JP2007097636A - Muscular strength assisting apparatus - Google Patents
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Abstract
Description
本発明は、筋力補助装置に関するもので、人間の動作に対して、筋力を補助するものである。 The present invention relates to a muscle force assisting device, and assists muscle strength with respect to human movement.
近年、高齢化社会となってきており、介護や福祉分野において、介助者、被介護者双方に筋力の補助が必要となってきている。また、労働作業や日常作業においても、重量物を持ち上げる作業は多く見られる。 In recent years, it has become an aging society, and in the field of nursing care and welfare, it is necessary to assist muscles in both caregivers and care recipients. In addition, a lot of work for lifting heavy objects is seen in labor and daily work.
下記の特許文献１では、日常生活に必要な基本動作ができない被介護者を抱き起こしたりするなどの介護作業において、介護者の筋力を補助する装置が開示されている。 In the following Patent Document 1, a device that assists a caregiver's muscular strength in a care work such as cuddling a cared person who cannot perform basic operations necessary for daily life is disclosed.
特許文献１で開示されている筋力補助装置は、利用者が両腕、胴体、両足にバンドなどによって筋力補助装置を固定することによって装着し、空気圧アクチュエータとリンク機構により利用者の筋力を補助する。 The muscle force assisting device disclosed in Patent Document 1 is worn by a user by fixing the muscle strength assisting device to both arms, torso, and both legs with bands or the like, and assists the user's muscle strength by a pneumatic actuator and a link mechanism. .
しかし、特許文献１の筋力補助装置は大型なため、利用者が容易に装着できるものとは推測しがたい。特に、前屈運動を伴う作業時に背筋と腹筋の筋力を補助するリンク機構と空気圧アクチュエータが利用者の後方に大きく張り出して設けられているため、利用者の作業に支障をきたすことも多いと考えられる。 However, since the muscular strength assisting device of Patent Document 1 is large, it is difficult to guess that the user can easily wear it. In particular, the link mechanism and pneumatic actuator that assist the muscle strength of the back and abdominal muscles during work involving forward bending exercises are greatly extended to the rear of the user. It is done.
さらに、外部のコンプレッサから空気圧アクチュエータに圧縮空気を供給する必要があるため、利用者はそのエア配管によって行動範囲や利用範囲に制限をうけやすい。 Further, since it is necessary to supply compressed air to the pneumatic actuator from an external compressor, the user is likely to be restricted in the action range and the use range by the air piping.
また、前記問題を解決するべく提案された下記の特許文献２に開示されている筋力補助装置は、利用者がリュックサックのように背負い、肩部と股関節部を固定し、両端間距離を伸縮するアクチュエータを背中部に上下方向に具備されており、肩部から背中側をまわって股関節部にいたる距離が伸縮され、前屈を伴う動作の筋力補助がなされる。
しかしながら、前記従来の筋力補助装置では、腰に対する負担を軽減しているが、それらを全て支える膝への負担が増加する、また、腕、肩といった筋力も補助していないという問題を有している。また、持ち上げる動作以外にも、力を入れる作業が存在し、例えば、椅子から立ち上がる動作時には膝や太腿の筋力を補助したり、支える腕の筋力を補助する必要がある。また、筋力の補助において回転機による補助では、利用者の関節の可動域を超えた補助となる可能性が皆無でないため、安全性に乏しいといった課題が存在する。 However, the conventional muscle strength assist device reduces the burden on the waist, but has a problem that the strain on the knee that supports them all increases, and the muscle strength such as arms and shoulders is not assisted. Yes. In addition to the lifting operation, there is a work to apply force. For example, it is necessary to assist the muscular strength of the knees and thighs and assist the muscular strength of the supporting arm when standing up from the chair. Further, in the assistance of the muscular strength, the assistance by the rotating machine is not likely to be assistance beyond the range of motion of the user's joint, and thus there is a problem that safety is poor.
上記課題を解決するため本発明の筋力補助装置は、利用者の人体を囲む外骨格と前記外骨格を利用者の人体に装着せしめる衣服部と前記外骨格を動作せしめるアクチュエータと前記アクチュエータを動作せしめる駆動源と前記駆動源を制御する機器を備えた筋力補助装置であるので、コンパクトに全身に装着することが可能な装具であり、アクチュエータを全身に配置することにより、課題であった全身の筋力の補助を行うことが可能となる。 In order to solve the above problems, the muscle force assisting apparatus of the present invention operates an exoskeleton surrounding a user's human body, a garment part for mounting the exoskeleton on the user's human body, an actuator for operating the exoskeleton, and the actuator. Since it is a muscular strength assisting device that includes a drive source and a device that controls the drive source, it is a brace that can be worn compactly throughout the body. It becomes possible to assist.
請求項２に記載の筋力補助装置は、前記外骨格が上肢と下肢と体幹よりなり、前記上肢および前記体幹の自重および、アクチュエータ動作時の反作用を前記下肢に伝達することにより、利用者に負担を与えないという作用を有する。 The muscle force assisting device according to claim 2, wherein the exoskeleton is composed of an upper limb, a lower limb, and a trunk, and transmits a weight of the upper limb and the trunk and a reaction during actuator operation to the lower limb, It has the effect of not burdening.
請求項３に記載の筋力補助装置は、前記外骨格が地面と接地する機構となっているので、装具の自重および、アクチュエータ動作時の反作用を地面に逃すことにより、利用者に負担を与えないという作用を有する。 The muscle force assisting device according to claim 3 is a mechanism in which the exoskeleton contacts the ground, so that the user's weight and the reaction at the time of actuator operation are released to the ground, so that the user is not burdened. It has the action.
請求項４に記載の筋力補助装置は、前記外骨格の前記背骨構造が、複数の背骨ジョイントを遥動自在に連結して人体の背骨と同様に動作することにより、利用者の前屈、後屈、側屈および、側方回旋の補助をする作用を有するとともに、
請求項５に記載の筋力補助装置は、前記外骨格の前記肋骨部が利用者の背中から肩を越え、胸部に達しており、前記肋骨部の内側に背中から胸部にかけて、張力を掛けて布を張ることにより、利用者が装着するにおいて、直接に前記肋骨部が利用者に触れず、重量を分散させることにより、利用者の負担を軽くするという作用を有する。また、前記外骨格を利用者に装着せしめる前記衣服部には腹帯が具備されており、前記外骨格の重量を分散すると共に利用者の腹圧を高め、力を出しやすくするという作用を有する。
The muscle force assisting device according to claim 4, wherein the spine structure of the exoskeleton is connected to a plurality of spine joints so as to move freely, and operates in the same manner as a human spine, so that the user can bend forward and backward. Has the effect of assisting bending, lateral bending and lateral rotation,
The muscle strength assisting device according to claim 5, wherein the rib part of the exoskeleton extends from the user's back to the shoulder and reaches the chest, and tension is applied to the inside of the rib part from the back to the chest. When the user wears it, the rib portion does not directly touch the user, and the weight is dispersed to reduce the burden on the user. In addition, the garment for attaching the exoskeleton to the user is provided with an abdominal band, which acts to disperse the weight of the exoskeleton and increase the user's abdominal pressure, making it easy to exert force.
請求項６に記載の筋力補助装置は、前記外骨格の前記背骨構造に左右対称にジョイントにより、回動自在に連結されていて、左右に開くことにより、利用者が装着するに当たり両腕を通し易くし、装着が容易となるという作用を有する。 The muscle force assisting device according to claim 6 is pivotally connected to the backbone structure of the exoskeleton by a joint symmetrically, and is opened to the left and right so that the user can put both arms through when wearing. It has the effect of facilitating and easy mounting.
請求項７に記載の筋力補助装置は、前記外骨格の前記腰部が、前記背骨構造にジョイントにより、遥動自在に連結されて、利用者の腰を取り囲むように配置された基部と前記基部の左右にジョイントで遥動自在に取り付けられた腰部プレート2つよりなり、前期衣服を通じて利用者に装着し、固定すると言う作用を有すると共に、前記体幹と前記下肢を遥動自在に連結する作用を有する。 The muscle strength assisting device according to claim 7, wherein the lumbar portion of the exoskeleton is slidably coupled to the spine structure by a joint, and a base portion disposed so as to surround a user's waist and the base portion. It consists of two waist plates attached to the left and right with joints, and has the action of attaching and fixing to the user through clothes in the previous term, and the action of connecting the trunk and the lower limbs freely. Have.
請求項８に記載の筋力補助装置は、前記外骨格の前記大腿部が、前記腰部プレートに腰ジョイントにより、回動自在に連結されて、前記腰部プレートを中心に回転動作することにより、装着した利用者の大腿の屈曲および、伸展の筋力を補助する力を伝達する作用を有する。 The muscle force assisting device according to claim 8, wherein the thigh portion of the exoskeleton is rotatably connected to the waist plate by a waist joint, and rotates around the waist plate. It has the action of transmitting a force that assists the flexion and extension of the user's thigh.
請求項９に記載の筋力補助装置は、前記外骨格の前記大腿部が、前記下腿部に、連動する２個もしくは複数個の回動自在な膝ジョイントで連結され二重関節となり、人体の膝関節と同様の動きをすることにより、利用者の関節に負担を掛けずに、膝の伸展と屈曲の筋力を補助する力を伝達する作用を有する。 The muscle strength assisting device according to claim 9, wherein the thigh of the exoskeleton is connected to the crus by two or more pivotable knee joints that are interlocked to form a double joint, By performing the same movement as that of the knee joint, there is an effect of transmitting a force that assists the muscle strength of knee extension and flexion without imposing a burden on the user's joint.
請求項１０に記載の筋力補助装置は、前記外骨格の前記足部が、前記下腿部と足首ジョイントにより、遥動自在、および、回動自在に連結されて、前記足部が回転動作することにより、利用者の足首関節の自由度を損なうことなく、足首の背屈と底屈の筋力を補助する力を伝達する作用を有する。 The muscle force assisting device according to claim 10, wherein the foot portion of the exoskeleton is connected to the lower leg portion and an ankle joint so as to be swingable and rotatable, and the foot portion rotates. By this, it has the effect | action which transmits the force which assists the muscular strength of an ankle dorsiflexion and a plantar flexion, without impairing the freedom degree of a user's ankle joint.
請求項１１に記載の筋力補助装置は、前記外骨格の前記肩部が、前記肋骨部と一個もしくは複数個のジョイントにより、遥動自在に連結されることにより、前記上肢を前記体幹に連結させることにより、自重および、アクチュエータ動作時の反作用を前記下肢に伝達し、利用者に負担を与えないという作用を有する。 The muscle force assisting device according to claim 11, wherein the shoulder portion of the exoskeleton is slidably connected to the rib portion by one or a plurality of joints, thereby connecting the upper limb to the trunk. By doing so, it has the effect of transmitting its own weight and reaction during actuator operation to the lower limbs and not burdening the user.
請求項１２に記載の筋力補助装置は、前記外骨格の前記上腕部が、前記肩部に肩ジョイントにより、回動自在に連結され、肩部を中心に回転動作することにより、利用者の肩関節の前傾と後傾の筋力を補助する力を伝達する作用を有する。 The muscle force assisting device according to claim 12, wherein the upper arm portion of the exoskeleton is rotatably connected to the shoulder portion by a shoulder joint, and rotates around the shoulder portion, thereby allowing the user's shoulder to rotate. It has the effect of transmitting a force that assists the muscle strength of the forward and backward tilt of the joint.
請求項１３に記載の筋力補助装置は、前記外骨格の前記上腕部が、前記前腕部に、連動する２個もしくは複数個の回動自在な肘ジョイントで連結され二重関節となり、人体の肘関節と同様の動きをすることにより、利用者の関節に負担を掛けずに、肘の伸展と屈曲の筋力を補助する力を伝達する作用を有する。 The muscle strength assisting device according to claim 13, wherein the upper arm portion of the exoskeleton is connected to the forearm portion by two or more pivotable elbow joints to form a double joint, and a human elbow By performing the same movement as the joint, it has an effect of transmitting a force that assists the muscle strength of elbow extension and flexion without imposing a burden on the user's joint.
請求項１４に記載の筋力補助装置は、前記外骨格の前記手首部が、前記前腕部にジョイントにより、回動自在に連結され、前記手首部が回転動作することにより、利用者の上肢の回内と回外の動きを妨げることなく動作する作用を有する。 The muscle force assisting device according to claim 14, wherein the wrist portion of the exoskeleton is rotatably connected to the forearm portion by a joint, and the wrist portion rotates to rotate the wrist. It has the effect of operating without interfering with inward and outward movement.
請求項１５に記載の筋力補助装置は、前記外骨格の前記手部が、前記手首部に連動する２個もしくは複数個の回動自在な手首ジョイントで連結され二重関節となり、人体の手首関節と同様の動きをすることにより、利用者の関節に負担を掛けずに、手の背屈と掌曲の筋力を補助する力を伝達する作用を有する。 The muscle force assisting device according to claim 15, wherein the hand portion of the exoskeleton is connected by two or a plurality of rotatable wrist joints interlocking with the wrist portion to form a double joint, and the wrist joint of a human body By performing the same movement as the above, there is an action of transmitting a force assisting the dorsiflexion of the hand and the muscle strength of the palm curve without imposing a burden on the user's joint.
請求項１６に記載の筋力補助装置は、前記アクチュエータが空気圧をかけると径方向に膨張し、軸方向に収縮して出力を得る空気圧式ゴム人工筋であり、前記駆動源が空気圧源であり、前記制御機器が前記空気圧源より、前記空気圧式ゴム人工筋に流入する空気圧を制御することにより、前記空気圧式ゴム人工筋を動作させる。前記空気圧式ゴム人工筋は、収縮限界を超えて関節を回動することが無いので、利用者の関節に負担が少なく、安全性を確保した筋力補助装置を実現する作用を有する。 The muscle force assisting device according to claim 16 is a pneumatic rubber artificial muscle that expands in a radial direction when the actuator applies air pressure and contracts in an axial direction to obtain an output, and the drive source is an air pressure source, The control device operates the pneumatic rubber artificial muscle by controlling the air pressure flowing into the pneumatic rubber artificial muscle from the pneumatic source. Since the pneumatic rubber artificial muscle does not rotate the joint beyond the contraction limit, it has an effect of realizing a muscle force assisting device that has less burden on the user's joint and ensures safety.
請求項１７に記載の筋力補助装置は、前記外骨格の前記肩部と前記上腕部の回動自在に配置された前記肩ジョイントに、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の上肢の前傾および、後傾の筋力を補助する作用を有する。 The muscle force assisting device according to claim 17, wherein two pairs of pneumatic rubber artificial muscles that antagonize are arranged on the shoulder joint of the exoskeleton that is rotatably arranged on the shoulder and the upper arm. Thus, it has an effect of assisting the muscular strength of the user's upper and lower limbs.
請求項１８に記載の筋力補助装置は、前記外骨格の前記上腕部と前記前腕部の前記肘ジョイントの二重関節に、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の肘関節の屈曲および、伸展の筋力を補助する作用を有する。 The muscle force assisting device according to claim 18 is used by arranging two pairs of pneumatic rubber artificial muscles that antagonize at a double joint of the elbow joint of the upper arm portion and the forearm portion of the exoskeleton. It has the effect of assisting the elbow joint's flexion and extension muscle strength.
請求項１９に記載の筋力補助装置は、前記外骨格の前記手首部と前記手部の前記手首ジョイントの二重関節に、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の手の掌屈および、背屈の筋力を補助する作用を有する。 The muscle force assisting device according to claim 19 is used by arranging two pairs of pneumatic rubber artificial muscles to antagonize at a double joint of the wrist part of the exoskeleton and the wrist joint of the hand part. It has the effect of assisting the palmar and dorsiflexion muscle strength of the hand of the person.
請求項２０に記載の筋力補助装置は、前記外骨格の前記腰部プレートと前記大腿部の回動自在に配置された前記腰ジョイントに、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の大腿の屈曲および、伸展を補助する作用を有する。 The muscle force assisting device according to claim 20, wherein the two pairs of pneumatic rubber artificial muscles that antagonize are arranged on the waist joint of the exoskeleton and the waist joint that is rotatably arranged on the thigh. By this, it has the effect | action which assists a bending | flexion and extension of a user's thigh.
請求項２１に記載の筋力補助装置は、前記外骨格の前記大腿部と前記下腿部の前記膝ジョイントの二重関節に、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の膝関節の屈曲および、伸展の筋力を補助する作用を有する。 The muscle force assisting device according to claim 21, wherein the two pairs of pneumatic rubber artificial muscles to be antagonized are arranged in a double joint of the knee joint of the thigh and the crus of the exoskeleton. It has the effect of assisting the user's knee joint flexion and extension muscle strength.
請求項２２に記載の筋力補助装置は、前記外骨格の前記下腿部と前記足部の回動自在に配置された前記足首ジョイントに、拮抗する２組の前記空気圧式ゴム人工筋が配置することにより、利用者の足首の背屈および、底屈の筋力を補助する作用を有する。 23. The muscle force assisting device according to claim 22, wherein two sets of pneumatic rubber artificial muscles that antagonize are arranged on the ankle joint that is rotatably arranged on the lower leg and the foot of the exoskeleton. By this, it has the effect | action which assists the user's ankle dorsiflexion and muscular strength of a plantar flexion.
請求項２３に記載の筋力補助装置は、前記外骨格の前記肩部から肋骨部にかけて、前面と背面、および、上部に３組の前記空気圧式ゴム人工筋が配置することにより、利用者の肩関節の回内、回外、挙上の筋力を補助する作用を有する。 The muscle strength assisting device according to claim 23, wherein three sets of the pneumatic rubber artificial muscles are arranged on the front surface, the back surface, and the upper portion from the shoulder portion to the rib portion of the exoskeleton, thereby allowing the shoulder of the user to It has the effect of assisting the muscular strength of joint pronation, pronation and elevation.
請求項２４に記載の筋力補助装置は、前記外骨格の前記肋骨部から前記腰部に、前面と背面に２組の前記空気圧式ゴム人工筋が配置することにより、利用者の前屈と後屈の筋力を補助する作用を有する。 The muscle strength assisting device according to claim 24, wherein two sets of the pneumatic rubber artificial muscles are arranged on the front surface and the back surface from the rib portion to the waist portion of the exoskeleton, so that the user can bend forward and backward. It has the effect of assisting muscle strength.
請求項２５に記載の筋力補助装置は、記外骨格の前記肋骨部から前記腰部に、左右側面にそれぞれ２組づつの前記空気圧式ゴム人工筋が配置することにより、利用者の側屈と側方回旋の筋力を補助する作用を有する。 26. The muscle strength assisting device according to claim 25, wherein two sets of the pneumatic rubber artificial muscles are arranged on the left and right side surfaces from the rib part to the waist part of the exoskeleton, respectively. It has the effect of assisting the muscle strength of the convolution.
請求項２６に記載の筋力補助装置は、前記衣服もしくは前記外骨格に人体の動きを検知するセンサを搭載することにより、利用者の動作意図を検知し、追従して動作する作用を有する。 According to a twenty-sixth aspect of the present invention, the muscle force assisting device has a function of detecting a user's motion intention and performing a tracking operation by mounting a sensor for detecting a movement of a human body on the clothes or the exoskeleton.
本発明は、全身の筋力の補助を行うことが可能となる。 The present invention can assist the muscle strength of the whole body.
以下本発明の実施の形態について、図面を参照しながら説明する。 Embodiments of the present invention will be described below with reference to the drawings.
（実施の形態１）
図１に示すように、本発明の筋力補助装置は、利用者の人体を囲むように配置され、利用者の体幹へは、筋力補助装置の肋骨部１および、腰部２で、衣服（図示せず）により、装着される。図２は、外骨格のみの図である。上肢と下肢は、それぞれ、上腕部３、前腕部４、手部５と、大腿部６、下腿部７、足部８に具備されたバンド（図示せず）により、利用者に装着される。それぞれに配置された空気圧式ゴム人工筋の収縮により各関節が屈曲・伸展動作が補助される。また、空気圧式ゴム人工筋を駆動させる空気源および、動作せしめる制御部については、バックパック９に収納されている。それぞれの関節について、詳しく以下に述べる。
(Embodiment 1)
As shown in FIG. 1, the muscle force assisting device of the present invention is arranged so as to surround the user's human body, and the user's trunk is covered with clothes (Fig. (Not shown). FIG. 2 shows only the exoskeleton. The upper limb and the lower limb are attached to the user by the upper arm 3, the forearm 4, the hand 5, and the bands (not shown) provided on the thigh 6, the crus 7, and the foot 8, respectively. The Each joint assists in bending and extending movements by contraction of the pneumatic artificial rubber muscles arranged in each. An air source for driving the pneumatic rubber artificial muscle and a control unit for operating the pneumatic rubber artificial muscle are housed in the backpack 9. Each joint is described in detail below.
利用者の上肢の筋力補助について、 図３を用いて説明する。上腕部３に具備され利用者の上腕に装着するためのバンド１０１に内蔵されたセンサ２０１が、利用者の肘の屈曲による筋肉の動きを検知し、バックパック９に内蔵された制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３０１を駆動することにより、上腕部３と前腕部４をつなぐ肘ジョイント群１０を回動せしめ、前腕部４を引き上げることにより、利用者の肘の屈曲するための筋力を補助する。また、利用者の屈曲した腕の伸展に際して、バンド１０１に内蔵されたセンサ２０２が、筋肉の動きを検知し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３０１に肘ジョイント群１０を介して拮抗するよう配置した空気圧式ゴム人工筋３０２を駆動することにより、利用者の肘の屈曲するための筋力を補助する。手首についても同様に、前腕部4と手部５をつなぐ手首ジョイント群１１を、前腕部４に具備され利用者の前腕に装着するためのバンド１０２に内蔵されたセンサ２０３、２０４が利用者の筋肉の動きを検知し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３０３、３０４が動作し、手首部の掌屈および、背屈の筋力を補助する。 A description will be given of muscle strength assistance for the upper limb of the user with reference to FIG. A sensor 201 provided in the upper arm 3 and mounted in the band 101 for wearing on the user's upper arm detects the movement of the muscle due to the bending of the elbow of the user, and information is transmitted to the control unit built in the backpack 9. And by driving the pneumatic rubber artificial muscle 301 based on the signal output from the control unit, the elbow joint group 10 connecting the upper arm 3 and the forearm 4 is rotated, and the forearm 4 is By pulling up, it helps the muscle strength to bend the user's elbow. Further, when the user's bent arm is extended, the sensor 202 built in the band 101 detects the movement of the muscle, transmits information to the control unit, and based on the signal output from the control unit, By driving a pneumatic rubber artificial muscle 302 arranged to antagonize the artificial rubber muscle 301 via the elbow joint group 10, the muscle strength for bending the user's elbow is assisted. Similarly, for the wrist, sensors 203 and 204 built in a band 102 for attaching the wrist joint group 11 that connects the forearm portion 4 and the hand portion 5 to the forearm portion 4 of the user are provided by the user. By detecting the movement of the muscle, transmitting information to the control unit, and operating the pneumatic rubber artificial muscles 303 and 304 based on the signal output from the control unit, the muscle strength of palm flexion and dorsiflexion of the wrist To assist.
次に、利用者の下肢の筋力の補助について、図４を用いて説明する。大腿部６に具備され利用者の大腿に装着するためのバンド１０３に内蔵されたセンサ２０５、２０６および、大腿部６に具備され利用者の大腿に装着するためのバンド１０４に内蔵されたセンサ２０７、２０８により、利用者の大腿の筋肉の動きを検出し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３０５、３０６を動作せしめ、腰プレート１２と大腿部６をつなぐ腰ジョイント１３を回動せしめ、利用者の大腿の屈曲、伸展の筋力を補助し、空気圧式ゴム人工筋３０７、３０８を動作せしめることにより、大腿部６と下腿部７をつなぐ膝関節ジョイント群１４を回動せしめ、利用者の膝関節の屈曲、伸展の筋力を補助する。足首についても同様に、下腿部７に具備され利用者の下腿に装着するためのバンド１０５に内蔵されたセンサ２０９、２１０および、下腿部７に具備され利用者の下腿に装着するためのバンド１０６に内蔵されたセンサ２１１、２１２により、利用者の下腿の筋肉の動きを検出し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３０９、３１０を動作せしめることにより、下腿部７と足部８をつなぐ足首ジョイント１５を回動せしめ、利用者の足首の背屈および、底屈の筋力を補助する。 Next, assistance for muscle strength of the user's lower limbs will be described with reference to FIG. Sensors 205 and 206 provided in the thigh 6 and installed in the band 103 for wearing on the user's thigh, and built in the band 104 provided in the thigh 6 and attached to the user's thigh. Sensors 207 and 208 detect the movement of the user's thigh muscles, transmit information to the control unit, and operate the pneumatic rubber artificial muscles 305 and 306 based on the signal output from the control unit, By rotating the waist joint 13 connecting the waist plate 12 and the thigh 6 to assist the user's thigh flexion and extension muscle strength, and operating the pneumatic rubber artificial muscles 307 and 308, the thigh 6 The knee joint joint group 14 that connects the leg 7 and the lower leg 7 is rotated to assist the user's knee strength in flexing and extending the knee joint. Similarly for the ankle, the sensors 209 and 210 provided in the band 105 for wearing on the user's lower leg that are provided on the lower leg part 7 and for attaching to the user's lower leg provided on the lower leg part 7. Sensors 211 and 212 built in the band 106 detect the movement of the user's lower leg muscles, transmit information to the control unit, and based on the signal output from the control unit, the pneumatic rubber artificial muscle 309 , 310 is operated to rotate the ankle joint 15 that connects the lower leg 7 and the foot 8, thereby assisting the user's ankle dorsiflexion and plantar flexion muscle strength.
次に、利用者の肩の筋力の補助について、図５を用いて説明する。バンド１０１に内蔵された２１３および、バンド１０２に内蔵されたセンサ２１４により、利用者の上肢の動きを検出し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３１１、３１２を動作せしめ、肩部１６と上腕部３をつなぐ肩ジョイント１７を回動せしめ、利用者の肩の前傾および、後傾の筋力を補助するとともに、ゴム人工筋３１３を動作せしめ、肩の回内の筋力を補助する、もしくは、ゴム人工筋３１４を動作せしめ、肩の挙上の筋力を補助する、もしくは、ゴム人工筋３１５を動作せしめ、肩の回外の筋力を補助する。 Next, assistance for the muscle strength of the user's shoulder will be described with reference to FIG. The movement of the upper limb of the user is detected by the sensor 213 incorporated in the band 101 and the sensor 214 incorporated in the band 102, information is transmitted to the control unit, and the air pressure is generated based on the signal output from the control unit. The artificial rubber muscles 311 and 312 are operated, and the shoulder joint 17 connecting the shoulder 16 and the upper arm 3 is rotated to assist the forward and backward muscle strength of the user's shoulder, and the artificial rubber muscle 313 To assist the muscular strength of the shoulder pronation, or to activate the rubber artificial muscle 314 to assist the muscle elevation of the shoulder, or to activate the rubber artificial muscle 315, and the muscular strength outside the shoulder To assist.
次に、利用者の体幹の筋力の補助について、図６を用いて説明する。腰部２に具備され利用者の腹部に装着するための腹帯１８に内蔵されたセンサ２１５、２１６、２１７、２１８により、利用者の体幹の動きを検出し、制御部に情報を伝達し、制御部より出された信号をもとに、空気圧式ゴム人工筋３１６を動作せしめることにより、利用者の前屈の筋力を補助し、空気圧式ゴム人工筋３１７を動作せしめることにより、利用者の後屈の筋力を補助し、空気圧式ゴム人工筋３１８、３１９を動作せしめることにより、利用者の左方向への側屈の筋力を補助し、空気圧式ゴム人工筋３２０、３２１を動作せしめることにより、利用者の右方向への側屈の筋力を補助し、空気圧式ゴム人工筋３１８、３２０を動作せしめることにより、利用者の左方向への側方回旋の筋力を補助し、空気圧式ゴム人工筋３１９、３２１を動作せしめることにより、利用者の右方向への側方回旋の筋力を補助する。 Next, assistance for muscle strength of the user's trunk will be described with reference to FIG. Sensors 215, 216, 217, and 218, which are provided in the waist 2 and are installed in the abdominal band 18 for wearing on the user's abdomen, detect the movement of the user's trunk, transmit information to the control unit, and control By operating the pneumatic rubber artificial muscle 316 based on the signal output from the section, the user's forward bending muscle strength is assisted, and the pneumatic rubber artificial muscle 317 is operated to By assisting the bending muscle strength and operating the pneumatic rubber artificial muscles 318 and 319, assisting the user's leftward bending strength and operating the pneumatic rubber artificial muscles 320 and 321, By assisting the user's lateral flexion muscle strength in the right direction and operating the pneumatic rubber artificial muscles 318 and 320, the user's left side muscle strength is assisted in the pneumatic rubber artificial muscle. 319, 3 By allowed to operate one, to assist the strength of the lateral rotation in the right direction of the user.
以上に本発明を用いた動作の一実施例を説明してきた。外骨格を動作せしめるためのアクチュエータについて空気圧式ゴム人工筋を用いて説明してきたが、モータとギアなどのその他のアクチュエータを用いても同様の効果が得られる。また、簡単のために、各部について別々の動作およびセンサ検出について述べてきたが、それぞれ、個別もしくは、複数のセンサの情報を用いて個別もしくは、複数の空気圧式ゴム人工筋を動作せしめても、同様もしくは、それ以上の効果が得られる。また、全身について説明してきたが、各部位を切り離して、それぞれで動作し、筋力の補助をすることも可能である。 The embodiment of the operation using the present invention has been described above. Although the actuator for operating the exoskeleton has been described using the pneumatic rubber artificial muscle, the same effect can be obtained by using other actuators such as a motor and a gear. In addition, for the sake of simplicity, separate operations and sensor detection have been described for each part, but individually or individually using a plurality of sensors, or operating a plurality of pneumatic rubber artificial muscles, Similar or more effects can be obtained. Further, although the whole body has been described, it is also possible to separate each part and operate by each to assist muscle strength.
本発明にかかる筋力補助装置は、人体に装着し、全身の筋力を補助する装置であるので、重量物を持ち上げる作業に使用可能となる。工場での運搬や、引越し業者等の産業の用途にも同様に応用展開可能である。また、柔らかい空気圧式ゴム人工筋を使用すれば、患者を抱きかかえるなどの、医療や介護分野にも応用展開可能である。さらに、アクチュエータを補助だけではなく、負荷として作用させることにより、エクソサイズやトレーニングなどのスポーツ分野やリハビリテーション分野にも応用展開可能である。 Since the muscle force assisting device according to the present invention is a device that is attached to a human body and assists the muscle strength of the whole body, it can be used for lifting heavy objects. It can also be applied to industrial uses such as transportation in factories and moving companies. In addition, if a soft pneumatic rubber artificial muscle is used, it can be applied to the medical and nursing fields such as holding a patient. Furthermore, by applying the actuator as a load as well as an assist, it can be applied to sports fields such as exercising and training and rehabilitation fields.
１ 肋骨部
２ 腰部
３ 上腕部
４ 前腕部
５ 手部
６ 大腿部
７ 下腿部
８ 足部
９ バックパック
１０ 肘ジョイント群
１１ 手首ジョイント群
１２ 腰プレート
１３ 腰ジョイント
１４ 膝ジョイント群
１５ 足首ジョイント
１６ 肩部
１７ 肩ジョイント
１８ 腹帯
１９ 背骨構造
１０１、１０２、１０３、１０４、１０５、１０６ 装着用バンド
２０１、２０２、２０３、２０４ 上肢の筋肉の動きを検出するセンサ
２０５、２０６、２０７、２０８ 大腿の筋肉の動きを検出するセンサ
２０９、２１０、２１１、２１２ 下腿の筋肉の動きを検出するセンサ
２１３、２１４ 上肢の位置を検出するセンサ
２１５、２１６、２１７、２１８ 体幹の筋肉の動きを検出するセンサ
３０１〜３２１ 空気圧式ゴム人工筋
1 rib part 2 waist part 3 upper arm part 4 forearm part 5 hand part 6 thigh part 7 lower leg part 8 foot part 9 backpack 10 elbow joint group 11 wrist joint group 12 waist plate 13 waist joint 14 knee joint group 15 ankle joint 16 Shoulder 17 Shoulder joint 18 Abdominal band 19 Spine structure 101, 102, 103, 104, 105, 106 Bands for wearing 201, 202, 203, 204 Sensors 205, 206, 207, 208 Thigh muscles detecting movement of upper limb muscles Sensors 209, 210, 211, 212 Sensors that detect the movement of the lower leg muscles 213, 214 Sensors that detect the position of the upper limbs 215, 216, 217, 218 Sensors that detect the movement of the trunk muscles 301 ~ 321 Pneumatic rubber artificial muscle
Claims (27)
The sensor is a position sensor, force sensor, torque sensor, gravity sensor, gravity acceleration sensor, velocity sensor, acceleration sensor, angle sensor, angular velocity sensor, voice sensor, myoelectric potential sensor, displacement sensor, pressure sensor, strain gauge, flow sensor 27. A temperature sensor, a humidity sensor, an electrostatic sensor, an infrared sensor, a photoelectric sensor, a vibration sensor, an impact sensor, a current sensor, a voltage sensor, a magnetic sensor, an ultrasonic sensor, or an electroencephalogram sensor. The muscular strength assisting device according to 1.
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