CN101119696A

CN101119696A - Walking assisting device

Info

Publication number: CN101119696A
Application number: CN200680004814.6A
Authority: CN
Inventors: 日木丰
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2005-05-27
Filing date: 2006-05-29
Publication date: 2008-02-06
Anticipated expiration: 2026-05-29
Also published as: CN1868434A; CN101119695B; CN101184462A; CN101132755B; CN101132755A; CN101184462B; CN101119696B; CN1868434B; CN101119695A

Abstract

A walking assistance device (1) has a receiving section (2) for receiving part of the weight of a user (A) applied from the above, and also has a pair of left and right leg links (3R, 3L) connected to the receiving section (2) via first joints (10R, 10L). Foot sole installation sections (15R, 15L) at lower ends of the leg links (3R, 3L) are each installed on the foot sole of each leg of the user (A). When the legs of the user (A) are standing legs, supporting force out of the supporting force acting on the leg links (3R, 3L) from the floor side is transmitted from third joints (14R, 14L) of the leg links (3R, 3L) to lower thigh frames (13R, 13L). The leg links (3R, 3L) are individually connected to the receiving section (2) such that, in a sagittal plane, the line of action of the transmitted supporting force passes from each of the third joint (14R, 14L) to a specific point (P) positioned above the receiving section (2), the specific point (P) being located within the width in the front-rear direction of a contact surface between the receiving section (2) and the user (A). Desired lifting force that reduces weight to be born by the user's legs can be stably applied to the user.

Description

Device of walking aid

Technical field

The present invention relates to a kind ofly alleviate the load that acts on the user lower limb and the walk supporting device of auxiliary walking.

Background technology

As everyone knows, always, have as this kind walk supporting device: the leg support of pair of right and left, its lower end link have user about the earthing component installed of each foot; Be linked to the load transfer part on two leg support tops, and support the body weight of user at least a portion by two leg supports through the load transfer part, alleviate the load that acts on the user lower limb, and auxiliary user walking (such as can be with reference to TOHKEMY 2003-220102 communique).Load transfer part on this device is made of the waist supporting strap that is installed on the user waistline, and the 1st joint portion through being equivalent to human hip is linked to the left and right sides leg support both lateral sides of waist supporting strap.In addition, each leg support is bent being configured to freely by stretching, and this support has the 2nd joint portion that is equivalent to human body knee joint for place in the middle of on above-below direction.And, be provided with the power source that the 2nd joint portion is used, order about that the 2nd joint portion rotates and produce the auxiliary force of a part of body weight of supporting user by power source.

In the device of above-mentioned conventional example, for auxiliary force positively being passed to the health of user, be necessary the waist supporting strap is installed on the waistline place tightly, user is experienced the constraint sense easily, and, because the 1st joint portion of left and right sides leg support is outstanding to the place, waist both sides of user, so when in walking, waving arm, hands contacts with the 1st joint portion and the leg support top on being attached at the 1st joint portion easily, thereby the use inconvenience.

And, always following walk supporting device is also known: on the framework that extends to both lateral sides encirclement user from rear side, the lower end vertically is set 4 leg supports of wheel, and, the member of taking a seat of the saddle that the person of installing and using rides on framework, detect by user and be added on power on the member of taking a seat, the mode that makes this power become the desired value of regulation drives wheel (for example can specially permit communique No. 3156367 with reference to Japan).

Though this device can alleviate the constraint sense of user, the device maximization that becomes can't be used in stenosis, and in addition, when waving arm in walking, hands contacts with framework, thereby bad on ease of use easily.

Summary of the invention

The present invention uses for reference described background and finishes, and its purpose is to provide a kind of constraint sense that alleviates user, and, can in walking, freely wave arm, and miniaturization walk supporting device easy to use.

And, in order to realize this purpose, the present invention's the 1st invention provides walk supporting device, it has the more than one leg support that earthing component is arranged in the lower end binding, with with the banded load transfer part in the upper end of leg support, and support at least a portion of user body weight by leg support via the load transfer part, it is characterized in that, described load transfer part is made of the member of taking a seat that user rides on, and be provided with upper end and the banded linking part of the described member of taking a seat with described leg support, this linking part is configured to: be seated at user under the state of the described member of taking a seat, be positioned at the transverse width between the left and right sides Thigh bone of user.In addition, have following feature in the 2nd invention: described load transfer part is made of the member of taking a seat that user rides on, and is provided with the linking part of the upper end that links described leg support below this member of taking a seat.

According to the present invention, can will positively under the hip of user, reach health by the supporting force that leg support produces via the member of taking a seat.In addition, user only need striden to take a seat member and take a seat and got final product, and alleviates the constraint sense of user.And the invention of the 1st in according to the present invention is because the supporting force that leg support produces acts on the member of taking a seat between the Thigh bone of the left and right sides of user, so the stability of the member of having guaranteed to take a seat.In addition, the 2nd invention is provided with linking part below the member of taking a seat according to the present invention, linking part and leg support banded with it top are positioned under the user hip, when waving arm in walking, hands can not contact with leg support top with linking part, can carry out freely waving arm.In addition, different with the device with framework that user is impaled of conventional example, its device miniaturization that becomes even also can use in narrow place, adds that described constraint sense alleviates and waves arm and guarantee freely, significantly improves its ease of use.

In addition, also can will vertically be arranged on the linking part that the one leg support that can support oneself on the earthing component of the small-sized chassis shape that has a plurality of wheels is linked to the member below of taking a seat, and the person's of being used walking and drive wheel.Yet, in order to assist the walking of user infalliblely, the preferred leg support that pair of right and left is set at least, about being linked to the earthing component of each leg support lower end be installed in user about on each foot, in when walking, left and right sides leg support can be followed the action that the left and right sides lower limb of user makes progress in front and back and upwards be swung in front and back.In this case, if described linking part constitute only allow about the upwards swing of each leg support in front and back, then user about each lower limb then can't put outward.On the other hand, if linking part constitute have allow about each leg support at the degree of freedom of fore-and-aft direction and horizontal swing, then each lower limb of user can beyond pendulum, the freedom of motion of lower limb increases.

But,, then can produce following problem if each leg support carries out teeter about so allowing.Promptly, under the state of single lower limb supporting, because the weight of the leg support of free lower limb (lower limb of foot built on stilts) side, with the horizontal swing fulcrum of the leg support of supporting leg (lower limb of foot kiss the earth) side be the lateral rotation moment loading at center in the member of taking a seat, the member of taking a seat can produce and wave.For addressing this problem, the linking part below the member of preferably taking a seat constitutes: the teeter fulcrum of a leg support in the leg support of the left and right sides and the teeter fulcrum of another leg support are positioned on the same axis of fore-and-aft direction.Thus, under the state of single lower limb supporting, even the weight of the leg support of free lower limb side acts on the member of taking a seat, because the teeter fulcrum as the leg support of the teeter fulcrum of the leg support of the free lower limb side of the application point of this weight and supporting leg side is on the same axis, thereby be that the lateral rotation moment at center can not act on the member of taking a seat with the teeter fulcrum of the leg support of supporting leg side.Thereby, the waving of the member that can prevent to take a seat under single lower limb bearing state.

Here, when the earthing component on being installed in each foot of user is attached at each leg support lower end through joint portion, consistent with the line between this joint portion and the described linking part by the supporting line of action of force that each leg support produces.And if the lateral separation between joint portion and the linking part is elongated, then the transverse component of supporting force becomes big, acts on earthing component and the increase of the cross force of the member of taking a seat, and the earthing component and the member of taking a seat become instability.In this case, as long as make the ratio transverse width central authorities of joint part on earthing component by laterally inboard position, then the lateral separation between joint portion and the linking part shortens, and acts on earthing component and the cross force of the member of taking a seat diminishes, and can guarantee stability.

In addition, if leg support being constituted have makes earthing component and the distance between the member of taking a seat changes and the middle joint portion that moves, then can follow owing to each lower limb of user kneed bends and stretches the foot that produces and the variation of the distance between the crotch.In this case, on the direction that stretches, (make earthing component and the direction of the distance elongation between the member of taking a seat) and carry out the force application mechanism of the application of force to make its power that produces the body weight of supporting user though can be provided with to the middle joint portion of leg support, but be preferably the drive source of the middle joint portion of setting driving leg support.Thus, by the control of drive source, make it produce the corresponding supporting force that acts on the load on the user foot, and can carry out suitable assisting walking.

In addition, when so drive source being set, be installed in the middle joint portion place of leg support as drive source, then the moment of inertia of the leg support of the linking part below the member of taking a seat then becomes big, when walking, the lower limb of user will bear the moment of inertia of leg support and feel heavy.To this, drive source is configured in the end of the described linking part side of leg support, the moment of inertia around the leg support of linking part is diminished, be favourable.

In addition, be preferably the described member of taking a seat and in the middle of fore-and-aft direction, have transverse width, and the front portion of the described member of taking a seat is crooked upward than rear portion and anterior narrow necking part.In this case, user places the both lateral sides of necking part with left and right sides lower limb and is seated on the member of taking a seat.Thus, rear portion and the front portion big by width can suppress the skew of user on the fore-and-aft direction of member of taking a seat, and, because the front portion is crooked upward, lower limb is not easy to run into the front portion during walking when forwards stretching out, the degree of freedom of the action of the lower limb when having guaranteed walking.In addition, at the big rear portion of the width of the member of taking a seat,, can transmit body weight Reduction of Students' Study Load auxiliary force by ischium contact with respect to user infalliblely.

In addition, if make the front portion of the described member of taking a seat form the bifilar shape that the horizontal pars intermedia of excision forms, then part can not run into the front portion between the thigh, takes a seat and feels good.And because forward both lateral sides part is easily to horizontal deflection, therefore, even the lower limb that forwards stretches out touches the front portion, this touching power can be absorbed by forward deflection, can suppress because the touching of lower limb makes the member generation off normal of taking a seat.

Description of drawings

Fig. 1 is the axonometric chart of the walk supporting device of expression the present invention the 1st embodiment.

Fig. 2 is the side view of the walk supporting device of expression the 1st embodiment.

Fig. 3 is the front view of the walk supporting device of expression the 1st embodiment.

Fig. 4 is the axonometric chart of the 1st joint portion of the walk supporting device of expression the 1st embodiment.

Fig. 5 is the side view of the 1st joint portion of the walk supporting device of expression the 1st embodiment.

Fig. 6 is the axonometric chart of leg support bottom of the walk supporting device of expression the 1st embodiment.

Fig. 7 (a) be expression the 1st embodiment the solid of the member of taking a seat of walk supporting device

Figure; (b) be the take a seat axonometric chart of core of member of expression.

Fig. 8 is the axonometric chart of the 1st joint portion of expression the 2nd embodiment.

Fig. 9 is the axonometric chart of the walk supporting device of expression the 3rd embodiment.

Symbol description

1 ... the member of taking a seat, 2L, 2R ... leg support, 3 ... the 1st joint portion (linking part below the member of taking a seat), 37 ... stopper element, 5 ... the 2nd joint portion (the middle joint portion of leg support), 7 ... the 3rd joint portion (joint portion of leg support lower end), 8 ... earthing component, 9 ... drive source.

The specific embodiment

Below, the walk supporting device of embodiments of the present invention is described.As shown in Figure 1 to Figure 3, walk supporting device has: the member 1 of taking a seat of the conduct load transfer part that user P rides on; Be configured in leg support 2L, the 2R of the pair of right and left of member 1 downside of taking a seat.

Each leg support 2L, 2R bend being configured to freely by having stretching of the 1st cradle portion 4 and the 2nd cradle portion 6, and the 1st cradle portion 4 is attached on the 1st joint portion 3 that is arranged at the linking part below the member 1 of taking a seat; The 2nd cradle portion 6 is linked to the lower end of the 1st cradle portion 4 through revolving the 2nd joint portion 5.In addition, in the lower end of the 2nd cradle portion 6, through the 3rd joint portion 7 link have be installed in user about earthing component 8 on each foot.On each

foot support

2L, 2R, also carry the drive source 9 of the 2nd joint portion 5 usefulness.And, rotate by drive the 2nd joint portion 5 by drive source 9, each

leg support

2L, 2R applied make earthing component 8 and the power of the direction of extension of the distance elongation between the member 1 of taking a seat, make it to produce the supporting force (hereinafter referred to as body weight Reduction of Students' Study Load auxiliary force) of at least a portion body weight that can support user.The body weight that produced on each

leg support

2L, 2R Reduction of Students' Study Load auxiliary force reaches the health of user P via the member 1 of taking a seat, and has alleviated the load that acts on the user P foot.

In addition, the 1st joint portion 3 is configured to: be seated at user under the state of the member 1 of taking a seat, be positioned at the transverse width between the left and right sides Thigh bone of user.Therefore, body weight Reduction of Students' Study Load auxiliary force can act on the member 1 of taking a seat between the Thigh bone of the left and right sides of user, and body weight Reduction of Students' Study Load auxiliary force reaches the health of user infalliblely, and, the stability of the member 1 of having guaranteed to take a seat.In addition, though not shown, the power supply of drive source 9 usefulness and controller are accommodated in the knapsack that user carries on the back.

The walk supporting device of present embodiment, user P only need earthing component 8 is installed on the foot and are seated at and just can use on the member 1 of taking a seat, and can experience constraint hardly.In addition, because the 1st joint portion 3 and the 1st cradle portion 4 of

leg support

2L, 2R are positioned under the hip of user P, therefore, when in walking, waving arm,, can freely wave arm because of hands can not contact with the 1st cradle portion 4 with the 1st joint portion 3.In addition, device becomes miniaturization, even also can use in narrow place, and the alleviating and wave guaranteeing of arm freedom of constraint sense, ease of use is significantly improved.

As Fig. 4, shown in Figure 5, each the 1st joint portion 3 that each leg support 2L, 2R use is made of joint component 31, and this joint component 31 is that the support plate 33 by the guide rail 32 of the oval arcuation of fore-and-aft direction and supporting guide rail 32 constitutes.In addition, in the present embodiment,, also can constitute guide rail 32 by the circular-arc groove that on support plate 33, forms though be to form guide rail 32 by circular-arc track.Upper end in the 1st cradle portion 4 of each

leg support

2L, 2R is equipped with slide block 41, and this slide block 41 has from each a pair of roller 41a up and down of clamping guide rail 32 up and down, and freedom of movement ground engages with guide rail 32 slide block 41 via roller 41.So, each

leg support

2L, 2R are center upwards swing in front and back with the center of curvature of guide rail 32, and the swing fulcrum of the fore-and-aft direction of each

leg support

2L, 2R becomes the center of curvature of guide rail 32.

As shown in Figure 2, the center of curvature of guide rail 32, promptly the swing fulcrum 3a of the fore-and-aft direction of each leg support 2L, the 2R on each the 1st joint portion 3 is positioned at the top of the member 1 of taking a seat.Here, when action that the upper part of the body of user P leans forward etc., when the body weight of the upper part of the body of user P departed from the place ahead of swing fulcrum 3a of fore-and-aft direction of each

leg support

2L, 2R with respect to the application point of the member 1 of taking a seat, 1 of the member of taking a seat tilted to the front lower place.And when the member 1 of taking a seat continued to tilt like this, the member 1 of taking a seat can rearward be offset with respect to user P.Yet, in the present embodiment, be accompanied by the member 1 of taking a seat to the inclination of front lower place, the body weight application point is in the downside displacement rearward of swing fulcrum 3a, reduce the distance of the fore-and-aft direction between this fulcrum 3a and the body weight application point, the rotating torque that acts on the member 1 of taking a seat also reduces.And, the body weight application point be moved to swing fulcrum 3a under the time, act on the rotating torque vanishing of the member 1 of taking a seat, when this state, the member 1 of taking a seat is for stable.So, because the member 1 of taking a seat is converged in steady statue automatically, the off normal of member 1 on the fore-and-aft direction under the user P hip therefore can suppress to take a seat.

In addition, be sticked in the part of guide rail 32 as the slide block 41 of the upper end of each

leg support

2L, 2R, the part of this guide rail 32 is positioned at the line L1 rear between the swing fulcrum 3a (center of curvature of guide rail 32) of the 2nd joint portion 5 of each

leg support

2L, 2R and each leg support 2L, 2R.Thus, the length that need not make guide rail 32 so long just can guarantee each

leg support

2L, 2R follow each lower limb of user P forwards show action and forwards swing stroke.Also have, the block piece 32a that term prevents the disengaging of the 1st cradle portion 4 is installed in each end, the front and back of guide rail 32.

In addition, described each joint component 31 of each the 1st joint portion 3 that each leg support 2L, 2R use about formation is at

hinge member

36,36 places of the upper end, front and back that is installed on support plate 33, teeter is supported on

bolster

35,35 on the fore-and-aft direction by axle freely, and the

bolster

35,35 on this fore-and-aft direction supports a pair of

rest pad

34,34 in front and back that is installed in lateral center position below the member 1 of taking a seat respectively.Therefore, except allowing each leg support 2L, 2R in front and back upwards the degree of freedom of swing, each the 1st joint portion 3 is also held and is allowed each

leg support

2L, 2R degree of freedom to horizontal swing, and the lower limb of user P can be put outward.

In addition, the joint portion 31 used of the leg support 2R on the joint portion 31 used of the leg support 2L in left side and right side is by 35 supportings of common bolster.That is, the teeter fulcrum of the teeter fulcrum of left side leg support 2L and right side leg support 2R is positioned on the same axis on the fore-and-aft direction.Also have, the 2nd embodiment as shown in Figure 8, though the joint portion 31 that can come the leg support 2R on joint portion 31 that the leg support 2L to the left side uses and right side to use by separately bolster 35L, the 35R that is set up in parallel in the horizontal carries out axle and supports, this can produce following problem.

Promptly, under the state of single lower limb supporting, the weight of the leg support of free lower limb (lower limb during the foot built on stilts) side is (when producing the situation of following auxiliary force, it then is this auxiliary force, this auxiliary force is meant and lifts with auxiliary free lower limb making power on the direction of leg support bending add to this leg support as described later) act on the member 1 of taking a seat through the teeter fulcrum of this leg support.And, during as the isolating situation of teeter fulcrum (bolster 35R) of the teeter fulcrum (bolster 35L) of the leg support 2L in the left side of the 2nd embodiment and the leg support 2R on right side, under the state of single lower limb supporting, because the weight of the leg support of free lower limb side, with the teeter fulcrum of the leg support of supporting leg (lower limb of foot kiss the earth) side is that the lateral rotation moment at center can act on the member 1 of taking a seat, and the member 1 of taking a seat can wave.

To this, in the present embodiment, under the state of single lower limb supporting, being positioned on the same axis (bolster 35) as the teeter fulcrum of the free lower limb side leg support of the application point of the weight of free lower limb side leg support and the teeter fulcrum of supporting leg side, is that the lateral rotation moment at center can not act on the member 1 of taking a seat with the teeter fulcrum of supporting leg side leg support therefore.Therefore, can prevent the waving of the member 1 of taking a seat under single lower limb bearing state.Also have, the weight of free lower limb side leg support reaches ground via the leg support of supporting leg side, and the weight of free lower limb side leg support can not act on the member 1 of taking a seat.

In addition, to link the line of the swing fulcrum 3a of fore-and-aft direction of each

leg support

2L, 2R at the 1st joint portion 3 places and the 3rd joint portion 7 as datum line L2 (with reference to Fig. 2), even each leg support 2L, 2R form at user P under axial state, the 2nd joint portion 5 also can protrude in the forniciform length in datum line L2 the place ahead.And,, the member 1 of taking a seat can be adjusted to the height that conforms to user P automatically by the control of drive source 9.Thus, need not the length of making special-purpose device and regulating leg support, have versatility thereby can reduce cost according to the individual.

Here, when user P was in erectility, datum line L2 was almost vertically, comprised that nearly all part of the 2nd joint portion 5

leg support

2L, 2R all is positioned at the 3rd joint portion 7 the place aheads.Therefore, when being disposed at drive source 9 with the 2nd joint portion 5 coaxial going up, under axial state, under the effect of the weight of each leg support 2L, the 2R that comprise drive source 9, producing with the 3rd joint portion 7 at each

leg support

2L, 2R place is the big shaking moment of the direction that leans forward at center at user P.And, because this shaking moment, the member 1 of taking a seat is made thrust in order to forward.And when the lower limb of user P forwards stretched out, the swing fulcrum 3a that can produce at

leg support

2L, 2R place with the fore-and-aft direction at the 1st joint portion 3 places was the shaking moment backward at center, to the place ahead of lower limb stretch out to the opposing sense.In addition, when going up with the 2nd joint portion 5 is coaxial as drive source 9 is configured in, then the moment of inertia around leg support 2L, the 2R of the 1st joint portion 3 increases, and the lower limb of user P can bear the moment of inertia of

leg support

2L, 2R and feel heavy during walking.

So, in the present embodiment, end in the 1st joint portion 3 sides of each

leg support

2L, 2R, the protuberance 42 that constitutes by to the outstanding board member in following rear promptly is installed on the slide block 41 of the upper end of the 1st cradle portion 4, and on this protuberance 42, carried drive source 9, this rear is meant for datum line L2 and the 2nd joint portion 5 opposite direction that makes progress in front and back.Thus, when user P is upright, on each

leg support

2L, 2R, what produced by the weight of each leg support 2L, the 2R that have removed drive source 9 is the shaking moment of the direction that leans forward at center with the 3rd joint portion 7, is offset by the reverse shaking moment that is produced by the weight of drive source 9.That is, drive source 9 plays the effect of static organ, makes to have comprised that all shaking moments of

leg support

2L, 2R of drive source 9 diminish.Its result, the thrust forward that acts on the member 1 of taking a seat also reduces, and has guaranteed stability.

And, when the lower limb of user P forwards stretches out,,, assisted stretching out forward of lower limb by this moment because the weight of drive source 9 is the shaking moment forward at center with the swing fulcrum 3a that produces with fore-and-aft direction.Thereby, can separate the opposing sense that disappears and stretch out in the place ahead that when the 2nd joint portion 5 makes

leg support

2L, 2R in bending to give prominence to the place ahead of datum line L2, exists with respect to lower limb.In addition, the distance between weight drive source 9 and the swing fulcrum 3a shortens, and therefore, diminishes around the leg support 2L of the 1st joint portion 3, the moment of inertia of 2R.So the lower limb of user P feels heavy because of the moment of inertia of bearing

leg support

2L, 2R in can preventing to walk.

The driving force that is produced by drive source 9 reaches the 2nd joint portion 5 through driving force transmission mechanism 91.As driving force transmission mechanism 91, can use parallel bracket mechanism or oil pressure transmission mechanism, and this parallel bracket mechanism or oil pressure transmission mechanism are in the part use of the 2nd joint portion 5 that leaves the 2nd cradle portion 6 and the mechanism of the 1st cradle portion 4 parallel banded supports or use oil cylinder.But, in the present embodiment, for attempting lightweight and reduce cost,, form driving force transmission mechanism 91 by using the line formula transferring structure of the metal wire 91a that the 2nd joint portion 5 and drive source 9 are linked up.

Specific as follows described: promptly, derive 2 wires 91a from drive source 9, when a wires 91a when drive source 9 is derived successively, another wires 91a then is introduced in the drive source 9.Also have, drive source 9 is made of electro-motor and the drive pulley used by the driven metal wire 91a of this motor.Two

metal wire

91a, 91a insert and lead in 2

conduit

91b, 91b, and described 2

conduit

91b, 91b are configured between near the flange 43 and drive source 9 of the 2nd joint portion 5 that is formed at the 1st cradle portion 4.In addition, will be fixed on the 2nd cradle portion 6 with the axle 51 co-axial pulleys 52 of the 2nd joint portion 5,2

wires

91a, 91a are wound on this pulley 52 with opposite direction, the end of each

metal wire

91a, 91a is fixed on the pulley 52.Thus, by derivation and the introducing of drive source 9 couples of

metal wire

91a, 91a, pulley 52 rotates, and rotates by this, and making the 2nd cradle portion 6 be that swing at the center with respect to the 1st cradle portion 4 with the axle 51 of the 2nd joint portion 5, and leg support 2L, 2R bend and stretch.Also have, though not shown, form circular-arc groove in the side of pulley 52, and, form the jut that engages with this groove in the 1st cradle portion 4, be defined in the scope of regulation with respect to the swing stroke of the 2nd cradle portion 6 of the 1st cradle portion 4.

As shown in Figure 6, the 3rd joint portion 7 is made of universal joint, this universal joint by be linked to the yoke (yoke) 71 of the 2nd cradle portion 6 lower ends via 2 force transducer 10 and be attached on the axle 72 that is horizontally set at yoke 71 bottoms rotation freely and can freely carry out movable piece 73 formations of banking motion in the axial direction.Here, described body weight Reduction of Students' Study Load auxiliary force from laterally, acts on the described datum line L2, and this datum line L2 is the swing fulcrum 3a of the fore-and-aft direction of leg support 2L, the 2R at binding the 1st joint portion 3 places and the line of the 3rd joint portion 7.And the body weight Reduction of Students' Study Load auxiliary force (body weight of correctly saying so Reduction of Students' Study Load auxiliary force and making a concerted effort from the power of the weight of take a seat member 1 and each

leg support

2L, 2R) that acts on the reality on the datum line L2 is according to being calculated by the detected value of the axial power of supporting force sensor 10 detected 2.

Earthing component 8 has footwear 81 and is placed in high inflexible stirrup shape shackle 82 in the footwear 81 as shown in Figure 6.The lower end that vertically is provided with the movable piece 73 of the axle collar (collar) 83, the 3 joint portions 7 on shackle 82 is linked to this axle collar 83.In addition, as shown in Figure 2, be lined with elastic plate 84 in the bottom of shackle 82 as the interior pad of footwear 81.Below elastic plate 84, a pair of pressure transducer 85,85 in front and back is installed, this a pair of pressure transducer 85,85 can detect middle toe joint (MP joint) part of the foot that acts on user and the load that the foot heel is divided.

In the control of each

leg support

2R, 2L,, calculate ratio with respect to the service load of each foot of the total load on the bipod that acts on user according to the value of measuring of two pressure inductors 85,85 of each earthing component 8.Then, the controlled target value of following value as the body weight that produces on each leg support Reduction of Students' Study Load auxiliary force calculated, this value multiply by the numerical value behind the load proportion of each foot for the setting value of auxiliary force that pre-set body weight is lightened the burden.And, drive source 9 is controlled so that the body weight Reduction of Students' Study Load auxiliary force of the reality of calculating according to the value of measuring of described supporting force sensor 10 can be consistent with the controlled target value.In addition, under the state of single lower limb supporting, only on the leg support of supporting leg side, produce the body weight Reduction of Students' Study Load auxiliary force of setting value.In this case, stop drive source drives, and make the 2nd joint portion 5 be in the state that freely rotates the leg support of free lower limb side.In addition, also can add the leg support of free lower limb side so that the power on its crooked direction, the mentioning of foot of free lower limb assisted by drive source.

But when the place ahead was seen, body weight Reduction of Students' Study Load auxiliary force was to act on the bolster 35 and the line between the 3rd joint portion 7 of horizontal fulcrum of the 1st joint portion 3.Therefore, if the distance transversely between bolster 35 and the 3rd joint portion 7 is elongated, then the transverse component of body weight Reduction of Students' Study Load auxiliary force becomes big, and the cross force that acts on the earthing component 8 and the member 1 of taking a seat increases, and the earthing component 8 and the member 1 of taking a seat become unstable.So, in the present embodiment, be configured to as shown in Figure 3, with the skew to the inside sidelong of the axle collar 83 above the shackle 82, so that the 3rd joint portion 7 is positioned at the horizontal inboard by transverse width central authorities on the earthing component 8.Thus, the lateral separation between bolster 35 and the 3rd joint portion 7 shortens, and acts on earthing component 8 and the cross force of the member 1 of taking a seat diminishes, and has guaranteed the stability of the earthing component 8 and the member 1 of taking a seat.

As mentioned above, used the whole bag of tricks for the stabilisation of the member 1 of taking a seat, in the present embodiment, member 1 has also descended the time itself to taking a seat.Below this is elaborated.Shown in Fig. 7 (a), the member 1 of taking a seat forms the shape that the centre that makes progress in front and back has the transverse width necking part 1c narrower than rear portion 1a and anterior 1b.In addition, anterior 1b is bending (with reference to Fig. 2) upward, and, form the bifilar shape of excising horizontal pars intermedia.User places the both lateral sides of necking part 1c with left and right sides lower limb and is sitting on the member 1 of taking a seat.Thus, by width big rear portion 1a and anterior 1b, the position off normal that the member 1 that can suppress to take a seat makes progress in front and back with respect to user, and, because anterior 1b is crooked upward, lower limb is not easy to meet anterior 1b in the walking when stretching out forward, has guaranteed the freedom of action of the lower limb in the walking.And, forming bifilar shape by making anterior 1b, it is easy that the lateral delfection of anterior 1b becomes.Therefore, even the lower limb that forwards stretches out touches anterior 1b, the deflection by anterior 1b absorbs this touching power, can suppress to make the member of taking a seat produce off normal owing to the touching of lower limb.In addition, part is difficult for meeting anterior 1b between the hip of user, takes a seat and feels good.Rear portion 1a has enough transverse widths and can afford the left and right sides ischium of user.Therefore, by contact, can transmit body weight Reduction of Students' Study Load auxiliary force to the ischium of user infalliblely.

Also have, core 101 that the member 1 of taking a seat is formed by carbon fibre etc. and the cover 103 that is placed in the top elasticity material 102 of core 101 and wraps up these cores 101 and elasticity material 102 constitute.Shown in Fig. 7 (b), be formed with the recess that is positioned at lateral center 104 of direction extension forwards, backwards at core 101 places, at the flexible material 102 of the both sides of recess 104 device.In addition, the thickness of the peripheral edge portion of core 101 is established thin, made it can flexibly absorb touching power from lateral lower limb.

But, though in the above-described first embodiment, about the centre of each

leg support

2L, 2R be provided with the 2nd joint portion 5 of rotary type, in the 3rd embodiment as shown in Figure 9, also can about each

leg support

2L, 2R in the middle of the place the 2nd joint portion 5 ' of Direct Action Type is set.Though not shown, on the 2nd joint portion 5 ', be provided with the drive source and the feeding that constitute by electro-motor and pass lever apparatus, running according to drive source passes lever apparatus via feeding, each

leg support

2L, 2R carry out rectilinear motion, and thus, earthing component 8 and the distance of taking a seat between the member 1 change.

More than, though with reference to the accompanying drawings embodiments of the present invention are illustrated, the present invention also only is not defined in above-mentioned embodiment.For example, also can be with the linking part below being linked to the member of taking a seat at the possible single leg support of self-support that erect to be provided with on the earthing component of the small-sized chassis shape that has a plurality of wheels, and the person's of being used walking and drive wheel.In addition, for the walking of action inconvenient user such as auxiliary single fracture of leg, also can in the above-described embodiment left and right

sides leg support

2L, 2R in, only keep user action inconvenient lower limb side leg support and omit the leg support of opposite side.And, the drive source of intermediary the 2nd joint portion 5 of

leg support

2L, 2R, 5 ' usefulness can be carried on

leg support

2L, 2R, and carry on the carriage that is installed in member 1 rear of taking a seat.Can also along the 2nd joint portion 5,5 ' direction of extension on (earthing component 8 and the elongated direction of distance between the member 1 of taking a seat) be provided with and carry out the force application mechanism of the application of force and save drive source.

Claims

1. walk supporting device, its have link in the lower end more than one leg support that earthing component is arranged and with the banded load transfer part in the upper end of leg support, and support at least a portion of user body weight by leg support via the load transfer part, it is characterized in that

Described load transfer part is made of the member of taking a seat that user rides on, and be provided with upper end and the banded linking part of the described member of taking a seat with described leg support, this linking part is configured to: be seated at user under the state of the described member of taking a seat, be positioned at the transverse width between the left and right sides Thigh bone of user.

2. walk supporting device, its have link in the lower end more than one leg support that earthing component is arranged and with the banded load transfer part in the upper end of leg support, and support at least a portion of user body weight by leg support via the load transfer part, it is characterized in that

Described load transfer part is made of the member of taking a seat that user rides on, and is provided with the linking part of the upper end that links described leg support below this member of taking a seat.

3. walk supporting device according to claim 1 and 2 is characterized in that,

Described leg support is provided with pair of right and left at least, about being linked to the described earthing component of the lower end of each leg support constitute be loaded on user about on each foot, described linking part constitute have allow about each leg support at the fore-and-aft direction and the degree of freedom of swing transversely.

4. walk supporting device according to claim 3 is characterized in that, described linking part constitutes the horizontal swing fulcrum of a leg support in the leg support of the described left and right sides and the horizontal swing fulcrum of another leg support is positioned on the same axis of fore-and-aft direction.

5. walk supporting device according to claim 3 is characterized in that, linking via joint portion in the lower end of described each leg support has described earthing component, and this joint part leans on laterally inboard position in the ratio transverse width central authorities of described earthing component.

6. walk supporting device according to claim 1 and 2 is characterized in that, described leg support has and is the middle joint portion that makes described earthing component and described distance of taking a seat between the member change and move, and possesses the drive source that drives this joint portion.

7. walk supporting device according to claim 6 is characterized in that, described drive source is configured in the end of the described linking part side of described leg support.

8. walk supporting device according to claim 1 and 2 is characterized in that, the described member of taking a seat has transverse width than rear portion and anterior narrow necking part in the middle of fore-and-aft direction, and the front portion of the described member of taking a seat is crooked upward.

9. walk supporting device according to claim 8 is characterized in that, the front portion of the described member of taking a seat forms the bifilar shape that the horizontal pars intermedia of excision forms.