JP2003250842A - Human body movement auxiliary massaging machine with actuator used for the human body movement auxiliary, and hemomanometer with actuator used for human body movement auxiliary - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a human body movement auxiliary capable of assisting actions in daily life by being worn on a joint portion of a human body and capable of assisting the generated force of the human body. <P>SOLUTION: The human body movement auxiliary 5 has a human body- mounted portion 7 mounted on a joint portion of a human body, and an actuator 4 provided in the human body-mounted portion 7. The actuator 4 has an elastic portion 1 made up of a sheet insulating elastic material, an electrode portion 2 made up of a conductive elastic material arranged on both sides of the elastic portion 1. Voltage is applied to the electrode portion 2 from a control section 6. The actuator 4 is extended and contracted so as to apply an assisting force in the same direction as the direction of movement of a joint of the human body. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a human body movement assisting device, a massager equipped with an actuator used in the human body movement assisting device, and a sphygmomanometer including an actuator used in the human body movement assisting device.

[0002]

2. Description of the Related Art Conventionally, various training machines have been developed for recovering the muscular strength of various parts such as limbs, torso, and neck for a patient with impaired motor function. Training by these training machines is a monotonous repetitive exercise and is painful for the patient.

In the conventional exercise therapy instruction, a trainee gives instructions directly to the patient under the proper instruction of the doctor, or the patient gives the instruction alone according to a predetermined menu, or Was watching the video and doing exercises according to the video. On the other hand, a variety of devices such as walking support devices, stair lifts, and lifts for the purpose of assisting physical fitness have been devised in order to support the daily activities of elderly people who have lost their physical strength and reduce the physical burden on caregivers. Has been done.

[0004]

However, in the conventional exercise therapy guidance, the number of medical staff such as trainees and caregivers for patients is limited, and it is impossible to provide thorough guidance to all patients. There was a problem that there is.

Further, in the conventional exercise therapy guidance, there is a problem that the patient gets tired because it is a routine exercise with few variations, it is not possible to continue, and the effect is not easily obtained.

Further, in the conventional exercise therapy guidance, the content of the exercise therapy in the video does not correspond to the medical condition of the patient and the degree of the athletic ability, so that the patient cannot keep up with the exercise and the excessive exercise may reduce the motivation of the patient. There was a problem that it did not lead to continuation.

At the same time, the conventional physical force assisting device is
It is mainly installed in the handrail of a house, and is mainly a mechanical type of gripping and hanging system, and there is a problem that it is difficult to spread it to general houses in terms of installation cost and space.

The present invention has been made in view of the above problems of the prior art, and is attached to a joint part of a human body to assist the generative force of the human body, thereby supporting the motion in daily life. The purpose of the present invention is to provide a human body movement assisting device which can also support rehabilitation and strength training while arousing motivation and interest even without a trainee, and can enhance the rehabilitation effect. (EN) A human movement assist device that can generate muscle force unconsciously to enhance the muscle force and sense of balance, supports independence such as walking and climbing stairs, and helps reduce the burden on caregivers. The object is to provide a massage machine equipped with an actuator that can realize a variable tactile massage at low cost. And to provide a blood pressure monitor provided with the actuator which can improve the performance in a small to.

[0009]

In order to solve the above problems, according to the invention of claim 1, a human body mounting portion 7 mounted on a joint portion of a human body, and an actuator 4 provided on the human body mounting portion 7. A human body movement assistance device comprising:
The actuator 4 has a stretchable portion 1 made of a sheet-shaped insulating stretchable material, and electrode portions 2 made of a conductive stretchable material arranged on both surfaces of the stretchable portion 1, and a control portion 6
Is configured by applying a voltage to the electrode section 2 from the electrode unit, and the actuator 4 is expanded and contracted so that an assist force is applied in the same direction as the direction in which the joint of the human body is moved. By doing so, for example, when the actuator 4 is attached to a joint part of a limb such as an elbow or a knee, the actuator 4 applies an assisting force for assisting the bending and stretching of the joint part so as to match a preset human body generation force. You will be able to easily perform daily activities such as sitting motions and nursing activities such as holding and transferring.

The invention according to claim 2 is a human body movement assisting device comprising a human body mounting part 7 mounted on a joint part of a human body, and an actuator 4 provided on the human body mounting part 7, wherein the actuator 4 Has a stretchable portion 1 made of a sheet-shaped insulating stretchable material, and electrode portions 2 made of a conductive stretchable material arranged on both sides of the stretchable portion 1, and a voltage is applied from the control portion 6 to the electrode portion 2. It is configured by controlling, and is characterized in that the actuator 4 is expanded and contracted so that a load is generated in a direction opposite to a direction in which a joint of a human body is moved. By configuring in this way, a preset value is set. By generating a load in the direction opposite to the movement of the joints of the limbs such as the elbows and knees (human muscle output), it can be used for muscle training of the thighs, etc. Since it is possible to motivate and interest for the training, it can be expected to have the same effect as muscle strength training by trainers. Furthermore, since generating a load in the direction opposite to the movement of the joints of the limbs has the function of fixing the movements of the joints of the limbs, it also functions as a joint pain relief supporter to be worn when joint pain occurs. Have.

According to a third aspect of the present invention, there is provided a human body movement assisting device comprising a human body mounting part 7 mounted on a joint part of a human body and an actuator 4 provided on the human body mounting part 7, wherein the actuator is provided. Reference numeral 4 has a stretchable portion 1 made of a sheet-shaped insulating stretchable material, and electrode portions 2 made of a conductive stretchable material arranged on both sides of the stretchable portion 1, and
It is configured by controlling the voltage applied from the control unit 6 to the electrode unit 2. The control unit 6 is either a means for randomly generating a voltage for the expansion / contraction operation or a means for randomly changing the voltage generation period. It is characterized by controlling the actuator 4 so that a load is generated in an arbitrary direction at irregular timings. With such a configuration, the expansion and contraction operation of the actuator 4 is suddenly
It can be expanded and contracted at unintended timing, and the balance of the human body can be momentarily upset, and the human body unconsciously generates muscle strength in an attempt to maintain the balance, and as a result, it is possible to enhance the muscle strength and sense of balance. is there. Since this operation is unconsciously and reflexively performed, the wearer does not have the consciousness to perform the training and the motivation for exercise does not decrease.

[0012] According to a fourth aspect of the present invention, there is provided a human body movement assisting device comprising a human body mounting portion 7 mounted on a joint portion of a human body, and an actuator 4 provided on the human body mounting portion 7. Has a stretchable portion 1 made of a sheet-shaped insulating stretchable material, and electrode portions 2 made of a conductive stretchable material arranged on both sides of the stretchable portion 1, and a voltage is applied from the control portion 6 to the electrode portion 2. It is configured by controlling the human body generation force assist mode in which the actuator 4 is expanded and contracted so that the assist force is applied in the same direction as the direction in which the human body joint is moved, and in the direction opposite to the direction in which the human body joint is moved. It is characterized by having a muscle force training mode for expanding and contracting the actuator 4 so that a load is generated by the load. By configuring in this manner, the human body force assisting mode is set. Then cause long forces to assist in the same direction as the human body generates force, cause long load in the direction opposite to the direction to move the muscle strength by switching to the muscle training mode, the rehabilitation device for muscle recovery,
In addition, it will be more functional as a joint pain relief supporter. Furthermore, in recent years, rehabilitation that activates the cranial nerves by actively moving the human limbs such as fingertips has been popular, but by using this device, while being worn on the human body, the rehabilitation for brain activity can be performed. It also has a function as a training device for the elderly to prevent dementia.

The invention according to claim 5 is the above-mentioned claim 1.
A massaging machine comprising the human body mounting part 7 according to any one of claims 4 to 4 and an actuator 4, wherein the actuator 4 is arcuately bulged on the inner surface of the human body mounting part 7 to fix both ends thereof, It is characterized in that the portion to be pressed 9 is pressed and massaged by changing the amount of protrusion of the bow-shaped actuator 4. With such a configuration, the actuator 4 becomes bow-shaped and flexible, and low pressure is achieved. It is possible to realize a variable tactile massage at a cost. Also, by wrapping this system around a site with a large amount of subcutaneous fat (for example, around the waist), not only massage, but also the basal metabolism in the body can be promoted by the massage effect of the subcutaneous fat being massaged, and a fat burning effect can be obtained. it can. Further, since tightening the joint in the massage direction has a function of fixing the motion of the joint of the limb, it also has a function as a joint pain relief supporter to be worn when the joint pain occurs.

A sixth aspect of the present invention is a massage machine comprising the actuator 4 according to any one of the first to fourth aspects, wherein a plurality of actuators 4 are arranged on a substrate 14 and a control unit 6 is provided. The pressure applied to the electrode unit 2 is applied so that the compressed portion 9 of the human body is pressed by the unevenness change of the actuator 4 caused by the voltage change applied to the electrode unit 2 from each other and the unevenness change of each actuator 4 becomes a different pattern. Is controlled, and with such a configuration, it is possible to evenly press the compressed portion 9 of the human body due to the unevenness of the plurality of actuators 4 and to massage the actuators 4. By using a pattern in which unevenness changes are different, acupressure massage can be locally performed on the sole or the like. It goes without saying that the above-described fat burning effect can also be expected in the invention of this claim.

The invention according to claim 7 is a sphygmomanometer including the human body mounting part 7 and the actuator 4 according to any one of claims 1 to 4, wherein the actuator is provided on the inner surface of the human body mounting part 7. 4 is provided with a compression portion 12 formed by bulging 4 in an arcuate shape and fixing both ends thereof, and a measurement unit for measuring blood pressure. It is arranged so as to surround the pressed portion 9 such as an arm, and in this state, a voltage is applied to the electrode portion 2 of the actuator 4 to swell the actuator 4 and press the pressed portion 9 that is the treated portion, The compressed part 9 is compressed, the human body mounting part 7 and the actuator 4 can be used as a cuff band, and the blood pressure can be measured by the measuring means.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on the embodiments shown in the accompanying drawings.

The human body movement assisting device 5 of the present embodiment is an actuator 4 in which flexible electrodes are provided on both sides of a flexible insulating material.
Is attached to the body to be used for joint fixation, passive movement, promotion of basal metabolism, and activation of cranial nerves, and as shown in FIGS. 1 to 3, a human body attachment part to be attached to a joint part of a human body. 7 and an actuator 4 provided on the human body mounting part 7. The human body mounting portion 7 of the present embodiment is made of a mesh-like material 7a such as cloth having elasticity and deformability, and is rolled into a substantially tubular shape and wound around a joint portion such as a knee. Inside the mesh 7a, for example, a strain gauge,
A force sensor 16 including a myoelectric potential sensor, a urethane contact pressure sensor, etc. is appropriately arranged. As shown in FIG. 2, the actuators 4 are fixed to the mesh-shaped material 7a on the rear surface b and the front surface c except for the side surface a.
Examples of the fixing means include bonding with an adhesive friendly to the human body, suturing with a sewing thread, and the like. Each actuator 4 assists the generated force of the human body by applying an assist force in the same direction as the direction in which the joint of the human body is moved, as described later. Here, the generated force of the human body is, for example, a force generated when bending and stretching the joint portion of the knee or the joint portion of the elbow, and the actuator 4 applies an assisting force in the same direction as the generated force of the human body to thereby carry out daily life. It is intended to assist the movements of the joints necessary for.

Next, the actuator 4 will be described. As shown in FIG. 4, the actuator 4 has a stretchable portion 1 made of a sheet-shaped insulating stretchable material, and electrode portions 2 and 2 made of a conductive stretchable material on both sides of the stretchable portion 1, and also has an electrode portion 2 The voltage application unit 3 is connected to the electrode unit 2 via the lead wire 10, and the control unit 6 turns on and off the switch SW to apply and release the voltage to the electrode unit 2 via the voltage application unit 3. Thus, the stretchable portion 1 made of a sheet-shaped insulating stretchable material is stretchable as shown in FIGS. 4 (a) and 4 (b).

The sheet-shaped insulating stretchable material forming the stretchable portion 1 is a material having flexibility and a high dielectric constant (about 1.0 F / m or more) such as acrylic elastomer and silicon. Further, as the electrode portion 2, a material in which the above-mentioned material is in a liquid state (may be paste-like or spray-applied) mixed with carbon black, a noble metal filler or the like to ensure electric conductivity is used. To connect the lead wire 10 to the electrode portion 2, as shown in FIG. 5, the end of the electrode portion 2 is plated with copper or the like, and the lead wire 10 is soldered to the plated surface 11.

Here, the mechanism by which the expansion / contraction part 1 expands / contracts by applying a voltage from the control part 6 via the voltage application part 3 to the electrode parts 2 on both sides of the expansion / contraction part 1 made of a sheet-like insulating expansion / contraction material. explain. When a voltage is applied to both sides of the sheet-shaped insulating stretchable material, the electrode portions 2 and 2 are charged, and the Coulomb force causes the electrode portions 2 and 2 to attract each other and expand and contract. The expansion / contraction part 1 is expanded / contracted by utilizing this phenomenon. Then, the mesh-shaped material 7a is expanded and contracted by the actuator 4 and transmitted to the human body.

As shown in FIG. 6A, the thickness of the actuator 4 in which flexible electrodes 2 made of a conductive elastic material are provided on both sides of an elastic portion 1 made of a sheet-like insulating elastic material made of polymer such as silicon. 6 (b) when t is t and the voltage applied from the voltage applying unit 3 to the electrode unit 2 is V
In P, the generated stress (isotropic), the strain in the electric field direction (contraction) indicated by Δz, and the strain (stretching) in the direction perpendicular to the electric field indicated by Δx (stretching) are obtained by the following equations. In the equation below, ε ₀
Ε _r : dielectric constant (F / m) of polymer, E: electric field between electrodes (V / m), Y: Young's modulus (Pa) of polymer. -Generated stress (isotropic) P = ε ₀ · ε _r · E ² = ε ₀ · ε _r · V ² / t ² (P
a) -Distortion in electric field direction (contraction) Δz = ε ₀ · ε _r · E ² / Y = ε ₀ · ε _r · V ² / Y ·
t ² (%) ・ Strain (stretching) in the direction perpendicular to the electric field Δx = 0.5 · ε ₀ · ε _r · E ² /Y=0.5ε ₀ · ε
_r · V ² / Y · t ² (%) When using the human body movement assisting device 5 in which the actuator 4 having the above-mentioned configuration is provided on the mesh-shaped object 7a, the mesh-shaped object 7a is connected to the joint part of the human body, for example, as shown in FIG. Attach it to the knee joint as shown. When it is desired to extend the knee as indicated by arrow A in FIG. 1, the control unit 6 reduces the output voltage to the actuator 4a on the front side according to the output value of the force sensor 16, and outputs it to the actuator 4b on the rear side. Increase the voltage. As a result, the actuator 4a on the front side contracts and the actuator 4b on the back side extends, so that an assist force is applied in the knee extension direction. Conversely, if you want to bend your knee as shown by arrow B in Figure 1,
The control unit 6 increases the output voltage to the actuator 4a on the front side and decreases the output voltage to the actuator 4b on the rear side according to the output value of the force sensor 16. As a result, the actuator 4a on the front side extends and the actuator 4b on the back side contracts, so that an assist force is applied in the direction of bending the knee. The control of the actuator 4 is feedback-controlled as shown in FIG. 3, so that the voltage applied from the control unit 6 to the electrode unit 2 is adjusted to a preset target load. That is, the force sensor 16 detects the disturbance force (force generated by the human body) to identify the thigh muscular force load, and eliminates the deviation between the sensor output value and the target maximum value (= actuator command value). The actuator output is feedback-controlled by controlling the voltage applied to the actuator.

As described above, since the actuator 4 generates an assisting force for assisting the bending and stretching of the knee so as to match the preset human body generating force, the daily life such as standing and sitting can be facilitated. Especially, it is very useful for those who cannot stretch or bend their legs by themselves. When the tubular mesh-like material 7a having elasticity and deformability is wound around a joint part such as a knee to be used, as shown in FIG. 18, the actuator 4c ₁ , the 4c ₂ are arranged, the actuator _4d 1, 4d ₂ disposed on the left side, the expansion and contraction of actuators _{4c 1, 4c 2, 4d 1} , 4d 2, it is possible to break the balance of the knee. For example, when it is desired to unbalance the knee in the direction of arrow A, the output voltage to the actuators 4c ₁ and 4c2 on the right side in FIG. 18 is increased to increase the actuators 4c ₁ and 4c ₁ .
4c ₂ is extended, and at the same time, the output voltage to the left actuators 4d ₁ and 4d ₂ is reduced to contract the actuators 4d ₁ and 4d ₂ . By this operation, the wearer unconsciously tries to maintain the balance by generating muscle force and returning the human body in the direction of arrow B. As a result, muscle strength and sense of balance can be enhanced. Since this operation is unconsciously and reflexively performed, the wearer does not have the consciousness to perform the training and the motivation for exercise does not decrease. Moreover, since the mesh-like object 7a such as cloth attached to the human body has elasticity and deformability, the assisting force by the actuator 4 can be obtained while protecting the human body, and a supporter is attached from the outside. As it looks like it can be used comfortably without being noticed by others, the actuator 4
Even when no voltage is applied to the body, it can be fitted to the human body as it is, so that a fit feeling due to expansion and contraction of the mesh-shaped material 7a can be obtained. It goes without saying that the invention can be used not only for the joints of the knees but also for the joints of the elbows.
The number of actuators 4 is not particularly limited, and this is the same in each of the following embodiments.

FIG. 7 shows, as another example of the human body movement assisting device 5, a muscle strength training device 5A for controlling the actuator 4 so that a load is generated in the direction opposite to the direction in which the joints of the human body are moved. The human body attachment part 7 of the muscle strength training device 5A of this example is made of a mesh-like material 7a such as cloth having elasticity and deformability, which is rolled into a substantially cylindrical shape, as in the embodiment of FIG. It is wrapped around the compression section 9.
As shown in FIG. 8, actuators 4 are attached to the mesh-like object 7a on the rear surface B and front surface C, respectively, except for the side surface a, and the actuator 4 expands and contracts the mesh-like material 7a to transmit it to the human body. It is designed to be used. In addition, as in the above-described embodiment, a force sensor 16 (FIG. 3) such as a strain gauge, a myoelectric potential sensor, and a urethane contact pressure sensor is appropriately disposed inside the mesh-like object 7a, and
The control of the actuator 4 is feedback-controlled as shown in FIG. 3, and the voltage applied from the control unit 6 to the electrode unit 2 is adjusted to a preset target load.

Then, the mesh-like object 7a is attached to the joint part of the human body, for example, the knee. When it is desired to train the muscle while extending the knee as indicated by an arrow A in FIG. 7, the control unit 6 reduces the output voltage to the actuator 4b on the back side according to the output value of the force sensor 16, and the actuator 4a on the front side. Increase the output voltage to. As a result, the actuator 4b on the rear side contracts and the actuator 4 on the front side contracts.
As a is stretched, a load is applied in the direction opposite to the direction in which the knee is stretched, that is, in the direction in which the knee is bent. On the contrary, when it is desired to train the muscle while bending the knee as shown by arrow B in FIG. 7, the control unit 6 increases the output voltage to the actuator 4b on the back side according to the output value of the force sensor 16, and The output voltage to the side actuator 4a is reduced. This allows
The front actuator 4a contracts and the rear actuator 4b extends, so that a load is applied in the knee extension direction. The control of the actuator 4 is feedback-controlled as shown in FIG. 3 so that the voltage applied from the control unit 6 to the electrode unit 2 is adjusted to a preset target load. By generating a load in the direction opposite to the preset knee movement (human body muscle force output) in this way, it can be used as muscle training for the thighs and as a fitness device, and also as a walking training device. It will be possible. On the other hand, when it is desired to use it for joint fixation such as joint pain relief, if the output voltage of both actuators 4a and 4b is reduced, all actuators 4 contract, and as a result,
The rigidity of the joint is increased, and it is effective in fixing the joint. Further, since the mesh-like object 7a such as cloth is used as the human body attachment part 7, it looks like a supporter is attached from the outside, and it is possible to naturally perform strength training while protecting the human body and without being noticed by others. As a result, a rehabilitation effect similar to that of muscle training by a trainer can be obtained, and motivation and interest in muscle training can be raised. In addition, even when the voltage is not applied to the actuator 4, the mesh-like object 7
The point that a fit is obtained by expansion and contraction of a is the same as in the above embodiment.

FIG. 9 shows another example of the method of controlling the actuator 4, in which the actuator 4 is controlled so that a load is generated in an arbitrary direction at irregular timing. Other configurations are similar to those of the embodiment of FIG. In this example, in order to expand / contract the actuator 4 in an arbitrary direction at irregular timing, a random number generator 50 incorporated in the control unit 6 is used to randomly generate a voltage from a voltage source 51, or The generation cycle is randomly changed. For example, when a person stands still as shown by an arrow A in FIG. 7, the actuator 4 suddenly expands and contracts at an unintended timing (the actuator 4a on the front side extends and the actuator 4 on the rear side extends).
By contracting b), the knee is bent as shown by arrow B in FIG. 7, and the balance of the human body is suddenly lost. At this time, in order to maintain balance, the human body unintentionally instantaneously generates muscle force and tries to return to the state of arrow A in FIG. 7, so that muscle force and sense of balance can be strengthened. Since the expansion / contraction operation of the actuator 4 at this time is performed at random and at unintended timing, the wearer does not have the consciousness to perform the training, and unconsciously reflexively generates the muscle force, thus motivating to exercise. Will never decline. The control method of expanding and contracting the actuator 4 of the present embodiment at an unintended timing can be similarly implemented in each of the following embodiments.

In each of the above-described embodiments, when the assist force is applied in the same direction as the direction in which the human body joint is moved (hereinafter referred to as the human body generation force assist mode), the direction is opposite to the direction in which the human body joint is moved. Although the case where a load is generated by the following (hereinafter, referred to as a muscle strength training mode) has been described, it may have both modes. An example thereof is shown in FIG.

FIG. 10 shows a glove type finger rehabilitation device 5B as still another example of the human body movement assisting device 5. In this example, a glove type finger rehabilitation device 5B
The human body mounting part 7 is composed of a glove-shaped mesh-like object 7a having elasticity and deformability, and actuators 4 are attached along the length direction of the five finger insertion parts on the palm side, Each actuator 4 extends when a voltage is applied to the electrode portion 2 and contracts when a voltage is not applied. With this actuator 4, a mesh-like object 7
a is expanded and contracted so that it can be transmitted to the finger. As in the above embodiment, a force sensor 16 (FIG. 3) such as a strain gauge, a myoelectric potential sensor, and a urethane contact pressure sensor is appropriately arranged inside the mesh 7a, and the actuator 4 is controlled by the above Feedback control is performed as shown in FIG. 3 so that the voltage applied from the control unit 6 to the electrode unit 2 is adjusted to a preset target load.

Therefore, when the control unit 6 of the glove type finger rehabilitation device 5B is set to the human body generating force assisting mode, a voltage is applied to the electrode unit 2 of the actuator 4 when the finger is extended as shown by an arrow B in FIG. As a result, the actuator 4 extends, and when the finger is bent as shown by arrow A in FIG. 10, no voltage is applied to the electrode portion 2 of the actuator 4 and the actuator 4 contracts. As a result, the assist force from the actuator 4 is applied in the same direction as the movement of the finger (force generated by the human body), which is useful for rehabilitation of a person who cannot stretch or bend the finger by himself. Further, when switching to the muscle strength training mode, no voltage is applied to the electrode portion 2 of the actuator 4 when the finger is extended as shown by an arrow B in FIG. 10, the actuator 4 contracts, and the finger is bent as indicated by an arrow A in FIG. At this time, if a voltage is applied to the electrode portion 2 of the actuator 4 so that the actuator 4 extends, in any case, the load from the actuator 4 can be generated in the direction opposite to the finger movement (human body muscle force output). Therefore, it can be used for rehabilitation to recover muscle strength of fingers. Furthermore, this operation bends and stretches the fingers in the glove. This is effective not only for rehabilitation but also for activation of brain activity. In recent years, rehabilitation that activates the cranial nerves by actively moving the human limbs such as fingertips has been popular, but this operation makes it possible to carry out rehabilitation for the above brain activity while wearing it on the human body. Training to prevent dementia is also possible. Further, since the human body generating force assisting mode and the muscle strength training mode can be arbitrarily selected, the function is enhanced as a rehabilitation device for muscle strength recovery. In addition, by using a glove shape, rehabilitation of fingers can be performed without being noticed by others, and motivation and interest in training can be raised. The shape is not limited to the glove type, and may be a shape that is rolled into a substantially tubular shape and wound around a joint such as a knee. Further, even when no voltage is applied to the actuator 4, the gloves can be used as they are, and the mesh-like material 7a
There is also the advantage that a fit can be obtained by stretching.

Further, in each of the above-mentioned embodiments, the case where it is used as the human body movement assisting device 5 has been described, but it can also be used as the following massage machine 8 and blood pressure monitor 13.

11 to 13 show the case where the actuator 4 is used as a massager 8, the actuator 4 is arcuately bulged on the inner surface of the human body mounting portion 7 and both ends thereof are fixed, and the bulge amount of the arcuate actuator 4 is changed. This shows a case where the pressed portion 9 is pressed by doing so. As shown in FIG. 12, the human body mounting part 7 of this example is composed of a band-shaped mesh 7a such as cloth having elasticity and deformability, which is rolled into a substantially tubular shape and both ends thereof are magic fasteners. (R) 15
It is composed of items that are detachably combined with each other. Mesh 7
Three actuators 4 are circumferentially arranged on the inner surface side of a at equal intervals, and both ends of each actuator 4 are fixed in a state where each actuator 4 is raised in an arcuate shape. Examples of the fixing means include screw tightening and press fitting. Each actuator 4 is recessed when the switch SW shown in FIG. 13 (a) is open (when no voltage is applied), and rises when the switch SW shown in FIG. 13 (b) is closed (when voltage is applied). ing. Here, the actuator 4 is controlled by open control. The number of actuators 4 is not limited to three.

Then, the mesh-like object 7a is attached to the compressed portion 9 of the human body, and a voltage is applied to the electrode portion 2 to apply the voltage to the electrode portion 2, as shown in FIG.
The state in which the actuator 4 is raised as shown in FIG.
3 (a) is deformed into a recessed state so that the actuator 4 swells or contracts as shown by arrows C and D in FIG. ), The pressed portion 9 can be pressed evenly and massaged. For example, by wrapping the mesh-like object 7a around the compressed part 9 of the human body such as the thigh and controlling the voltage applied from the control part 6 to the electrode part 2 to change the amount of protrusion of the actuator 4, You can press and massage. Further, with a simple structure in which the actuators 4 are arranged in an arcuate shape and the amount of protrusion thereof is changed, the pressed portion 9 can be pressed, and a low-cost and compact massager 8 can be provided. Furthermore, it becomes flexible by deforming the actuator 4 into an arc shape,
Variable tactile massage can be realized at low cost. Of course, not only the thigh but also the arm or the like can be massaged.

FIG. 14 shows a massaging machine 8 for massaging the sole of the foot, in which a plurality of actuators 4 are arranged on a substrate 14 and the foot is changed by the unevenness of the actuator 4 caused by the voltage change applied from the control section 6 to the electrode section 2. It shows a case where the back side of the electrode is pressed and the voltage applied to the electrode section 2 is controlled so that the unevenness of each actuator 4 becomes different. In this example, the plurality of actuators 4 are bent in an arc shape and both ends thereof are fixed on the substrate 14. The substrate 14 may be made of an insulating rigid body such as acrylic or engineering plastic,
It is not limited to this. As a method of fixing the actuator 4 to the substrate 14, screw tightening, press fitting, etc. may be mentioned. Also, each actuator 4 is shown in FIG.
When the switch SW shown in FIG. 14A is open (when no voltage is applied), it is recessed, and when the switch SW shown in FIG. 14B is closed (when voltage is applied), it rises. The control of the actuator 4 is performed by open control. Then, since both ends of the actuator 4 which is raised in an arcuate shape are fixed to the substrate 14, the actuator 4 can be operated simultaneously with the voltage application.
Will be raised upwards. Further, it is desirable that not all actuators 4 are deformed with the same concavo-convex pattern, but that some actuators 4 and other actuators 4 are changed with different concavo-convex patterns. That is, FIG.
4 (a) and 4 (b), the unevenness change of the actuator 4 caused by the voltage application of the control unit 6 is changed to a different pattern, so that the sole of the foot or the like can be locally acupressure massaged, and the massage effect is increased. To do. In addition, the actuator 4 is raised in an arcuate shape so that the actuator 4 is flexible and variable tactile massage can be realized at low cost. It can be used not only for soles but also for massaging the back and the like. At the same time, by wrapping the system around a site with a large amount of subcutaneous fat (such as around the torso), not only massage but also the basal metabolism in the body can be promoted due to the crushing effect of subcutaneous fat, and a fat burning effect can also be obtained. Further, since tightening the joint in the massage direction has a function of fixing the motion of the joint of the limb, it is needless to say that it also has a function as a joint pain relieving supporter to be worn when a joint pain occurs.

FIGS. 15 to 17 show a compression section 12 in which the actuator 4 is raised in an arcuate shape on the inner surface of the human body mounting section 7 and both ends thereof are fixed, and a measuring means (not shown) for measuring blood pressure. The sphygmomanometer 13 provided with is shown. In the present example, the human body attachment part 7 is made of a mesh-like material 7a such as cloth having elasticity and deformability similar to the embodiment of FIG. 1, and this is rolled into a substantially tubular shape and both ends thereof are magic fasteners. (R) 15 and the like which are detachably coupled, and as shown in FIG. 16, three actuators 4 are circumferentially arranged at equal intervals on the inner surface side of the mesh-like material 7a. Both ends are fixed in a state where 4 is raised in an arch shape. Examples of the fixing means include screw tightening and press fitting. Each actuator 4 is recessed when the switch SW shown in FIG. 17A is open (when no voltage is applied), and
When the switch SW shown in FIG. 7 (b) is closed (when a voltage is applied), it rises. The control of the actuator 4 is performed by open control. The number of actuators 4 is not limited to three.

Then, the mesh-like material 7a is arranged so as to surround the pressed portion 9 such as a finger or arm, and in this state, a voltage is applied to the electrode portions 2 on both sides of the actuator 4 to raise the actuator 4. The compressed portion 9, which is the treated portion, is compressed. As a result, the mesh-like object 7a and the actuator 4 are
Can be used as a cuff band, and blood pressure can be measured by a measuring means (not shown). Moreover, since the pressed portion 9 can be pressed uniformly from a plurality of locations (three locations in this example) in the circumferential direction, the blood pressure can be reliably measured, and the blood pressure monitor 13 having a small size and good performance can be provided. . It should be noted that the present invention can be applied not only to the wrist but also to the one in which the mesh-like material 7a is wrapped around the finger.

[0035]

As described above, the invention according to claim 1 is a human body movement assisting device comprising a human body mounting portion mounted on a joint portion of a human body, and an actuator provided on the human body mounting portion. The actuator has a stretchable portion made of a sheet-shaped insulating stretchable material, and electrode portions made of a conductive stretchable material arranged on both sides of the stretchable portion, and a voltage is controlled from the control portion to the electrode portion. Configured,
Since the actuator is expanded and contracted so that the assist force is applied in the same direction as the direction in which the joints of the human body are moved, when fitted to the joints of the limbs such as elbows and knees, it should be adjusted to the preset human body force. The actuator applies an assisting force that assists bending and stretching of joints, which makes it easier to carry out daily activities such as standing and sitting, especially for those who cannot stretch or bend their legs or arms by themselves, Elderly man-caring care is very useful for physically challenged people.

According to a second aspect of the present invention, there is provided a human body movement assisting device comprising a human body mounting portion mounted on a joint portion of a human body and an actuator provided on the human body mounting portion,
The actuator has a stretchable portion made of a sheet-shaped insulating stretchable material, and electrode portions made of a conductive stretchable material arranged on both surfaces of the stretchable portion, and controlling the application of a voltage to the electrode portion from the control portion. Since the actuator is expanded and contracted so that a load is generated in the direction opposite to the direction in which the joints of the human body are moved, the preset movements of the joints of the limbs such as elbows and knees (human body muscle force output etc.) ) To generate a load in the opposite direction, it can be used as a muscle training for the thighs, etc. and as a fitness device, and the same effect as the muscle training by a trainer can be obtained. It can be interesting and improve the results of strength training. Further, when all the actuators are contracted, the joints are fixed, which is effective in alleviating joint pain and the like.

According to a third aspect of the present invention, there is provided a human body movement assisting device comprising a human body mounting portion mounted on a joint portion of a human body and an actuator provided on the human body mounting portion, wherein the actuator is a seat. It has a stretchable portion made of a conductive insulating stretchable material and an electrode portion made of a conductive stretchable material arranged on both sides of the stretchable portion, and is configured by controlling a voltage applied from the control portion to the electrode portion. The control unit has either means for randomly generating a voltage for expansion / contraction operation or means for randomly changing the cycle of voltage generation, so that a load is generated in an arbitrary direction at irregular timing. Since it controls the actuator, the expansion and contraction movement of the actuator can be expanded and contracted suddenly at unintended timing, and the balance of the human body is suddenly disrupted. Trying to keep the lance within the human body of the unconscious, to generate muscle strength, a result, it is also possible to enhance the strength and sense of balance. Since this operation is unconsciously and reflexively performed, the wearer does not have the consciousness to perform the training and the exercise motivation does not decrease, so that the muscular strength training can be enjoyed.

According to a fourth aspect of the present invention, there is provided a human body movement assisting device comprising a human body mounting portion mounted on a joint portion of a human body, and an actuator provided on the human body mounting portion,
The actuator has a stretchable portion made of a sheet-shaped insulating stretchable material, and electrode portions made of a conductive stretchable material arranged on both surfaces of the stretchable portion, and controlling the application of a voltage to the electrode portion from the control portion. The human body generated force assist mode that expands and contracts the actuator so that the assist force is applied in the same direction as the direction in which the human body joints are moved, and the load is generated in the direction opposite to the direction in which the human body joints are moved. Since it has a muscle strength training mode that expands and contracts the actuator so that when it is set to the human body force assist mode, a force that assists in the same direction as the human body force is applied, and by switching to the muscle force training mode, the direction in which the muscle force moves The load is applied in the opposite direction, and the function is enhanced as a rehabilitation device for muscle strength recovery. Furthermore, by actively moving the extremities,
Since the cranial nerves are stimulated and activated, it is also effective in preventing dementia and the like.

Further, the invention according to claim 5 is the above-mentioned claim 1.
A massaging machine comprising the human body attachment part according to any one of claims 4 to 4 and an actuator, wherein the actuator is arcuately bulged on an inner surface of the human body attachment part to fix both ends thereof, and the arched actuator is formed. By changing the amount of uplifting, the compressed part is pressed and massaged, so the actuator becomes arcuate and flexible, and variable tactile massage can be realized at low cost, and the actuator is arranged in an arcuate shape. With a simple structure that changes the amount of protrusion, it is possible to press the compressed part and provide a small massage machine at low cost, while at the same time, by crushing subcutaneous fat, basal metabolism in the body is promoted, You can also get a fat burning effect. Further, since tightening the joint in the massage direction has a function of fixing the motion of the joint of the limb, it is needless to say that it also has a function as a joint pain relieving supporter to be worn when a joint pain occurs.

A sixth aspect of the present invention is a massage machine equipped with the actuator according to any one of the first to fourth aspects, wherein a plurality of actuators are arranged on a substrate, and the control section is connected to the electrode section. Since the compressed portion of the human body is pressed by the unevenness of the actuator caused by the change of the applied voltage, the voltage applied to the electrode part is controlled so that the unevenness of each actuator becomes a different pattern. It is possible to massage by pressing the pressed part of the human body evenly due to the unevenness change of the human body, and by using different patterns of the unevenness change of each actuator, it is possible to locally massage the acupressure of the sole etc. And the massage effect increases.

The invention according to claim 7 is a sphygmomanometer comprising the human body mounting part according to any one of claims 1 to 4 and an actuator, wherein the actuator is arcuate on the inner surface of the human body mounting part. Since it is provided with a compression part that is raised at the both ends and fixed at both ends thereof, and a measuring means for measuring blood pressure,
Placed on the human body attachment part so as to surround the compressed parts such as fingers and arms,
In this state, a voltage is applied to the electrode part of the actuator to elevate the actuator and press the compressed part which is the treated part, so that the compressed part is compressed and the human body attachment part and the actuator can be used as a cuff band. The blood pressure can be measured by the measuring means. This makes it possible to provide a small-sized and high-performance blood pressure monitor.

[Brief description of drawings]

FIG. 1 illustrates an example of an embodiment of the present invention, and illustrates a human body movement assisting device for applying an assist force by an actuator when a knee is bent from a stretched state or from a stretched state to a bent state. FIG.

2 (a) is a rear view of the human body mounting part, FIG. 2 (b) is a side view, and FIG. 2 (c) is a front view.

FIG. 3 is a control block diagram in the case of performing feedback control on the above actuator.

FIG. 4A is a schematic configuration diagram of the actuator of the above,
(B) is a schematic block diagram in the state where the actuator was extended.

FIG. 5 is a cross-sectional view of a portion where a lead wire is connected to an electrode portion of the actuator of the above.

6 (a) and 6 (b) are operation principle explanatory views for explaining the operation principle of the above actuator.

FIG. 7 is an explanatory view of a use state when the human body movement assisting device of the same is used for muscle strength training.

FIG. 8A is a rear view of the human body mounting part, FIG. 8B is a side view, and FIG. 8C is a front view.

FIG. 9 is a control block diagram when the actuator of the same is expanded and contracted at an unintended timing.

FIG. 10 is an explanatory diagram of a usage state when the human body movement assisting device is used for finger rehabilitation.

11 (a) and (b) are use state explanatory views for explaining the use state of the massage machine including the actuator of the above.

FIG. 12 is a cross-sectional view illustrating an arrangement state of the above actuators.

13A and 13B are operation explanatory views for explaining the operation of the above actuator.

14 (a) and 14 (b) are explanatory views of a use state for explaining a use state of a foot massager equipped with the above actuator.

FIG. 15 is an explanatory view of a usage state when the actuator of the above is used as a blood pressure monitor.

FIG. 16 is a cross-sectional view illustrating an arrangement state of the above actuators.

17 (a) and 17 (b) are operation explanatory views for explaining the operation of the actuator of the above.

18 (a) and 18 (b) are explanatory views of a use state when the human body movement assist device of the same is used for muscle strength training by breaking the balance.

[Explanation of symbols]

1 telescopic part 2 electrodes 4 actuators 5 Human body movement assist device 6 control unit 7 Human body part 8 massage machines 9 Compressed part 12 compression section 13 Sphygmomanometer 14 board

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shingo Yuasa             1048, Kadoma, Kadoma-shi, Osaka Matsushita Electric Works Co., Ltd.             Inside the company F term (reference) 4C074 BB05 CC11 DD10 EE03 FF09                       GG02

Claims (7)

[Claims] 1. A human body movement assisting device comprising a human body mounting part to be mounted on a joint part of a human body, and an actuator provided to the human body mounting part, wherein the actuator is a stretchable member made of a sheet-shaped insulating stretchable material. Section and an electrode section made of a conductive elastic material disposed on both sides of the elastic section, and is configured by controlling the application of voltage to the electrode section from the control section. A human body movement assisting device, wherein an actuator is expanded and contracted so that an assisting force is applied in the same direction. 2. A human body movement assisting device comprising a human body mounting part to be mounted on a joint part of a human body and an actuator provided to the human body mounting part, wherein the actuator is a stretchable member made of a sheet-shaped insulating stretchable material. Section and an electrode section made of a conductive elastic material disposed on both sides of the elastic section, and is configured by controlling the application of voltage to the electrode section from the control section. A human body movement assist device, wherein an actuator is expanded and contracted so that a load is generated in the opposite direction. 3. A human body movement assisting device comprising a human body mounting part mounted on a joint part of a human body, and an actuator provided on the human body mounting part, wherein the actuator is a stretchable member made of a sheet-shaped insulating stretchable material. And an electrode section made of a conductive elastic material disposed on both sides of the expansion / contraction section, and is configured by controlling the voltage application from the control section to the electrode section. Is provided with either a means for randomly generating a voltage for randomizing or a means for randomly changing the cycle of voltage generation, and controlling the actuator so that a load is generated in an arbitrary direction at irregular timing. Human body movement assisting device. 4. A human body movement assisting device comprising a human body mounting part to be mounted on a joint part of a human body and an actuator provided to the human body mounting part, wherein the actuator is a stretchable member made of a sheet-shaped insulating stretchable material. Section and an electrode section made of a conductive elastic material disposed on both sides of the elastic section, and is configured by controlling the application of voltage to the electrode section from the control section. Equipped with a human body force assist mode that expands and contracts the actuator so that an assist force is applied in the same direction, and a muscle strength training mode that expands and contracts the actuator so that a load is generated in the direction opposite to the direction in which the joints of the human body are moved. A human body movement assisting device characterized in that 5. A massager comprising the human body mounting part according to any one of claims 1 to 4 and an actuator, wherein the actuator is arcuately raised on an inner surface of the human body mounting part and both ends thereof are provided. Is fixed, and the amount of protrusion of the arcuate actuator is changed to compress the portion to be compressed for massaging. 6. A massage machine comprising the actuator according to any one of claims 1 to 4, wherein a plurality of actuators are arranged on a substrate, and the mass is changed by a voltage applied from the control unit to the electrode unit. A massager equipped with an actuator, characterized in that a portion to be pressed of a human body is pressed by the generated unevenness change of the actuator and the applied voltage to the electrode part is controlled so that the unevenness change of each actuator becomes a different pattern. 7. A sphygmomanometer comprising the human body mounting part according to any one of claims 1 to 4 and an actuator, wherein the actuator is arcuately raised on an inner surface of the human body mounting part and both ends thereof are provided. A sphygmomanometer equipped with an actuator, characterized in that it comprises a fixed compression section and a measuring means for measuring blood pressure.