JP2000051289A - Muscular power assisting device for caring and pneumatic actuator to be used for it - Google Patents

Muscular power assisting device for caring and pneumatic actuator to be used for it

Info

Publication number
JP2000051289A
JP2000051289A JP10229553A JP22955398A JP2000051289A JP 2000051289 A JP2000051289 A JP 2000051289A JP 10229553 A JP10229553 A JP 10229553A JP 22955398 A JP22955398 A JP 22955398A JP 2000051289 A JP2000051289 A JP 2000051289A
Authority
JP
Japan
Prior art keywords
mounting
joint
leg
actuator
rotatably
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP10229553A
Other languages
Japanese (ja)
Other versions
JP3771056B2 (en
Inventor
Ken Sawada
Keijiro Yamamoto
圭治郎 山本
謙 澤田
Original Assignee
Koganei Corp
株式会社コガネイ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koganei Corp, 株式会社コガネイ filed Critical Koganei Corp
Priority to JP22955398A priority Critical patent/JP3771056B2/en
Publication of JP2000051289A publication Critical patent/JP2000051289A/en
Application granted granted Critical
Publication of JP3771056B2 publication Critical patent/JP3771056B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To operate a muscular power assisting device with pneumatic actuators, of light weight and small size. SOLUTION: The leg mounting part 10 of the device main body 9 is made of a crus mounting part 11 and a thigh mounting part 15, which are made freely rotatable by a knee-side joint part 14, a trunk mounting part 20 is made freely rotatable with respect to the part 15 through a waist-side member 16 by a waist-side joint part 21 and an arm mounting part 30 is made of an upper arm mounting part 31 and a front arm mounting part 32 which are made freely rotatable by an elbow-side joint part 33. The pneumatic actuators 41 to 43 provided between the respective mounting parts freely rotatably connected through the parts 14, 21 and 33 are provided with actuator elements consisting of plate materials 45 mutually connected in a state of being freely swingable respectively with one end part as the center and bags 47 arranged between these and expanded and contracted by air supplied to the inside.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【0001】[0001]

【発明の属する技術分野】本発明は寝たきりの患者など
の被介護者を介護する際に介護者が装着して介護者に筋
力を補助するようにした技術に関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique worn by a caregiver to assist a caregiver with muscle strength when caring for a cared person such as a bedridden patient.

【0002】[0002]

【従来の技術】寝たきりの患者をはじめとして日常生活
に必要な基本動作ができない被介護者を抱き起こした
り、抱き下ろしたり、あるいは移動させる場合には、介
護者に加わる肉体的負担は過大なものとなっている。こ
のような介護者の肉体的負担を軽減するには、自立型ロ
ボットに任せることも考えられるが、現在では危険性が
あるだけでなく、被介護者に不快感や警戒感を与えるこ
とになるので、看護婦や家族あるい介護人などのよう
に、被介護者に優しく接することができる人々による介
護が好ましい。
2. Description of the Related Art If a care recipient, such as a bedridden patient, who cannot perform basic movements necessary for daily life is raised, hugged, or moved, the physical burden on the caregiver is excessive. Has become. In order to reduce the physical burden on the caregiver, it is conceivable to leave it to a self-supporting robot, but at present it is not only dangerous but also causes discomfort and caution to the care receiver Therefore, it is preferable to provide care by people who can gently contact the care receiver, such as nurses, family members, or caregivers.

【0003】[0003]

【発明が解決しようとする課題】しかしながら、介護者
により患者などの介護を行うには、前述したように、介
護者に加わる肉体的負担は過大なものとなるので、介護
者がスーツなどの衣服をまとうようにして筋力補助装置
を装着するだけで、背筋力、腕力および屈伸力などの筋
力をアシストすることができれば、介護者の肉体的負担
を軽減することができる。
However, as described above, in order for a caregiver to provide care for a patient or the like, the physical burden applied to the caregiver becomes excessive. If the muscular strength such as the back muscle strength, arm strength, and flexion / extension strength can be assisted simply by wearing the muscle strength assisting device while wearing the body, the physical burden on the caregiver can be reduced.

【0004】このような筋力補助装置、つまりパワーア
シスト装置ないしパワードスーツを得るには、患者など
介護される被介護人を介護人が直接腕の中に互いに身体
を密着させながら抱きあげたり、抱き下ろしたりして感
性を損なわないアシスト装置ないしスーツとする必要が
ある。また、人体の滑らかな動作を損なうことなく、柔
らかに被介護者に力を添えることができるアクチュエー
タが必要となり、介護者の手、足および腰の微妙な動き
に応じてアクチュエータの作動を制御することができる
ようにすることが必要である。介護者が違和感なく装着
することができるようにするには、アクチュエータは小
型かつ軽量であって、所要な出力を得ることができると
ともに、使用に際して安全性が高いものでなければなら
ない。
[0004] In order to obtain such a muscle strength assisting device, that is, a power assist device or a powered suit, a caregiver, such as a patient, holds or caress a care receiver while holding the body in close contact with each other directly in an arm. It is necessary to provide an assist device or a suit that does not impair the sensitivity by being lowered. In addition, an actuator that can softly apply force to the care receiver without impairing the smooth movement of the human body is required, and controls the operation of the actuator according to the delicate movement of the caregiver's hands, feet, and waist. It is necessary to be able to do that. In order for a caregiver to be able to wear it without feeling uncomfortable, the actuator must be small and lightweight, have a required output, and have high safety in use.

【0005】本発明の目的は、介護用筋力補助装置を軽
量かつ小型の空気圧アクチュエータにより作動し得るよ
うにすることにある。
[0005] It is an object of the present invention to enable a nursing strength assisting device to be operated by a lightweight and small pneumatic actuator.

【0006】[0006]

【課題を解決するための手段】本発明の介護用筋力補助
装置は、下腿装着部およびこれに対して膝側ジョイント
部により回動自在に連結された大腿装着部からなる脚装
着部と、前記大腿装着部に対して腰側部材を介して腰側
ジョイント部により回動自在に連結された胴装着部と、
前記胴装着部に設けられた上腕装着部およびこれに肘側
ジョイント部により回動自在に連結された前腕装着部か
らなる腕装着部とを有する装置本体と、前記それぞれの
ジョイント部により回動自在に連結される前記それぞれ
の装着部の間に取り付けられ、それぞれの前記装着部に
回動力を補助する空気圧アクチュエータとを有し、前記
空気圧アクチュエータは、それぞれ一端部を中心に相互
に揺動自在に連結された2つの板材と、これらの板材の
間に配置され内部に供給される空気により膨張収縮する
袋体とからなるアクチュエータ要素を有することを特徴
とする。本発明にあっては、介護人の身体前面にはアク
チュエータなどの構造物が配置されていないので、被介
護人に対する抱き上げ動作を被介護人に違和感を与える
ことなく、円滑に行うことができる。
According to the present invention, there is provided a muscle strength assisting device for nursing care, comprising: a leg mounting portion comprising a lower leg mounting portion and a thigh mounting portion rotatably connected to the lower leg mounting portion by a knee joint. A torso mounting portion rotatably connected to a thigh mounting portion by a waist side joint portion via a waist side member,
An apparatus body having an upper arm mounting portion provided on the torso mounting portion and an arm mounting portion including a forearm mounting portion rotatably connected to the upper arm mounting portion by an elbow side joint portion, and rotatable by the respective joint portions; A pneumatic actuator attached between each of the mounting portions connected to each other, and assisting the turning power to each of the mounting portions, wherein each of the pneumatic actuators is capable of swinging about one end. It is characterized by having an actuator element consisting of two connected plate members and a bag body arranged between these plate members and expanded and contracted by air supplied to the inside. According to the present invention, since no structure such as an actuator is arranged on the front of the body of the care giver, the raising operation for the care receiver can be performed smoothly without giving the care recipient a sense of incongruity.

【0007】本発明の空気圧アクチュエータは、下腿に
装着される下腿装着部と、これに対して膝側ジョイント
部により回動自在に連結されて大腿に装着される大腿装
着部との相互間に回動力を補助する空気圧アクチュエー
タであり、脚に装着される脚装着部と、これに対して腰
側部材を介して腰側ジョイント部により回動自在に連結
されて胴に装着される胴装着部との相互間に回動力を補
助する空気圧アクチュエータであり、さらに、上腕に装
着される上腕装着部と、これに対して肘側ジョイント部
により回動自在に連結されて前腕に装着される前腕装着
部との相互間に回動力を補助する空気圧アクチュエータ
である。それぞれの空気圧アクチュエータは、隣り合う
板材が相互に連結端部で揺動自在となって連結された複
数の板材からなる板材組立体と、前記それぞれの板材相
互の間に配置され、前記連結端部に対応する部分に折り
曲げ端部を有し空気により膨張収縮する複数の2つ折り
の袋体とを有している。また、それぞれの板材の連結端
部をリング部材によって連結されている。
[0007] The pneumatic actuator of the present invention rotates between a lower leg mounting portion mounted on the lower leg and a lower leg mounting portion mounted on the thigh so as to be rotatably connected to the lower leg mounting portion by a knee joint. A pneumatic actuator for assisting power, a leg mounting portion mounted on the leg, and a torso mounting portion mounted on the torso while being rotatably connected to the leg by a waist joint via a waist member. A pneumatic actuator that assists the turning force between the two, and further includes an upper arm mounting part mounted on the upper arm, and a forearm mounting part mounted on the forearm by being rotatably connected to the upper arm mounting part by an elbow joint. This is a pneumatic actuator that assists the rotational force between the actuators. Each of the pneumatic actuators is a plate material assembly including a plurality of plate materials in which adjacent plate materials are swingably connected to each other at a connection end, and is disposed between the respective plate materials; And a plurality of two-folded bags that have bent ends at the portions corresponding to. Further, the connection end portions of the respective plate members are connected by a ring member.

【0008】[0008]

【発明の実施の形態】以下、本発明の実施の形態を図面
に基づいて詳細に説明する。
Embodiments of the present invention will be described below in detail with reference to the drawings.

【0009】図1は本発明の一実施の形態である介護用
筋力補助装置の装置本体を示す正面図であり、図2は図
1の側面図である。
FIG. 1 is a front view showing an apparatus main body of a muscular strength assisting device according to an embodiment of the present invention, and FIG. 2 is a side view of FIG.

【0010】装置本体9は介護者の左右の脚に対応して
これらに装着される脚装着部10と、介護者の胴に対応
してこれに装着される胴装着部20と、介護者の左右の
腕に対応してこれらに装着される腕装着部30とを有し
ている。これらの脚装着部10、胴装着部20および腕
装着部30は、バンドなどの部材により図2において二
点鎖線で示す介護者の各部位に締め付けられるようにな
っている。
The apparatus body 9 includes a leg mounting portion 10 mounted on the left and right legs of the caregiver corresponding to the left and right legs, a torso mounting portion 20 mounted on the caregiver corresponding to the torso, and a caregiver. An arm mounting portion 30 is provided corresponding to the left and right arms. The leg mounting part 10, the torso mounting part 20, and the arm mounting part 30 are fastened to each part of the caregiver indicated by a two-dot chain line in FIG. 2 by a member such as a band.

【0011】脚装着部10は介護者の膝から下の部分の
脚部つまり下腿部に装着される左右の下腿装着部11を
有し、これらの下端部には足側ジョイント部12により
足部13が回動自在に装着されている。下腿装着部11
の上端部には膝側ジョイント部14により大腿装着部1
5が回動自在に連結されており、この大腿装着部15は
介護者の膝から上の部分の脚部つまり大腿部に装着され
るようになっている。
The leg mounting portion 10 has left and right lower leg mounting portions 11 to be mounted on legs, ie, lower legs, below the knees of the caregiver. The part 13 is rotatably mounted. Lower leg attachment part 11
At the upper end of the thigh mounting part 1 by the knee joint part 14
5 is rotatably connected, and the thigh mounting portion 15 is designed to be mounted on a leg portion above the knee of the caregiver, that is, the thigh portion.

【0012】脚装着部10には、図2に示すように、腰
側部材16が大腿付け根ジョイント部17により回動自
在に装着されており、介護者が直立姿勢で足のみを振り
上げた場合などのように、大腿を腰に対して回動させた
場合に、大腿付け根ジョイント部17を中心として、脚
装着部10と腰側部材16とが相対的に回動することに
なる。
As shown in FIG. 2, a waist side member 16 is rotatably mounted on the leg mounting portion 10 by a thigh base joint portion 17, and when the caregiver swings up only the legs in an upright posture. When the thigh is rotated with respect to the waist as described above, the leg mounting portion 10 and the waist side member 16 are relatively rotated about the thigh base joint portion 17.

【0013】腰側部材16は腰側ジョイント部21によ
り胴装着部20に対して回動自在に連結され、この胴装
着部20は介護者の胴の部分に装着されるようになって
おり、この腰側ジョイント部21は腰のみの回転支点、
つまり足を動かさずに上体つまり背骨のみを屈めた場合
における回転支点となっている。このように、胴装着部
20は腰側部材16を介して、2つのジョイント部1
7,21により脚装着部10に連結されている。
The waist-side member 16 is rotatably connected to the torso mounting portion 20 by a waist-side joint portion 21. The torso mounting portion 20 is mounted on the torso of the caregiver. This waist side joint part 21 is a rotation fulcrum of only the waist,
That is, it is a rotation fulcrum when the upper body, that is, only the spine is bent without moving the foot. Thus, the torso mounting part 20 is connected to the two joint parts 1 via the waist side member 16.
7 and 21 are connected to the leg mounting portion 10.

【0014】胴装着部20の上端部には左右に突出する
支持部材22が固定され、それぞれの支持部材22には
介護者の上腕に装着される上腕装着部31が肩側ジョイ
ント部23により回動自在に取り付けられている。それ
ぞれの上腕装着部31の先端部には、介護者の前腕に装
着される前腕装着部32がそれぞれ肘側ジョイント部3
3により回動自在に連結されている。
A support member 22 projecting left and right is fixed to an upper end portion of the torso mounting portion 20, and an upper arm mounting portion 31 to be mounted on the upper arm of the caregiver is turned to each support member 22 by a shoulder joint 23. It is movably mounted. At the tip of each upper arm mounting part 31, a forearm mounting part 32 to be mounted on the forearm of the caregiver is connected to the elbow joint part 3
3 are connected rotatably.

【0015】介護者が直立した時には、本補助装置の自
重が介護者に負担とならないように本補助装置は自立す
るようになっている。介護者が作業している時、すなわ
ち直立していない時には本補助装置の自重がアクチュエ
ータによる補助力により負担されて、同様に介護者の負
担とはならない。
When the caregiver stands upright, the auxiliary device is self-supporting so that the weight of the auxiliary device does not burden the caregiver. When the caregiver is working, that is, when the caregiver is not upright, the self-weight of the assist device is borne by the assisting force of the actuator, and similarly does not burden the caregiver.

【0016】図2に示すように、それぞれの下腿装着部
11と、それぞれの大腿装着部15との間には、下腿装
着部11と大腿装着部15との相互間の回動力を補助す
る脚力アシスト用の空気圧アクチュエータ41が設けら
れている。大腿装着部15の上端は前面側に突出し、そ
の先端部分に、図2に示すように、大腿付け根ジョイン
ト部17が設けられ、腰側部材16が大腿付け根部17
に回動自在に連結されている。
As shown in FIG. 2, between the lower leg mounting portions 11 and the respective thigh mounting portions 15, there is a leg force for assisting the rotation between the lower leg mounting portions 11 and the thigh mounting portions 15. A pneumatic actuator 41 for assist is provided. The upper end of the thigh mounting portion 15 protrudes forward, and a thigh root joint 17 is provided at the distal end thereof, as shown in FIG.
Is rotatably connected to the

【0017】腰側部材16に固定されるとともに、腰側
ジョイント部21により胴装着部20に対して回動自在
となった駆動部材24の背面側の突出端には上方向に延
びる駆動部材25が回動自在に連結されている。この駆
動部材25の先端と胴装着部20の上端部に回動自在に
取り付けられた連結部材26の先端とが相互に回動自在
に連結されている。それぞれの駆動部材24,25と連
結部材26は、図1に示すように、2本ずつ設けられて
おり、それぞれの駆動部材24,25の間には、脚装着
部10と胴装着部20との相互間の回動力を補助する背
筋および腹筋アシスト用の空気圧アクチュエータ42が
設けられている。
A drive member 25 fixed to the waist member 16 and extending upward from a rear end of a drive member 24 rotatable with respect to the trunk mounting portion 20 by a waist joint 21 is provided. Are rotatably connected. The distal end of the driving member 25 and the distal end of a connecting member 26 rotatably attached to the upper end of the body mounting portion 20 are rotatably connected to each other. As shown in FIG. 1, two drive members 24 and 25 and two connection members 26 are provided, and between each drive member 24 and 25, the leg mounting part 10 and the torso mounting part 20 are provided. A pneumatic actuator 42 for assisting the spine and abdominal muscles to assist the rotational force between them is provided.

【0018】それぞれの上腕装着部31と、それぞれの
前腕装着部32との間には、これらの間に回動力を補助
する腕力アシスト用の空気圧アクチュエータ43が設け
られている。それぞれの空気圧アクチュエータ41〜4
3の基本構造は同様であり、アクチュエータ要素により
形成されている。
A pneumatic actuator 43 for assisting arm strength is provided between each upper arm mounting part 31 and each forearm mounting part 32 for assisting a turning force therebetween. Each pneumatic actuator 41-4
The basic structure of No. 3 is the same, and is formed by an actuator element.

【0019】図3はアクチュエータ要素44を示す斜視
図であり、このアクチュエータ要素44はそれぞれアル
ミニウム合金などの軽合金からなる2つの四辺形の板材
45を有し、これらの板材45はそれぞれの一端部側の
連結端部でリング状の連結金具46により連結されて相
互に揺動自在となっており、リング状の連結金具46に
対して板材45がずれることにより板材45の揺動中心
の位置に自由度が設定されている。
FIG. 3 is a perspective view showing an actuator element 44. Each of the actuator elements 44 has two quadrangular plate members 45 made of a light alloy such as an aluminum alloy. Are connected by a ring-shaped connection fitting 46 at the connection end on the side, and are swingable with respect to each other. The degree of freedom is set.

【0020】板材45の間には、血圧測定用のカフと同
様にゴムやプラスチックなどの弾性変形自在の材料から
なる袋体47が、板材45の連結端部に対応する部分に
折り曲げ端部が位置するようにして2つ折りとなって配
置されており、この袋体47は内部に供給される空気に
よって膨張収縮する。このように、袋体47は2つ折り
となっているので、膨張収縮に際しては、袋体47の両
端の自由端の部分が折り曲げ端部を中心として相互に接
近離反するようになり、袋体47は連結端部を中心とし
て揺動運動することになる。
A bag 47 made of an elastically deformable material such as rubber or plastic, similar to the cuff for measuring blood pressure, has a bent end at a portion corresponding to the connecting end of the plate 45 between the plate 45. The bag body 47 is folded and arranged so as to be positioned, and the bag body 47 expands and contracts by air supplied to the inside. As described above, since the bag body 47 is folded in two, at the time of inflation and contraction, the free ends at both ends of the bag body 47 approach and separate from each other with the bent end as the center. Swings about the connection end.

【0021】図4は脚力アシスト用の空気圧アクチュエ
ータ41を拡大して示す図であり、図3に示されたアク
チュエータ要素44を複数個組み合わせることによって
形成されている。この場合には、10枚の板材45a〜
45jをジグザグ状に連結金具46により連結して板材
組立体48aが形成されている。つまり、空気圧アクチ
ュエータ41の両端部に位置する板材45a,45jを
除き、他の板材は隣り合う板材に対して両端部において
連結金具46により相互に揺動自在に連結されている。
FIG. 4 is an enlarged view showing a pneumatic actuator 41 for assisting leg force, which is formed by combining a plurality of actuator elements 44 shown in FIG. In this case, the ten plate members 45a to 45
45j are connected in a zigzag manner by a connection fitting 46 to form a plate assembly 48a. In other words, except for the plate members 45a and 45j located at both ends of the pneumatic actuator 41, the other plate members are connected to adjacent plate members at both ends by the connection fittings 46 so as to be swingable with each other.

【0022】隣り合う2枚の板材の連結端部は相互に紐
材、ワイヤ、あるいは帯材などからなる弾性変形自在の
規制部材49により、連結端部が離れる距離が規制され
ている。規制部材49は連結金具46に取り付けるよう
にしても良く、板材の端部に取り付けるようにしても良
い。また、図2に示すように、空気圧アクチュエータ4
1の揺動中心側の連結金具46はワイヤ、紐材あるいは
帯材などからなる牽引部材50により膝側ジョイント部
15に止め付けられている。
The distance between the connecting ends of two adjacent plate members is restricted by an elastically deformable restricting member 49 made of a string, a wire, or a band member. The regulating member 49 may be attached to the connection fitting 46 or may be attached to an end of the plate. Further, as shown in FIG.
The connecting bracket 46 on the side of the swing center 1 is fixed to the knee joint 15 by a traction member 50 made of a wire, a string material, a band material or the like.

【0023】このようにして、ジグザグ状に連結された
板材45a〜45jの板材相互の間には、それぞれ袋体
47が配置されており、この空気圧アクチュエータ41
は合計9個の袋体47を有している。それぞれの袋体4
7の折り曲げ端部が板材の連結端部側に位置しているの
で、相互に隣り合う袋体47は逆向きとなっている。そ
れぞれの袋体47内に空気を供給すると、空気圧アクチ
ュエータ41は袋体47の自由端が5つとなった方が4
つとなった方よりも大きく変形することになるので、全
体的に膝側ジョイント部14を中心として下腿装着部1
1と大腿装着部15との相互間に回動力を加えることに
なる。
As described above, the pouches 47 are disposed between the plate members 45a to 45j connected in a zigzag manner.
Has a total of nine bags 47. Each bag 4
Since the bent end portion of No. 7 is located on the side of the connecting end portion of the plate material, the bag bodies 47 adjacent to each other are turned in the opposite direction. When air is supplied into each bag 47, the pneumatic actuator 41 has four free ends when the bag 47 has five free ends.
The lower leg mounting part 1 is generally centered on the knee joint part 14 because the lower part
A turning force is applied between the thigh mounting portion 15 and the thigh mounting portion 15.

【0024】図5は背筋および腹筋アシスト用の空気圧
アクチュエータ42を拡大して示す図であり、この場合
には3枚の板材45a〜45cをそれぞれの一端部で連
結金具46により連結することによって、板材が放射状
となって連結された板材組立体48bが形成されてい
る。そして、それぞれの板材の間には、袋体47が2つ
折りとなって配置されており、腰側ジョイント部21を
中心として脚装着部10と胴装着部20との相互間に回
動力を加えることになる。なお、この場合には、規制部
材49や牽引部材50が設けられていないが、それを設
けるようにしても良い。
FIG. 5 is an enlarged view showing a pneumatic actuator 42 for assisting the back and abdominal muscles. In this case, three plate members 45a to 45c are connected at one ends thereof by connecting fittings 46. A plate material assembly 48b in which the plate materials are radially connected is formed. A bag 47 is folded between the respective plate members, and a turning force is applied between the leg mounting portion 10 and the torso mounting portion 20 about the waist joint 21. Will be. In this case, although the regulating member 49 and the traction member 50 are not provided, they may be provided.

【0025】図6は腕力アシスト用の空気圧アクチュエ
ータ43を拡大して示す図であり、この空気圧アクチュ
エータ43は6枚の板材45a〜45fによって板材組
立体48cが形成されており、板材および袋体の数が相
違することを除き、空気圧アクチュエータ41と同様で
あり、板材はジグザグ状となって連結され、合計5つの
袋体47が設けられている。この空気圧アクチュエータ
43によって、上腕装着部31と前腕装着部32との相
互間に回動力が加えられる。
FIG. 6 is an enlarged view showing a pneumatic actuator 43 for assisting arm strength. This pneumatic actuator 43 has a plate assembly 48c formed by six plate members 45a to 45f. Except that the number is different, it is similar to the pneumatic actuator 41, the plate members are connected in a zigzag shape, and a total of five bags 47 are provided. The pneumatic actuator 43 applies a rotating force between the upper arm mounting part 31 and the forearm mounting part 32.

【0026】それぞれの空気圧アクチュエータ41〜4
3にあっては、袋体47や板材45のサイズに応じてこ
れらの数を任意の数に設定することができ、板材組立体
の構造も、ジグザグ状と放射状との双方が混在された構
造としても良い。また、脚力アシスト用の空気圧アクチ
ュエータ41と腕力アシスト用の空気圧アクチュエータ
43についても、背筋および腹筋アトスト用の空気圧ア
クチュエータ42と同様に、その両端部に駆動部材を介
してアクチュエータの駆動力を伝達するようにしても良
い。
Each of the pneumatic actuators 41 to 4
3, the number can be set to any number according to the size of the bag body 47 and the plate material 45, and the structure of the plate material assembly is a structure in which both the zigzag shape and the radial shape are mixed. It is good. Similarly, the pneumatic actuator 41 for assisting leg strength and the pneumatic actuator 43 for assisting arm strength transmit the driving force of the actuator to both ends thereof via a driving member, similarly to the pneumatic actuator 42 for back muscle and abdominal muscle atto. You may do it.

【0027】それぞれの袋体47には図示しないコンプ
レッサからの圧縮空気が調圧バルブを介して供給される
ようになっている。たとえば、脚力アシスト用の空気圧
アクチュエータ41は、被介護者を抱き上げたり抱き下
ろしたりする際の膝の屈伸運動を介護者の歩行運動を可
能にしつつ補助するようにしており、筋肉センサが介護
者の膝上にある膝関節を駆動する筋肉の真上に設けられ
ている。筋肉センサは膝の屈伸運動を電圧信号に変換
し、介護者が膝を伸ばそうとする膝関節を駆動する筋肉
が硬くなって筋肉センサの出力信号が上昇し、空気圧ア
クチュエータ41に空気が供給されて介護者の膝の伸長
をアシストする。一方、介護者が膝を曲げようと力を抜
くと、筋肉が柔らかくなり筋肉センサの出力信号は低下
し、空気圧アクチュエータ41内の空気が排出されて収
縮することになる。
Each of the bags 47 is supplied with compressed air from a compressor (not shown) via a pressure regulating valve. For example, the pneumatic actuator 41 for assisting the leg force assists the flexion / extension movement of the knee when lifting or holding the care receiver while enabling the caregiver to perform a walking movement. It is provided just above the muscle that drives the knee joint above the knee. The muscle sensor converts the bending and extension movement of the knee into a voltage signal, and the muscle driving the knee joint that the caregiver tries to extend the knee becomes stiff, the output signal of the muscle sensor rises, and air is supplied to the pneumatic actuator 41. Assist the caregiver's knee extension. On the other hand, when the caregiver releases his / her power to bend the knee, the muscle becomes soft, the output signal of the muscle sensor decreases, and the air in the pneumatic actuator 41 is exhausted and contracted.

【0028】背筋および腹筋アシスト用の空気圧アクチ
ュエータ42は、被介護者を抱き起こす際における腰の
屈伸の動きに追従してこれを補助するようにしており、
介護者の背中腰上部の腰関節を駆動する筋肉の真上に設
けられた筋肉センサからの信号に基づいて作動が制御さ
れる。また、腕力アシスト用の空圧アクチュエータ43
は、被介護者を抱き上げたり抱き起こしたりする際にお
ける腕の上下動を補助するようにしており、介護者の上
腕部の肘関節を駆動する筋肉の真上に設けられた筋肉セ
ンサからの信号に基づいて作動が制御される。
The pneumatic actuator 42 for assisting the back and abdominal muscles follows and supports the movement of the waist when the care receiver is raised.
The operation is controlled based on a signal from a muscle sensor provided just above the muscle driving the waist joint of the upper back of the caregiver. Also, a pneumatic actuator 43 for assisting arm strength
Is designed to assist the up and down movement of the arm when raising or raising the cared person.The signal from the muscle sensor provided just above the muscle that drives the elbow joint of the upper arm of the cared person is The operation is controlled based on this.

【0029】前述のように、それぞれの空気圧アクチュ
エータ41〜43は、カフと同様の袋体を有しており、
この袋体を2枚の板材の間に2つ折りとなって配置して
なるアクチュエータ要素44を複数対設けることにより
それぞれの空気圧アクチュエータ41〜43は形成され
ており、軽量化することが可能となる。しかも、空気圧
により膨張収縮する袋体を使用することにより、介護者
および被介護者に対して安全性を確保することができる
とともに、袋体を複数個設けることにより、1つ1つの
袋体の膨張量を少なくしつつ、所要の出力を得ることが
可能となる。
As described above, each of the pneumatic actuators 41 to 43 has a bag similar to a cuff.
By providing a plurality of pairs of actuator elements 44 each having the bag body folded in two between two plate members, the respective pneumatic actuators 41 to 43 are formed, and the weight can be reduced. . In addition, by using a bag that expands and contracts by air pressure, safety can be ensured for the caregiver and the cared person, and by providing a plurality of bags, each of the bags can be used. It is possible to obtain a required output while reducing the amount of expansion.

【0030】本発明は前記実施の形態に限定されるもの
ではなく、その要旨を逸脱しない範囲で種々変更可能で
あることはいうまでもない。
The present invention is not limited to the above embodiment, and it goes without saying that various changes can be made without departing from the spirit of the present invention.

【0031】たとえば、装置本体の構造としては、介護
者の膝に対応してジョイント部により回動自在となった
大腿装着部と下腿装着部とを有し、介護者の腰に対応し
てジョイント部により腰側部材を介して回動自在となっ
た大腿装着部と胴装着部とを有し、介護者の腕に対応し
てジョイント部により回動自在となった上腕装着部と前
腕装着部とを有するものであれば、図示する構造に限ら
れない。
For example, the structure of the apparatus main body includes a thigh mounting portion and a lower leg mounting portion rotatable by a joint corresponding to the caregiver's knee. Upper arm and forearm mounting parts that have a thigh mounting part and a torso mounting part that are rotatable via the waist member by a part, and that are rotatable by a joint part corresponding to the caregiver's arm Is not limited to the illustrated structure.

【0032】[0032]

【発明の効果】本発明によれば、ジョイント部により相
互に回動自在となった2つの部材に駆動力を補助つまり
アシストする空気圧アクチュエータを複数の袋体と板材
とにより形成したので、袋体を膨張収縮することによっ
て、小型で所望の出力を得ることができる。しかも、空
気圧を利用したので、介護者および被介護者に対する安
全性を確保することができる。さらに、空気圧アクチュ
エータなどの構造物が介護人の身体の前面に位置するこ
となく、介護人は被介護人に身体を密着させて介護動作
を円滑に行うことができる。
According to the present invention, a pneumatic actuator for assisting or assisting the driving force is formed by a plurality of bags and plate members on the two members rotatable by the joint part. By expanding and contracting, a desired output can be obtained with a small size. In addition, since air pressure is used, safety for the care giver and the care receiver can be ensured. Furthermore, the caregiver can perform the care operation smoothly by bringing the body into close contact with the care receiver without the structure such as the pneumatic actuator being located in front of the caregiver's body.

【図面の簡単な説明】[Brief description of the drawings]

【図1】本発明の一実施の形態である介護用筋力補助装
置の装置本体を示す正面図である。
FIG. 1 is a front view showing a device main body of a muscular strength assisting device for care according to an embodiment of the present invention.

【図2】図1の側面図である。FIG. 2 is a side view of FIG.

【図3】空気圧アクチュエータを構成する一対のアクチ
ュエータ要素を示す斜視図である。
FIG. 3 is a perspective view showing a pair of actuator elements constituting a pneumatic actuator.

【図4】脚力アシスト用の空気圧アクチュエータを示す
断面図である。
FIG. 4 is a sectional view showing a pneumatic actuator for assisting leg force.

【図5】背筋および腹筋アシスト用の空気圧アクチュエ
ータを示す断面図である。
FIG. 5 is a sectional view showing a pneumatic actuator for assisting a back muscle and abdominal muscle.

【図6】腕力アシスト用の空気圧アクチュエータを示す
断面図である。
FIG. 6 is a sectional view showing a pneumatic actuator for assisting arm strength.

【符号の説明】[Explanation of symbols]

9 装置本体 10 脚装着部 11 下腿装着部 12 足側ジョイント部 13 足部 14 膝側ジョイント部 15 大腿装着部 16 腰側部材 17 大腿付け根ジョイント部 20 胴装着部 21 腰側ジョイント部 22 支持部材 23 肩側ジョイント部 24,25 駆動部材 26 連結部材 30 腕装着部 31 上腕装着部 32 前腕装着部 33 肘側ジョイント部 41〜43 空気圧アクチュエータ 44 アクチュエータ要素 45 板材 46 連結金具 47 袋体 48a〜48c 板材組立体 49 規制部材 50 牽引部材 Reference Signs List 9 device main body 10 leg mounting part 11 lower leg mounting part 12 foot joint part 13 foot part 14 knee side joint part 15 thigh mounting part 16 waist side member 17 thigh root joint part 20 trunk mounting part 21 waist side joint part 22 support member 23 Shoulder side joint part 24, 25 Drive member 26 Connecting member 30 Arm mounting part 31 Upper arm mounting part 32 Forearm mounting part 33 Elbow side joint part 41-43 Pneumatic actuator 44 Actuator element 45 Plate 46 Connecting fitting 47 Bag 48a-48c Plate assembly Solid 49 Control member 50 Traction member

Claims (5)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 下腿装着部およびこれに対して膝側ジョ
    イント部により回動自在に連結された大腿装着部からな
    る脚装着部と、前記大腿装着部に対して腰側部材を介し
    て腰側ジョイント部により回動自在に連結された胴装着
    部と、前記胴装着部に設けられた上腕装着部およびこれ
    に肘側ジョイント部により回動自在に連結された前腕装
    着部からなる腕装着部とを有する装置本体と、 前記それぞれのジョイント部により回動自在に連結され
    る前記それぞれの装着部の間に取り付けられ、それぞれ
    の前記装着部に回動力を補助する空気圧アクチュエータ
    とを有し、 前記空気圧アクチュエータは、それぞれ一端部を中心に
    相互に揺動自在に連結された2つの板材と、これらの板
    材の間に配置され内部に供給される空気により膨張収縮
    する袋体とからなるアクチュエータ要素を有することを
    特徴とする介護用筋力補助装置。
    1. A leg mounting portion comprising a lower leg mounting portion and a thigh mounting portion rotatably connected to the lower leg mounting portion by a knee side joint portion, and a waist side with respect to the thigh mounting portion via a lower side member. A torso mounting portion rotatably connected by a joint portion; an upper arm mounting portion provided on the torso mounting portion; and an arm mounting portion including a forearm mounting portion rotatably connected thereto by an elbow joint. And a pneumatic actuator attached between the respective mounting portions rotatably connected by the respective joint portions, and assisting a turning power to the respective mounting portions, The actuator is composed of two plate members connected to each other so as to be swingable about one end, and a bag body arranged between these plate members and expanded and contracted by air supplied to the inside. Nursing power assisting apparatus characterized by having an actuator element that.
  2. 【請求項2】 下腿に装着される下腿装着部と、これに
    対して膝側ジョイント部により回動自在に連結されて大
    腿に装着される大腿装着部との相互間に回動力を補助す
    る空気圧アクチュエータであって、隣り合う板材が相互
    に連結端部で揺動自在となるとともに全体的にジグザグ
    状となって連結された複数の板材からなる板材組立体
    と、前記それぞれの板材相互の間に配置され、前記連結
    端部に対応する部分に折り曲げ端部を有し空気により膨
    張収縮する複数の2つ折りの袋体とを有することを特徴
    とする空気圧アクチュエータ。
    2. A pneumatic pressure assisting rotation between a lower leg mounting portion mounted on the lower leg and a lower leg mounting portion mounted on the thigh by being rotatably connected to the lower leg mounting portion by a knee joint. An actuator, wherein a plate material assembly composed of a plurality of plate materials connected adjacently in a zigzag shape while adjacent plate materials are swingable at their connection end portions, and between the respective plate materials; A pneumatic actuator, comprising: a plurality of two-folded bags disposed at a portion corresponding to the connection end and having a bent end and expanded and contracted by air.
  3. 【請求項3】 脚に装着される脚装着部と、これに対し
    て腰側部材を介して腰側ジョイント部により回動自在に
    連結されて胴に装着される胴装着部との相互間に回動力
    を補助する空気圧アクチュエータであって、連結端部で
    相互に揺動自在となるとともに全体的に放射状となって
    連結された複数の板材からなる板材組立体と、前記それ
    ぞれの板材相互の間に配置され、前記連結端部に対応す
    る部分に折り曲げ端部を有し空気により膨張収縮する複
    数の2つ折りの袋体とを有することを特徴とする空気圧
    アクチュエータ。
    3. Between a leg mounting portion mounted on a leg and a torso mounting portion mounted on a torso by being rotatably connected to a leg mounting portion by a waist joint via a waist member. A pneumatic actuator for assisting a rotating force, wherein a plate member assembly comprising a plurality of plate members connected to each other at a connection end portion so as to be swingable and radially as a whole, and between the respective plate members. And a plurality of folded bags that have bent ends at portions corresponding to the connecting ends and that expand and contract with air.
  4. 【請求項4】 上腕に装着される上腕装着部と、これに
    対して肘側ジョイント部により回動自在に連結されて前
    腕に装着される前腕装着部との相互間に回動力を補助す
    る空気圧アクチュエータであって、隣り合う板材が相互
    に連結端部で揺動自在となるとともに全体的にジグザグ
    状となって連結された複数の板材からなる板材組立体
    と、前記それぞれの板材相互の間に配置され、前記連結
    端部に対応する部分に折り曲げ端部を有し空気により膨
    張収縮する複数の2つ折りの袋体とを有することを特徴
    とする空気圧アクチュエータ。
    4. A pneumatic pressure assisting rotation between an upper arm mounting portion mounted on the upper arm and a forearm mounting portion mounted on the forearm and rotatably connected to the upper arm mounting portion by an elbow joint. An actuator, wherein a plate material assembly composed of a plurality of plate materials connected adjacently in a zigzag shape while adjacent plate materials are swingable at their connection end portions, and between the respective plate materials; A pneumatic actuator, comprising: a plurality of two-folded bags disposed at a portion corresponding to the connection end and having a bent end and expanded and contracted by air.
  5. 【請求項5】 請求項2,3または4のいずれか1項に
    記載の空気圧アクチュエータにおいて、前記それぞれの
    板材の連結端部をリング部材によって連結したことを特
    徴とする空気圧アクチュエータ。
    5. The pneumatic actuator according to claim 2, wherein the connecting ends of the respective plate members are connected by a ring member.
JP22955398A 1998-08-14 1998-08-14 Strength support device for care Expired - Fee Related JP3771056B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP22955398A JP3771056B2 (en) 1998-08-14 1998-08-14 Strength support device for care

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP22955398A JP3771056B2 (en) 1998-08-14 1998-08-14 Strength support device for care

Publications (2)

Publication Number Publication Date
JP2000051289A true JP2000051289A (en) 2000-02-22
JP3771056B2 JP3771056B2 (en) 2006-04-26

Family

ID=16893981

Family Applications (1)

Application Number Title Priority Date Filing Date
JP22955398A Expired - Fee Related JP3771056B2 (en) 1998-08-14 1998-08-14 Strength support device for care

Country Status (1)

Country Link
JP (1) JP3771056B2 (en)

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002103270A (en) * 2000-09-22 2002-04-09 Nippon Robotics Kk Pneumatic robot and pneumatic joint driving device
US6772673B2 (en) 2001-12-13 2004-08-10 Seiko Epson Corporation Flexible actuator
JP2005155764A (en) * 2003-11-25 2005-06-16 Rikogaku Shinkokai Actuator and omnidirectional traveling vehicle
JP2006340852A (en) * 2005-06-08 2006-12-21 Hitachi Medical Corp Wear type joint drive device
WO2007043308A1 (en) * 2005-10-11 2007-04-19 Matsushita Electric Industrial Co., Ltd. Motion assistance apparatus and method of assisting motion
JP2007130234A (en) * 2005-11-10 2007-05-31 Matsushita Electric Ind Co Ltd Human body motion aid
JP2007155111A (en) * 2005-12-09 2007-06-21 Tokyo Institute Of Technology Fluid actuator
WO2007094031A1 (en) * 2006-02-13 2007-08-23 Squse Inc. Actuator, drive device, hand device, and conveyance device
JP2007252514A (en) * 2006-03-22 2007-10-04 Yoshiyuki Yamaumi Turning regulator, and control method for rotator
JP2007282991A (en) * 2006-04-19 2007-11-01 Ihi Corp Lumbar region support device
JP2008067762A (en) * 2006-09-12 2008-03-27 Hokkaido Univ Muscular support apparatus
JP2008183389A (en) * 2007-01-29 2008-08-14 Shigetoshi Hashiguchi Hose cylinder type auxiliary device for farmwork
JP2008194460A (en) * 2007-02-08 2008-08-28 Nara Institute Of Science & Technology Driving force calculating apparatus, driving force calculating method, muscular strength assisting device, driving force calculating program, and computer readable recording medium
JP2008206828A (en) * 2007-02-27 2008-09-11 Shigeki Toyama Support for wearable robot arm
JP2010207620A (en) * 2010-06-16 2010-09-24 Univ Of Tsukuba Wearing type motion assisting device and control method thereof
WO2011036906A1 (en) * 2009-09-28 2011-03-31 学校法人東京理科大学 Lumbar support device
WO2011043095A1 (en) * 2009-10-05 2011-04-14 Yamamoto Keijirou Joint movement supporting device
US7981059B2 (en) 2005-02-28 2011-07-19 National University Corporation NARA Institute of Science and Technology Driving force calculating device, driving force calculating method, power assisting device, program, and computer-readable storage medium
JP2012066123A (en) * 2011-12-27 2012-04-05 Univ Of Tsukuba Wearable movement assisting device and method of controlling the same
JP4987148B1 (en) * 2011-07-22 2012-07-25 圭治郎 山本 Joint motion assist device
JP2012200828A (en) * 2011-03-25 2012-10-22 National Agriculture & Food Research Organization Working aid
WO2013035814A1 (en) * 2011-09-06 2013-03-14 国立大学法人 和歌山大学 Power-assisting robotic device and control method thereof
JP2013052192A (en) * 2011-09-06 2013-03-21 Wakayama Univ Power assist robotic device and control method of the same
JP2013138848A (en) * 2011-12-05 2013-07-18 Wakayama Univ Power-assisting robotic device and control method thereof
WO2015019485A1 (en) * 2013-08-09 2015-02-12 学校法人 幾徳学園 Footwear structure for joint movement assistance device
JP2015089386A (en) * 2013-11-05 2015-05-11 学校法人幾徳学園 Joint motion assist device
JP2015123563A (en) * 2013-12-27 2015-07-06 本田技研工業株式会社 Joint mechanism
WO2015104832A1 (en) * 2014-01-10 2015-07-16 圭治郎 山本 Joint movement assistance device
KR20150144015A (en) * 2014-06-16 2015-12-24 서울대학교산학협력단 Pneumatic Artificial Muscle
WO2016021103A1 (en) * 2014-08-08 2016-02-11 パナソニック株式会社 Movement assistance device
US9327398B2 (en) 2007-09-27 2016-05-03 University Of Tsukuba Rotation adjustment apparatus and method of controlling rotary apparatus
JP2016159109A (en) * 2015-03-05 2016-09-05 ナブテスコ株式会社 Muscular strength assisting device
JP2016159113A (en) * 2015-03-05 2016-09-05 ナブテスコ株式会社 Muscular strength assisting device
CN109124982A (en) * 2018-06-29 2019-01-04 燕山大学 A kind of wearable rehabilitation power-assisted flexible pneumatic joint
WO2019187030A1 (en) * 2018-03-30 2019-10-03 圭治郎 山本 Joint movement assistance device
CN110664564A (en) * 2019-10-22 2020-01-10 金华职业技术学院 Auxiliary support for cleaning and using method thereof

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105287192A (en) * 2015-12-10 2016-02-03 常胜 Air compressing type massager

Cited By (66)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002103270A (en) * 2000-09-22 2002-04-09 Nippon Robotics Kk Pneumatic robot and pneumatic joint driving device
US6772673B2 (en) 2001-12-13 2004-08-10 Seiko Epson Corporation Flexible actuator
JP2005155764A (en) * 2003-11-25 2005-06-16 Rikogaku Shinkokai Actuator and omnidirectional traveling vehicle
US7981059B2 (en) 2005-02-28 2011-07-19 National University Corporation NARA Institute of Science and Technology Driving force calculating device, driving force calculating method, power assisting device, program, and computer-readable storage medium
JP2006340852A (en) * 2005-06-08 2006-12-21 Hitachi Medical Corp Wear type joint drive device
WO2007043308A1 (en) * 2005-10-11 2007-04-19 Matsushita Electric Industrial Co., Ltd. Motion assistance apparatus and method of assisting motion
GB2444679B (en) * 2005-10-11 2009-03-25 Matsushita Electric Ind Co Ltd Movement assisting device and movement assisting method
GB2444679A (en) * 2005-10-11 2008-06-11 Matsushita Electric Ind Co Ltd Motion assistance apparatus and method of assisting motion
JPWO2007043308A1 (en) * 2005-10-11 2009-04-16 パナソニック株式会社 Operation support apparatus and operation support method
JP2007130234A (en) * 2005-11-10 2007-05-31 Matsushita Electric Ind Co Ltd Human body motion aid
JP2007155111A (en) * 2005-12-09 2007-06-21 Tokyo Institute Of Technology Fluid actuator
WO2007094031A1 (en) * 2006-02-13 2007-08-23 Squse Inc. Actuator, drive device, hand device, and conveyance device
JPWO2007094031A1 (en) * 2006-02-13 2009-07-02 スキューズ株式会社 Actuator, drive device, hand device, and transfer device
JP2007252514A (en) * 2006-03-22 2007-10-04 Yoshiyuki Yamaumi Turning regulator, and control method for rotator
JP4573798B2 (en) * 2006-04-19 2010-11-04 圭治郎 山本 Lumbar support device
JP2007282991A (en) * 2006-04-19 2007-11-01 Ihi Corp Lumbar region support device
JP2008067762A (en) * 2006-09-12 2008-03-27 Hokkaido Univ Muscular support apparatus
JP2008183389A (en) * 2007-01-29 2008-08-14 Shigetoshi Hashiguchi Hose cylinder type auxiliary device for farmwork
JP4577622B2 (en) * 2007-01-29 2010-11-10 重歳 橋口 Agricultural work hose cylinder auxiliary equipment
US7529632B2 (en) 2007-02-08 2009-05-05 National University Corporation NARA Institute of Science and Technology Driving force calculating device, driving force calculating method, power assisting device, driving force calculating program, and computer-readable storage medium
JP2008194460A (en) * 2007-02-08 2008-08-28 Nara Institute Of Science & Technology Driving force calculating apparatus, driving force calculating method, muscular strength assisting device, driving force calculating program, and computer readable recording medium
JP2008206828A (en) * 2007-02-27 2008-09-11 Shigeki Toyama Support for wearable robot arm
US9327398B2 (en) 2007-09-27 2016-05-03 University Of Tsukuba Rotation adjustment apparatus and method of controlling rotary apparatus
JP5505740B2 (en) * 2009-09-28 2014-05-28 学校法人東京理科大学 Lumbar assist device
KR20120084300A (en) * 2009-09-28 2012-07-27 도쿄 유니버시티 오브 사이언스 에듀케이셔널 파운데이션 애드미니스트레이티브 오거니제이션 Lumbar support device
JPWO2011036906A1 (en) * 2009-09-28 2013-02-14 学校法人東京理科大学 Lumbar assist device
WO2011036906A1 (en) * 2009-09-28 2011-03-31 学校法人東京理科大学 Lumbar support device
KR101652020B1 (en) 2009-09-28 2016-08-29 도쿄 유니버시티 오브 사이언스 에듀케이셔널 파운데이션 애드미니스트레이티브 오거니제이션 Lumbar support device
CN102548514A (en) * 2009-09-28 2012-07-04 学校法人东京理科大学 Lumbar support device
US9233017B2 (en) 2009-09-28 2016-01-12 Tokyo University Of Science Foundation Lower back assistance apparatus
CN102548514B (en) * 2009-09-28 2014-07-30 学校法人东京理科大学 Lumbar support device
US9138368B2 (en) 2009-10-05 2015-09-22 Keijirou Yamamoto Joint motion facilitation device
EP2332508A4 (en) * 2009-10-05 2014-11-12 Keijirou Yamamoto Joint movement supporting device
WO2011043095A1 (en) * 2009-10-05 2011-04-14 Yamamoto Keijirou Joint movement supporting device
JPWO2011043095A1 (en) * 2009-10-05 2013-03-04 圭治郎 山本 Joint motion support device
EP2332508A1 (en) * 2009-10-05 2011-06-15 Keijirou Yamamoto Joint movement supporting device
JP4716456B2 (en) * 2009-10-05 2011-07-06 圭治郎 山本 Joint motion support device
JP2010207620A (en) * 2010-06-16 2010-09-24 Univ Of Tsukuba Wearing type motion assisting device and control method thereof
JP2012200828A (en) * 2011-03-25 2012-10-22 National Agriculture & Food Research Organization Working aid
JP2013022296A (en) * 2011-07-22 2013-02-04 Keijiro Yamamoto Joint movement assist device
JP4987148B1 (en) * 2011-07-22 2012-07-25 圭治郎 山本 Joint motion assist device
JP2013052192A (en) * 2011-09-06 2013-03-21 Wakayama Univ Power assist robotic device and control method of the same
WO2013035814A1 (en) * 2011-09-06 2013-03-14 国立大学法人 和歌山大学 Power-assisting robotic device and control method thereof
US9855654B2 (en) 2011-09-06 2018-01-02 Wakayama University Power assist robot apparatus and control method therefor
JP2013138848A (en) * 2011-12-05 2013-07-18 Wakayama Univ Power-assisting robotic device and control method thereof
JP2012066123A (en) * 2011-12-27 2012-04-05 Univ Of Tsukuba Wearable movement assisting device and method of controlling the same
WO2015019485A1 (en) * 2013-08-09 2015-02-12 学校法人 幾徳学園 Footwear structure for joint movement assistance device
JP5930354B2 (en) * 2013-08-09 2016-06-08 学校法人幾徳学園 Foot mounting structure of joint motion assist device
JP2015089386A (en) * 2013-11-05 2015-05-11 学校法人幾徳学園 Joint motion assist device
JP2015123563A (en) * 2013-12-27 2015-07-06 本田技研工業株式会社 Joint mechanism
JPWO2015104832A1 (en) * 2014-01-10 2017-03-23 圭治郎 山本 Joint motion assist device
WO2015104832A1 (en) * 2014-01-10 2015-07-16 圭治郎 山本 Joint movement assistance device
CN106413998A (en) * 2014-01-10 2017-02-15 山本圭治郎 Joint movement assistance device
KR20150144015A (en) * 2014-06-16 2015-12-24 서울대학교산학협력단 Pneumatic Artificial Muscle
KR101635415B1 (en) 2014-06-16 2016-07-08 서울대학교 산학협력단 Pneumatic Artificial Muscle
WO2016021103A1 (en) * 2014-08-08 2016-02-11 パナソニック株式会社 Movement assistance device
US10166679B2 (en) 2014-08-08 2019-01-01 Panasonic Corporation Movement assistance device
JPWO2016021103A1 (en) * 2014-08-08 2017-04-27 パナソニック株式会社 Operation support device
WO2016140361A1 (en) * 2015-03-05 2016-09-09 ナブテスコ株式会社 Muscular strength assistance device
CN107530175A (en) * 2015-03-05 2018-01-02 纳博特斯克有限公司 Muscular strength servicing unit
WO2016140363A1 (en) * 2015-03-05 2016-09-09 ナブテスコ株式会社 Muscular strength assistance device
JP2016159113A (en) * 2015-03-05 2016-09-05 ナブテスコ株式会社 Muscular strength assisting device
JP2016159109A (en) * 2015-03-05 2016-09-05 ナブテスコ株式会社 Muscular strength assisting device
WO2019187030A1 (en) * 2018-03-30 2019-10-03 圭治郎 山本 Joint movement assistance device
CN109124982A (en) * 2018-06-29 2019-01-04 燕山大学 A kind of wearable rehabilitation power-assisted flexible pneumatic joint
CN110664564A (en) * 2019-10-22 2020-01-10 金华职业技术学院 Auxiliary support for cleaning and using method thereof

Also Published As

Publication number Publication date
JP3771056B2 (en) 2006-04-26

Similar Documents

Publication Publication Date Title
JP6728297B2 (en) Anterior or posterior exoskeleton
US10184500B2 (en) Multi-segment reinforced actuators and applications
Rahman et al. Development of a whole arm wearable robotic exoskeleton for rehabilitation and to assist upper limb movements
US9101323B2 (en) Wearable device having feedback characteristics
JP2019534168A (en) System and method for auxiliary exterior suit system
Strausser et al. The development and testing of a human machine interface for a mobile medical exoskeleton
US9649243B2 (en) Body lift-assist walker device
US9138368B2 (en) Joint motion facilitation device
O'Neill et al. A soft wearable robot for the shoulder: Design, characterization, and preliminary testing
Viteckova et al. Wearable lower limb robotics: A review
CN105919772B (en) A kind of wearable hand device for healing and training
US20180064562A1 (en) Technological aid for transfemoral amputees
EP1260201B1 (en) Gait-locomotor apparatus
US6666831B1 (en) Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base
US7331906B2 (en) Apparatus and method for repetitive motion therapy
EP2723458B1 (en) An apparatus and method for rehabilitating an injured limb
US9158376B2 (en) User coupled human-machine interface
AU2005315464B2 (en) Improvements in and relating to calf compression devices
US5662693A (en) Mobility assist for the paralyzed, amputeed and spastic person
Dollar et al. Active orthoses for the lower-limbs: challenges and state of the art
Farris et al. Preliminary evaluation of a powered lower limb orthosis to aid walking in paraplegic individuals
CN101589983B (en) Wearable lower limb exoskeleton device
US20150025653A1 (en) Neuromorphic controlled powered orthotic and prosthetic system
KR101065420B1 (en) Wearable Robotic System for the Rehabilitation Training of upper limbs
KR20150055958A (en) Wearable robot and control method for the same

Legal Events

Date Code Title Description
A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20050927

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20051121

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20060117

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20060208

R150 Certificate of patent or registration of utility model

Free format text: JAPANESE INTERMEDIATE CODE: R150

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20150217

Year of fee payment: 9

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees