  • the assist force by the actuator 9 is adjusted by adjusting the tension of the wire 8 so that play is zero. Can be obtained without delay.
  • FIG. 7A to 7F are diagrams showing an assist state by the motion assist device 1.
  • FIG. 7A is a diagram showing a state where a person is squatting
  • FIG. 7B is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7A
  • FIG. 7C is a diagram illustrating a state in which a person is standing up
  • FIG. 7D is a diagram illustrating an operating state of the drive mechanism 5 in the state of FIG. 7C
  • FIG. 7E is a diagram showing a state where a person has stood up
  • FIG. 7F is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7E.
  • the operation of the motion assist device 1 will be described.
  • the load detection sensor 51 disposed on the sole of the foot causes the total value of the weight of the load and the weight of the person. Is output to the control unit 43 as a load value.
  • the bending state of the knee joint of the person wearing the motion assist device 1 is maximized.
  • the intersection angle (joint angle) ⁇ (see FIG. 6) between the extension line p1 of the thigh and the extension line p2 of the crus is the smallest.
  • the drive mechanism 5 has a wire guide 15 that is positioned in front of the knee joint part (on the left side in FIG. 7B) with a predetermined distance from the knee joint part.
  • a signal is output to the control unit 43 when the motion detection sensor 50 detects a motion (FIGS. 7C and 7E) that attempts to stand up from a state of holding a baggage in a hand and a state of squatting by a person's intention.
  • the control unit 43 compares the input load value with the rising motion map and determines a signal to be output to the control valve 42 so as to obtain a predetermined assist force. In this case, a signal is output only to the control valve 42, and the exhaust valve 47 remains closed.
  • the supply of air by the operation of the control valve 42 causes the actuator 9 to contract in the axial direction and pull the wire 8.
  • the knee brace 3 presses the knee joint toward the imaginary straight line L connecting both ends 5a and 5b of the drive mechanism 5 with the wire guide 15 as a base point, so that an assist force sufficient to stand up is obtained. be able to.
  • the wire 8 extends over the thigh brace 2 and the lower thigh brace 4 with the knee brace 3 as the center.
  • traction force opposite to the above direction is applied to the thigh and crus, ensuring sufficient assist force to extend the leg centered on the knee joint can do.
  • the drive mechanism 5 has a wire guide 15, and the wire guide 15 is between the knee joint portion and It is located in front of the knee joint with a predetermined interval in the front-rear direction of the wearer. 7A and 7B, when crouched, that is, when the knee joint is in the maximum bending state, as shown in FIG. 7C and FIG. And in any state where the knee joint is bent, as shown in FIGS. 7E and 7F, the length of the drive mechanism 5 is the length of the wearer's thigh and It becomes longer than the total length of the lower leg.
  • the length of the drive mechanism 5 is the length from one end 5a of the drive mechanism 5 to the other end 5b of the drive mechanism 5 via the wire guide 15, and the length of the thigh and lower leg of the wearer.
  • the total length is a length from a point located immediately below one end 5a of the drive mechanism 5 in the lower leg to a point located directly below the other end 5b of the drive mechanism 5 in the thigh via the knee joint. It is.
  • the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L.
  • the length of the drive mechanism 5 is longer than the total length of the wearer's thigh and crus.
  • the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L.
  • the actuator 9 is contracted to shorten the length of the drive mechanism 5.
  • the wire guide 15 receives a pressing force directed from the wire 8 toward the virtual straight line L.
  • This pressing force acts on the knee joint of the wearer via the knee brace (third brace) 3, and the knee joint is pressed toward the virtual straight line L connecting both ends 5 a and 5 b of the drive mechanism 5.
  • knee joint angle (theta) changes so that it may increase.
  • the actuator 9 is contracted to reduce the length of the drive mechanism 5, so that the pressing force that the wire guide 15 receives from the wire 8 toward the imaginary straight line L side is centered on the knee joint and the thigh of the wearer. And assist force for extending the lower leg. As a result, the wearer can obtain a sufficient assist force for getting up from the squatting state from the motion assist device 1.
  • the assist force for extending the wearer's thigh and crus by a relatively simple configuration including the actuator 9 and the wire 8 that generate a pulling force (traction force). Therefore, the operation assist device 1 can be effectively reduced in size and weight as compared with a device using a link member or a gear mechanism as in the prior art. This is a great advantage in the motion assist device 1 that can be used in fields such as medical training systems and rehabilitation.
  • FIGS. 8A to 8E In each figure, the thigh orthosis 2, knee orthosis 3 and lower thigh orthosis 4 are indicated by broken lines.
  • FIG. 8A shows an example in which the position of the actuator 9 is changed from the lower leg side to the thigh side.
  • the actuator 9 is connected to the thigh brace 2
  • one end of the wire 8 is connected to the thigh brace 2 via a locking portion 9 ⁇ / b> A provided on the actuator 9, and the other end is connected to the knee brace.
  • 3 is connected to the lower leg brace 4 via a wire fixing part 7 provided on the lower leg brace 4 via a wire guide 15.
  • the relatively heavy actuator 9 since the relatively heavy actuator 9 is located on the thigh side, the heavy object approaches the position of the center of gravity of the human body.
  • FIG. 8B shows an example in which the actuators 9; 9 are provided on both the thigh side and the crus side.
  • the actuators 9; 9 are connected to the thigh brace 2 and the lower thigh brace 4, respectively, and one end portion of the wire 8 is connected to the thigh brace 2 via the engaging portion 9A of the actuator 9 located on the thigh side.
  • the other end side is connected to the lower leg brace 4 via the wire guide 15 of the knee brace 3 and the wire fixing part 14 of the actuator 9 located on the lower leg side.
  • the actuators 9; 9 are provided on the thigh side and the lower leg side, respectively, so that the assist force obtained when the actuators 9 are operated in synchronization is doubled. It becomes possible to do.
  • FIG. 8C shows an example in which the fixed end of the wire 8 is set on the knee brace 3 side.
  • the actuator 9 connected to the lower leg orthosis 4 is provided with a reversing unit 20 for reversing the path of the wire 8 to the knee joint side instead of the wire fixing unit 14.
  • the reversing unit 20 may be any member that does not hinder the movement of the wire 8 that is pulled as in the case of the wire guide 15 described above.
  • the path of the wire 8 extending from the knee joint to the lower leg is inverted by the reversing unit 20 and extends to the knee joint. Then, the end of the wire 8 extending to the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount twice as large as the contraction amount of the actuator 9, it is a part where the change in the joint angle from bending to extension of the knee joint or the like is large.
  • an actuator with a small stroke can be employed.
  • the fixed end of the wire 8 is set on the knee joint side, that is, on the knee brace 3.
  • the position is not limited to this as long as the path of the wire 8 can be reversed.
  • a part different from each appliance may be set as a fixed end.
  • FIG. 8D shows an example in which the reversing unit 20 of the actuator 9 is constituted by a plurality of pulleys.
  • the reversing unit 20 is composed of a plurality of pulleys.
  • the plurality of pulleys are configured by, for example, providing a small-diameter pulley 20A having a different outer diameter and a large-diameter pulley 20B coaxially and individually rotatable.
  • the wire guide 15 provided in the knee brace 3 is constituted by a plurality of pulleys corresponding to the pulleys 20A and 20B constituting the reversing unit 20.
  • the plurality of pulleys 15A; 15B constituting the wire guide 15 are configured by, for example, similarly to the pulleys 20A; 20B, a small-diameter pulley 15A having a different outer diameter and a large-diameter pulley 15B that are coaxially and individually rotatable. Is done.
  • the wire 8 extending from the thigh to the knee joint is guided by a large-diameter pulley 15A provided in the knee brace 3 and extends toward the lower leg.
  • the path of the wire 8 extending from the pulley 15A toward the lower leg is reversed by the pulley 20A and extends toward the knee joint.
  • the route of the wire 8 extending from the pulley 20A toward the knee joint is reversed by the pulley 15B and extends toward the lower leg.
  • the path of the wire 8 extending from the pulley 15B toward the lower leg is reversed by the pulley 20B and extends toward the knee joint.
  • the end portion of the wire 8 extending toward the knee joint portion is firmly fixed by the wire fixing portion 14 provided in the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
  • the plurality of pulleys constituting the reversing unit 20 are composed of two pulleys of different sizes, but the invention is not limited to this as long as the route of the wire 8 can be reversed a plurality of times.
  • the quantity and the size relationship between the pulleys may be set as appropriate so that the contraction amount can be doubled to the required pulling amount.
  • a part different from each appliance may be set as the fixed end.
  • FIG. 8E shows another example in which the reversing unit 20 of the actuator 9 is configured by a plurality of pulleys.
  • the wire 8 that connects the thigh brace 2 and the lower leg brace 4 is composed of a wire 8A extending from the thigh brace 2 and a wire 8B extending on the lower leg brace 4 side.
  • a pulley 29 that reverses the path of the wire 8A and an inversion part 20 that reverses the path of the wire 8B toward the knee joint are provided in the actuator 9.
  • the pulley 29 and the reversing unit 20 composed of the pulley are provided in multiple stages. As shown in the figure, one end is fixed to the thigh brace 2 and the wire 8A extending from the thigh to the knee joint is guided by the wire guide 15 provided on the knee brace 3 and extends toward the lower thigh. .
  • the path of the wire 8 extending from the wire guide 15 toward the lower leg is reversed by the pulley 29 and extends toward the knee joint.
  • the other end portion of the wire 8 ⁇ / b> A extending toward the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3.
  • One end of the wire 8B is fixed to the rotating shaft 29A of the pulley 29 and extends toward the lower leg orthosis 4 side.
  • the path of the wire 8B extending toward the lower leg orthosis 4 is reversed by the reversing unit 20 of the actuator 9 and extends toward the knee joint.
  • the other end portion of the wire 8B extending to the knee joint side is firmly fixed together with the wire 8A at the wire fixing portion 14 provided in the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
  • the number of stages of the plurality of pulleys constituting the reversing unit 20 is not limited to this, and the number of stages of the pulleys is appropriately set so that the contraction amount can be doubled to the required traction amount. Set it. For example, a part different from each appliance may be set as the fixed end.
  • the actuator 9 is composed of the two artificial muscles 18; 18. However, one or three or more may be provided in parallel according to the required assist force. Further, the actuator 9 has been described as being constituted by the artificial muscle 18, but when air is used as a drive source, an air cylinder or the like may be used. When electric power is used as a drive source, the pulley 10 may be pulled by combining a motor and a ball screw mechanism. That is, the type of the actuator is not limited as long as it can pull and retract the wire 8.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'aide au mouvement (1) qui aide au mouvement lorsque des emplacements reliés par une articulation passe d'un état plié à un état étendu, le dispositif d'aide au mouvement comprenant une première orthèse (4) qui est montée sur un emplacement, une deuxième orthèse (2) qui est montée sur un autre emplacement, une troisième orthèse (3) qui est montée sur une articulation, et un mécanisme d'entraînement (5) qui possède un actionneur extensible (9) et un fil (8) relié à l'actionneur (9) ; une extrémité (5a) du mécanisme d'entraînement (5) est reliée à la première orthèse (4), le fil (8) est guidé par un guide-fil (15) présent sur la troisième orthèse (3), et l'autre extrémité (5b) du mécanisme d'entraînement (5) est reliée à la deuxième orthèse (2) ; la troisième orthèse (3) pousse l'articulation vers une ligne droite virtuelle (L) reliant les deux extrémités (5a, 5b) du mécanisme d'entraînement (5) par contraction de l'actionneur (9).
PCT/JP2017/021205 2016-06-07 2017-06-07 Dispositif d'aide au mouvement Ceased WO2017213198A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018521764A JP6698835B2 (ja) 2016-06-07 2017-06-07 動作アシスト装置

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JP2016113659 2016-06-07
JP2016-113659 2016-06-07

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WO2017213198A1 true WO2017213198A1 (fr) 2017-12-14

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