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WO2020183907A1 - Dispositif d'aide à la marche - Google Patents

Dispositif d'aide à la marche Download PDF

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Publication number
WO2020183907A1
WO2020183907A1 PCT/JP2020/001514 JP2020001514W WO2020183907A1 WO 2020183907 A1 WO2020183907 A1 WO 2020183907A1 JP 2020001514 W JP2020001514 W JP 2020001514W WO 2020183907 A1 WO2020183907 A1 WO 2020183907A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
rotation axis
assist device
orthosis
user
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/JP2020/001514
Other languages
English (en)
Japanese (ja)
Inventor
洋介 池戸
潤 稲田
洋 五味
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2021505552A priority Critical patent/JP7076038B2/ja
Publication of WO2020183907A1 publication Critical patent/WO2020183907A1/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

Definitions

  • the present invention relates to a walking assist device that assists the user in walking in the front-rear direction by imparting an assisting force that causes the foot to flex or dorsiflex to the foot of the user.
  • walking that transmits the driving force from the driving source to the user's leg to assist the movement of at least one of the user's knee joint and ankle joint to assist the user in walking in the anterior-posterior direction.
  • Assist devices are known.
  • the foot brace worn on the user's foot is rotated around the pitch axis at a position corresponding to the user's ankle (that is, the pitch axis of the ankle joint).
  • an assist force is applied to a user's foot to cause the user's foot to flex or dorsiflex (see, for example, Patent Document 1).
  • the devices for driving and controlling the joint mechanism such as the drive source and the control device are miniaturized and lightened by shortening the cable and the like, and the user's joint and the walking assist device. It is arranged on the side of the user's joint for reasons such as simplification of control by bringing the rotation axis of the.
  • the left and right width of the user when the walking assist device is attached and the left and right width of the user when the walking assist device is not attached are different. Become.
  • the user may bring the drive source or the like into contact with an object existing in the surroundings, which may hinder walking.
  • the drive source or the like when the drive source or the like is arranged inside the joint, the drive source or the like is the foot or lower leg on the opposite side of the foot or lower leg to which the assist force is applied during use. Since there is a risk of contact with the user, the user may have to walk with the left and right feet or lower legs separated from each other.
  • the present invention has been made in view of the above points, and an object of the present invention is to provide a walking assist device in which the user's walking is hindered and the walking method is not easily restricted.
  • the assist device of the present invention A walking assist device that assists the user in walking in the front-rear direction by applying an assisting force that causes the foot to flex or dorsiflex to the user's foot.
  • the lower leg orthosis attached to the lower leg of the user and A foot orthosis attached to the foot of the user,
  • the drive source attached to the lower leg orthosis and It is provided with a link mechanism that is connected to the foot orthosis, transmits the driving force from the driving source to the foot orthosis, and applies the assisting force to the foot.
  • the drive source is attached to the lower leg orthosis so as to be located on the front side or the back side of the lower leg of the user in the mounted state.
  • the “wearing state” means a state in which the user wears the walking assist device.
  • the state in which the user does not wear the walking assist device is called the “non-wearing state”.
  • the drive source having the largest size in general among the devices for driving and controlling the joint mechanism is positioned on the front surface or the back surface of the lower leg of the user in the worn state. It is attached to the lower leg brace so that it does.
  • the difference between the left and right width of the user in the wearing state and the left and right width of the user in the non-wearing state becomes smaller than the difference in the conventional walking assist device. Therefore, in the walking assist device of the present invention, the user is less likely to bring the drive source into contact with an object existing in the surroundings during walking, as compared with the case where the conventional walking assist device is attached. Therefore, according to the walking assist device of the present invention, the user is less likely to be hindered by the driving source even in the wearing state.
  • the walking assist device of the present invention as compared with the case where the conventional walking assist device is attached, the foot or the lower part on the side opposite to the foot or the lower leg to which the assist force is applied during walking. It is difficult for the drive source to come into contact with the thigh. Therefore, according to the walking assist device of the present invention, even in the wearing state, the user can easily walk in the same manner as in the wearing state, and by extension, the walking method is less likely to be restricted.
  • the drive source is attached to the front surface of the lower leg orthosis so as to be located on the front surface side of the lower leg portion of the user in the mounted state.
  • the drive source If the drive source is placed in front, the drive source will be located above the user's foot in the mounted state. As a result, the difference between the front-back width of the user in the worn state and the front-back width of the user in the worn state is also smaller than the difference in the conventional walking assist device. As a result, when walking, it becomes difficult for the user to bring the drive source into contact with an object existing behind. As a result, the user is less likely to be hindered by the drive source.
  • the link mechanism when the drive source is attached to the front surface of the lower leg orthosis,
  • the link mechanism is rotated by a driving force from the drive source about a first rotation axis extending in the pitch axis direction in front of the lower leg orthosis and above the foot orthosis. It has at least a first link and a second link that is rotatable about a second rotation axis extending in the pitch axis direction at a position corresponding to the user's ankle joint in the worn state. It is preferable that the rotating end of the second link is connected to the foot orthosis and transmits the driving force from the driving source to the foot orthosis.
  • the first rotation axis which is the rotation axis of the first link rotated by the drive force from the drive source, is the ankle joint of the user in the attached state. It is a position that does not correspond to.
  • a predetermined calculation must be performed to calculate the driving force to be output to the driving source.
  • the operation of the second link is performed. (By extension, the movement of the foot orthosis guided by the second link) is similar to the movement of the user's foot.
  • the second link configured in this way is incorporated into the link mechanism as a link for transmitting the driving force to the heel orthosis 3, and the foot orthosis is driven from the drive source via the second link.
  • the force is transmitted (that is, when the assist force is applied to the foot of the user), it becomes easy to predict the assist force to be applied to the foot of the user.
  • the calculation (and thus the control) when determining the operation of the assist force to be applied can be simplified.
  • the movements of the second link and the foot orthosis are the same, so that the control can be further simplified.
  • the link mechanism is rotatably connected to the first link with the first link, the second link, and the first rotation axis as a center, and connects the second rotation axis.
  • a third link rotatably connected to the second link and a third rotation axis extending in the pitch axis direction are rotatably connected to the first link.
  • it is a four-node link mechanism having a fourth link rotatably connected to the second link about a fourth rotation axis extending in the pitch axis direction.
  • the third rotation axis is located on one side in the front-rear direction with respect to the first rotation axis in a side view. It is preferable that the fourth rotation axis is located on one side in the front-rear direction with respect to the second rotation axis in a side view.
  • the four links form a quadrangle in side view.
  • the rotation direction of the first link and the rotation direction of the second link correspond to each other.
  • the calculation (and thus the control) in determining the operation of the assist force to be applied can be further simplified.
  • the link mechanism is rotatably connected to the first link with the first link, the second link, and the first rotation axis as a center, and connects the second rotation axis.
  • a third link rotatably connected to the second link and a third rotation axis extending in the pitch axis direction are rotatably connected to the first link.
  • it is a four-node link mechanism having a fourth link rotatably connected to the second link about a fourth rotation axis extending in the pitch axis direction.
  • the third rotation axis is located on one side in the front-rear direction with respect to the first rotation axis in a side view. It is preferable that the fourth rotation axis is located on the other side in the front-rear direction with respect to the second rotation axis in a side view.
  • the first link, the second link, and the third link or the fourth link form a Z shape in a side view.
  • the rotation direction of the first link and the rotation direction of the second link correspond to each other, as in the case where the link forms a quadrangle.
  • the calculation (and thus the control) in determining the operation of the assist force to be applied can be further simplified.
  • the third rotation axis is located behind the first rotation axis in a side view. It is preferable that the fourth rotation axis is located in front of the second rotation axis in a side view.
  • the first rotation axis can be positioned on the side of the user's lower leg or foot in the mounted state.
  • the first rotation axis can be retracted from above the user's foot, so that when the foot bends dorsiflexively in the mounted state, the foot and the member constituting the first rotation axis can be used. It becomes difficult to hit. As a result, the way the user walks is less likely to be restricted.
  • the four-section link is connected to one of the first links, a pair of left and right second links connected to each of both side surfaces of the foot orthosis, and each of the first link and the second link.
  • a pair of left and right third links and one fourth link are provided.
  • the fourth link has a pair of left and right other ends that are bifurcated and extended from one end. The one end of the fourth link is connected to the first link. It is preferable that each of the pair of left and right other ends of the fourth link is connected to each of the pair of left and right second links.
  • the four-section link is connected to one of the first links, a pair of left and right second links connected to each of both side surfaces of the foot orthosis, and each of the first link and the second link.
  • a pair of left and right third links and a pair of left and right fourth links connected to each of the second links are provided.
  • the first link has a pair of left and right other ends that are bifurcated and extended from one end. The one end of the first link is connected to the third link. It is preferable that each of the pair of left and right other ends of the first link is connected to each of the pair of left and right fourth links.
  • the link mechanism when the link mechanism is a four-section link mechanism,
  • the four-section link includes one first link, one second link, one third link, and one fourth link. It is preferable that at least a part of the second link and the fourth link is provided at a position on the side of the user's foot in the worn state.
  • the link mechanism exists only on one side of the foot orthosis (specifically, one side in the left-right direction).
  • the user is less likely to bring the link mechanism into contact with an object existing in the surroundings, and thus is less likely to be hindered from walking.
  • it becomes difficult for the link mechanism to come into contact with the other foot or lower leg it becomes more difficult to restrict the way of walking.
  • the mechanism when the mechanism includes the second link, The rotating end of the second link is connected to the foot orthosis between the second rotating axis and the user's ball or hypothenar in the mounted state in a side view. It is preferable to have.
  • the position where the assist force is applied is between the user's ankle (that is, the pitch axis of the ankle joint) and the ball of the mother's finger or the little finger. The closer the part is to the ball of the mother's finger or the ball of the little finger, the easier it is for the user to feel the assisting force.
  • the rotating end of the second link that transmits the driving force from the driving source that is, causes the foot orthosis to apply the assisting force to the user's foot
  • approaches the portion that is, causes the foot orthosis to apply the assisting force to the user's foot
  • the assist device of the present invention It is preferable to have an adjusting mechanism for changing the length of at least one of the links constituting the link mechanism.
  • the link mechanism can be used as a part of the speed reducer for adjusting the speed and magnitude of the driving force from the driving source.
  • the speed reducer used as the drive source can be made smaller and lighter.
  • a battery that supplies electric power to the drive source and a control device that controls the operation of the drive source are provided. It is preferable that the drive source, the battery, and the control device are arranged side by side inside the width of the lower leg orthosis in a front view.
  • a battery that supplies electric power to the drive source and a control device that controls the operation of the drive source are provided.
  • the drive source, the battery, and the control device are triangular in a side view, formed by the upper end of the lower leg brace, the user's toes in the mounted state, and the user's heel in the mounted state. It is preferably located inside.
  • a control device for controlling the operation of the drive source and a gait detection device attached to the lower leg orthosis or the foot orthosis are provided. It is preferable that the control device controls the operation of the drive source based on the output of the gait detection device.
  • the gait detection device When the gait detection device is attached to the lower leg orthosis or the foot orthosis, the timing of contacting the user's heel or toe (that is, the user's walking pattern) can be accurately grasped. Then, if the operation of the drive source is controlled based on the output of the gait detection device, it becomes easy to apply the assist force at an appropriate timing.
  • the front view of the walking assist device of FIG. The side view of the walking assist device of FIG. It is a side view which shows the operation of the walking assist device of FIG. 1, and is the figure which shows the state which the heel orthosis 3 is bent bottom. It is a side view which shows the operation of the walking assist device of FIG. 1, and is the figure which shows the state which the heel brace 3 is not bending back and dorsiflexion. It is a side view which shows the operation of the walking assist device of FIG. 1, and is the figure which shows the state which the heel orthosis 3 is dorsiflexed.
  • the side view of the walking assist device which concerns on 2nd Embodiment.
  • the side view of the walking assist device which concerns on 3rd Embodiment.
  • the walking assist device A1 includes a boot-type accommodating body 1, a shin orthosis 2 (lower leg orthosis) attached to the front surface of the shin of the accommodating body 1, and the accommodating body 1.
  • the heel orthosis 3 (foot orthosis, second link) attached to the heel portion, the drive unit 4 attached to the front surface of the shin orthosis 2, and the shin orthosis 2 so as to cover the drive unit 4.
  • It includes a cover 5 that is detachably attached, and a link mechanism 6 that connects the drive unit 4 and the heel orthosis 3.
  • the accommodating body 1 accommodates the lower part of the lower leg and the foot of the user in the worn state.
  • the housing 1 is made of a flexible material such as synthetic resin or cloth.
  • the “wearing state” means a state in which the user wears the walking assist device A1.
  • the state in which the user does not wear the walking assist device A1 is referred to as a "non-wearing state”.
  • the walking assist device of the present invention is not limited to the one provided with an accommodating body, and may be provided with a lower leg orthosis and a foot orthosis as a configuration for being worn by the user.
  • the housing is not a boot type that accommodates the lower part of the lower leg and the foot of the user as in the present embodiment, but a shoe type or sandal type that accommodates only the foot. May be good.
  • the boot type may have a shape in which the portion on the side where the lower leg orthosis is not attached is open.
  • the container is omitted and fixed to the user's feet and legs directly or through the shoes that the user normally uses. It may be configured as follows. However, when the housing is omitted, it is desirable that the lower leg orthosis and the foot orthosis be provided with a belt or the like for fixing them to the lower leg or foot of the user.
  • the shin orthosis 2 (lower leg orthosis) is attached to the lower leg of the user via the housing body 1.
  • the shin orthosis 2 is attached to the shin portion of the housing body 1 and is located on the front side of the lower leg of the user in the mounted state, and the frame portion 21 extending from below the main body 20. have.
  • the main body 20 and the frame 21 are integrally molded with synthetic resin.
  • the drive unit 4 is fixed to the front surface of the main body 20. As a result, the drive unit 4 is located in front of the user's lower leg in the mounted state.
  • Mounting holes 20a for fixing the cover 5 with mounting screws 50 are provided on both side surfaces of the main body 20.
  • the frame portion 21 extends downward from the rear portion of the lower end portion of the main body portion 20. That is, the base end portion of the frame portion 21 is fixed to the main body portion 20. On the other hand, the tip of the frame portion 21 is rotatably connected to the heel orthosis 3.
  • the heel orthosis 3 (foot orthosis, second link) is attached to the heel portion of the user's foot via the housing body 1, and has a shape that covers from the heel portion to the ankle portion. There is.
  • the heel orthosis 3 is made of a flexible synthetic resin, and can be deformed so that the user's foot can be deformed or tilted to some extent during walking.
  • the tip of the frame portion 21 of the shin orthosis 2 is rotatably connected to both sides of the heel orthosis 3 at a portion corresponding to the user's ankle (that is, the pitch axis of the ankle joint) in the worn state.
  • a pair of left and right fourth end portions 61b of the second link member 61 (fourth link) described later of the link mechanism 6 rotates around the front end portions 30 (rotating end portions) on both side surfaces of the heel orthosis 3. It is freely connected.
  • the position where the assist force is applied is the user's ankle (that is, the pitch axis of the ankle joint) and the ball of the mother's finger or the little finger. The closer the part is to the ball of the mother's finger or the ball of the little finger, the easier it is for the user to feel the assisting force.
  • the front end portion 30 of the heel orthosis 3 has a portion corresponding to the user's ankle and a portion corresponding to the user's thumb ball or hypothenar ball in the side view. It is located in between (see FIG. 3).
  • the walking assist device A1 makes it easier for the user to feel the assist force.
  • the foot orthosis of the present invention is not limited to a shape that covers from the heel portion to the ankle portion of the user's foot like the heel orthosis 3, but is transmitted via the link mechanism 6. It suffices that the provided driving force can be applied to the user's foot as an assisting force.
  • the foot orthosis one having a shape that covers the entire foot may be used. Further, it may be a band-shaped object fixed at a position on the lower surface side of the user's ball or hypothenar in the worn state.
  • An IMU sensor 31 (gait detection device) for detecting the walking state of the user is attached to the back portion of the heel orthosis 3. This is because by providing the IMU sensor 31 at such a position, the timing of the contact of the user's heel or toe (that is, the walking pattern of the user) can be accurately grasped. As a result, the assist force is applied at an appropriate timing by controlling the operation of the actuator 40 based on the output of the IMU sensor 31.
  • the gait detection device of the present invention may be any device that can detect the walking state of the user during walking, and the mounting position is not limited to the back surface of the foot orthosis. For example, it may be attached to the bottom surface of the foot orthosis. It may also be attached to the lower leg orthosis.
  • the gait detection device in addition to the IMU sensor, for example, a foot switch or the like may be used.
  • the "foot switch” is a switch that switches ON / OFF according to the grounding of the user's foot.
  • the walking assist device A1 is configured as a boot-type walking assist device by the housing body 1, the shin orthosis 2, and the heel orthosis 3. Therefore, the user attaches the walking assist device A1 by inserting the lower leg and the foot into the housing 1 as if wearing boots.
  • the drive unit 4 includes an actuator 40, a battery 41 that supplies electric power to the actuator 40, and a control device 42 that controls the operation (output) of the actuator 40.
  • the control device 42 controls the operation of the actuator 40 based on the output value from the IMU sensor 31.
  • the actuator 40, the battery 41, and the control device 42 are arranged side by side inside the width of the shin brace 2 in a front view. This is to improve the weight balance while suppressing the increase in size in the left-right direction.
  • the actuator 40, the battery 41, and the control device 42 are viewed from the side with the upper end of the shin brace 2, the toes of the user in the worn state, and the heel of the user in the worn state. It is located inside the formed triangle (in FIG. 3, the triangle shown by the broken line with a large interval). More specifically, at least the center of gravity of the actuator 40, the battery 41, and the control device 42 is located inside the triangle.
  • the arrangement of the drive source, the battery and the control device of the present invention is not limited to such a configuration, and the weight of the actuator, the battery, the control device and other components, the foot orthosis and the shin orthosis. It may be set as appropriate according to the shape and the like.
  • the walking assist device A1 is attached to the front surface of the shin orthosis 2 so that the drive unit 4 is located on the front surface side of the lower leg of the user in the mounted state.
  • the difference between the left and right width of the user in the wearing state and the left and right width of the user in the non-wearing state becomes smaller than the difference in the conventional walking assist device. Therefore, in the walking assist device A1, it is less likely that the user will bring the drive unit 4 into contact with an object existing in the surroundings during walking, as compared with the case where the conventional walking assist device is attached. Therefore, according to the walking assist device A1, the user is less likely to be hindered by the drive unit 4 even in the wearing state.
  • the walking assist device A1 the foot or lower leg on the side opposite to the foot or lower leg to which the assist force is applied during walking, as compared with the case where the conventional walking assist device is attached.
  • the drive unit 4 is difficult to contact. Therefore, according to the walking assist device A1, even in the wearing state, the user can easily walk in the same manner as in the wearing state, and by extension, the walking method is less likely to be restricted.
  • the link mechanism 6 is connected to the heel orthosis 3 and transmits the driving force from the actuator 40 to the heel orthosis 3 to give the user's foot an assisting force that causes the foot to flex or dorsiflex. Is what you do.
  • the link mechanism 6 connects any one of the first rotation axis a1, the second rotation axis a2, the third rotation axis a3, and the fourth rotation axis a4 extending in the pitch axis direction. As a center, it has four links rotatably connected to each other.
  • the first rotation axis a1 is located in front of the shin orthosis 2 and above the heel orthosis 3.
  • the second rotation axis a2 is located at a position corresponding to the user's ankle (that is, the pitch axis of the ankle joint) in the worn state.
  • the third rotation axis a3 is located in front of the first rotation axis a1 in the side view and at a position between the first rotation axis a1 and the second rotation axis a2 in the vertical direction.
  • the fourth rotation axis a4 is a position in the front-rear direction, between the first rotation axis a2 and the second rotation axis, and below the first rotation axis a1 and the second rotation axis a2 in the side view. Is located in.
  • the first link which is one of the four links constituting the link mechanism 6, is composed of the first link member 60.
  • the first link member 60 which is the first link, is fixed to the drive shaft of the actuator 40 at the first end 60a, which is one end. As a result, the first link member 60 is rotated by the driving force of the actuator 40 with respect to the shin orthosis 2, which is the second link described later, about the first rotation axis a1.
  • first link member 60 is a second end portion 60b, which is an end portion on the other side, and rotates with respect to the second link member 61, which is a fourth link described later, about the third rotation axis a3. It is connected freely.
  • the second link which is one of the four links, is composed of the upper edge of the heel orthosis 3. Specifically, the area including the upper edge of the heel orthosis 3 from the front end 30 (rotating end) to the portion corresponding to the user's ankle (that is, the pitch axis of the ankle joint) in the worn state. However, it is the second link.
  • the heel orthosis 3 which is the second link, is rotatably connected to the shin orthosis 2, which is the third link described later, at a position corresponding to the ankle, about the second rotation axis a2. There is.
  • heel orthosis 3 is rotatably connected to the second link member 61, which is the fourth link described later, at the front end portion 30 about the fourth rotation axis a4.
  • the third link which is one of the four links, is composed of a lower portion of the main body portion 20 of the shin orthosis 2 and a frame portion 21.
  • the shin brace 2 which is the third link is rotatably connected to the first link member 60 which is the first link by the main body 20 about the first rotation axis a1. That is, the first link member 60 is rotatable with respect to the shin orthosis 2 fixed to the lower leg of the user.
  • the shin orthosis 2 is rotatably connected to the heel orthosis 3 which is the second link by the frame portion 21 about the second rotation axis a2. That is, the heel orthosis 3 is rotatable with respect to the shin orthosis 2 so as to bend plantarly or dorsiflexively.
  • the fourth link which is one of the four links, is composed of the second link member 61.
  • the second link member 61 which is the fourth link, is the third end 61a (one end), which is one end, with respect to the first link member 60, which is the first link, and the third rotation axis a3. It is rotatably connected around the center.
  • the second link member 61 is a fourth end portion 61b (the other end portion) which is the other end portion, and is centered on the fourth rotation axis a4 with respect to the heel portion orthosis 3 which is the second link. , Are rotatably connected.
  • the first rotation axis a2 which is the rotation axis of the first link member 60 rotated by the driving force from the actuator 40, is in the attached state.
  • the position does not correspond to the user's ankle joint.
  • the driving force to be output to the actuator 40 must be calculated by performing a predetermined calculation.
  • the heel orthosis 3 which is the second link, is composed of a region including the front end 30 of the upper edge of the heel orthosis 3.
  • the heel orthosis 3 is rotatably configured about the second rotation axis a2 corresponding to the ankle joint. Therefore, the movement of the heel orthosis 3 (that is, the movement of the second link) is similar to the movement of the user's foot.
  • the walking assist device A1 is attached to the user's foot. It is easier to predict the assist power to be given. As a result, the walking assist device A1 is provided with this configuration, which simplifies the calculation (and thus the control) in determining the operation of the assist force to be applied.
  • the link mechanism 6 is configured as a four-node link mechanism having four links, and the four links constituting the four-node link form a quadrangle (more specifically, a parallelogram) in a side view. Is forming.
  • the walking assist device A1 also has such a configuration, which simplifies the calculation (and thus the control) when determining the operation of the assist force to be applied.
  • the link mechanism 6 includes one first link member 60 and a pair of left and right second links formed at the upper edge ends of each of the side surfaces of the heel orthosis 3.
  • a frame portion 21 of a pair of left and right shin orthosis 2 connected to both side surfaces of the first link member 60 and the heel orthosis 3 and one second link member 61 are provided.
  • the second link member 61 has a pair of left and right fourth end portions 61b that are bifurcated and extended from the third end portion 61a.
  • the third end portion 61a is connected to the first link member 60.
  • Each of the left and right pair of fourth end portions 61b is connected to each of the both side surfaces of the left and right pair of heel orthosis 3.
  • the driving force from the actuator 40 is transmitted to the first link member 60, then divided into left and right by the second link member 61, and is transmitted to both side surfaces of the heel orthosis 3.
  • a well-balanced assist force is applied to the user's foot in the left-right direction.
  • the shape of the link constituting the link mechanism of the present invention is not limited to such a configuration, and the foot is connected to the foot orthosis and transmits the driving force from the drive source to the foot orthosis. Any shape may be used as long as the link mechanism that applies an assist force to the portion can be configured.
  • the link mechanism constitutes a four-section link as in the present embodiment
  • one first link, a pair of left and right second links connected to each of both side surfaces of the foot orthosis, the first link, and A pair of left and right third links connected to each of the second links and a pair of left and right fourth links connected to each of the second links are provided, and the first link bifurcates from one end and extends. It has a pair of left and right other ends provided, one end of the first link is connected to the third link, and each of the pair of left and right other ends of the first link is of the pair of left and right fourth links. It may be connected to each.
  • the first link may be a bifurcated member instead of the fourth link. Even with this configuration, it is possible to apply a well-balanced assist force in the left-right direction to the user's foot, as in the case of the walking assist device A1 of the present embodiment.
  • the link mechanism when the link mechanism constitutes a four-section link as in the present embodiment, it includes one first link, one second link, one third link, and one fourth link.
  • the second link, and at least a part of the fourth link may be provided at a position on the side of the user's foot in the worn state.
  • the link mechanism exists only on one side of the foot orthosis (specifically, one side in the left-right direction).
  • the user is less likely to bring the link mechanism into contact with an object existing in the surroundings, and thus is less likely to be hindered from walking.
  • it becomes difficult for the link mechanism to come into contact with the other foot or lower leg it becomes more difficult to restrict the way of walking.
  • FIG. 4A shows a state in which the heel orthosis 3 is bottom-bent.
  • FIG. 4B shows a state in which the heel orthosis 3 is not flexed or dorsiflexed.
  • FIG. 4C shows a state in which the heel orthosis 3 is dorsiflexed.
  • the walking assist device A1 transmits the driving force from the actuator 40 to the heel orthosis 3 via the link mechanism 6. Then, the heel orthosis 3 is rotated with respect to the shin orthosis 2 by the transmitted driving force. Then, the walking assist device A1 applies an assist force for bending the foot to the plantar or dorsiflexion to the user's foot via the heel orthosis 3 to assist the user in walking in the front-rear direction. To do.
  • the walking assist device A1 When the user's foot is bent to the bottom, the walking assist device A1 operates from the state shown in FIG. 4B to the state shown in FIG. 4A.
  • the actuator 40 rotates the drive shaft to rotate the first link member 60, which is the first link, with respect to the tibial orthosis 2 with the first rotation axis a1 as the center.
  • step 4 rotate clockwise downward.
  • the second link member 61 which is the fourth link, is rotatably connected to the second end 60b, which is the rotating end of the first link member 60, at the third end 61a. ..
  • the second link member 61 when the first link member 60 rotates clockwise with respect to the first rotation axis a1, the second link member 61 also has the first end portion of the first link member 60 as a whole. Together with 60a, it rotates clockwise and downward about the first rotation axis a1.
  • the second link member 61 is not only rotatably connected to the first link member 60 at the third end portion 61a, but also at the fourth end portion 61b at the second link. It is also rotatably connected to a certain heel orthosis 3.
  • the second link member 61 rotates by pulling the third end portion 61a by the first link member 60, but the fourth end portion 61b is the heel portion. By being pushed by the device 3, its rotation is suppressed.
  • the second link member 61 rotates clockwise and downward with respect to the first rotation axis a1
  • the second link member 61 is opposite to the first link member 60 with the third rotation axis a3 as the center. It rotates in the direction (counterclockwise in FIG. 4).
  • the second link member 61 operates so as to open with respect to the first link member 60, and the amount of movement of the fourth end portion 61b of the second link member 61 in the vertical direction is the first of the first link member 60. It becomes larger than the movement amount of the two-end portion 60b.
  • the heel orthosis 3 which is the second link is not only rotatably connected to the second link member 61 at the front end portion 30, but also the ankle of the user in the mounted state ( That is, the portion corresponding to the pitch axis of the ankle joint) is rotatably connected to the shin orthosis 2. Further, the shin orthosis 2 is fixed to the lower leg of the user.
  • the toe is lowered clockwise around the pitch axis of the ankle joint (that is, the toe is lowered).
  • An assist force is applied to rotate the foot (so that it bends to the bottom).
  • the walking assist device A1 operates from the state shown in FIG. 4B to the state shown in FIG. 4C.
  • the actuator 40 rotates the drive shaft to rotate the first link member 60, which is the first link, with respect to the shin orthosis 2 with the first rotation axis a1 as the center. In step 4, it is rotated counterclockwise upward.
  • the second link member 61 which is the fourth link, is rotatably connected to the second end 60b, which is the rotating end of the first link member 60, at the third end 61a. ..
  • the second link member 61 as a whole is also the first end of the first link member 60. Together with the portion 60a, it rotates counterclockwise upward about the first rotation axis a1.
  • the second link member 61 is not only rotatably connected to the first link member 60 at the third end portion 61a, but also at the fourth end portion 61b at the second link. It is also rotatably connected to a certain heel orthosis 3.
  • the second link member 61 rotates by pulling the third end portion 61a by the first link member 60, but the fourth end portion 61b is the heel portion. By being pulled by the device 3, its rotation is suppressed.
  • the second link member 61 rotates counterclockwise and upward about the first rotation axis a1
  • the second link member 61 and the first link member 60 are centered on the third rotation axis a3. It rotates in the opposite direction (clockwise in FIG. 4).
  • the second link member 61 operates so as to close with respect to the first link member 60, and the amount of movement of the fourth end portion 61b of the second link member 61 in the vertical direction is the first of the first link member 60. It becomes larger than the movement amount of the two-end portion 60b.
  • the heel orthosis 3 which is the second link is not only rotatably connected to the second link member 61 at the front end portion 30, but also the ankle of the user in the mounted state ( That is, the portion corresponding to the pitch axis of the ankle joint) is rotatably connected to the shin orthosis 2. Further, the shin orthosis 2 is fixed to the lower leg of the user.
  • the toes are turned upward (that is, the toes) counterclockwise around the pitch axis of the ankle joint.
  • An assisting force is applied to rotate it (so that it is raised and dorsiflexed).
  • the timing of the operation for the plantar flexion and the dorsiflexion (that is, the timing for controlling the operation of the drive source) is determined by the control device 42 of the drive unit 4 in a predetermined general walking pattern or in advance. It is determined based on the walking pattern of the user and the output of the IMU sensor 31 attached to the heel orthosis 3.
  • the four links constituting the link mechanism 6 form a parallelogram in a side view.
  • the third link which is one of the four links, is composed of the tibial brace 2 fixed to the user.
  • the operation of the first link (first link member 60) required to operate the second link (heel orthosis 3) until the target state is reached can be easily calculated. Can be done.
  • the control device 42 can easily control the output of the actuator 40.
  • the walking assist device A2 according to the second embodiment has the same configuration as the walking assist device A1 according to the first embodiment, except that the link mechanism 7 is provided instead of the link mechanism 6.
  • the same or similar configuration as the walking assist device A1 of the first embodiment will be omitted and the same reference numerals will be given.
  • the first rotation axis a1 is located in front of the shin orthosis 2 and above the heel orthosis 3.
  • the second rotation axis a2 is located at a position corresponding to the user's ankle (that is, the pitch axis of the ankle joint) in the worn state.
  • the third rotation axis a3 is located at a position between the first rotation axis a1 and the second rotation axis a2 in the front-rear direction and the up-down direction in the side view.
  • the fourth rotation axis a4 is located between the first rotation axis a2 and the second rotation axis in the front-rear direction and below the first rotation axis a1 and the second rotation axis a2 in the side view. Is located in.
  • the first link which is one of the four links constituting the link mechanism 7, is composed of the first link member 70.
  • the first link member 70 which is the first link, is fixed to the drive shaft of the actuator 40 at the first end 70a, which is one end. As a result, the first link member 70 is rotated by the driving force of the actuator 40 with respect to the shin orthosis 2, which is the second link described later, about the first rotation axis a1.
  • first link member 70 is a second end portion 70b, which is an end portion on the other side, and is rotated around the third rotation axis a3 with respect to the second link member 71, which is the fourth link described later. It is connected freely.
  • the second link which is one of the four links, is composed of the upper edge of the heel orthosis 3. Specifically, the area including the upper edge of the heel orthosis 3 from the front end 30 (rotating end) to the portion corresponding to the user's ankle (that is, the pitch axis of the ankle joint) in the worn state. However, it is the second link.
  • the heel orthosis 3 which is the second link, is rotatably connected to the shin orthosis 2, which is the third link described later, at a position corresponding to the ankle, about the second rotation axis a2. There is.
  • heel orthosis 3 is rotatably connected to the second link member 71, which is the fourth link described later, at the front end portion 30 about the fourth rotation axis a4.
  • the third link which is one of the four links, is composed of a lower portion of the main body portion 20 of the shin orthosis 2 and a frame portion 21.
  • the shin brace 2 which is the third link is rotatably connected to the first link member 70 which is the first link by the main body 20 about the first rotation axis a1. That is, the first link member 70 is rotatable with respect to the shin orthosis 2 fixed to the lower leg of the user.
  • the shin orthosis 2 is rotatably connected to the heel orthosis 3 which is the second link by the frame portion 21 about the second rotation axis a2. That is, the heel orthosis 3 is rotatable with respect to the shin orthosis 2 so as to bend plantarly or dorsiflexively.
  • the fourth link which is one of the four links, is composed of the second link member 71.
  • the second link member 71 which is the fourth link, is the third end portion 71a (one end portion), which is one end, and the third rotation axis a3 with respect to the first link member 70, which is the first link. It is rotatably connected around the center.
  • the second link member 71 is a fourth end portion 71b (the other end portion) which is the other end portion, and is centered on the fourth rotation axis a4 with respect to the heel portion orthosis 3 which is the second link. , Are rotatably connected.
  • the link mechanism 7 is configured as a four-section link mechanism having four links, and among the four links constituting the four-section link, the first link, the second link, and the third link.
  • the link or the fourth link forms a Z shape in a side view.
  • the walking assist device A2 can further simplify the calculation (and thus the control) when determining the operation of the assist force to be applied.
  • the link mechanism 7 includes one first link member 70, one second link formed at the upper edge end of one side surface (the side surface on the front side in FIG. 5) of the heel orthosis 3, and a second link. It includes one link member 70, a frame portion 21 of one shin orthosis 2 connected to the heel orthosis 3, and one second link member 71.
  • the third rotation axis a3 is located behind the first rotation axis a1 in the side view. Further, the fourth rotation axis a4 is located in front of the second rotation axis a2 in a side view.
  • the first rotation axis a1 is located on the side of the lower leg and the foot of the user in the mounted state.
  • the first rotation axis a1 can be retracted from above the user's foot, so that when the foot bends dorsiflexively in the mounted state, the member constituting the foot and the first rotation axis. (In this embodiment, the first link member 70) is less likely to collide.
  • the walking assist device A2 according to the present embodiment configured as described above can also obtain the same effect as the walking assist device A1 according to the first embodiment.
  • the walking assist device A3 according to the third embodiment is provided with the link mechanism 8 instead of the link mechanism 6, the shape of the accommodating body 1 is different, and the heel orthosis 3 is omitted. It has the same configuration as the walking assist device A1 according to the first embodiment.
  • the same or similar configuration as the walking assist device A1 of the first embodiment will be omitted and the same reference numerals will be given.
  • the housing body 1 of the present embodiment like the housing body 1 of the first embodiment and the second embodiment, accommodates the lower portion and the foot portion of the lower leg of the user. It is a boot-type housing.
  • the housing of the present embodiment is directly grounded by the entire housing 1. Therefore, the accommodating body 1 has an accommodating portion 10 for accommodating the lower portion and the foot portion of the lower leg portion of the user, and a sole portion 11 attached to the lower surface of the accommodating portion 10. Further, the accommodating portion 10 is divided into a foot accommodating portion 10a for accommodating the user's foot and a leg accommodating portion 10b for accommodating the user's leg.
  • the link mechanism 8 is connected to the sole portion 11 and transmits the driving force from the actuator 40 to the foot accommodating portion 10a via the sole portion 11 to transmit the foot accommodating portion 10a to the foot accommodating portion 10a. Gives an assist force that causes plantar flexion or dorsiflexion.
  • the link mechanism 8 has two links and a mechanism for relatively rotating the links.
  • the fifth link which is one of the two links constituting the link mechanism 8, is the lower portion and the frame portion of the main body portion 20 of the shin orthosis 2, similarly to the third link in the first embodiment and the second embodiment. It is composed of 21 and.
  • the shin orthosis 2 is rotatably connected to the third link member 80, which is the sixth link described later, by the frame portion 21 about the second rotation axis a2.
  • the second rotation axis a2 is an axis extending in the pitch axis direction, and like the second rotation axis a2 in the first embodiment and the second embodiment, the user's ankle (that is, that is) in the mounted state. It is located at a position corresponding to the pitch axis of the ankle joint.
  • the sixth link which is one of the two links constituting the link mechanism 8, is composed of the third link member 80.
  • the third link member 80 which is the sixth link, is rotatably connected to the shin orthosis 2 at the fifth end 80a, which is one end, about the second rotation axis a2. ing.
  • a driven pulley 82 which will be described later, is fixed to the fifth end portion 80a. As a result, the fifth end portion 80a (and by extension, the third link member 80) rotates integrally with the driven pulley 82.
  • the third link member 80 is fixed to the side of the central portion of the sole portion 11 of the housing body 1 at the sixth end portion 80b, which is the other end portion.
  • the sole portion 11 (and by extension, the foot portion accommodating portion 10a) rotates about the second rotation axis 2a as the third link member 80 rotates. That is, the sole portion 11 and the foot portion accommodating portion 10a bend plantarly or dorsiflexively according to the rotation of the third link member 80.
  • the fixed position of the sixth end portion 80b of the third link member 80 does not necessarily have to be the central portion of the sole portion 11, and the user's ankle (that is, the pitch axis of the ankle joint) is viewed from the side. ) May be in front of or behind. In particular, it is preferable that the position is between the ball of the thumb or the ball of the little finger of the user in the worn state, because the user can easily feel the assisting force.
  • the mechanism for relatively rotating the two links constituting the link mechanism 8 is a drive pulley 81 that is rotatable around the first rotation axis a1 and a mechanism that rotates around the second rotation axis a2. It is composed of a movable driven pulley 82, a drive pulley 81, and a power transmission belt 83 bridged to the driven pulley 82.
  • the first rotation axis a1 is an axis extending in the pitch axis direction, and like the first rotation axis a1 in the first embodiment and the second embodiment, the front of the shin orthosis 2 and the heel. It is located above the portion that accommodates the user's foot (and thus the heel) of the containment body 1 corresponding to the orthosis 3.
  • the drive pulley 81 is fixed to the drive shaft of the actuator 40. As a result, the drive pulley 81 is rotated with respect to the shin orthosis 2, which is the fifth link, by the driving force of the actuator 40 about the first rotation axis a1.
  • the driven pulley 82 is rotatably connected to the frame portion 21 of the shin orthosis 2, which is the fifth link, about the second rotation axis a2. Further, the driven pulley 82 is fixed to the fifth end portion 80a of the third link member 80 as described above. As a result, the fifth end portion 80a (and by extension, the third link member 80) rotates integrally with the driven pulley 82 with respect to the frame portion 21.
  • the driving force from the actuator 40 is applied to the driven pulley 82 via the drive pulley 81 and the power transmission belt 83. Is transmitted to.
  • the driven pulley 82 to which the driving force is transmitted in this way includes the third link member 80 to which the driven pulley 82 is fixed, the sole portion 11 of the housing body 1 fixed to the third link member 80, and the sole. Together with the foot accommodating portion 10a from which the portion 11 is removed, it rotates about the second rotation axis a2 (that is, with respect to the leg accommodating portion 10b).
  • an assist force for flexing or dorsiflexing the foot is given to the user's foot via the foot accommodating portion 10a, and the user's walking in the front-back direction is assisted.
  • the walking assist device A3 according to the present embodiment configured as described above can also obtain the same effects as the walking assist device A1 according to the first embodiment and the walking assist device A2 according to the second embodiment.
  • the walking assist device A3 it is possible to reduce the weight and space by making the link mechanism a simple structure.
  • the walking assist device A4 according to the fourth embodiment is provided with the link mechanism 9 instead of the link mechanism 7, the points that the shapes of the housing body 1 and the shin orthosis 2 are different, and the heel orthosis 3 is omitted. It has the same configuration as the walking assist device A1 according to the first embodiment except for the above points.
  • the same or similar configuration as the walking assist device A1 of the first embodiment will be omitted and the same reference numerals will be given.
  • the housing body 1 of the present embodiment accommodates only the foot of the user. It is a shoe-type housing.
  • the shin brace 2 of the present embodiment does not have a frame portion 21 unlike the shin brace 2 of the first embodiment, the second embodiment and the third embodiment.
  • the shin orthosis 2 of the present embodiment has a structure for fixing the shin orthosis 2, the drive unit 4 and the cover 5 to the leg of the user in the worn state, and the lower leg of the user in the worn state. It has a belt portion 22 that is wound around the portion. At least one of the ends of the belt portion 22 is removable to the corresponding side surface of the main body portion 20.
  • the link mechanism 9 is connected to the upper surface of the toe portion of the accommodating body 1, transmits the driving force from the actuator 40 to the portion through the accommodating body 1, and bottoms the foot portion with respect to the foot portion of the user. Gives an assisting force to bend or dorsiflex.
  • the link mechanism 9 is composed of a telescopic rod-shaped member that can be expanded and contracted according to the driving force from the actuator 40.
  • the link mechanism 9 is fixed to the drive shaft of the actuator 40 at the seventh end 9a, which is one end.
  • the drive shaft of the actuator 40 is arranged so as to coincide with the first rotation axis a1. Therefore, the link mechanism 9 is rotatable with respect to the tibial brace 2 about the first rotation axis a1.
  • the first rotation axis a1 is an axis extending in the pitch axis direction, and like the first rotation axis a1 in the first embodiment, the second embodiment, and the third embodiment, the tibial orthosis 2 It is located forward and above the portion that accommodates the user's foot (and thus the heel) of the containment body 1 corresponding to the heel orthosis 3.
  • the link mechanism 9 is rotatably connected to the upper surface of the toe portion of the accommodating body 1 at the eighth end portion 9b, which is the other end portion, about the fifth rotation axis a5.
  • the fifth rotation axis a5 is an axis extending in the pitch axis direction, and is located at a position on the upper surface of the toe portion of the housing body 1.
  • the link mechanism 9 when applying an assist force to the user, first, the link mechanism 9 is rotated about the first rotation axis a1 by the driving force from the actuator 40. To do. Then, by the rotation, a force for pushing down or pulling up the foot (that is, an assisting force for causing the foot to flexure or dorsiflexion) is applied to the foot of the user through the housing body 1, and the user is given a force. Walking in the front-back direction is assisted.
  • the link mechanism 9 is a telescopic rod-shaped member, it expands and contracts appropriately according to the position of the toe of the housing body 1 (that is, the degree of rotation of the ankle joint of the user). As a result, in the walking assist device A3, when the driving force is transmitted, the link mechanism 9 prevents the movement of the toe position of the housing body 1 from being hindered.
  • the walking assist device A4 according to the present embodiment configured as described above also has the walking assist device A1 according to the first embodiment, the walking assist device A2 according to the second embodiment, and the walking according to the third embodiment. The same effect as that of the assist device A3 can be obtained.
  • the walking assist device A4 weight reduction and space saving can be achieved by making the link mechanism a simple structure. Further, since the walking assist device A4 has only the eighth end portion 9b of the link mechanism 9 connected to the housing body 1, it can be easily attached to the existing housing body.
  • the drive unit 4 (that is, the actuator 40) is attached to the front surface of the tibial brace 2 so as to be located in front of the lower leg of the user in the mounted state.
  • the actuator 40 By arranging the actuator 40 in the front, the actuator 40 is positioned above the user's foot in the mounted state, and the width of the front and rear of the user in the mounted state and the front and rear of the user in the mounted state. This is because the difference from the width of the above is smaller than the difference in the conventional walking assist device. As a result, according to the walking assist devices A1 and A2, it is difficult for the user to bring the actuator 40 into contact with an object existing behind when walking.
  • the walking assist device of the present invention is not limited to such a configuration, and the lower leg orthosis is such that the drive source is located on the front side or the back side of the user's lower leg in the worn state. It suffices if it is attached to.
  • the drive source may be located on the back side of the user in the mounted state. Even in such a configuration, it becomes difficult for the drive source to come into contact with the objects existing on the left and right sides of the user, or the foot or lower leg on the opposite side of the user.
  • the drive source does not necessarily have to be located on the front surface of the lower leg orthosis. It may be located on the back surface of the body (for example, between the lower leg orthosis and the housing). Similarly, the drive source may be located in front of the lower leg orthosis, even if it is configured to be located on the back of the user in the worn state.
  • the actuator 40 is configured to rotate the connected first link member 60 about the first rotation axis a1.
  • the drive source of the present invention is not limited to such a configuration, and may be any one that is attached to the lower leg orthosis and can transmit the driving force to the foot orthosis via the link mechanism.
  • the driving force may be transmitted to the link mechanism connected to the driving shaft by expanding and contracting the driving shaft.
  • the third rotation axis a3 is located at a position forward and below the first rotation axis in the side view.
  • the fourth rotation axis a4 is located in front of and below the second rotation axis in a side view.
  • the link mechanisms 6 and 7 are configured as a four-section link mechanism.
  • the link mechanism of the present invention is not limited to such a configuration, and is connected to the foot orthosis, transmits the driving force from the drive source to the foot orthosis, and assists the user's foot. Anything that gives power may be used.
  • the third rotation axis a3 is positioned behind the first rotation axis in a side view
  • the fourth rotation axis a4 is positioned in a side view. It may be located at a position behind the second rotation axis. Further, the third rotation axis a3 may be positioned above the first rotation axis in a side view. Further, the fourth rotation axis a4 may be positioned above the second rotation axis in a side view.
  • the third rotation axis a3 is positioned in front of the first rotation axis in the side view, and the fourth rotation axis a4 is viewed in the side view. Then, it may be positioned at a position behind the second rotation axis.
  • link mechanisms 6 and 7 may be configured as a link having five or more links instead of the four-section link.
  • the second link is composed of the heel orthosis 3
  • the third link is composed of the shin orthosis 2.
  • the second link and the third link of the present invention are not limited to such a configuration, and may be configured as a member independent of the foot orthosis or the lower leg orthosis.
  • a frame extending from the housing of the drive source is used as a second link
  • a rod-shaped member rotatably connected to the second link is used as a third link
  • the third link is connected to the foot orthosis. You may.
  • the link mechanism when the length of the link constituting the link mechanism is changed, the speed and magnitude of the driving force transmitted through the link mechanism change. Therefore, if a configuration is provided with an adjusting mechanism for changing the length of at least one of the plurality of links constituting the link mechanism, the link mechanism can be used to adjust the speed and magnitude of the driving force from the driving source. It can be used as part of the reducer. As a result, the speed reducer used as the drive source can be made smaller and lighter.
  • first link member first link
  • 60a, 70a ... first end, 60b, 70b ... second end 61, 71 ... second Link member (fourth link), 61a, 71a ... Third end (one end), 61b, 71b ... Fourth end (other end), 80 ... Third link member (sixth link), 80a ... 5 end, 80b ... 6th end, 81 ... drive pulley, 82 ... driven pulley, 83 ... power transmission belt, A1, A2, A3, A4 ... walking assist device, a1 ... first rotation axis, a2 ... 2 rotation axes, a3 ... 3rd rotation axis, a4 ... 4th rotation axis, a5 ... 5th rotation axis.

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

Abstract

L'invention concerne un dispositif d'aide à la marche A1 comprenant une orthèse de tibia 2, une orthèse de talon 3, un actionneur 40 et un mécanisme articulé 6 qui est relié à l'orthèse de talon 3 et qui transmet une force d'entraînement de l'actionneur 40 à l'orthèse de talon 3 afin d'appliquer une force d'assistance au pied d'un utilisateur. L'actionneur 40 est fixé à l'orthèse de tibia 2 de telle sorte que l'actionneur soit positionné sur une face avant de la partie inférieure de la cuisse de l'utilisateur dans un état monté.
PCT/JP2020/001514 2019-03-11 2020-01-17 Dispositif d'aide à la marche Ceased WO2020183907A1 (fr)

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JP2021505552A JP7076038B2 (ja) 2019-03-11 2020-01-17 歩行アシスト装置

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JP2019-043739 2019-03-11
JP2019043739 2019-03-11

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WO2020183907A1 true WO2020183907A1 (fr) 2020-09-17

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060069336A1 (en) * 2004-09-27 2006-03-30 Massachusetts Institute Of Technology Ankle interface
JP2010110543A (ja) * 2008-11-10 2010-05-20 Toyota Motor Corp 歩行補助装置
JP2018033641A (ja) * 2016-08-31 2018-03-08 株式会社テック技販 脚の筋肉萎縮防止装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8353854B2 (en) * 2007-02-14 2013-01-15 Tibion Corporation Method and devices for moving a body joint
US20090306548A1 (en) * 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
US20100198124A1 (en) * 2009-01-30 2010-08-05 Kern Bhugra System and method for controlling the joint motion of a user based on a measured physiological property

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060069336A1 (en) * 2004-09-27 2006-03-30 Massachusetts Institute Of Technology Ankle interface
JP2010110543A (ja) * 2008-11-10 2010-05-20 Toyota Motor Corp 歩行補助装置
JP2018033641A (ja) * 2016-08-31 2018-03-08 株式会社テック技販 脚の筋肉萎縮防止装置

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