JP5273773B2 - Walking support device. - Google Patents
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- JP5273773B2 JP5273773B2 JP2008089819A JP2008089819A JP5273773B2 JP 5273773 B2 JP5273773 B2 JP 5273773B2 JP 2008089819 A JP2008089819 A JP 2008089819A JP 2008089819 A JP2008089819 A JP 2008089819A JP 5273773 B2 JP5273773 B2 JP 5273773B2
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Abstract
Description
本発明は、装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援する歩行支援装置に関し、大腿支持部と、下腿支持部と、足支持部からなる脚部がリンク機構で構成される動作支援装具を一つのアクチュエータで動作させて歩行支援を行う歩行支援装置に関する。 The present invention relates to a walking support device that supports a walking motion by assisting muscle strength of a hip joint, a knee joint, and an ankle joint during walking of a wearer, and includes a thigh support portion, a crus support portion, and a foot support portion. The present invention relates to a walking support device that performs a walking support by operating a motion support device having a leg portion constituted by a link mechanism with a single actuator.
加齢や疾病によって下肢の筋力が低下すると、歩行障害や高さがある障害物や段差を乗り越えるときに足を引っ掛けたりして転倒するケースが多くなり、安全に日常生活を送ることが困難となる。そのため、歩行補助装置（特許文献１参照）や自立歩行支援機（特許文献２参照）が提案されているが、筋力補助を行う関節に対して一つ以上のアクチュエータが必要である。
しかしながら、以上の技術によれば、筋力補助を行う膝や足首などの各関節に対して一つ以上のアクチュエータを配置するため、筋力補助を行う関節数が増えるに従って重量が増加し、コストも高くなる。また、制御面においても複数のアクチュエータを適切に制御するとともに、装着者に身体的な危害を加えないようにハード面においても安全性の確保が不可欠となる。そこで、この発明は一つのアクチュエータで股関節と、膝関節と、足関節の筋力補助を行うことで、装着者の通常歩行時の膝と足首の動きをほぼ実現する歩行支援装置を提供することを課題とする。 However, according to the above technique, since one or more actuators are arranged for each joint such as a knee or ankle for assisting muscle strength, the weight increases and the cost increases as the number of joints for assisting muscle strength increases. Become. In addition, in terms of control, it is essential to appropriately control a plurality of actuators and to ensure safety in terms of hardware so as not to cause physical harm to the wearer. Therefore, the present invention provides a walking support device that substantially realizes movement of the knee and ankle during normal walking of the wearer by assisting muscle strength of the hip joint, knee joint, and ankle joint with one actuator. Let it be an issue.
上記課題を解決するために、装着者に装着される動作支援装具１と、この動作支援装具１に取付けられたアクチュエータ２と、このアクチュエータ２に電流を供給する駆動電流生成手段４と、この駆動電流生成手段４に指令信号を発信して、前記アクチュエータ２に動力を発生させる制御装置５と、からなる歩行支援装置であって、前記動作支援装具１は、装着者の大腿の上端付近に装着される支持体３と、この支持体３に設けた支持軸31と、この支持軸31に一端が連結され、装着者の大腿に沿って装着される、装着者の大腿の長さと概ね等しい長さの大腿支持部リンク17と、この大腿支持部リンク17の他端に設けた連結軸36と、この連結軸36に一端が連結され、装着者の下腿に沿って装着される、装着者の下腿の長さと概ね等しい長さの下腿支持部リンク23と、この下腿支持部リンク23の他端に設けた連結軸38と、この連結軸38に前部が連結され、装着者の足に装着される足支持部25と、を備え、前記アクチュエータ２は、その出力軸30が、前記支持軸31の後方斜め上側に位置するように、前記支持体３に取付けられており、前記動作支援装具１は、前記出力軸30に一端が固定された大腿支持部リンク11と、この大腿支持部リンク11の他端に設けた連結軸32と、この連結軸32に一端が連結され、前記連結軸36に他端が連結された大腿支持部リンク18と、前記連結軸32に一端が連結され、他端が前方斜め上方に向かう大腿支持部リンク12と、この大腿支持部リンク12の他端に設けた連結軸33と、この連結軸33に一端が連結され、前記支持軸31に他端が連結された大腿支持部リンク15と、前記連結軸33に一端が連結され、前記支持軸31の上方を通り、他端が前方斜め下方に向かう大腿支持部リンク13と、この大腿支持部リンク13の他端に設けた連結軸34と、この連結軸34に一端が連結され、前記支持軸31に他端が連結された大腿支持部リンク14と、前記連結軸34に一端が連結され、前記大腿支持部リンク17と略平行で前記大腿支持部リンク17と概ね同じ長さの大腿支持部リンク16と、この大腿支持部リンク16の他端に設けた連結軸35と、この連結軸35に一端が連結され、前記連結軸36に他端が連結された、前記大腿支持部リンク14と略平行で前記大腿支持部リンク14と概ね同じ長さの下腿支持部リンク20と、前記連結軸35に一端が連結され、前記連結軸38に他端が連結された下腿支持部リンク22と、前記連結軸32に一端が連結され、前記大腿支持部リンク18よりも後方に位置する大腿支持部リンク19と、この大腿支持部リンク19の他端に設けた連結軸37と、この連結軸37に一端が連結され、前記連結軸36に他端が連結された、前記下腿支持部リンク20と概ね同じ長さの下腿支持部リンク21と、前記連結軸37に一端が連結され、前記足支持部25の後部に他端が連結された、前記下腿支持部リンク23と略平行な下腿支持部リンク24と、をさらに備え、この下腿支持部リンク24の前記他端は、前記足支持部25の後部に上下方向にスライド自在に設けた連結軸39に連結されており、前記出力軸30が回転すると、前記大腿支持部リンク12と前記大腿支持部リンク18が連動して動くことで、前記支持軸31を支点として、前記大腿支持部リンク14と前記大腿支持部リンク16と前記下腿支持部リンク20と前記大腿支持部リンク17からなる略平行四辺形の四節リンクが動作し、前記連結軸36が前記支持軸31を中心として、前記大腿支持部リンク17を半径とする一定の円弧運動を行うとともに、前記大腿支持部リンク19が前記出力軸30の回転に連動して動くことで、前記連結軸36の動きに連動しながら前記連結軸36を基準として、前記下腿支持部リンク21と前記下腿支持部リンク23と前記足支持部25と前記下腿支持部リンク24からなる四節リンクが動作することで、前記連結軸38が楕円運動を行うように構成した、歩行支援装置を提案する。
In order to solve the above-described problems, the operation support device 1 worn by the wearer, the actuator 2 attached to the operation support device 1, drive current generating means 4 for supplying current to the actuator 2, and the drive A walking assist device comprising: a control device 5 for transmitting a command signal to the current generating means 4 to generate power in the actuator 2, wherein the motion assisting device 1 is mounted near the upper end of the wearer's thigh; The support 3 to be used, a support shaft 31 provided on the support 3, and one end connected to the support shaft 31 and mounted along the wearer's thigh are approximately equal to the length of the wearer's thigh. The thigh support portion link 17, a connecting shaft 36 provided at the other end of the thigh support portion link 17, and one end connected to the connecting shaft 36 are attached along the wearer's lower leg. Lower leg support with a length approximately equal to the length of the lower leg A link part 38, a connecting shaft 38 provided at the other end of the crus support part link 23, a front support part 25 connected to the connecting shaft 38 and attached to the wearer's foot, The actuator 2 is attached to the support 3 so that the output shaft 30 is positioned obliquely above and behind the support shaft 31, and one end of the operation support device 1 is fixed to the output shaft 30. Thigh support portion link 11, a connecting shaft 32 provided at the other end of the thigh support portion link 11, and a thigh support portion having one end connected to the connecting shaft 32 and the other end connected to the connecting shaft 36 One end of the link 18 is connected to the connecting shaft 32, and the other end of the thigh support portion link 12 is inclined forward and obliquely upward, a connecting shaft 33 provided at the other end of the thigh support portion link 12, and the connecting shaft 33. One end of the thigh support link 15 is connected to the support shaft 31 and the other end is connected to the support shaft 31. The thigh support portion link 13 is connected to the other end of the thigh support portion link 13, and the connection shaft 34 is provided at the other end of the thigh support portion link 13. One end is connected to the support shaft 31 and the other end is connected to the support shaft 31, and one end is connected to the connection shaft 34. The thigh support portion link 17 is substantially parallel to the thigh support portion link 17. The thigh support portion link 16 having substantially the same length as that, a connecting shaft 35 provided at the other end of the thigh support portion link 16, one end connected to the connecting shaft 35, and the other end connected to the connecting shaft 36. Further, one end is connected to the connecting shaft 35 and the other end is connected to the connecting shaft 38 and the lower leg supporting portion link 20 that is substantially parallel to the thigh supporting portion link 14 and substantially the same length as the thigh supporting portion link 14. One end is connected to the crus support part link 22 and the connecting shaft 32, and more than the thigh support part link 18 The thigh support part link 19 located at the rear, the connecting shaft 37 provided at the other end of the thigh support part link 19, one end connected to the connecting shaft 37, and the other end connected to the connecting shaft 36, The crus support part link 23 having one end connected to the crus support part link 21 and the connecting shaft 37 having the same length as the crus support part link 20 and the other end connected to the rear part of the foot support part 25. A crus support part link 24 substantially parallel to the limb, and the other end of the crus support part link 24 is connected to a connecting shaft 39 provided slidably in the vertical direction at the rear part of the foot support part 25. When the output shaft 30 rotates, the thigh support portion link 12 and the thigh support portion link 18 move in conjunction with each other, so that the thigh support portion link 14 and the thigh support portion are supported with the support shaft 31 as a fulcrum. The link 16, the crus support part link 20, and the thigh support part link 17 A parallelogram-shaped four-bar link operates, and the connecting shaft 36 performs a constant arc motion with the thigh support portion link 17 as a radius about the support shaft 31, and the thigh support portion link 19 By moving in conjunction with the rotation of the output shaft 30, the crus support part link 21, the crus support part link 23, and the foot support part 25 based on the connection shaft 36 while interlocking with the movement of the connection shaft 36. A walking support device is proposed in which the connecting shaft 38 is configured to perform an elliptical motion by operating a four-bar link including the crus support part link 24.
本発明によって、一つのアクチュエータで股関節と、膝関節と、足関節の筋力補助を行うことで、装着者の通常歩行時の膝と足首の動きをほぼ実現する歩行支援装置を提供することができる。
According to the present invention, it is possible to provide a walking support device that substantially realizes movement of a knee and an ankle during normal walking of a wearer by assisting muscle strength of a hip joint, a knee joint, and an ankle joint with one actuator. .
以下に本発明の実施形態を図面に基づいて説明する。図１は本発明の実施形態における歩行支援装置の全体図である。歩行支援装置は、大腿支持部と下腿支持部と足支持部からなる脚部を構成する動作支援装具1と、上記動作支援装具1を動作させる一つのアクチュエータ2と、上記アクチュエータ2に動力を発生させるための指令信号を生成する制御装置5と、電流を上記アクチュエータ2に供給する駆動電流生成手段4を備える。 Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall view of a walking support device according to an embodiment of the present invention. The walking support device includes an operation support device 1 that constitutes a leg portion including a thigh support portion, a crus support portion, and a foot support portion, one actuator 2 that operates the operation support device 1, and generates power to the actuator 2. A control device 5 for generating a command signal for causing the actuator 2 and a drive current generating means 4 for supplying a current to the actuator 2.
図２の動作支援装具1では、支持体3にはアクチュエータ2と支持軸31が固定されている。今回はアクチュエータ2としてDCモータを用いている。装着者の大腿に大腿支持部を構成している四節リンク右側の大腿支持部リンク17を、装着者の下腿に下腿支持部を構成している四節リンク左側の下腿支持部リンク23を、装着者の足に足支持部25を図略のベルトにより装着している。大腿支持部リンク17と下腿支持部リンク23の長さは、装着者の大腿と下腿の長さとする。 2, the actuator 2 and the support shaft 31 are fixed to the support 3. This time, a DC motor is used as the actuator 2. The thigh support part link 17 on the right side of the four-node link constituting the thigh support part on the wearer's thigh, and the thigh support part link 23 on the left side of the four-joint link constituting the crus support part on the lower leg of the wearer, The foot support 25 is attached to the wearer's foot with a belt (not shown). The length of the thigh support part link 17 and the lower leg support part link 23 is the length of the wearer's thigh and lower leg.
大腿支持部リンク11の一端はアクチュエータ出力軸30に固定され、もう一端は大腿支持部リンク12と大腿支持部リンク18と大腿支持部リンク19が連結軸32により連結されている。大腿支持部リンク12の残りの一端は大腿支持部リンク13と大腿支持部リンク15が連結軸33により連結されている。大腿支持部リンク13の残りの一端は大腿支持部リンク16と大腿支持部リンク14が連結軸34により連結されている。大腿支持部リンク14の残りの一端と大腿支持部リンク15の残りの一端は支持軸31に連結されている。 One end of the thigh support portion link 11 is fixed to the actuator output shaft 30, and the other end is connected to the thigh support portion link 12, the thigh support portion link 18, and the thigh support portion link 19 by a connecting shaft 32. The remaining end of the thigh support part link 12 is connected to the thigh support part link 13 and the thigh support part link 15 by a connecting shaft 33. The remaining end of the thigh support portion link 13 is connected to the thigh support portion link 16 and the thigh support portion link 14 by a connecting shaft 34. The remaining end of the thigh support portion link 14 and the remaining end of the thigh support portion link 15 are connected to the support shaft 31.
大腿支持部リンク17の一端は支持軸31に連結され、もう一端は大腿支持部リンク18の残りの一端と下腿支持部リンク20と下腿支持部リンク23と下腿支持部リンク21が連結軸36により連結されている。大腿支持部リンク16の残りの一端は下腿支持部リンク20の残りの一端と下腿支持部リンク22が連結軸35により連結されている。大腿支持部リンク19の残りの一端と下腿支持部リンク21の残りの一端と下腿支持部リンク24が連結軸37により連結されている。 One end of the thigh support portion link 17 is connected to the support shaft 31, and the other end is connected to the remaining end of the thigh support portion link 18, the crus support portion link 20, the crus support portion link 23, and the crus support portion link 21 by the connection shaft 36. It is connected. The remaining end of the thigh support part link 16 is connected to the remaining end of the crus support part link 20 and the crus support part link 22 by a connecting shaft 35. The remaining one end of the thigh support part link 19, the remaining one end of the crus support part link 21, and the crus support part link 24 are connected by a connecting shaft 37.
大腿支持部リンク11がアクチュエータ2によりアクチュエータ出力軸30を中心として回転すると、大腿支持部リンク12と大腿支持部リンク18が連動して動くことで、支持軸31を支点として、大腿支持部リンク14と大腿支持部リンク16と大腿支持部リンク20と大腿支持部リンク17からなる四節リンクが動作することで、連結軸36は支持軸31を中心、大腿支持部リンク17を半径として一定の円弧運動を行う。 When the thigh support portion link 11 is rotated about the actuator output shaft 30 by the actuator 2, the thigh support portion link 12 and the thigh support portion link 18 move in conjunction with each other, so that the thigh support portion link 14 has the support shaft 31 as a fulcrum. And the thigh support portion link 16, the thigh support portion link 20, and the thigh support portion link 17 are operated, so that the connecting shaft 36 is centered on the support shaft 31 and the thigh support portion link 17 has a radius as a constant arc. Do exercise.
また、足支持部25は下腿支持部リンク22の残りの一端と下腿支持部リンク23の残りの一端が連結軸38により連結されている。下腿支持部リンク24の残りの一端は足支持部25に備える可動式の機構に連結軸39により連結されている。 Further, in the foot support portion 25, the remaining end of the crus support portion link 22 and the remaining end of the crus support portion link 23 are connected by a connecting shaft 38. The other end of the crus support part link 24 is connected to a movable mechanism provided in the foot support part 25 by a connecting shaft 39.
大腿支持部リンク11がアクチュエータ2によりアクチュエータ出力軸30を中心として回転すると、大腿支持部リンク19が連動して動くことで、連結軸36自身の動きに連動しながら連結軸36を基準として、下腿支持部リンク21と下腿支持部リンク23と足支持部25と下腿支持部リンク24からなる四節リンクが動作することで、連結軸38は楕円運動を行う。 When the thigh support part link 11 is rotated about the actuator output shaft 30 by the actuator 2, the thigh support part link 19 moves in conjunction with each other, so that the thigh support part link 19 moves in conjunction with the movement of the connection shaft 36 itself. The connection shaft 38 performs an elliptical motion by the movement of the four-joint link including the support part link 21, the crus support part link 23, the foot support part 25, and the crus support part link 24.
図３の動作支援装具1の動作の状態では、大腿支持部リンク17と下腿支持部リンク23がほぼ直線となる立脚期において装着者と動作支援装具1が分担して体を支えており、もう一方の脚が前に動くのに従って地面から足支持部25の踵部分が浮いた後に全体が離れ、遊脚期を経て再び地面に着地して立脚期となる。 In the state of movement of the movement support apparatus 1 in FIG. 3, the wearer and the movement support apparatus 1 share the body and support the body in the stance phase in which the thigh support part link 17 and the crus support part link 23 are substantially straight. As one leg moves forward, the heel portion of the foot support 25 is lifted from the ground, and then the whole is separated. After the swing leg period, the leg is landed again and enters the stance period.
図４の足支持部25では、歩行時のバランスをとるために装着者のつま先部分は足支持部25で支持されていない。また、遊脚期の初期は踵を後ろに持ち上げるために下腿支持部リンク24が上に移動するために、連結軸39は足支持部25に備える可動式の機構上部に接する。足関節の筋力低下によりつま先が下がると足支持部25に備える可動式の機構下部に連結軸39が接するので、それ以上つま先が下がるのを防止する。スプリング26は連結軸39が滑らかにそして安定して可動するために用いている。 In the foot support portion 25 of FIG. 4, the toe portion of the wearer is not supported by the foot support portion 25 in order to balance the walking. Further, in the early stage of the swing leg period, the crus support part link 24 moves upward to lift the heel back, so that the connecting shaft 39 contacts the upper part of the movable mechanism provided in the foot support part 25. When the toes are lowered due to a decrease in muscle strength of the ankle joint, the connecting shaft 39 is in contact with the lower part of the movable mechanism provided in the foot support portion 25, so that the toes are prevented from further lowering. The spring 26 is used so that the connecting shaft 39 can move smoothly and stably.
制御装置5では、装着者の歩行周期を予め調べておき、左右の脚の位相差を考慮して指令信号を生成する。今回はパーソナルコンピュータを用いているが、マイコン等を用いることで支持体3に配置することも可能である。 The control device 5 examines the wearer's walking cycle in advance and generates a command signal in consideration of the phase difference between the left and right legs. Although a personal computer is used this time, it can be arranged on the support 3 by using a microcomputer or the like.
駆動電流生成手段4では、制御装置5からの指令信号が入力されると、この指令に基づいて駆動電流を生成して、アクチュエータ2に供給することで動作支援装具1を動作させる。 When the command signal from the control device 5 is input, the drive current generating means 4 generates a drive current based on this command and supplies it to the actuator 2 to operate the operation support equipment 1.
人の歩行パターンは決まっており、そのパターンで歩行したときには違和感を受けない。図５に動作支援装具1の装着時と通常歩行時における装着者の膝と足首の軌道を示す。図５より、膝に関してはよく一致しており、足首についてもほぼ一致していることから、動作支援装具1は装着者の通常歩行時の膝と足首の動きをほぼ実現することができる。また、歩行パターンの差異に起因する違和感はほとんどない。 A person's walking pattern is fixed, and when he walks in that pattern, he does not feel uncomfortable. FIG. 5 shows the trajectory of the wearer's knee and ankle when the motion assisting device 1 is worn and during normal walking. As shown in FIG. 5, the knees are well matched and the ankles are almost matched. Therefore, the motion assisting device 1 can substantially realize the movement of the knee and ankle during normal walking of the wearer. Moreover, there is almost no sense of incongruity caused by the difference in walking patterns.
人の歩行は，腸腰筋による大腿の屈曲と大殿筋による屈伸が繰り返されている。図６に動作支援装具1の装着時と通常歩行時における装着者の腸腰筋の筋電位を示す。図６より、装具を装着することで生じる筋電位が通常歩行時の約20％まで減少しており、動作支援装具1により腸腰筋の筋力補助がなされている。 In human gait, thigh flexion by the iliopsoas muscle and flexion and extension by the gluteal muscle are repeated. FIG. 6 shows the myoelectric potential of the wearer's iliopsoas muscle when the motion assisting device 1 is worn and during normal walking. From FIG. 6, the myoelectric potential generated by wearing the brace is reduced to about 20% during normal walking, and the muscle assist of the iliopsoas muscle is provided by the motion assisting brace 1.
１ 動作支援装具
２ アクチュエータ
３ 支持体
４ 駆動電流生成手段
５ 制御装置
１１ 大腿支持部リンク11
１２ 大腿支持部リンク12
１３ 大腿支持部リンク13
１４ 大腿支持部リンク14
１５ 大腿支持部リンク15
１６ 大腿支持部リンク16
１７ 大腿支持部リンク17
１８ 大腿支持部リンク18
１９ 大腿支持部リンク19
２０ 下腿支持部リンク20
２１ 下腿支持部リンク21
２２ 下腿支持部リンク22
２３ 下腿支持部リンク23
２４ 下腿支持部リンク24
２５ 足支持部
２６ スプリング
３０ アクチュエータ出力軸
３１ 支持軸
３２ 連結軸32
３３ 連結軸33
３４ 連結軸34
３５ 連結軸35
３６ 連結軸36
３７ 連結軸37
３８ 連結軸38
３９ 連結軸39
DESCRIPTION OF SYMBOLS 1 Action support equipment 2 Actuator 3 Support body 4 Drive current generation means 5 Control apparatus
11 Thigh support part link 11
12 Thigh support link 12
13 Thigh support link 13
14 Thigh support link 14
15 Thigh support link 15
16 Thigh support part link 16
17 Thigh support link 17
18 Thigh support link 18
19 Thigh support link 19
20 Lower leg support link 20
21 Lower leg support link 21
22 Lower leg support link 22
23 Lower leg support part link 23
24 Lower leg support link 24
25 Foot support 26 Spring 30 Actuator output shaft
31 Support shaft
32 Connecting shaft 32
33 Connecting shaft 33
34 Connecting shaft 34
35 Connecting shaft 35
36 Connecting shaft 36
37 Connecting shaft 37
38 Connecting shaft 38
39 Connecting shaft 39
Claims (1)
この動作支援装具１に取付けられたアクチュエータ２と、
このアクチュエータ２に電流を供給する駆動電流生成手段４と、
この駆動電流生成手段４に指令信号を発信して、前記アクチュエータ２に動力を発生させる制御装置５と、
からなる歩行支援装置であって、
前記動作支援装具１は、
装着者の大腿の上端付近に装着される支持体３と、
この支持体３に設けた支持軸31と、
この支持軸31に一端が連結され、装着者の大腿に沿って装着される、装着者の大腿の長さと概ね等しい長さの大腿支持部リンク17と、
この大腿支持部リンク17の他端に設けた連結軸36と、
この連結軸36に一端が連結され、装着者の下腿に沿って装着される、装着者の下腿の長さと概ね等しい長さの下腿支持部リンク23と、
この下腿支持部リンク23の他端に設けた連結軸38と、
この連結軸38に前部が連結され、装着者の足に装着される足支持部25と、を備え、
前記アクチュエータ２は、
その出力軸30が、前記支持軸31の後方斜め上側に位置するように、前記支持体３に取付けられており、
前記動作支援装具１は、
前記出力軸30に一端が固定された大腿支持部リンク11と、
この大腿支持部リンク11の他端に設けた連結軸32と、
この連結軸32に一端が連結され、前記連結軸36に他端が連結された大腿支持部リンク18と、
前記連結軸32に一端が連結され、他端が前方斜め上方に向かう大腿支持部リンク12と、
この大腿支持部リンク12の他端に設けた連結軸33と、
この連結軸33に一端が連結され、前記支持軸31に他端が連結された大腿支持部リンク15と、
前記連結軸33に一端が連結され、前記支持軸31の上方を通り、他端が前方斜め下方に向かう大腿支持部リンク13と、
この大腿支持部リンク13の他端に設けた連結軸34と、
この連結軸34に一端が連結され、前記支持軸31に他端が連結された大腿支持部リンク14と、
前記連結軸34に一端が連結され、前記大腿支持部リンク17と略平行で前記大腿支持部リンク17と概ね同じ長さの大腿支持部リンク16と、
この大腿支持部リンク16の他端に設けた連結軸35と、
この連結軸35に一端が連結され、前記連結軸36に他端が連結された、前記大腿支持部リンク14と略平行で前記大腿支持部リンク14と概ね同じ長さの下腿支持部リンク20と、
前記連結軸35に一端が連結され、前記連結軸38に他端が連結された下腿支持部リンク22と、
前記連結軸32に一端が連結され、前記大腿支持部リンク18よりも後方に位置する大腿支持部リンク19と、
この大腿支持部リンク19の他端に設けた連結軸37と、
この連結軸37に一端が連結され、前記連結軸36に他端が連結された、前記下腿支持部リンク20と概ね同じ長さの下腿支持部リンク21と、
前記連結軸37に一端が連結され、前記足支持部25の後部に他端が連結された、前記下腿支持部リンク23と略平行な下腿支持部リンク24と、をさらに備え、
この下腿支持部リンク24の前記他端は、
前記足支持部25の後部に上下方向にスライド自在に設けた連結軸39に連結されており、
前記出力軸30が回転すると、
前記大腿支持部リンク12と前記大腿支持部リンク18が連動して動くことで、前記支持軸31を支点として、前記大腿支持部リンク14と前記大腿支持部リンク16と前記下腿支持部リンク20と前記大腿支持部リンク17からなる略平行四辺形の四節リンクが動作し、前記連結軸36が前記支持軸31を中心として、前記大腿支持部リンク17を半径とする一定の円弧運動を行うとともに、
前記大腿支持部リンク19が前記出力軸30の回転に連動して動くことで、前記連結軸36の動きに連動しながら前記連結軸36を基準として、前記下腿支持部リンク21と前記下腿支持部リンク23と前記足支持部25と前記下腿支持部リンク24からなる四節リンクが動作することで、前記連結軸38が楕円運動を行うように構成した、
歩行支援装置。 An operation support device 1 worn by the wearer;
An actuator 2 attached to the motion assisting device 1;
Drive current generating means 4 for supplying current to the actuator 2;
A control device 5 for transmitting a command signal to the drive current generating means 4 to generate power for the actuator 2;
A walking support device comprising:
The motion support brace 1 is
A support 3 mounted near the upper end of the wearer's thigh;
A support shaft 31 provided on the support 3;
A thigh support link 17 having one end connected to the support shaft 31 and mounted along the thigh of the wearer and having a length approximately equal to the length of the wearer's thigh;
A connecting shaft 36 provided at the other end of the thigh support portion link 17,
One end connected to the connecting shaft 36, and the lower leg support link 23 having a length approximately equal to the length of the wearer's lower leg, which is attached along the lower leg of the wearer,
A connecting shaft 38 provided at the other end of the crus support part link 23;
The front part is connected to the connecting shaft 38, and the foot support part 25 is attached to the wearer's foot.
The actuator 2 is
The output shaft 30 is attached to the support body 3 so as to be located obliquely above and behind the support shaft 31;
The motion support brace 1 is
A thigh support link 11 having one end fixed to the output shaft 30, and
A connecting shaft 32 provided at the other end of the thigh support portion link 11,
The thigh support portion link 18 having one end connected to the connecting shaft 32 and the other end connected to the connecting shaft 36;
One end is connected to the connection shaft 32, and the other end of the thigh support part link 12 heads obliquely upward and forward,
A connecting shaft 33 provided at the other end of the thigh support portion link 12,
A thigh support portion link 15 having one end connected to the connection shaft 33 and the other end connected to the support shaft 31;
One end is connected to the connecting shaft 33, passes above the support shaft 31, and the other end is inclined forward and downward, the thigh support portion link 13,
A connecting shaft 34 provided at the other end of the thigh support portion link 13,
A thigh support link 14 having one end connected to the connection shaft 34 and the other end connected to the support shaft 31;
One end is connected to the connecting shaft 34, and the thigh support portion link 16 is substantially parallel to the thigh support portion link 17 and has the same length as the thigh support portion link 17.
A connecting shaft 35 provided at the other end of the thigh support portion link 16,
The crus support part link 20 having one end connected to the connection shaft 35 and the other end connected to the connection shaft 36 and substantially parallel to the thigh support part link 14 and the same length as the thigh support part link 14. ,
One end connected to the connecting shaft 35, the lower leg support portion link 22 connected the other end to the connecting shaft 38,
One end is connected to the connecting shaft 32, and the thigh support part link 19 located behind the thigh support part link 18,
A connecting shaft 37 provided at the other end of the thigh support portion link 19,
One end connected to the connecting shaft 37, the other end connected to the connecting shaft 36, the crus support part link 21 having the same length as the crus support part link 20,
A crus support part link 24 substantially parallel to the crus support part link 23, one end connected to the connection shaft 37 and the other end connected to the rear part of the foot support part 25,
The other end of the crus support link 24 is
It is connected to a connecting shaft 39 provided slidably in the vertical direction at the rear part of the foot support part 25,
When the output shaft 30 rotates,
When the thigh support part link 12 and the thigh support part link 18 move in conjunction with each other, the thigh support part link 14, the thigh support part link 16, and the crus support part link 20 with the support shaft 31 as a fulcrum. A substantially parallelogram-shaped four-joint link composed of the thigh support portion link 17 operates, and the connecting shaft 36 performs a constant arc motion centering on the support shaft 31 and having the thigh support portion link 17 as a radius. ,
The thigh support part link 19 moves in conjunction with the rotation of the output shaft 30, so that the crus support part link 21 and the crus support part are based on the connection shaft 36 while interlocking with the movement of the connection shaft 36. The connecting shaft 38 is configured to perform an elliptical motion by operating a four-bar link composed of a link 23, the foot support portion 25, and the crus support portion link 24.
Walking support device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008089819A JP5273773B2 (en) | 2008-03-31 | 2008-03-31 | Walking support device. |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008089819A JP5273773B2 (en) | 2008-03-31 | 2008-03-31 | Walking support device. |
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| JP5273773B2 true JP5273773B2 (en) | 2013-08-28 |
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