CN101132755B

CN101132755B - Walking assisting device

Info

Publication number: CN101132755B
Application number: CN200680007074.1A
Authority: CN
Inventors: 芦原淳; 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: 2010-09-15
Anticipated expiration: 2026-05-29
Also published as: CN1868434A; CN101119696A; CN101119696B; CN101184462B; CN101119695A; CN1868434B; CN101132755A; CN101119695B; CN101184462A

Abstract

A walking assistance device having leg links (2L, 2R) connected to a load transmission section (1) via a first joint (3). The leg links (2L, 2R) can be bent and stretched at intermediate second joints (5, 5), and the leg links (2L, 2R) are each formed into a length that enables, even when the user of the device stands upright, the leg links to be in a bent state where the second joints (5, 5) project forward of a standard line (L2), where the standard line (L2) is a line connecting the pivot (3a) of swing in the front-back direction of each leg link (2L, 2R) and a third joint (7, 7) at the lower end of the leg link (2L, 2R). Moment in a forwardly tilting direction occurring in each leg link (2L, 2R) when the user stands upright is reduced to enhance stability. A projection (42, 42) is provided on each leg link (2L, 2R), and the projection projects in the opposite direction, in the front-back direction, to a second joint (5, 5) relative to the standard line (L2). Drive sources (9, 9) for the second joints (5, 5) are mounted on the projections for a front-back weight balance relative to the standard line (L2). Drive force from the drive sources (9, 9) is transmitted to the second joints (5, 5) through drive force transmission means (91, 91).

Description

Walk supporting device

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

In the prior art, as this kind walk supporting device, known have a following apparatus: the leg support that it has the load transfer part and is linked to this load transfer part, and support the body weight of user at least a portion by leg support through the load transfer part, alleviate the load that acts on the user lower limb and auxiliary user walking (such as reference TOHKEMY 2003-220102 communique).Load transfer part in 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 connected in the pair of right and left leg support both lateral sides of waist supporting strap.In addition, 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 the foot's installation portion that is installed on user foot is linked to the lower end of leg support through the 3rd joint portion.And, will be equipped on the leg support with the co-axial drive source of the 2nd joint portion, order about the 2nd joint portion by this drive source and rotate and the body weight Reduction of Students' Study Load auxiliary force of generation supporting user part body weight.

But, generally speaking, under the axial state of user, becoming extended configuration for making leg support, it forms and meets the long length of user lower limb, thus, is necessary to make special-purpose device according to individual's difference, and cost uprises.Therefore, regard the swing fulcrum on the leg support fore-and-aft direction at binding the 1st joint portion place and the line of the 3rd joint portion as datum line, described leg support forms: even under the axial state of user, the 2nd joint portion also can be in the length to the outstanding state in datum line the place ahead.Thus, by the control of drive source, regulate the height of the load transfer part that meets user automatically.So, need not to make special-purpose device according to individual's difference, realized the reduction of cost because of having versatility.

Yet under the user erectility, leg support becomes when bending the state of bending, and can produce following problem.Promptly, because under the erectility of user, described datum line almost becomes vertically, under the situation that the 2nd joint portion will be given prominence to forward than datum line, because of having comprised that can produce with the 3rd joint portion to leg support with the weight of the leg support of the co-axial drive source weight of the 2nd joint portion be shaking moment on the direction that leans forward at center, and the load transfer part made thrust in order to forward.In addition, under the situation that the 2nd joint portion will rearward be given prominence to than datum line, can produce with the 3rd joint portion to leg support be shaking moment on the hypsokinesis direction at center, and the load transfer part is made thrust in order to backward.

Summary of the invention

The present invention carries out after having used for reference relevant background, its purpose is to provide following a kind of walk supporting device: although this device can prevent to have used the leg support with following length also can be to the thrust of load transfer part effect with fore-and-aft direction, thereby improved its stability; Described length is, even at user be under the axial state, leg support also is curved length of bending state.

And, in order to reach this purpose, the invention provides a kind of walk supporting device, it has the load transfer part, leg support and foot's installation portion, wherein, described leg support have through the 1st joint portion in front and back upwards swing be attached at the 1st cradle portion below this load transfer part freely, the 2nd cradle portion with the lower end that is attached at described the 1st cradle portion through the 2nd joint portion, described foot installation portion is attached at the lower end of described the 2nd cradle portion through the 3rd joint portion, be installed in the foot of user, and, described walk supporting device is through the body weight of load transfer part by described leg support and described foot installation portion supporting user at least a portion, it is characterized in that, to link the line of swing fulcrum that described leg support makes progress in front and back and described the 3rd joint portion as datum line, described swing fulcrum is at described the 1st joint portion place, the length that described leg support forms is: even under the axial state of user, described the 2nd joint portion also is in to the outstanding flexion in the place ahead of datum line or rear, on described the 1st cradle portion, be provided with protuberance, this protuberance is upwards opposite with described the 2nd joint portion direction outstanding with respect to datum line in front and back with respect to the outstanding direction of described datum line, and, on this protuberance, be equipped with wt pts.

When user is upright, leg support is produced shaking moment on lean forward direction (when the 2nd joint portion will forwards be given prominence to than datum line) or the hypsokinesis direction (when the 2nd joint portion will rearward be given prominence to than datum line) because the weight (not comprising wt pts) of leg support can be the center with the 3rd joint portion.Yet according to the present invention, wt pts is positioned at and clips the reverse position that datum line and the 2nd joint portion make progress in front and back, therefore, is reverse by the shaking moment that weight produced of wt pts with the shaking moment that weight produced by leg support.That is, wt pts plays the effect of static organ, comprises that the whole shaking moment of the leg support of wt pts diminishes.Its result, because of this shaking moment act on the load transfer part fore-and-aft direction on thrust also reduce, improved stability.

In addition, at leg support with the 2nd joint portion during to curved the bending of the outstanding mode in the place ahead of datum line, when the lower limb of user was forwards shown, it was the shaking moment of center back side that leg support is produced with the swing fulcrum on the fore-and-aft direction at the 1st joint portion place, becomes the resistance that lower limb is shown forward.Here, according to the present invention, at the 2nd joint portion under the outstanding situation in datum line the place ahead, because protuberance is outstanding to the rear of datum line, so carrying that weight at the wt pts of protuberance can produce with the swing fulcrum on the fore-and-aft direction at the 1st joint portion place is the shaking moment forwards at center, utilizes forwards showing of the auxiliary leg support of this moment.So,, feel also can not for forwards showing of leg support with opposing even under the situation of the mode bending that leg support will forwards be given prominence to than datum line with the 2nd joint portion.

But when the moment of inertia of the leg support of the 1st joint portion became big, the lower limb of user can be subjected to the moment of inertia of leg support and feel heavy when walking.In this case, if protuberance is located at the place, end of the 1st joint portion side of leg support, lift-launch can shorten at the wt pts of this protuberance and the distance between the 1st joint portion.So, can reduce moment of inertia, thereby be convenient to walking around the leg support of the 1st joint portion.

Being preferably the drive source that wt pts used by the 2nd joint portion herein, constitutes.That is, the drive source that the 2nd joint portion is used was the object of lift-launch on leg support originally, and by this drive source dual-purpose being done wt pts, can avoid the increase of leg support weight, was rational.In this case, can be passed to the 2nd joint portion place through the driving force transmission mechanism by the driving force that drive source produced.

In addition, being preferably the drive source transmission mechanism is made of the line formula transmission mechanism that has used the metal wire that links the 2nd joint portion and drive source.Here, also can or use the oil pressure transmission mechanism of oil pressure cylinder to constitute the drive source transmission mechanism by the supporting structure that has used parallel bracket.But, adopt line formula transmission mechanism can realize more that then lightweight and cost lower, be favourable.

Description of drawings

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

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

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

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

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

Fig. 6 is the axonometric chart of leg support end portion of the walk supporting device of embodiment.

Fig. 7 (a) is the axonometric chart of the member of taking a seat of the walk supporting device of embodiment;

(b) be the axonometric chart of member core of taking a seat.

Symbol description

The 1-member (load transfer part) of taking a seat, 2L, 2R-leg support, 3-the 1st joint portion, 4-the 1st cradle portion, 42-protuberance, 5-the 2nd joint portion, 7-the 3rd joint portion, 8-foot installation portion, 9-drive source, 91-driving force transmission mechanism, 91a-line.

The specific embodiment

Below, the walk supporting device in the 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 can ride on; Be configured in pair of right and

left leg support

2L, 2R below the member 1 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, the 1st cradle portion 4 through the 1st joint portion 3 by fore-and-aft direction on swing be attached at freely the member 1 of taking a seat below; The 2nd cradle portion 6 is linked to the lower end of the 1st cradle portion 4 through 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 foot's installation portion 8 on each foot.On 2L, 2R on each foot support, also be equipped with 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 are applied power on the direction of extension, make it to produce the supporting force (to call body weight Reduction of Students' Study Load auxiliary force in the following text) 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 by the member 1 of taking a seat, and has alleviated the load that acts on the user P foot.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.

Walk supporting device in the present embodiment is, user P only need to be installed in foot's installation portion 8 on the foot and the member 1 that falls to being seated to take a seat on just can use, 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, 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.And, the device miniaturization that becomes, even also can use in narrow and small place, alleviating and waving guaranteeing of arm freedom of constraint sense improved ease of use significantly.

Express as Fig. 4, Fig. 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 to be made of the support plate 33 for the guide rail 32 of oval arcuation and support rails 32 on the fore-and-aft direction.In addition, in the present embodiment,, also can constitute guide rail 32 by the circular-arc groove that on support plate 33, forms though constitute 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 mass 41, and this slide mass 41 has each a pair of roller 41a up and down of clamping guide rail 32 up and down, slide mass 41 through roller 41a freedom of movement be sticked in guide rail 32.So, each

leg support

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

leg support

2L, 2R is 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 on the fore-and-aft direction of each leg support 2L, the 2R at each the 1st joint portion 3 place 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 acted on the place ahead of the swing fulcrum 3a on the fore-and-aft direction that application point on the member 1 of taking a seat deviates to each

leg support

2L, 2R, the member 1 of taking a seat tilted to the front lower place.And when the member 1 of taking a seat so continues to tilt, the member 1 of taking a seat just can be with respect to user P and off normal rearward.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 then in the downside displacement rearward of swing fulcrum 3a, reduced the distance of the fore-and-aft direction between this fulcrum 3a and the body weight application point like this, the rotating torque that acts on the member 1 of taking a seat also just 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, under 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 the fore-and-aft direction of member 1 under user P hip that therefore can suppress to take a seat.

In addition, the slide mass 41 of each

leg support

2L, 2R upper end is sticked in the following part of guide rail 32, and this part 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, needn't make that the length of guide rail 32 is very long can guarantee following swing stroke; This swing stroke is followed the swing stroke forward of showing action forward of each lower limb of user P for each leg support 2L, 2R.In addition, each place, end is equipped with block piece 32a for the disengaging that prevents the 1st cradle portion 4 in 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, the

hinge member

36,36 of upper end, front and back and being supported on the

bolster

35,35 on the fore-and-aft direction by axle through being installed on support plate 33, and the

bolster

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

rest pad

34,34 in front and back respectively, and this

rest pad

34,34 is installed in the member 1 following horizontal central authorities of taking a seat.So, each joint component 31 (the 1st joint portion 3) teeter be linked to freely the member 1 of taking a seat below.Therefore, allow that each leg support 2L, 2R carry out horizontal swing, the lower limb of user P can be put outward.

In addition, the joint component 31 used of the joint component 31 used of left side leg support 2L and right side leg support 2R is by 35 supportings of common bolster.That is, the teeter fulcrum of the 1st joint portion 3 used of left side leg support 2L and the teeter fulcrum of the 1st joint portion 3 that right side leg support 2R uses are positioned on the same axis of fore-and-aft direction.Here, under the state of single lower limb supporting, the weight of free lower limb (lower limb of foot's built on stilts) side leg support (as described later, when producing the situation of following auxiliary force, it then is this auxiliary force, this auxiliary force is meant, will make the power on the direction of leg support bending add to this leg support, the power of lifting with auxiliary free lower limb) the teeter fulcrum of the 1st joint portion 3 used through this leg support and acting on the member 1 of taking a seat.And, when the teeter fulcrum of the 1st joint portion 3 that the teeter fulcrum of the 1st joint portion of using at left side leg support 2L 3 and right side leg support 2R use separates, under the state of single lower limb supporting, because the weight of free lower limb side leg support, the teeter fulcrum of the 1st joint portion of using with supporting leg (lower limb that foot lands) side leg support 3 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 rotates.

To this, in the present embodiment, under the state of single lower limb supporting, because the teeter fulcrum of the 1st joint portion of using as the free lower limb side leg support of the application point of free lower limb side leg support weight 3, the teeter fulcrum of the 1st joint portion of using with supporting leg side leg support 3 is positioned on the same axis (bolster 35), and therefore the teeter fulcrum of the 1st joint portion of using with supporting leg side leg support 3 is that the lateral rotation moment at center can not act on to the member 1 of taking a seat.So, can prevent the rotation 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 is passed to ground by supporting leg side leg support, and the weight of free lower limb side leg support can not act on to the member 1 of taking a seat.

In addition, to link the line of the swing fulcrum 3a of each

leg support

2L, 2R fore-and-aft direction at the 1st joint portion 3 places and the 3rd joint portion 7 as datum line L2 (with reference to Fig. 2), each

leg support

2L, 2R are by forming: though user P under axial state, the 2nd joint portion 5 also can be to the length of the outstanding case of bending in the place ahead of datum line L2.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, there is no need to make the length of special-purpose device and adjusting leg support, can realize that because of having versatility cost reduces according to individual's difference.

Here, when user P was in erectility, datum line L2 was almost vertically, comprised that nearly all part of leg support 2L, the 2R of the 2nd joint portion 5 all is positioned at the place ahead of the 3rd joint portion 7.Therefore, when being configured in drive source 9 with the 2nd joint portion 5 coaxial going up, user P owing to comprise the weight of each

leg support

2L, 2R of drive source 9, is the bigger shaking moment on the direction that leans forward at center with the 3rd joint portion 7 in each leg support 2L, the generation of 2R place under axial state.And, because this shaking moment is made thrust in order to forward to the member 1 of taking a seat.In addition, when the lower limb of user P forwards stretched out, can produce with the swing fulcrum 3a on the fore-and-aft direction of the 1st joint portion 3 at

leg support

2L, 2R place was the rearward shaking moment at center, and the forward swing of giving lower limb is with the opposing sense.In addition, when going up with the 2nd joint portion 5 is coaxial as drive source 9 is configured in, increase around the moment of inertia of leg support 2L, the 2R of the 1st joint portion 3, 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, promptly be equipped with on the slide mass 41 of the upper end of the 1st cradle portion 4 by to the outstanding protuberance 42 that constitutes by board member in following rear, and the drive source 9 that has carried the 2nd joint portion 5 usefulness on this protuberance 42 is as wt pts; Described rear is meant for datum line L2 with the 2nd joint portion 5 and upwards is negative side's rear mutually in front and back.Thus, when user P when upright, what produce at each leg support 2L, 2R place because of 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 backswing moment that the weight because of drive source 9 produces.That is, drive source 9 plays the effect of static organ, makes to comprise 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 improved stability.

And when the lower limb of user P was forwards shown, the swing fulcrum 3a that can produce with fore-and-aft direction because of the weight of drive source 9 was the shaking moment forwards at center, by showing forward of the auxiliary lower limb of this moment.Therefore, can separate the following opposing sense that disappears: showing the problem of feeling with opposing with the place ahead of giving lower limb that when the outstanding mode in the place ahead of datum line L2 makes leg support 2L, 2R in bending, exists when the 2nd joint portion 5.In addition, owing to the distance between weight drive source 9 and the swing fulcrum 3a shortens, thereby, diminish 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 structure 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,,, constitute driving force transmission mechanism 91 by having used the line formula transmission mechanism of the metal wire 91a that links the 2nd joint portion 5 and drive source 9 for realizing lightweight and reducing cost.

Specific as follows described.That is, 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 electronic motor and the drive pulley used by this electric motor driven metal wire 91a.Two

wires

91a, 91a penetrate in 2

conduit

91b, 91b, and described 2

conduit

91b, 91b are configured between the formed flange 43 in the 2nd joint portion 5 vicinity and drive source 9 of 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, two

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 on the 1st cradle portion 4, form the jut that engages with this groove, be defined within the limits prescribed with respect to the swing stroke of the 1st cradle portion the 4, the 2nd cradle portion 6.

As shown in Figure 6, the 3rd joint portion 7 is made of universal joint, this universal joint be by be linked to the fork shaft 71 of the 2nd cradle portion 6 lower ends through 2 axial force sensors 10 and be attached on the axle 72 that is horizontally set at fork shaft 71 bottoms rotation freely and the movable piece 73 that can freely carry out banking motion in the axial direction constitute.Here, from transverse observation, described body weight Reduction of Students' Study Load auxiliary force acts on the described datum line L2; Described datum line L2 is leg support 2L, the swing fulcrum 3a of 2R fore-and-aft direction 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 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 force transducer 10 detected 2.

Foot's installation portion 8 has: footwear 81 and be 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 joint (collar) 83, the 3 joint portions 7 on shackle 82 is linked on this joint 83.In addition, as shown in Figure 2, the elastic plate 84 of pad in the following portion of shackle 82 is equipped with as 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.

To each leg support 2R, when 2L controls, according to the detected value of two

pressure transducers

85,85 of each foot's installation portion 8, calculate act on each foot of user service load with respect to the ratio that acts on the total load on the bipod.Then, calculate the target control value of following numerical value as the body weight Reduction of Students' Study Load auxiliary force that should on each leg support, produce; Described numerical value is the numerical value behind the load proportion that multiply by each foot on the body weight Reduction of Students' Study Load auxiliary force setting value that presets.And, drive source 9 is controlled so that according to the detected value of described force transducer 10 calculate the body weight Reduction of Students' Study Load auxiliary force of reality can be consistent with the controlled target value.In addition, under the state of single lower limb supporting, only produce the body weight Reduction of Students' Study Load auxiliary force of setting value at supporting leg side leg support place.In this case, stop the drive source drives of free lower limb side leg support, and make the 2nd joint portion 5 be in free rotary state.In addition, also can add so that the power on its bending direction is assisted mentioning of free legs and feet portion free lower limb side leg support by drive source.

But during from forward observation, body weight Reduction of Students' Study Load auxiliary force acts on the line of 7 of the bolster 35 of the horizontal fulcrum that links the 1st joint portion 3 and the 3rd joint portions.Therefore, when the lateral separation that bolster 35 and the 3rd joint portion are 7 was elongated, the transverse component of body weight Reduction of Students' Study Load auxiliary force became big, acted on foot's installation portion 8 and the increase of the cross force at member 1 place of taking a seat.So, in the present embodiment, as shown in Figure 3, with the skew setting to the inside sidelong of the joint 83 above the shackle 82, so that the 3rd joint portion 7 is positioned at the transverse width central authorities laterally inboard position of deflection than foot installation portion 8.Thus, the lateral separation between bolster 35 and the 3rd joint portion 7 shortens, and acts on foot's installation portion 8 and the cross force at member 1 place of taking a seat diminishes, and has improved the stability of the foot's installation portion 8 and the member 1 of taking a seat.

As mentioned above, used the whole bag of tricks, and in the present embodiment, the member 1 of taking a seat itself has also been descended the time for the stabilisation of the member 1 of taking a seat.Below this is described in detail.Shown in Fig. 7 (a), the member 1 of taking a seat forms the shape that has the transverse width necking section 1c narrower than rear portion 1a and anterior 1b in the centre of fore-and-aft direction.And anterior 1b is bending (with reference to Fig. 2) upward, and, form and excised two bursts of shapes that horizontal pars intermedia forms.User places the both lateral sides of necking section 1c with left and right sides lower limb and is seated 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 bends up upward, lower limb is not easy to meet anterior 1b in the walking when showing forward, has guaranteed the freedom of action of lower limb in the walking.In addition, form two strands 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 1 of taking a seat produce deflection owing to the touching of lower limb.And 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 the ischium contact, can transmit body weight Reduction of Students' Study Load auxiliary force with respect to user infalliblely.

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

More than, though with reference to the accompanying drawings embodiments of the present invention are illustrated, the present invention also not only is defined in above-mentioned embodiment.For example, also drive source 9 can be arranged at the 2nd joint portion 5 coaxial on, and weight things such as battery that carry as wt pts at protuberance 42.In addition, under the axial state of user, each leg support can also be in the 2nd joint portion to the outstanding curved state of bending in the rear of datum line, in this case, on each leg support, be provided with to the outstanding protuberance in datum line the place ahead, and carry wt pts such as drive source, battery in the above.In addition, in the above-described embodiment, though constitute the 1st joint portion 3 in mode with circular-arc guide rail 32, make each leg support 2L of the 1st joint portion 3, the top that the swing fulcrum 3a on the 2R fore-and-aft direction is positioned at the member 1 of taking a seat, also can constitute the 1st joint portion 3 by the following joint portion that belongs to simple structure, this simple structure has the lateral shaft that the upper end swing of each

leg support

2L, 2R is carried out freely the axle supporting.In addition, can also be by constituting the load transfer part as holding to bring with the lumbal branch in existing.In addition, for auxiliary action inconvenient user walking, among in said embodiment left and right sides leg support 2L, the 2R, also can only stay the leg support of the inconvenient lower limb side of user, and omit the opposite side leg support owing to single fracture of leg.

Claims

1. walk supporting device, it has the load transfer part, leg support and foot's installation portion, wherein, described leg support have through the 1st joint portion in front and back upwards swing be attached at the 1st cradle portion below this load transfer part freely, the 2nd cradle portion with the lower end that is attached at described the 1st cradle portion through the 2nd joint portion, described foot installation portion is attached at the lower end of described the 2nd cradle portion through the 3rd joint portion, be installed in the foot of user, and, described walk supporting device is through the body weight of load transfer part by described leg support and described foot installation portion supporting user at least a portion, it is characterized in that

To link the line of swing fulcrum that described leg support makes progress in front and back and described the 3rd joint portion as datum line, described swing fulcrum is at described the 1st joint portion place, the length that described leg support forms is: even under the axial state of user, described the 2nd joint portion also is in to the outstanding flexion in the place ahead of datum line or rear

Be provided with protuberance on described the 1st cradle portion, this protuberance is upwards opposite with described the 2nd joint portion direction outstanding with respect to datum line in front and back with respect to the outstanding direction of described datum line, and, on this protuberance, be equipped with wt pts.

2. according to right 1 described walk supporting device, it is characterized in that described the 2nd joint portion is outstanding to the place ahead of described datum line, described protuberance is outstanding to the rear of described datum line.

3. according to right 1 described walk supporting device, it is characterized in that described protuberance is located at the end of described the 1st joint portion side of described leg support.

4. according to right 1 described walk supporting device, it is characterized in that the drive source that described wt pts is used by described the 2nd joint portion constitutes, the driving force that is produced by this drive source is passed to described the 2nd joint portion through the driving force transmission mechanism.

5. according to right 4 described walk supporting devices, it is characterized in that described driving force transmission mechanism is made of the line formula transmission mechanism that has used the metal wire that links described the 2nd joint portion and described drive source.