JP2009219650A - Wearable motion assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately assist motions of a user's body when a body holder is used. <P>SOLUTION: The wearable motion assisting device SU includes a body fitting 10 to be attached to a body region of the user, and a supporter 12 attached to the body holder WC to support the body fitting 10. The body fitting 10 includes a first support member 14 to be attached to a proximal body region of a joint, and a second support member 16 connected to the first support member 14 in such a way that the posture can be displaced to permit the bending motion of the joint to be attached to a distal body region of the joint. The supporter 12 includes a fixed base member 18 attached to the body holder WC, and a support part 20 disposed in the fixed base member 18 and having a support recess 124 to which a support projection 44 in the body fitting 10 can be connected. The support part 20 includes a fixed support body 106 and a movable support body 108 disposed in the fixed support body 106 in such a way as rotatable and swingable. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a wearable movement assisting device that is mounted on a body part that sandwiches a bending joint, and assists the bending movement of the joint.

  As a device that assists the movement of a person with a physical disability, various wearable movement assist devices that are worn on a body part that sandwiches a bending joint are proposed. This wearable movement assist device is, for example, a device that is attached to the upper arm and the forearm that sandwich the elbow joint and assists the movement of the arm centered on the elbow joint, or the thigh and the buttocks that sandwich the knee joint. Thus, a device or the like for assisting the movement of the leg centered on the knee joint.

The wearable movement assist device includes a first support member attached to a proximal body part of a joint (a body part closer to the trunk than the joint), and a distal body part of the joint (a body part far from the trunk than the joint). And a second support member to be mounted on. The second support member is connected to the first support member so as to allow a posture displacement so as to allow the bending motion of the joint, and an operation means for displacing the second support member relative to the first support member is provided. The first support member is equipped. Such a wearable movement assist device is disclosed in Patent Document 1, for example.
JP 2007-29113 A

  By the way, a user (subject) wearing a wearable movement assist device can use a wheelchair as a body holding device used in a sitting state, a bed as a body holding device used in a lying state, or the like. Many. However, the conventional wearable motion assist device including the wearable motion assist device disclosed in Patent Document 1 is a body that uses the wearable motion assist device when the user uses various body holding devices. It is not considered to assist the movement of the part. For this reason, when the body holding device is used, if the wearable motion assist device tries to assist the body motion, the wearable motion assist device may not move properly without being properly held by the body support device, On the other hand, the wearable movement assist device may get stuck on an appropriate part of the body holding device and may not move, and there is a problem that proper movement assist is not performed.

  Therefore, an object of the present invention is to provide a wearable motion assisting device that can appropriately assist body motion when using a body holding device.

In order to solve the above-mentioned problem and achieve the intended object, the invention according to claim 1 of the present invention provides:
A wearable movement assist device that is mounted on a body part that sandwiches a bending joint, and assists the bending movement of the joint,
A first support member attached to a proximal body part of the joint, and a posture-displaceable connection to the first support member so as to allow a bending motion of the joint, and attached to a distal body part of the joint A body wearing device having a second support member, and an operating means provided on the first support member, the posture of the second support member being displaced with respect to the first support member;
A fixed base member that is detachably attached to a body holding device that is used in a state where the assistant is seated or laid down, and a connecting portion that is provided on the fixed base member and that is provided on the body wearing device is detachably connected. A gist is to provide a support having a support part.

  Therefore, according to the first aspect of the present invention, when the user uses the body holding device, the body wearing device attached to the body part is appropriately used in a state of being placed on the support device attached to the body holding device. be able to. In other words, by actuating the actuating means in a posture in which the body part is placed on the body holding device, the second support member is displaced in position with respect to the first support member, and the body motion assistance can be appropriately performed.

According to a second aspect of the present invention, the fixed base member of the support is in proximity to and away from the first contact portion that contacts the attachment site of the body holding device and the first contact portion. A second abutting portion that moves and sandwiches the attachment site with the first abutting portion;
The gist is that the fixed position of the fixed base member relative to the body holding device can be changed.
Therefore, according to the invention which concerns on Claim 2, since a support tool can be appropriately attached with respect to the attachment site | part of a body holding instrument, and the attachment position of a support tool can be changed and adjusted, operation assistance in a user's preferred posture Can be planned.

According to a third aspect of the present invention, the support portion includes a fixed support body installed on the fixed base member, and a connected portion to which a connection portion of the body wearing device is connected, and the fixed support body. And a movable support that is arranged so as to be able to rotate and tilt, and is configured to allow posture displacement of the body wearing tool supported by the movable support.
Therefore, according to the invention of claim 3, since the movable support that supports the body wearing device rotates and swings, the body wearing device is given rotational motion and rocking motion, and the body centered on the joint. In addition to assisting the movement of the part, it can also assist physical movements involving rotational and twisting movements.

The invention according to claim 4 is characterized in that the support portion includes a guide portion in which a connecting portion of the body wearing device can slide, and the body wearing device is moved along the guide portion. And
Therefore, according to the invention which concerns on Claim 4, it is possible to provide the prescribed | regulated fixed operation | movement to the body part which mounted | wore the body mounting tool by the setting of the extension shape and extension length of a guide part. Become. In addition, by setting the extending shape and extending length of the guide portion in various ways, it is possible to give various actions to the body part to which the body wearing tool is attached.

According to a fifth aspect of the present invention, the connecting portion is provided with a first terminal electrically connected to the operating means,
The support portion is provided with a second terminal electrically connected to an external power source,
The gist is that the first terminal and the second terminal are brought into contact with each other and the operation means is energized when the connection portion and the support portion are connected.
Therefore, according to the fifth aspect of the present invention, since the power is supplied to the operating means when the body wearing tool is connected to the support, it is necessary to mount a battery for the operating means on the body wearing tool. The weight of the body wearing device can be reduced. In addition, since the power cord is not connected to the body wearing device, the operation assistance is not hindered by the power cord being entangled or caught on the body wearing device.

According to a sixth aspect of the present invention, the support unit is provided with a control unit that controls the operation of the operating unit,
The gist is that the actuating means is electrically connected to the control portion when the connecting portion and the supporting portion are connected.
Therefore, according to the sixth aspect of the present invention, when the body wearing device is coupled to the support member, the control unit and the operation unit are electrically connected, so that the control unit can be controlled by the control unit. It becomes. Thereby, since it is not necessary to arrange | position a control part to a body wearing tool, weight reduction of this body wearing tool is achieved.

  According to the wearable movement assist device according to the present invention, the body wearing tool attached to the body part can be used on a support attached to a body holding device such as a wheelchair or a bed. Even when using the body, the body wearing aid is appropriately supported by the body wearing tool.

  Next, the wearable motion assisting device of the present invention will be described below with reference to the accompanying drawings by way of preferred embodiments. In the embodiment, a wearable movement assisting device is illustrated that is mounted on a body part sandwiching the elbow joint A3 in the right arm A of the user (subject) and assists the bending and extending movement of the right arm A by the bending movement of the elbow joint A3. I will explain. For convenience of explanation, in the state of being worn on the right arm A, the trunk side (shoulder side) in the longitudinal direction of the right arm A is the rear side of the wearable movement assist device SU, and the opposite side (wrist side) is the front side. In addition to the designation, the trunk side (inside) of the right arm A in the short direction is designated as the left side of the wearable motion assist device SU, and the opposite side (outside) as the trunk is designated as the right side.

  FIG. 1 is a perspective view schematically showing the overall configuration of the wearable motion assisting device SU according to the embodiment. FIGS. 2 and 3 are a side view and a plan view schematically showing the overall configuration of the wearable motion assisting device SU. FIG. 4 is a perspective view schematically showing a use state of the right arm A. FIG. As shown in FIG. 4, the wearable movement assist device SU according to the embodiment includes a body wear tool 10 to be worn on the upper arm A1 and the forearm A2 across the elbow joint A3 in the right arm A, and various bodies such as a wheelchair and a bed. It is comprised from the support tool 12 fixed to the holding | maintenance instrument WC, and the operation | movement assistance of a right arm is possible in the state which mounted the body mounting tool 10 on the support tool 12. FIG. The body wearing tool 10 includes a first support member 14 attached to the upper arm portion A1, and a second support member 16 connected to the first support member 14 so as to be capable of posture displacement and attached to the forearm portion A2. I have. The support 12 includes a fixed base member 18 that is fixed to a required position of the body holding device WC, and a support member (support) that is provided on the fixed base member 18 and allows the body wearing tool 10 to be placed. 20. In addition, in the Example, the wheelchair is illustrated as the body holding instrument WC.

  As shown in FIGS. 1 to 3, the first support member 14 constituting the body wearing device 10 includes an upper arm support part (body support part) 22 attached to the upper arm part A <b> 1 and a joint support that protects the elbow joint A <b> 3. Part 24. The upper arm support portion 22 is a molded member made of carbon fiber or synthetic resin and having a thickness of about 1.5 to 2 mm. The upper arm support portion 22 extends in the left-right direction so as to cover the back side portion of the upper arm portion A1 on the elbow joint A3 side with an appropriate interval. It has a curved shape. The length in the front-rear direction of the upper arm support portion 22 is about ½ of the length of the upper arm portion A1 (the length from the shoulder joint to the elbow joint A3), and the length along the curved surface in the left-right direction is It is about ½ of the outer periphery of the upper arm A1. Further, an opening 26 is formed in the center of the upper arm support portion 22 within a range in which the strength of the upper arm support portion 22 does not decrease, so that the upper arm support portion 22 can be reduced in weight and attached to the upper arm portion A1. The air permeability at the time is improved. Therefore, the upper arm support portion 22 is configured to be lightweight while having shape retention, and is difficult to bend flexibly in the front-rear direction, and can be appropriately deformed in the left-right direction. ing. As shown in FIGS. 6 and 7, a plurality of female hooks 28 are disposed on the inner surface 22A of the upper arm support portion 22 facing the body side, and an upper arm pad member (first pad member) described later. 60 is detachably attached to the upper arm support portion 22 using the female hook 28. Further, the front end of the upper arm support portion 22 is formed in a concave edge shape so as to avoid interference with the joint support portion 24 (FIG. 3).

  As shown in FIGS. 5 and 6, a pair of first connection pieces 30, 30 extending forward are integrally formed on the left side and the right side of the upper end of the upper arm support portion 22 so as to face each other in the left-right direction. Yes. The first connecting pieces 30 and 30 are located on both the left and right sides of the elbow joint A3 when the first support member 14 is attached to the upper arm A1. In addition, a circular connection engagement hole 32 is formed in each of the first connection pieces 30, 30, and a first connection member 60 and a second connection member 62, which will be described later, are formed in the connection engagement holes 32, 32. The first connection pieces 30 and 30 are fitted and rotatably connected. The hole centers of the coupling engagement holes 32 and 32 substantially coincide with the bending center of the elbow joint A3 in the left-right direction when the upper arm support portion 22 is attached to the upper arm portion A1. A ring-shaped sleeve 34 made of a self-lubricating resin is attached to the inner peripheral end face of each connection engagement hole 32, 32, and the first connection member 60 connected to the connection engagement holes 32, 32 and The second connecting member 62 rotates while being in sliding contact with the sleeve 34.

  Further, as shown in FIGS. 2, 3, and 6, an accommodation installation portion 36 that opens to the right side is formed integrally with the upper arm support portion 22 on the right side portion of the outer surface 22 </ b> B of the upper arm support portion 22. ing. In the housing / installation section 36, a servo motor 74 as an operating means described later, the first connecting member 60, the rotary encoder 82, and the like are housed. A cover member 38 that covers the opening is attached to the accommodation installation portion 36 with four screws so that the servo motor 74 and the like disposed in the accommodation installation portion 36 are not exposed to the outside. .

  As shown in FIGS. 5 and 6, the joint support portion 24 is disposed between the first connecting pieces 30 and 30 on the front side of the upper arm support portion 22. The joint support portion 24 is a molded member made of carbon fiber, synthetic resin, or the like, and has a so-called bowl shape in which a central portion of the upper surface 24A facing the elbow joint A3 is recessed. A pair of second connecting pieces 40, 40 extending upward are integrally formed on the upper left side and upper right side of the joint support portion 24 so as to face each other in the left-right direction. As shown in FIG. 4, these second connection pieces 40, 40 are positioned inside the first connection pieces 30, 30 with third connection pieces 52, 52 (described later) of the second support member 16 interposed therebetween. When the first support member 14 is mounted on the upper arm A1, both the second connecting pieces 40, 40 face the left and right sides of the elbow joint A3. Further, a screw insertion hole 42 is formed in each of the second connection pieces 40, 40, and later-described mounting screws 72, 72 fastened to the first connection member 60 and the second connection member 62 are inserted. The hole centers of the screw insertion holes 42 and 42 substantially coincide with the bending center of the elbow joint A3 in the left-right direction when the first support member 14 is mounted on the upper arm A1.

  Further, on the lower surface 24 </ b> B of the joint support portion 24, a support convex portion (connecting portion) 44 connected to a support concave portion (connected portion) 124 provided in the support member 20 is projected. That is, the support convex portion 44 provided in the joint support portion 24 is fitted and connected to the support concave portion 124 of the support member 20, so that the body wearing device 10 is supported in a state of being placed on the support device 12. Is done. Further, a hook-and-loop fastener 46 is disposed on the upper surface 24A of the joint support portion 24 facing the body side, and a joint pad member (first pad member) 94 described later uses the hook-and-loop fastener 46 to connect the joint support portion. 24 is detachably mounted.

  The upper arm pad member 86 attached to the inner surface 22A of the upper arm support portion 22 is a molded body made of, for example, urethane rubber or sponge rubber, and has appropriate elasticity and flexibility and shape retention. ing. The pad outer surface 86A of the upper arm pad member 86 is shaped to closely match the inner surface 22A of the upper arm support portion 22, and the pad inner surface 86B of the upper arm pad member 86 is appropriately elastic with respect to the upper arm portion A1. The shape is such that it can abut while deforming. The upper arm pad member 86 is formed with a pad opening 88 that matches the opening 26 provided in the upper arm support portion 22. As shown in FIGS. 1 to 3, the outer edge shape of the upper arm pad member 86 is formed to be slightly larger than the upper arm support portion 22, and the inner edge shape of the upper arm pad member 86 at the pad opening 88 is It is formed so as to be slightly smaller than the opening 26 of the upper arm support portion 22. That is, when the upper arm support portion 22 with the upper arm pad member 86 attached is attached to the upper arm portion A1, it is considered that the hard end portion of the upper arm support portion 22 does not contact the upper arm portion A1. Further, upper arm holding portions 90, 90 extending upward and curved inward are formed at the rear portion of the upper arm pad member 86. The upper arm holding portions 90 and 90 hold the upper arm portion A1 from both the left and right sides when the first support member 14 is attached to the upper arm portion A1, and support the upper arm portion A1 when assisting body movement. The first support member 14 is prevented from being detached. A plurality of male hooks 92 that are separably fitted to the respective female hooks 28 provided on the inner surface 22A of the upper arm support portion 22 are provided on the pad outer surface 86A of the upper arm pad member 86. Therefore, the upper arm pad member 86 is mounted on the inner surface 22 </ b> A of the upper arm support portion 22 by fitting each male hook 92 to each female hook 28 correspondingly. Since female hooks 28 and male hooks 92 are known ones, detailed descriptions of the hooks 28 and 92 are omitted.

  The joint pad member 94 mounted on the upper surface 24A of the joint support portion 24 is a molded body made of urethane rubber, sponge rubber, or the like, like the upper arm pad member 86, and has appropriate elasticity and flexibility. In addition, it has shape retention. The pad lower surface 94A of the joint pad member 94 is shaped to closely match the upper surface 24A of the joint support portion 24, and the pad upper surface 94B of the joint pad member 94 is appropriately elastic with respect to the elbow joint A3. The shape is such that it can abut while deforming. Further, on the pad lower surface 94A of the joint pad member 94, a surface fastener 96 that is detachably engaged with each surface fastener 46 disposed on the upper surface 24A of the joint support portion 24 is disposed. Accordingly, when the hook-and-loop fasteners 46 and 96 are correspondingly engaged, the joint pad member 94 is attached to the joint support portion 24.

  The upper arm pad member 86 is prepared in a plurality of sizes having the same shape of the pad outer surface 86A and different thickness and the shape of the pad inner surface 86B, and the joint pad member 94 has the same shape and thickness of the pad lower surface 94A. Plural sizes having different shapes of the pad upper surface 94B are prepared. Accordingly, by selecting and wearing the upper arm pad member 86 and the joint pad member 94 having different thicknesses with respect to the first support member 14 of the same size, the physique is different (the thickness of the upper arm portion A1 is different). It is possible to use it. The upper arm pad member 86 and the joint pad member 94 may be configured as a single pad member.

  As shown in FIGS. 4 and 5, the second support member 16 constituting the body wearing device 10 is a molded member having a thickness of about 1.5 to 2 mm made of carbon fiber or synthetic resin. It has a shape curved in the left-right direction so as to cover the back side portion of the elbow joint A3 side in A2 with an appropriate interval and tapered forward. That is, the length of the second support member 16 in the front-rear direction is about ½ of the length of the forearm A2 (length from the elbow joint A3 to the wrist joint), and is the maximum along the curved surface in the left-right direction. The length is about ½ of the outer circumference of the forearm portion A2. In addition, two openings 48 are formed side by side in the center of the second support member 16 within a range in which the strength of the second support member 16 does not decrease. In addition, air permeability is improved at the time of wearing on the forearm A2. Accordingly, the second support member 16 is configured to be lightweight while having shape retaining properties, and hardly undergoes flexural deformation in the front-rear direction, and allows appropriate flexural deformation in the left-right direction. Is done. A plurality of female hooks 50 are disposed on the inner surface 16A of the second support member 16 facing the body side, and a forearm pad member (second pad member) 98 described later holds the female hooks 50. It is detachably mounted on the upper arm support portion 22 by using it. The rear end of the second support member 16 is formed in a concave edge shape so as to avoid interference with the joint support portion 24 of the first support member 14 (FIG. 3).

  As shown in FIGS. 4 and 5, a pair of third connection pieces 52, 52 extending rearward are integrally formed on the rear left side and the rear right side of the second support member 16 in a state of facing in the left-right direction. Molded. The third connection pieces 52 and 52 are located between the first connection piece 30 and the second connection piece 40 when the second support member 16 and the first support member 14 are connected. Each of the third connection pieces 52, 52 is formed with a rectangular connection locking hole (second connection portion) 54, and the first connection member 60 and the second connection member 62 are connected to each connection locking hole. The third connection pieces 52 and 52 are non-rotatably connected to the third connection pieces 52 and 52. The centers (positions where the diagonal lines intersect) of these connection locking holes 54 and 54 substantially coincide with the bending center of the elbow joint A3 in the left-right direction when the second support member 16 is mounted on the forearm A2.

  Further, the second support member 16 is provided with a rod member (extensible member) 56 that can be expanded and contracted along the forearm portion A2, and the distal end portion of the rod member 56 is detached from the second support member 16 of the forearm portion A2. An auxiliary support member 58 is provided that is attached to the portion, specifically, the vicinity of the wrist. That is, the outer surface 16B of the second support member 16 is formed with a rod storage portion 17 that extends in the front-rear direction, and the rod member 56 slides inside the rod storage portion 17 so that the second support is supported. The distance from the front end of the member 16 to the auxiliary support member 58 can be adjusted. Accordingly, by adjusting the position of the auxiliary support member 58 in the front-rear direction in accordance with the length of the user's forearm portion A2, even if the user has a different physique (the length of the forearm portion A2 is different), the portion near the wrist The auxiliary support member 58 can be mounted on the stool. 1 to 5 exemplify the case where the biological signal detection sensor 59 is disposed around the auxiliary support member 58, the mounting belt or the like may be disposed on the auxiliary support member 58. Is possible.

  The forearm pad member 98 attached to the inner surface 16A of the second support member 16 is a molded body made of, for example, urethane rubber, sponge rubber, or the like, and has appropriate elasticity and flexibility and shape retention. is doing. The pad outer surface 98A of the forearm pad member 98 is shaped to closely match the inner surface 16A of the second support member 16, and the pad inner surface 98B of the forearm pad member 98 is moderately positioned with respect to the forearm portion A2. The shape is such that it can abut while elastically deforming. The forearm pad member 98 is formed with pad openings 100, 100 that match the openings 48, 48 provided in the second support member 16. As shown in FIGS. 1 to 3, the outer edge shape of the forearm pad member 98 is formed to be slightly larger than the second support member 16, and the inner edge of the forearm pad member 98 at the pad openings 100 and 100. The shape is formed so as to be slightly smaller than the openings 48 of the second support member 16. That is, when the second support member 16 with the forearm pad member 98 attached to the forearm portion A2, it is considered that the hard second support member 16 does not contact the forearm portion A2. Further, on the pad outer surface 98A of the forearm pad member 98, a plurality of male hooks 102 that are separably fitted to the respective female hooks 50 disposed on the inner surface 16A of the second support member 16 are disposed. . Therefore, the forearm pad member 98 is mounted on the inner surface 16 </ b> A of the second support member 16 by fitting each male hook 102 correspondingly to each female hook 50. In addition, since the female hook 50 and the male hook 102 are known ones, detailed descriptions regarding the hooks 50 and 102 are omitted.

  As shown in FIG. 7, an auxiliary pad member (second pad member) 104 aligned with the inner surface of the auxiliary support member 58 is attached to the auxiliary support member 58. The auxiliary pad member 104 can be attached to and detached from the inside of the auxiliary pad member 104 by engaging the surface fastener 105 attached to the back surface of the auxiliary pad member 104 with the surface fastener 105 attached to the inner surface of the auxiliary support member 58. It is attached to.

  The forearm pad member 98 is prepared in a plurality of sizes in which the shape of the pad outer surface 98A is the same, the thickness and the shape of the pad inner surface 98B are different. Accordingly, by selecting and mounting the forearm pad member 98 having a different thickness with respect to the second support member 16 having the same size, it is possible to use it for a user having a different physique (the forearm portion A2 has a different thickness). It has become. Similarly, the auxiliary pad member 104 is prepared in a plurality of sizes, and is used for users having different physiques (wrist thicknesses are different) by attaching the auxiliary pad member 104 having different sizes to the auxiliary support member 58. Is possible.

  As shown in FIGS. 2, 3, 5, and 6, the first support member 14 and the second support member 16 are configured so that the second support member 16 is formed by the first connection member 60 and the second connection member 62. The first support member 14 is rotatably connected. The first connection member 60 is attached to the right first connection piece 30 in the upper arm support portion 22 of the first support member 14, and the right first connection piece 30 and the joint support portion 24 of the first support member 14. The second connecting piece 40 on the right side and the third connecting piece 52 on the right side of the second support member 16 are connected to each other. The second connecting member 62 is attached to the left first connecting piece 30 in the upper arm support portion 22 of the first support member 14, and the left first connecting piece 30 and the joint support portion 24 of the first support member 14. The left second connecting piece 40 and the left third connecting piece 52 of the second support member 16 are respectively connected.

  As shown in FIGS. 5 and 6, the first connecting member 60 and the second connecting member 62 are metal or synthetic resin molded members, and contact the first connecting piece 30 of the first support member 14. A circular flange portion 64 that is in contact, a circular engagement portion 66 that is smaller in diameter than the flange portion 64 and engages with the connection engagement hole 32, and is smaller than the circular engagement portion 66 and connected to the connection locking hole 54. A rectangular locking portion (second connecting portion) 68 that is detachably locked, and a screw fastening hole 70 that is formed on the end surface on the rectangular locking portion 68 side and is screwed with the mounting screw 72. Further, the first connecting member 60 is further provided with a second gear 80 as a bevel gear and a shaft 84 to which the rotary encoder 82 is connected on the end surface of the circular flange portion 64 opposite to the circular engaging portion 66. It has been. The second gear 80 and the shaft 84 may be formed integrally with the first connecting member 60, or may be assembled after being individually formed.

  As shown in FIGS. 4 and 5, the first connecting member 60 and the second connecting member 62 configured as described above connect the circular engaging portion 66 from the outer side of the first connecting pieces 30 and 30. By fitting in the joint hole 32, the first connection pieces 30 and 30 are rotatably mounted. When the first connecting member 60 and the second connecting member 62 are attached to the first connecting pieces 30, 30, the respective rectangular locking portions 68, 68 project oppositely from the inner surface of the first connecting piece 30. It will be in the state. As shown in FIG. 4, the first connecting member 60 is mounted in the housing installation portion 36 by being attached to the first coupling member 60, and the second gear 80 and the shaft 84 are disposed in the housing installation portion. It is located in the front part in 36.

  In the configuration as described above, the first support member 14 and the second support member 16 are connected to each other by the following procedure, as can be understood from FIGS. 5 and 6. That is, first, both the third connecting pieces 52, 52 of the second support member 16 are deformed so as to be close to each other and face between the first connecting pieces 30, 30, and are connected to both rectangular locking portions 68, 68. The deformation imparted to both the third connecting pieces 52, 52 is released while the locking holes 54, 54 are aligned. As a result, the rectangular locking portions 68, 68 enter and lock into the connection locking holes 54, 54, both the third connection pieces 52, 52 are connected to the first connection member 60 and the second connection member 62, and The two support members 16 are rotatably connected to the upper arm support portion 22 of the first support member 14. Next, the second connection pieces 40, 40 of the joint support portion 24 in the first support member 14 are positioned between the second connection pieces 40, 40, and the screw insertion holes 42, 42, when the mounting screws 72, 72 are fastened to the screw fastening holes 70, 70 via the screw insertion holes 42, 42, both the third connecting pieces 52, 52 are connected to the first connecting member 60 and the second connecting member 60. Connected to the connecting member 62, the joint support portion 24 is rotatably connected to the upper arm support portion 22.

  On the other hand, the first support member 14 and the second support member 16 are separated from each other by a procedure reverse to the connection procedure described above. That is, first, the joint support portion 24 is removed from the upper arm support portion 22 by removing the mounting screws 72, 72 fastened to the first connecting member 60 and the second connecting member 62. Next, by deforming the second support member 16 so that the third coupling pieces 52 and 52 are close to each other (see FIG. 5), the rectangular locking portions 68 and 68 and the coupling locking holes 54 and 54 are locked. Is released, and the second support member 16 can be separated from the upper arm support portion 22 of the first support member 14.

  The servo motor 74 as an operating means is used as a power source for robots, industrial machines, etc., and has a configuration in which an output shaft 76 extends from a rectangular main body case as shown in FIGS. A first gear 78, which is a bevel gear, is attached to the tip of the output shaft 76. As shown in FIGS. 2 and 5, the servo motor 74 is inserted into the mounting recess 36 </ b> A by pushing the output shaft 76 in a direction extending forward with respect to the mounting recess 36 </ b> A formed in the housing installation portion 36. The first support member 14 can be mounted without rattling by attaching the cover member 38. When the servo motor 74 is properly disposed in the mounting recess 36 </ b> A, the first gear 78 attached to the output shaft 76 meshes with the second gear 80 provided on the first connecting member 60. Accordingly, when the output shaft 76 is rotated by the operation of the servo motor 74, the first connecting member 60 is rotated with respect to the upper arm support portion 22 via the first gear 78 and the second gear 80, thereby the second support member 16. Is displaced while rotating with respect to the first support member 14. Since the first connecting member 60 and the second support member 16 are integrally rotated by the operation of the servo motor 74, the rotational angle of the first connecting member 60 is detected by the rotary encoder 82. The rotation angle of the second support member 16 relative to the first support member 14 is recognized.

  As shown in FIG. 2, the support member 20 constituting the support tool 12 is a support in which a fixed support body 106 installed on the upper surface of the fixed base member 18 and a support convex portion 44 of the body wearing tool 10 are connected. A concave portion 124 is provided, and the movable support 108 is disposed so as to be rotatable and tiltable with respect to the fixed support 106.

  As shown in FIG. 2, the fixed support 106 can be rotated forward and backward in a horizontal state on a first support shaft 112 erected vertically to an inner bottom surface of a bottomed cylindrical support case 110 that opens upward. A rotating body 114 is provided. That is, the pinion gear 118 attached to the output shaft of the first drive motor 116 provided inside the support case 110 meshes with the rack gear 120 provided so as to extend in the circumferential direction of the side surface of the rotating body 114. By rotating the first drive motor 116 forward and backward, the rotating body 114 is configured to rotate forward and backward in the horizontal direction. Further, a second support shaft 122 installed horizontally is disposed inside the rotating body 114, and the second support shaft 122 supports the movable support body 108.

  As shown in FIG. 2, the movable support 108 is a circular tray-like member having the support concave portion 124 provided on the upper surface, and a support stay 126 suspended downward from the center of the lower surface is provided with the second support shaft 122. It is fixed to. The second support shaft 122 can be rotated forward and backward by a second drive motor 128 provided on the rotating body 114. That is, a drive pulley 132 attached to the output shaft of the second drive motor 128 and a driven pulley 134 attached to the second support shaft 122 are linked by a belt 136 that is hung on both pulleys 132 and 134. By driving the second drive motor 128 forward and backward, the second support shaft 122 rotates forward and backward, so that the movable support 108 swings about the second support shaft 122 with respect to the fixed support 106. Become. Therefore, the support member 20 of the embodiment combines the horizontal rotation of the rotating body 114 and the tilt of the movable support body 108 by simultaneously driving and controlling the first drive motor 116 and the second drive motor 128. It is possible to impart a rotational motion and a tilting motion to the body wearing tool 10 placed on the movable support 108.

  The support recess 124 of the movable support 108 is provided with a second terminal 140 electrically connected to an external power supply (not shown) via a power cord 138, as shown in FIG. The support convex portion 44 provided on the body wearing device 10 is provided with a first terminal 144 electrically connected to the servo motor 74 via an electric wire 142. The first terminal 144 and the second terminal 140 come into contact with each other when the body wearing tool 10 is placed on the support member 20 and the support convex portion 44 is connected to the support concave portion 124, and the servo motor 74 is energized. It is comprised so that. Therefore, in the wearable body assisting device SU of the embodiment, the body wearing device 10 attached to the right arm A is not provided with a battery or a power supply device for driving the servo motor 74. The weight reduction is achieved.

  Further, a control unit 146 is disposed inside the fixed support 106 to control the operation of the servo motor 74, and to detect a detection signal from the rotary encoder 82, a signal from the biological signal sensing sensor 59, and the like. Entered. The support recess 124 of the movable support 108 is provided with a third terminal 150 electrically connected to the control unit 146 via a signal line 148. On the other hand, a fourth terminal 154 that is electrically connected to the servo motor 74 via a signal line 152 is provided on the support convex portion 44 provided on the body wearing tool 10. Accordingly, when the body wearing tool 10 is placed on the support member 20 and the support convex portion 44 is connected to the support concave portion 124, the third terminal 150 and the fourth terminal 154 come into contact with each other, and the control unit 146 and the servo motor 74 is electrically connected to the control unit 146 so that the servo motor 74 can be controlled.

  As shown in FIGS. 2 and 4, the fixed base member 18 includes an installation portion 156 for detachably attaching the support member 20. Further, the fixed base member 18 moves relatively close to and away from the first contact portion 158 that contacts the armrest portion WC1 that is an attachment site of the wheelchair WC, and the first contact portion 158, A first contact portion 158 and a second contact portion 160 that sandwich the armrest portion WC1 are provided. The second contact portion 160 moves close to or away from the first contact portion 158 by the operation of the operation portion 161 shown in FIGS. 1 and 4.

  The wearable movement assist device SU of the embodiment configured as described above fixes the support 12 to the armrest portion WC1 of the wheelchair WC by the first contact portion 158 and the second contact portion 160 of the fixed base member 18. By connecting the support convex portion 44 of the body wearing device 10 to the support recessed portion 124 of the supporting member 20 from above, the body wearing device 10 can be used in a state of being placed on the support device 12. That is, when the user uses the wheelchair WC, the wearable motion assisting device SU according to the embodiment places the body wearing device 10 attached to the right arm A on the support device 12 attached to the armrest portion WC1, so that the servomotor 74 is attached. The power is energized and control of the servo motor 74 by the controller 146 is started. Since the second support member 16 is displaced with respect to the first support member 14 by the operation of the servo motor 74, it is possible to assist the bending and stretching operation around the elbow joint A3 of the right arm A. Further, since the movable support 108 of the support member 20 rotates and swings horizontally, the body wearing tool 10 can be given a rotation and swing motion in the horizontal direction, so that the right arm A rotates around the elbow joint A3. Assistance for movement and twisting can also be provided.

  Therefore, in the wearing type movement assisting device SU of the embodiment, by controlling the servo motor 74 provided on the body wearing device 10 and the first drive motor 116 and the second drive motor 128 provided on the support device 12 simultaneously, for example, a meal It can be suitably used for assisting the movement of the right arm A when performing the operation, assisting the movement of the right arm A for the purpose of rehabilitation, and the like.

According to the mounting-type motion assisting device SU of the embodiment configured as described above, the following operational effects can be obtained.
(1) The servo motor 74 that moves the attitude of the second support member 16, the first connecting member 60, the first gear 78 and the second gear 80 that connect the servo motor 74 and the first connecting member 60 are the first support. It is disposed in the accommodation installation portion 36 provided on the member 14, and the wearable movement assist device SU can be reduced in size and size. Therefore, even when the wearable motion assist device SU is worn on the upper arm A1 and the forearm A2 with the elbow joint A3 interposed therebetween, there is almost no sense of incongruity, and the feeling of wear can be improved. Can be used. Further, all of the movable members of the servo motor 74, the first connecting member 60, the first gear 78 and the second gear 80 are accommodated in the accommodating installation portion 36, and the outside of the first support member 14 and the second support member 16. Therefore, it is possible to suitably prevent the occurrence of inconvenience that the fingertip, the skirt of clothes, etc. are sandwiched between these movable parts.
(2) Since the second support member 16 is detachable with respect to the first support member 14, a plurality of second different shapes and sizes are provided by providing third connection pieces 52, 52 in which connection locking holes 54 are formed. If the support member 16 is prepared, the second support member 16 having a different shape and size can be selectively attached to the first support member 14. Therefore, it is possible to cope with a change in the user's physique, and to attach to body parts other than the upper arm part A1 and the forearm part A2 that sandwich the elbow joint A3, and to perform operation assistance of the body part.
For example, as shown in FIG. 11, if the second support member 16 formed in a shape matching the foot L2 is prepared, the first support member is attached to the heel portion L1, which is a proximal body part sandwiching the ankle joint L3 of the leg. 14 and the second support member 16 can be attached to the foot L2 which is a distal body part sandwiching the ankle joint L3 to assist the movement of the leg centered on the ankle joint L3. The first support member 14 and the second support member 16 are fitted with a heel pad member 168 and a foot pad member 170 that fit into the heel L1 and the foot L2. Although not shown in the drawings, when the second support member 16 formed in a shape that matches the buttock is prepared, the first support member 14 is attached to the thigh which is a proximal body part sandwiching the knee joint of the leg. The second support member 16 can be attached to the buttocks, which are the distal body parts that sandwich the knee joint, to assist the movement of the leg centered on the knee joint.
(3) Since the servo motor 74 and the first connecting member 60 are directly connected by the first gear 78 and the second gear 80 that mesh with each other, the rotation of the servo motor 74 can be reliably performed on the first connecting member 60. As a result, the second support member 16 can be appropriately displaced in posture.
(4) The upper arm pad member 86, the joint pad member 94, and the forearm pad member 98 are in contact with the right arm A, and the upper arm support portion 22, the joint support portion 24, and the second support member 16 of the hard first support member 14 are on the right arm A. Since it does not contact, the wearing feeling is improved. Further, by preparing a plurality of types of upper arm pad members 86, joint pad members 94 and forearm pad members 98 having different thicknesses, the first support member 14 and the second support member 16 can be used in common, and the pad members 86, By changing 94 and 98, it is possible to cope with many users having different physiques, and to reduce the manufacturing cost of the wearable movement assist device SU.
(5) Since the first support member 14 includes the upper arm support portion 22 and the joint support portion 24, even if the second support member 16 is displaced with respect to the first support member 14, the joint support portion 24. Thus, the elbow joint A3 is always protected, and the right arm A can be appropriately operated.
(6) By attaching the auxiliary support member 58 provided on the second support member 16 to the vicinity of the wrist of the forearm portion A2, the second support member 16 is appropriately attached to the forearm portion A2 that moves mainly when the right arm A moves. Can be installed.
(7) Since the body wearing device 10 can be placed on the support device 12 attached to the attachment site WC1 of the body holding device WC such as a wheelchair or a bed, even if the user is using the body holding device WC. The movement assistance of the right arm A becomes possible. Moreover, since the attachment position of the support tool 12 with respect to the body holding device WC can be changed and adjusted, it is possible to assist operation in a posture preferred by the user.
(8) Since the movable support 108 of the support member 20 in the support 12 can be rotated and swung in the horizontal direction, not only the operation assistance accompanied by the bending and stretching motion of the right arm A but also the rotational motion and twisting. It can also assist physical movement with exercise.
(9) When the body wearing device 10 is placed on the support device 12 and the support convex portion 44 and the support recessed portion 124 are connected, power is supplied to the servo motor 74. There is no need to mount a battery, and the weight of the body wearing tool 10 can be reduced. In addition, since the power cord is not connected to the body wearing tool 10, operation assistance is not hindered by the power cord being entangled or caught on the body wearing tool 10.
(10) When the body wearing device 10 is placed on the support device 12 and the support convex portion 44 and the support concave portion 124 are coupled, the control unit 146 and the servo motor 74 are electrically connected. The servo motor 74 can be controlled. Accordingly, there is no need to dispose the control unit 146 on the body wearing device 10, and thus the weight of the body wearing device 10 can be reduced.

(Example of change)
FIG. 8 is an explanatory view schematically illustrating the support tool 12 that can change and adjust the mounting position of the support member 20 with respect to the fixed base member 18. That is, the fixed base member 18 includes an installation portion 156 that can be moved up and down by an operation by an operation unit (not shown). Further, a slide rail 162 extending in the horizontal direction is formed on the upper surface of the installation portion 156, and a slide member 164 that can reciprocate along the slide rail 162 is disposed on the lower surface of the support member 20. Yes. Accordingly, the height of the support member 20 can be adjusted by adjusting the elevation of the installation portion 156, and the horizontal position of the support member 20 can be adjusted by moving the slide member 164 along the slide rail 162. It is possible to assist operation while finely adjusting the support member 20 to an easy position.

  In FIG. 9, the support member 20 is provided with a fixed support 106 having a guide rail (guide portion) 166 extended as required, and a moving member 167 capable of reciprocating along the guide rail 166 on the lower surface. The movable support 108 is configured. On the upper surface of the movable support 108, a support recess 124 to which the support protrusion 44 provided on the body wearing tool 10 is connected is formed as in the above embodiment. Accordingly, the body wearing tool 10 attached to the body part moves while being placed on the movable support 108 that moves along the guide rail 166, and imparts an action along the guide rail 166 to the body part. Can do. In other words, by setting the extension shape and extension length of the guide rail 166, it is possible to give a specified constant motion to the body part to which the body wearing tool 10 is attached. In addition, by setting the extending shape and extending length of the guide rail 166 in various ways, it is possible to give various actions to the body part to which the body wearing tool 10 is attached.

  In FIG. 9, the movable support 108 and the moving member 167 are eliminated, and the support convex portion 44 of the body wearing device 10 is provided with a convex portion that is slidable by being engaged with the guide rail 166. The body wearing device 10 may be configured to move along the rail 166. Even if comprised in this way, prescribed | regulated operation | movement or various operation | movement is provided to the body site | part which mounted | wore with the body mounting tool 10 by setting the extension shape and extension length of the guide rail 166 variously. It becomes possible.

  Further, as shown in FIG. 10, the mounting-type motion assisting device SU according to the embodiment is configured such that the support member 20 can be detached from the fixed base member 18, so that only the support member 20 can be used as a table or a desk. It is mounted on the upper surface of the table T, and the body wearing device 10 can be mounted on the support member 20 and used. That is, if it is on the base T which has a flat and wide upper surface, it becomes possible to use only the support member 20 as a support tool, and to perform the operation | movement assistance of a body part with the body mounting tool 10 and the support member 20. FIG. .

In the embodiment, the wearable motion assisting device SU mounted on the upper arm A1 and the forearm A2 sandwiching the elbow joint A3 of the right arm A is illustrated. However, the wearable motion assisting device SU of the present application is a form of the above embodiment. However, the present invention can be implemented with various changes.
(1) The 1st support member 14 and the 2nd support member 16 are not limited to the shape and size shown in the said Example, It is possible to make it various shapes. For example, the first support member 14 may be configured as a single member in which the upper arm support portion 22 and the joint support portion 24 are integrated.
(2) The accommodation installation portion 36 is provided on the left side of the outer surface of the first support member 14, and the servo motor 74 is accommodated in the accommodation installation portion 36, and the first connection member 60 and the second connection member 62 By reversing the mounting position, it can be mounted on the upper arm part and the forearm part that sandwich the elbow joint of the left arm, and can be a wearable movement assisting device that assists the bending and stretching operation of the left arm.
(3) The disposition position of the support convex portion 44 detachably coupled to the support concave portion 124 of the support member 20 is not limited to the lower surface 24B of the joint support portion 24, but the outer surface 22B or the second surface of the upper arm support portion 22. You may provide in the outer surface 16B of the support member 16. FIG.
(4) The operating means 74 is not limited to a servo motor, and an actuator motor, an electromagnetic solenoid, or the like can be used.
(5) The linkage between the servo motor 74 and the first connecting member 60 is not limited to the first gear 78 and the second gear 80 made of the bevel gear shown in the embodiment, and may be a gear train made of, for example, a worm gear and a wheel gear. .
(6) The form which connects the 1st connection member 60 and the 2nd connection member 62 to the 2nd support member 16 so that rotation is impossible is the form of the rectangular connection locking hole 54 and the rectangular locking part 68 which were shown in the Example. It is not limited to, For example, the engagement form by a key and a key groove, the fitting form by a convex part and a recessed part, etc. may be sufficient.
(7) A magnetic material such as a magnet is disposed in each of the support convex portion 44 of the body wearing tool 10 and the support concave portion 124 of the support device 12, and the support convex portion 44 is connected to the support convex portion 44 and the support concave portion 124. You may comprise so that the body mounting tool 10 may be hold | maintained with respect to the support tool 12 by making magnetic force adsorption to the support recessed part 124. FIG.
(8) The fixed base member 18 and the support member 20 constituting the support 12 may be configured as a single unit member in which the members 18 and 20 are integrated. Further, the configurations of the fixed base member 18 and the support member 20 are not limited to the configurations illustrated in the above-described embodiments, and various forms can be adopted. For example, the first abutting portion 158 and the second abutting portion 160 of the fixed base member 18 may abut against the attachment site WC1 from the lateral direction as a form that moves close to and away from the horizontal direction.
(9) The transmitting device connected to the control unit 146 is provided in the support tool 12, and the receiving device capable of receiving a signal from the transmitting device is provided in the body wearing tool 10, and the servo motor 74 is controlled by the control unit 146. Control may be performed wirelessly.
(10) The manner in which the upper arm pad member 86 is attached to the upper arm support portion 22 of the first support member 14 and the manner in which the forearm pad member 98 is attached to the second support member 16 are the above-described female hooks 28, 50 and male hook 92. , 102, but may be a hook-and-loop fastener or other forms. Moreover, the mounting form of the joint pad member 94 with respect to the joint support part 24 is not limited to the engagement of the hook-and-loop fasteners 46 and 96 described above, and may be a hook member or other forms.

It is a perspective view which shows roughly the whole structure of the mounting | wearing type movement assistance apparatus which concerns on an Example. It is a side view which shows the whole structure of a mounting | wearing type movement assistance apparatus schematically by fracture | rupturing a support tool. It is a top view which shows roughly the whole structure of a mounting | wearing type movement assistance apparatus. It is a perspective view which shows the state which mount | wears and uses a mounting | wearing type movement assistance apparatus on a right arm. A first connecting member and a second connecting member for connecting the first support member and the second support member; a servo motor disposed in the accommodation installation portion and linked to the first connecting member by the first gear and the second gear; FIG. It is the perspective view shown in the state which decomposed | disassembled the upper arm support part and joint support part which comprise a 1st support member, and the 2nd support part. The forearm pad member and joint pad member to be mounted on the forearm support portion and the joint support portion of the first support member, the forearm pad member to be mounted on the second pad member, and the auxiliary pad member to be mounted on the auxiliary support member are shown. It is a perspective view. It is the side view which fractured | ruptured and showed another form example of the support tool. It is the principal part perspective view which showed another example of the form of the support tool. It is the side view which partially fractured and showed the state which mounts only a support member on a stand and uses it. It is the perspective view which showed the state which connected the 2nd support member for feet to the 1st support member, and mounted | worn with the mounting | wearing type movement assistance apparatus to the buttocks and foot part which pinch | interpose an ankle joint.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Body wearing tool, 12 Support tool, 14 1st support member, 16 2nd support member 18 Fixed base member, 20 Support member (support part), 44 Support convex part (connection part)
74 Servo motor (actuating means), 106 Fixed support body, 108 Movable support body 124 Support recess (connected part), 140 Second terminal, 144 First terminal, 146 Control part 158 First contact part, 160 Second contact Contact, 166 Guide rail (guide part)
A1 Upper arm (proximal body part), A2 Forearm (distal body part), A3 Elbow joint (joint)
WC Wheelchair (body holding device), WC1 Armrest (attachment part)

Claims (6)

A wearable movement assist device that is mounted on a body part that sandwiches a bending joint (A3) and assists the bending movement of the joint (A3),
The first support member (14) to be mounted on the proximal body part (A1) of the joint (A3), and the posture of the first support member (14) can be displaced so as to allow the joint (A3) to bend. A second support member (16) connected to the distal body part (A2) of the joint (A3), and provided on the first support member (14), the first support member (14) A body wearing tool (10) having actuating means (74) for displacing the second support member (16) relative to
A fixed base member (18) removably attached to a body holding device (WC) used in a state where an assistant is seated or lying down, and the body wearing device (10) provided on the fixed base member (18). And a support (12) having a support portion (20) to which the connecting portion (44) provided in the detachable connection is detachably attached. The fixed base member (18) of the support (12) includes a first contact portion (158) that contacts an attachment site (WC1) of the body holding device (WC), and the first contact portion (158). A second abutting portion (160) that moves relative to and away from the first abutting portion (158) and sandwiches the attachment part (WC1) with the first abutting portion (158),
The wearable motion assisting device according to claim 1, wherein the fixed position of the fixed base member (18) relative to the body holding device (WC) is changeable.   The support portion (20) includes a fixed support (106) installed on the fixed base member (18) and a connected portion (124) to which a connection portion (44) of the body wearing device (10) is connected. ), And a movable support (108) disposed so as to be rotatable and tiltable with respect to the fixed support (106), and the body wearing device (10) supported by the movable support (108) The wearable motion assisting device according to claim 1 or 2, wherein the posture displacement is allowed.   The support part (20) includes a guide part (166) in which the connecting part (44) of the body wearing tool (10) can slide, and the body wearing tool (10) along the guide part (166). The wearable motion assisting device according to claim 1 or 2, wherein the wearable motion assisting device is configured to move. The connecting portion (44) is provided with a first terminal (144) electrically connected to the operating means (74),
The support part (20) is provided with a second terminal (140) electrically connected to an external power source,
The first terminal (144) and the second terminal (140) are in contact with each other when the connecting part (44) and the support part (20) are connected, and the actuating means (74) is energized. Item 5. The wearable movement assist device according to any one of Items 1 to 4. The support part (20) is provided with a control part (146) for controlling the operation of the operating means (44),
The said actuating means (74) is electrically connected with the said control part (146) at the time of the connection of the said connection part (44) and the said support part (20), The control part (146) is described in any one of Claims 1-5. Wearable movement assist device.

Images