JP2002191654A - Walking prosthesis - Google Patents

Walking prosthesis

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Publication number
JP2002191654A
JP2002191654A JP2000404456A JP2000404456A JP2002191654A JP 2002191654 A JP2002191654 A JP 2002191654A JP 2000404456 A JP2000404456 A JP 2000404456A JP 2000404456 A JP2000404456 A JP 2000404456A JP 2002191654 A JP2002191654 A JP 2002191654A
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JP
Japan
Prior art keywords
walking
knee
motor
ball screw
assistance device
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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.)
Pending
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JP2000404456A
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Japanese (ja)
Inventor
Yuji Ota
裕治 太田
Original Assignee
Tama Tlo Kk
タマティーエルオー株式会社
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Application filed by Tama Tlo Kk, タマティーエルオー株式会社 filed Critical Tama Tlo Kk
Priority to JP2000404456A priority Critical patent/JP2002191654A/en
Publication of JP2002191654A publication Critical patent/JP2002191654A/en
Application status is Pending legal-status Critical

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Abstract

PROBLEM TO BE SOLVED: To provide a walking prosthesis allowing a walking impaired person who cannot walk normally because of motor nerve paralysis or the like to walk in a manner similar to healthy persons without horizontal shaking by making the knee joint part of the prosthesis rotatable.
SOLUTION: The walking prosthesis for imparting a self-walking means to a walking impaired person comprises an above-knee attaching member attached to the above-knee part of the user's body, and a below-knee attaching member rotatably attached to the above-knee attaching member and to the below-knee part of the user's body. Rotation of the above-knee attaching member and the below-knee attaching member can be regulated by a telescopic mechanism telescopically interconnecting both members and comprising a motor, a ball screw connected to a motor shaft via a flexible coupling, and a socket for threadable engagement with the ball screw.
COPYRIGHT: (C)2002,JPO

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、運動神経麻痺等により通常の歩行が出来ない歩行障害者に対し、膝関節部分を回動自在とすることで、体幹の左右ぶれのない健常者に近い歩行を可能とした歩行補助装具に関するものである。 BACKGROUND OF THE INVENTION The present invention is, with respect to pedestrian disabilities can not normal walking by motor nerve paralysis and the like, the knee joint part by a rotatable, in healthy individuals without lateral shaking of the trunk it relates to the walking assistance device which enables a close walk.

【0002】 [0002]

【従来の技術】健常な人間は2本の足でバランスを良好にとりながら自力歩行ができるが、事故、病気等による運動神経麻痺等により股関節から下の骨格や筋肉には異常がないものの、神経による制御が不能であり、健常者同様の歩行ができず、車椅子等を用いて移動する障害者が少くない。 BACKGROUND OF THE INVENTION healthy human beings, but it is ambulatory while taking in good balance on two legs, accident, although there is no abnormality in the skeletal and muscle below the hip joint by the motor nerve paralysis due, such as disease, nerve are beyond control by unable healthy person similar walking, is not less disability to move with such wheelchairs. このような障害者が車椅子等の座位姿勢で長期間生活すると、筋萎縮症や骨粗鬆症あるいは内臓異常等の生理的に好ましくない障害が生じる恐れがあること、また、車椅子では立位姿勢の健常者との対話等において視線の角度が上下に相違することから心理的にマイナス点が多くなること、などの問題点が指摘されている。 When such people with disabilities to live a long period of time in a sitting posture, such as a wheelchair, that there is a risk that occurs physiologically undesirable failure of muscle atrophy and osteoporosis or visceral abnormalities, etc., also, a healthy person of the standing posture in a wheelchair psychologically the negative point is increased since the angle of sight differs vertically in dialogues, problems such as have been pointed out.

【0003】そのため、かかる障害者にも立位歩行を可能にすべく種々の歩行補助装具が開発されている。 [0003] Therefore, a variety of the walking assistance device has been developed in order to allow for even standing walking to take people with disabilities. 図6 Figure 6
はその一例で、この歩行補助装具60は脚の上腿部に取り付ける上腿取付部材61と脚の下腿部に取り付ける下腿取付部材62とが継手67により一体に固定された構成となっている。 In one example, the walking assistance device 60 has a structure in which the lower leg attachment member 62 attached to the lower leg portion of the upper leg mounting member 61 and the leg attached to the upper leg portion of the leg is integrally fixed by joint 67 . 該歩行補助装具60は図5に示すように通常股関節から上部の障害を有しない腕等の筋力を使って杖51,51の介助にて立位歩行を行う障害者50 The walking assistance device 60 is handicapped 50 for standing walking at assisted wand 51 with a strength such arms having no upper fault from normal hip, as shown in FIG. 5
用に考案されているが、上腿取付部材61と下腿取付部材62とが一体に固定され一直線の長下肢装具となっているために膝関節は回転せず、かかる障害者50の歩行は体幹の大きな左右ぶれを伴うぎこちないものとなっていた。 Have been devised use, the knee joint to the upper leg mounting member 61 and the crus attachment member 62 has a long leg orthosis of straight fixed together does not rotate, such disabilities 50 walking body It had become a thing awkward with a big left and right shake of the stem. なお、図中68は前記継手67の操作杆で、該操作杆67の操作で障害者50が車椅子等に座ったときに継手67を折り曲げて長下肢装具を膝部分から折り曲げるように構成されている。 In the drawing, 68 denotes an operation rod of the joint 67, is configured long leg brace by folding the joint 67 when the handicapped 50 by the operation of the operating rod 67 is seated on a wheelchair or the like bent the knee portion there.

【0004】図6に示す従来の歩行補助装具60により障害者50が歩行するには、先ず車椅子に座った状態で自分の足に歩行補助装具60を取り付ける。 [0004] Disabled 50 by conventional walking assistance device 60 shown in FIG. 6 is walking, mounting their feet in the walking assistance device 60 in a state where the first sitting in a wheelchair. 取り付けは上腿取付部材61を脚の上腿部に、下腿取付部材62を脚の下腿部にそれぞれ取り付ける。 Attached to the upper leg portion of the legs of the upper leg mounting member 61, respectively attached to the lower leg mounting member 62 to the crus of the leg. この時、継手67は両取付部材61,62を直線状態とし、膝関節部分が回動しないように固定する。 At this time, the joint 67 is the two mounting members 61 and 62 to a linear state, the knee joint part fixed so as not to rotate. 次に第三者の力を借りて、或いは手摺に掴まって立ち上がる。 Then with the help of a third party, or stand up caught in the handrail. 歩行は図5に示すように杖51,51を使う。 Walking uses a cane 51 and 51, as shown in Figure 5. 前傾姿勢にて杖51,51に体重を支持させつつ両脚を交互に振り出して歩行する。 It walks the drawing board to alternately both legs while supporting the weight on the cane 51 and 51 at the stoop. このため、振り出す側の靴65の底を床面等の歩行面57 Therefore, walking surface 57 of the floor surface or the like bottom side of the shoe 65 to draw on
との間に先ず間隙を形成させてから振り出し、下記するように靴65の底面が当該歩行面57に摺動しないようにする必要がある。 First drawing board were allowed to form a gap, it is necessary to prevent the bottom surface of the shoe 65 as described below does not slide on the walking surface 57 between.

【0005】先ず、右足54を一歩前に進める場合について説明する。 [0005] First, the case where advance the right foot 54 one step before. 始めに杖51,51を前について上体を前傾させつつ左に倒す。 While forward tilting the upper body about before the cane 51 and 51 at the beginning defeat to the left. このように上体を前傾させつつ左側に倒すことで右足54の靴65が少々歩行面57から浮き上がる。 Thus lifted from the shoe 65 a little walking surface 57 of the right foot 54 by defeating the left while anteversion upper body. 体を前傾させているので歩行面57から浮いた右足54は振り子のように前に向かって振れることとなる。 Right foot 54 lifted from the walking surface 57 since the tilted forward the body so that the swing toward the front like a pendulum. 右足54が最大に振れた時点で上体を左から右に移すことで右足54は着地し一歩進んだことになる。 Right foot 54 by moving the upper body from left to right at the time the right foot 54 is deflected to the maximum will be advanced landed one step. この状態から、即ち、右足54を着地した時点でこの右足を軸として更に杖51,51を前にだし杖51, From this state, i.e., out wand 51 further before the wand 51 this right foot as an axis at the time of landing the right foot 54,
51に体重を支持させて上体を前傾させつつ右側に倒して左足55の靴65を少々歩行面57から浮き上がらせ、左足55を振り子のように前に向かって振り、左足55が最大に振れた時点で上体を右から左に移すことで左足55は着地し二歩進んだことになる。 51 lifted from the bit walking surface 57 of the shoe 65 of the left leg 55 by tilting the right side while inclined forward upper body by supporting the weight on the left foot 55 swing toward the front like a pendulum, the left foot 55 is maximized left foot 55 by moving the upper body from right to left at the time the shake will be advanced landed two steps. 以後これを繰り返すことにより歩行する。 Walking by thereafter repeating this. 歩行終了時は、車椅子の前に後ろ向きに立ち、継手67のロックを操作杆68ではずして第三者または手摺に掴まって車椅子に座り、装具60を脱ぐ。 Walking at the end, the Standing backwards in front of the wheelchair, sitting in a wheelchair stuck to a third party or a handrail Remove the lock of the joint 67 in the operating rod 68, take off the brace 60. しかし、このような従来の装具では次のような問題点が指摘されている。 However, the following problems are pointed out in the conventional appliances.

【0006】上述したように、障害者である歩行者50 [0006] As described above, a handicapped pedestrian 50
が靴65を歩行面57に摺接させずに、スムースに所定の円弧を描いて靴65を振り出すには、先ず一方の足と杖51,51に全体重を支持させ、身体全体を前傾させると共に上体を一方の脚の方向に傾斜させて他方の足を浮かせ、浮かせた足を振り出す必要があり、次に、一歩進んで次の足を浮かせるには全体重を他方の足と杖に懸けるとともに身体全体を前傾させつつ上体を一方の脚の方向に傾斜させるようにするため、股関節から上部の体幹部や歩行補助装具は左右に交互に傾斜し、揺れ動き、 There without sliding contact with the walking surface 57 of the shoe 65, the draw on the shoe 65 draw a predetermined arc smoothly, to support the entire weight first on one foot and wand 51, 51, before the whole body and the upper body is inclined in the direction of one leg with is inclined floated other foot, it is necessary to draw on the legs floating was, then, a step willing other foot the total body weight for floating the next leg while inclined forward the whole body with applied to cane and order to tilt the upper body in the direction of one leg, the top of the trunk and the walking assistance device from the hip inclined alternately to the left and right, oscillatory movement,
股関節から下部が不安定である障害者にとっては歩行時に転倒したりする恐れがあった。 For people with disabilities the bottom is unstable from the hip joint there is a possibility or to fall during walking.

【0007】更に従来の歩行補助装具では、足(靴)を浮き上がらせて振る時に、歩行面との間の浮き上がり量(間隔)を大きく取ることは実質的に不可能なため、少々の段差、例えば敷居を超えることができず、真平らな床の上での歩行しかできず、従って日常生活での使用はできない状況にあった。 Furthermore in the conventional walking assistance device, since the foot when shake lifted (the shoe), as taking a large amount floating between the walking surface (interval) substantially impossible, Some of the steps, for example, can not exceed the threshold, it can only walk on a true flat floor, and therefore was in the situation that can not be used in everyday life. また、従来の歩行補助装具に対する医療側の判断では、運動神経麻痺等により通常の歩行が出来ない歩行障害者に対しては、一旦膝が折れてしまうと自力では再び伸ばすことが不可能であるため常に膝を伸ばした状態で固定して歩かせる、との考えが一般的で、膝を曲げて歩かせる歩行補助装具に対しては安全に対する強い懸念があったため、膝を曲げる装具の開発研究は遅れていた。 In addition, in the judgment of the health care side to conventional walking assistance device, for a walking disability, which by the motor nerve paralysis, etc. can not be normal walking, it is impossible to stretch again on their own once the knee resulting in broken always to walk and fixed in a state in which the knee extended, the idea that is common, because there was a strong concern for the safety for walking assistance device to walk with knees bent, research and development of equipment to bend the knee for It had been delayed.

【0008】 [0008]

【発明が解決しようとする課題】前述したように、上記従来の歩行補助装具は、支柱長の伸縮がないために体幹部や補助装具を左右交互に傾斜させざるをえず、障害者は歩行時に確実な立脚相と遊脚相をもった安定した歩容が得られず不安定となるばかりでなく転倒する等の問題があった。 As described above [0008] The conventional walking assistance device is pictorial forced to tilt the trunk and assistance device alternately left and right for no expansion and contraction of the strut length, the impaired persons stable gait with sometimes reliable stance phase and a swing phase there was a problem such as to overturn not only become unstable not be obtained.

【0009】本発明は、上述した従来技術の問題を解決するためになされたものであり、障害者の歩行時に上腿取付部材と下腿取付部材とを回動自在に制御することで膝部分を回動(曲げることが)できるようにし、安定した歩容が得られるとともに、傾斜や転倒などを発生させることなく、歩行時における体重の移動に対しても膝部分の回動、即ち支柱長の伸縮運動が円滑にでき、靴を高く上げることができるので少々の床面の凹凸も支障なく超えることができ、日常生活での使用に充分対応することができ、かつ、簡易な構造で軽量化、小型化でき、利便性に優れた歩行補助装具を提供することを目的とするものである。 [0009] The present invention has been made to solve the prior art problems described above, the knee portion and a thigh attachment member and the crus attachment member during walking disability by controlling rotatably to allow rotation (be bent), along with a stable gait is obtained, without generating such tilting or overturning, rotation of the knee portion against weight shift of the walking, i.e. strut length expansion and contraction movement can be smoothly, unevenness of a little of the floor surface since it is possible to raise high the shoes can also be exceeded without any trouble, can respond enough to use in everyday life, and, lightweight with a simple structure , it can be downsized, it is an object to provide a walking assistance device with excellent convenience.

【0010】 [0010]

【課題を解決するための手段】かかる目的を達成するために、本発明は、運動神経麻痺等による歩行障害者に自力歩行手段を付与する歩行補助装具の膝部分を回動可能にしたもので、該装具は上腿部に装着する上腿取付部材と、該上腿取付部材に回動自在に取り付けられた下腿部に装着の下腿取付部材とからなり、上腿取付部材と下腿取付部材との回動はこれら両取付部材を伸縮自在に連結する、モータと該モータ軸にフレキシブル継手を介して接続のボールネジと該ボールネジを螺合するソケットとからなる伸縮機構により任意に規制しうるように構成したことを特徴とする歩行補助装具であり、歩行時に確実な立脚相と遊脚相の形成ができ、安定した歩容が得られるように構成したものである。 To achieve SUMMARY OF THE INVENTION The above objects, the present invention provides a knee portion of the walking assistance device to impart ambulatory means walking disability due to motor nerve paralysis and the like obtained by the rotatable , 該装 device is composed of a thigh attachment member to be attached to the upper leg portion, a lower leg mounting member attached to the lower leg portion is rotatably mounted on the upper thigh attachment member, the upper leg mounting member and the crus attachment member the rotation of the connecting them two mounting members telescopically, as can be regulated arbitrarily by the expansion and contraction mechanism of a ball screw and the ball screw connected via a flexible coupling to the motor and the motor shaft consisting of a threaded socket a walking assistance device, characterized by being configured to, can form a reliable stance phase and swing phase during walking, which is constituted as a stable gait is obtained.

【0011】本発明においては、上記モータを上腿取付部材または下腿取付部材の何れか一方に少々の遊びを設けて取り付け、上記ボールネジを螺合するソケットは他方の部材に固定すると、膝部分の回動(曲げ)を円滑にさせることができるので好ましい。 [0011] In the present invention, the attachment provided with a little play in either one of the upper leg mounting member or lower leg mounting member said motor, a socket is screwed the ball screw when fixed to the other member, the knee portion It preferred because it is possible to facilitate turning (bending). 本発明において、上記ボールネジの回転は、杖に設けたリモートコントローラによりモータの回転を制御し膝部分の回動(曲げ)を行うように構成すると、杖に仕込んだ操作スイッチとモータを繋ぐ配線ケーブル等の障害物を排除でき、歩行の安全を図ることができる。 In the present invention, rotation of the ball screw, when configured to perform control the rotation of the motor by a remote controller provided on the wand of the knee portion pivot (bending), the wiring connecting the operation switch and the motor were charged the wand cable eliminates obstacles etc., it is possible to secure walking.

【0012】 [0012]

【発明の実施の形態】以下、本発明を図1〜4を参照して説明する。 BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described with reference to FIGS. 1-4. 図1〜4に示す実施例において、図1は、 In the embodiment shown in FIGS. 1-4, FIG. 1,
本発明歩行補助装具の一実施形態を示す側面図、図2は膝を折り曲げた状態を示す側面図、図3は装具と杖との関係を示す説明図、図4は本発明の第二の実施形態を示す側面図である。 Side view showing one embodiment of the present invention the walking assistance device, FIG. 2 is a side view showing a state in which bent the knee, FIG. 3 is an explanatory diagram showing a relationship between the brace and the wand, 4 a second of the present invention is a side view showing an embodiment.

【0013】図において、1は歩行補助装具で、該歩行補助装具1は、膝関節部の上部、即ち上腿部に装着する上腿取付部材2と、膝関節の下部、即ち下腿部に装着する下腿取付部材3と、上腿取付部材2と下腿取付部材3 [0013] In FIG, 1 is a walking assistance device, the walking assistance device 1, the upper portion of the knee joint, that is, the upper leg attaching member 2 to be attached to the upper leg portion, a lower portion of the knee joint, i.e. the lower leg a lower leg mounting member 3 to be mounted, upper leg mounting member 2 and the lower leg mounting member 3
とを回動自在に連結する継手5とからなっている。 It consists fitting 5 for connecting the door pivotably. 4は上腿取付部材2と下腿取付部材3との回動を規制制御する伸縮機構(アクチュエータ)で、該伸縮機構(アクチュエータ)4は一方の部材(図では上腿取付部材2)に遊びをもって取り付けられたモータ6と、他方の部材(図では下腿取付部材3)に取り付けたソケット8の螺旋孔に螺合するボールネジ7とからなり、該ボールネジ7と前記モータ6の軸とはフレキシブル継手9で連結されている。 4 is a telescopic mechanism of regulating the rotation of the upper leg mounting member 2 and the lower leg attachment member 3 (the actuator), the expansion mechanism (actuator) 4 (in the figure the upper leg attaching member 2) one member with play in the a motor 6 which is mounted, the other member made of a ball screw 7 for screwing the guide slots of the socket 8 attached to (crus attachment member 3 in the figure), the flexible joint 9 with the axis of the with the ball screw 7 motor 6 in which it has been linked. なお、図中14は下腿取付部材3に設けた靴である。 In the figure, 14 is a shoe provided on the lower leg mounting member 3.

【0014】図1乃至図3に示す実施形態では、モータ6と上腿取付部材2とは、上腿取付部材2に少々の遊びを設けて取りつけた金具10にモータ6を蝶番結合して取付け、モータ6を上腿取付部材2に遊びを有するように取り付けた状態を示し、図4は上腿取付部材2にモータ6を可撓性のある結合部材15で遊びを設けて結合した状態を示している。 [0014] In the embodiment shown in FIGS. 1 to 3, the motor 6 and the upper leg mounting member 2, mounted the motor 6 is hinged to a bracket 10 fitted provided little play upper leg attaching member 2 shows a state mounted to have play a motor 6 in the upper leg mounting member 2, a state bound by providing a play in the coupling member 15 of the motor 6 with a flexible 4 is the upper leg attaching member 2 shows. 本発明は上下の両取付部材2、3 The present invention is above and below the two mounting members 2 and 3
をボールネジ7で連結している。 The are connected by a ball screw 7. ボールネジ7は立位時(膝を伸ばしたとき)に歩行者の全体重が負荷されても折れ曲がることのない丈夫な部材、例えば鋼材等の棒材の表面にネジを刻設してなり、上下の取付部材2、3を繋ぐ継手5の回動自在の動きを規制するもので、障害者が該上下の取付部材2、3に全体重を掛けても上下の取付部材2、3が折れ曲がるようなことはない。 The ball screw 7 will be engraved screws on the surface of the standing time of strong member never bent be loaded total body weight of a pedestrian (when stretched knee), for example, bars, such as steel, vertical mounting member 2 restricts the movement of the pivotable joint 5 connecting, so that the disabled persons be multiplied by the total body weight to the mounting member 2 and 3 under the upper bending the upper and lower mounting members 2, 3 It is not such.

【0015】20は杖で、図3に示すように該杖20にはリモートコントローラ22が設けられ、リモートコントローラ22の操作スイッチ23は杖20を握る把持部21に取り付けられている。 [0015] 20 in the wand, the remote controller 22 is provided in the 該杖 20 as shown in FIG. 3, the operation switch 23 of the remote controller 22 is attached to the grip portion 21 gripping the wand 20. リモートコントローラ22 The remote controller 22
は前記伸縮機構4のモータ6の駆動装置(センサー)2 Drive of the motor 6 of the telescopic mechanism 4 (sensor) 2
5に赤外線を照射しモータ6の回転を遠隔操作し得るよう構成されており、杖20に設けた操作スイッチ23 5 is configured as capable of remotely operating the rotation of the motor 6 is irradiated with infrared, the operation switch 23 provided on the wand 20
を、歩行者が杖20を操作するのに合わせて指で操作できるように構成されている。 The pedestrian is configured to be operated by a finger to fit to operate the wand 20. このように、伸縮機構4と該伸縮機構4を制御するコントローラ22とをコードレスとすることにより、歩行者が配電ケーブルに惑わされることなく歩行することができる。 Thus, a controller 22 for controlling the telescopic mechanism 4 and the expansion mechanism 4 by a cordless, can walk without pedestrian is misled by distribution cables. なお、本発明装具1 It should be noted that the present invention brace 1
におけるモータ6及びリモートコントローラ22の電源には電池、特にニッケル水素電池を使用すると良い。 May the power of the motor 6 and the remote controller 22 cells, in particular using a nickel hydrogen battery in.

【0016】次に、本発明歩行補助装置1の動作について説明する。 [0016] Next, the operation of the present invention the walking assistance device 1. 障害者が歩行するには先ず車椅子に座った状態で自分の足に歩行補助装具1を取り付ける。 Attach their feet in the walking assistance device 1 in a state in which the first sitting in a wheelchair in the handicapped person to walk. 取り付けは上腿取付部材2を脚の上腿部に、下腿取付部材3を脚の下腿部にそれぞれセットしマジックテープ(登録商標)11で強固に取り付ける。 Mounting the upper leg mounting member 2 to the upper leg portion of the leg, rigidly attached by lower leg attaching member 3 was set respectively to the crus of the leg Velcro (TM) 11. 取り付けは膝部分を曲げた状態でもよいが、立ち上がる時は継手5を両取付部材2、3が直線状態となるように、即ち、膝関節部分が回動しないようにボールネジ7で固定する。 Mounting may be in a state of bending the knees, but two mounting members 2 and 3 the joint 5 when rises as a straight line state, i.e., the knee joint portion fixed with the ball screw 7 so as not to rotate. 立ち上がるには、両取付部材2、3を直線状態にして第三者の力を借りて、或いは手摺に掴まって立ち上がるか、あるいは、 The rise, the two mounting members 2 and 3 with the help of a third party in the linear state, or standing or clinging to the handrail, or,
着座姿勢で膝部分を曲げた状態で歩行補助装具1を取り付け、左右の杖に設けたリモートコントローラ22の操作スイッチ23を同時に操作して立ち上がることもできる。 The walking assistance device 1 in a state in which knees bent portion fitted in sitting position, the operation switch 23 of the remote controller 22 provided on the left and right of the wand may be rises in operation simultaneously.

【0017】立ち上がったならば例えば先ず右足を一歩前に進める。 [0017] If stood up, for example, first the right foot proceed one step before. この場合、杖20,20を前について上体を前傾させる。 In this case, it tilted forward the upper body about before the cane 20, 20. 次に杖20の把持部21に設けたリモートコントローラ22の操作スイッチ23を操作(例えば押し込む)し、モータ6を駆動させる。 Then operating the operation switch 23 of the remote controller 22 provided to the grip portion 21 of the wand 20 (e.g. pushing), to drive the motor 6. モータ6を駆動させると、モータ6にフレキシブル継手9を介して連結されているボールネジ7が回転し、ボールネジ7と螺合するソケット8をモータ6方向に引き寄せる。 When driving the motor 6, the ball screw 7 is rotated which is connected via a flexible coupling 9 to the motor 6, attract the ball screw 7 screwed to the socket 8 to the motor 6 direction. ソケット8は図では下腿取付部材3に固定されているので下腿取付部材3が上腿取付部材2方向に引き寄せられることとなり、下腿取付部材3は回動自在の継手5で上腿取付部材2に連結されているため、膝を突き出す形で膝部分を回動し、図2に示すように「く」の字状に折り曲げられ、靴14が歩行面27からかなりの高さまで浮き上がる。 Socket 8 are fixed to the lower leg mounting member 3 will be lower leg mounting member 3 is attracted to the upper leg attaching member 2 direction in the figure, the lower leg mounting member 3 to the upper leg attaching member 2 at the joint 5 of the rotatable because it is attached, a knee portion rotates in a manner projecting the knee bent in shape of "V" as shown in FIG. 2, the shoe 14 is lifted from the walking surface 27 to a considerable height. なお、回動角度は歩行者の操作スイッチ23による制御、あるいは図3に示すようにボールネジ7の先端に設けたリミットスイッチ13で操作する等、任意の方法で制御することができる。 Incidentally, the rotational angle can be controlled at a constant, any method of operating a limit switch 13 provided at the tip of the ball screw 7 as shown in the control, or 3 by pedestrians of the operation switch 23.

【0018】このように靴14を高く浮き上がらせた状態になるにしたがって脚(歩行補助装具1)は自然に振り子のように前に向かって振られることとなる。 [0018] In this way the legs (walking assistance device 1) according to a state that was lifted high the shoes 14 will be be swung toward the front like a pendulum naturally. そして右足が最大に前に振れた時点でリモートコントローラ2 The remote controller 2 when the right foot is deflected before the maximum
2の操作スイッチ23を再度制御する(上記例では操作スイッチ23を放す)と、モータ6は逆回転し、ボールネジ7はソケット8がモータ6から離れる方向に回転し、それに伴って下腿取付部材3と上腿取付部材2とは直線状態になるように回動し、直線状態になったところでモータ6は停止し、下腿取付部材3と上腿取付部材2 The second operation switch 23 controls again the (in the above example releases the operating switch 23), the motor 6 is reversely rotated, the ball screw 7 is rotated in the direction the socket 8 is away from the motor 6, the lower leg mounting member 3 with it and rotated such that a straight line is established between the upper leg mounting member 2, the motor 6 is stopped upon reaching the straight state, the lower leg mounting member 3 and the upper leg attaching member 2
とは直線状態に戻る。 Back in a straight line state with. 下腿取付部材3と上腿取付部材2 Crus attachment member 3 and the upper leg attaching member 2
とが直線状態に戻った状態で歩行面27に靴14を着地させ一歩進んだことになる。 Bet is to be advanced one step to landing the shoe 14 to the walking surface 27 in a state in which the back in a straight line state.

【0019】次にこの状態から更に杖20,20を前について上体を前傾させ、左脚を操作する杖20の把持部21に設けたリモートコントローラ22の操作スイッチ23を制御する。 [0019] Next, control of the operation switch 23 of the remote controller 22 provided to the grip portion 21 of the wand 20 further tilted forward upper body for the previous wand 20, 20, operates the left leg from the state. 操作スイッチ23を押すとモータ6が回転し、それに伴ってボールネジ7が回転し、該ボールネジ7の回転により左脚側の下腿取付部材3が膝部分の継手5を前方に出し「く」の字状に折り曲げるように回動し、所定角度折り曲げた状態でモータ6の回転はリミットスイッチ13の作動により止まる。 Motor 6 is rotated by pressing the operation switch 23, the ball screw 7 is rotated with it, shaped in the lower leg mounting member 3 on the left leg side by the rotation of the ball screw 7 issues a joint 5 of the knee portion forward "V" rotated so bent Jo, the rotation of the motor 6 is stopped by the operation of the limit switch 13 in a folded state a predetermined angle. 膝部分が曲がることにより左脚は歩行面27から高く浮き上がり、この状態で左脚は前方に振り出される。 Left leg by the knee portion bends lifted higher from the walking surface 27, the left leg in this situation is swung forward. 左脚が最大に前方に振り出されたならばリモートコントローラ22の操作スイッチ23を再度制御する。 Left leg to control the operation switch 23 of the remote controller 22 if was swung forwardly to the maximum again. リモートコントローラ22 The remote controller 22
の操作スイッチ23を制御するとモータ6は逆回転してボールネジ7は下腿取付部材3と上腿取付部材2とが直線状態になる方向に回動し、両取付部材2、3が直線状態になった時点で回転は止まる。 Is by controlling the operation switch 23 motor 6 ball screw 7 rotated in the reverse direction rotates in the direction in which the lower leg attachment member 3 and the upper leg attaching member 2 becomes a straight line state, two mounting members 2 and 3 becomes in a linear state rotation at the time was stops. 両取付部材2、3が直線状態になった時点で歩行面27に靴14を着地させることで二歩進んだことになり、以後かかる動作を繰り返すことにより歩行することができる。 Will be two mounting members 2 and 3 is advanced two steps by causing the landing shoe 14 on the walking surface 27 when it becomes a straight line state, it is possible to walk by repeating the above operation thereafter.

【0020】本発明ではモータ6とボールネジ7とをフレキシブル継手9で連結すると共にモータ6の上腿取付部材2への取付を少々遊びを設けて取り付けるように構成している。 [0020] The present invention is configured to attach the attachment to the upper leg attaching member 2 of the motor 6 with connecting the motor 6 and the ball screw 7 in the flexible joint 9 Some provided play. このように構成すると、両取付部材2、3 With this configuration, two mounting members 2 and 3
の回動がすこぶる円滑になり、装着者(障害者)の歩行をスムーズにすることができる。 Of rotation becomes exceedingly smoothly, it is possible to smoothly walking of the wearer (disabilities). モータ6とボールネジ7とを直結し、モータ6を取付部材2に強固に固定すると、膝部分の動きはぎこちなくなり、歩行者の歩みもぎこちなくなってくる。 Directly connected with the motor 6 and the ball screw 7, when firmly fix the motor 6 to the mounting member 2, motion of the knee portion becomes awkward, history of pedestrians becomes awkward.

【0021】上記実施形態では、モータ6とボールネジ7とをフレキシブル継手9で連結すると共にモータ6の上腿取付部材2への取付を少々遊びを設けて取り付け、 [0021] In the above embodiment, the attachment provided little play attachment to the upper leg attaching member 2 of the motor 6 with connecting the motor 6 and the ball screw 7 in the flexible joint 9,
両取付部材2、3の回動がすこぶる円滑になるように構成したが、軽度の障害者であれば、あえてモータ6とボールネジ7とをフレキシブル継手9で連結すると共にモータの上腿取付部材2への取付を少々遊びを設けて取り付けるように構成にしなくともよいことは勿論である。 While the rotation of the two mounting members 2 and 3 is configured to be exceedingly smooth, if mild disability, dare motor while connecting the motor 6 and the ball screw 7 in the flexible joint 9 thigh attachment member 2 may be not necessary to a little configured to attach provided play attachment to is a matter of course.
なお、上記実施形態では、モータ6を上腿取付部材2 In the above embodiment, the motor 6 upper leg mounting member 2
に、ソケット8を下腿取付部材3に取り付けた実施形態につき説明したが、モータ6を下腿取付部材3に、ソケット8を上腿取付部材2に取り付けても同様の効能を発揮することは云うまでもない。 To have been explained embodiments of attaching the socket 8 to the lower leg mounting member 3, the motor 6 to the lower leg mounting member 3, up it refers to exert similar efficacy be attached to the socket 8 to the upper leg attaching member 2 Nor.

【0022】上述したように本発明は両取付部材2、3 [0022] The As mentioned above the invention both the attachment members 2 and 3
を膝部分が曲がるように構成して靴14が歩行面27から高く浮き上がるように構成されているので、歩行面2 The so shoes 14 and configured to bend the knee portion is configured to float high above the walking surface 27, the tread surface 2
7に少々の凹凸があっても歩行の障害とはならず、従って、室内はもとより屋外でも歩行することが可能となり、日常生活に使用することができる。 There is a bit of unevenness in 7 not become an obstacle to be walking, therefore, the room will be able to walk in well outdoors, can be used in everyday life. また、膝部分が曲がることにより靴14が歩行面27から離れるので、 Also, since the shoe 14 by the knees bent away from the walking surface 27,
歩く際に歩行者は股関節から上部の体幹部や歩行補助装具を左右に交互に傾斜させる必要がなくなり、従って、 Pedestrians does not need to be alternately inclined top of the trunk and the walking assistance device to the left and right from the hip when walking, therefore,
歩く姿は揺れ動きがなく、股関節から下部が安定し、歩行時に転倒する恐れもない。 No figure is the oscillatory movement is walking, lower from the hip joint is stable, there is no risk of falling when walking.

【0023】更に、膝部分の伸縮機構4はボールネジ7 [0023] In addition, the expansion and contraction mechanism 4 of the knee portion of the ball screw 7
を使用しているので例え歩行者がその操作を誤っても、 Since we are using even by mistake even if the pedestrian is its operation,
或いは歩行中に電流が切れても、ボールネジ7とソケット8で生ずる摩擦のために膝部分の継手5が折れ曲がることなく停止するので、歩行者が膝折れ現象を起こすようなことはなく、転倒するようなこともない。 Or even off current while walking, will stop without the joint 5 of the knee portion bends due to friction caused by the ball screw 7 and the socket 8, the pedestrian never that causes the knee bending phenomenon, to overturn it does not even like. 本発明歩行補助装具1はモータ6とボールネジ7との組合せのみで構成されているので構造は簡単であり、従って小型化、軽量化も可能である。 The present invention walking assistance device 1 which is configured only with the motor 6 and the ball screw 7 structure is simple, thus downsizing a weight reduction possible.

【0024】本発明歩行補助装具1はこのように膝部に設けた継手5を伸縮機構4により回動し上腿取付部材2 The present invention walking assistance device 1 rotates the joint 5 provided in the knee as the expansion and contraction mechanism 4 upper leg attaching member 2
と下腿取付部材3とを折り曲げ可能として靴14と歩行面27との距離を可変にすることができ、歩行時に確実な立脚相と遊脚相の形成ができ、安定した歩容が得られるとともに、従来のごとく上体の傾斜や転倒などを生ずることが回避できる。 And the distance between the lower leg mounting member 3 and shoe 14 as a possible bending and walking surface 27 could be a variable, it is reliable formation of the stance phase and swing phase during walking, with a stable gait is obtained avoids that produce such tilting or overturning the conventional as upper body.

【0025】 [0025]

【発明の効果】以上のように、本発明によれば、膝部の曲げにより靴14と歩行面27との距離を可変にすることができるので、安定した確実な歩容のもとで障害者の安全な歩行補助をすることができる。 As it is evident from the foregoing description, according to the present invention, since the distance of the bending of the knee and the shoe 14 and the walking surface 27 can be made variable, failure under stable reliable gait was it can be a safe walking assistance of the person. しかも、簡易な構造のもとで軽量化、小型化をはかることができる等の効果がある。 In addition, lighter under a simple structure, there is an effect of the like can be miniaturized.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】本発明の歩行補助装置の一実施形態を示す側面図である。 1 is a side view showing an embodiment of a walking assistance device of the present invention.

【図2】図1に示す歩行補助装具の膝部分を折り曲げた状態を示す側面図である。 2 is a side view showing a state in which bent the knee portion of the walking assistance device shown in FIG.

【図3】本発明の歩行補助装置における杖に設けたコントローラとモータの制御との関係を示す説明図である。 3 is an explanatory diagram showing the relationship between the control of the controller and the motor provided in the cane in the walking assist device of the present invention.

【図4】本発明の歩行補助装置の第二の実施形態示す側断面図である。 4 is a side sectional view showing a second embodiment of a walking assistance device of the present invention.

【図5】従来の歩行補助装具を装着した歩行者を示す説明図である。 5 is an explanatory diagram showing a conventional walking assistance device equipped pedestrian.

【図6】従来の歩行補助装具を示す側面図である。 6 is a side view showing a conventional walking assistance device.

【符号の説明】 DESCRIPTION OF SYMBOLS

1 歩行補助装具 2 上腿取付部材 3 下腿取付部材 4 伸縮機構 5 継手 6 モータ 7 ボールネジ 8 ソケット 9 フレキシブル継手 10 金具 11 マジックテープ 13 リミットスイッチ 14 靴 15 結合部材 20 杖 21 把持部 22 リモートコントローラ 23 操作スイッチ 27 歩行面 1 walking assistance device 2 upper leg mounting member 3 crus attachment member 4 expansion mechanism 5 coupling 6 motor 7 ball screw 8 socket 9 flexible coupling 10 fitting 11 Velcro 13 limit switch 14 shoes 15 coupling member 20 wand 21 grip portion 22 remote controller 23 operation switch 27 walking surface

Claims (3)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】歩行障害者に自力歩行手段を付与する歩行補助装具であって、該装具は上腿部に装着する上腿取付部材と、該上腿取付部材に回動自在に取り付けられ下腿部に装着する下腿取付部材とからなり、上腿取付部材と下腿取付部材との回動は、これら両部材を伸縮自在に連結する、モータと該モータ軸にフレキシブル継手を介して接続のボールネジとボールネジを螺合するソケットとからなる伸縮機構により任意に規制しうるように構成したことを特徴とする歩行補助装具。 1. A walking assistance device to impart ambulatory means walking disabilities, and upper leg mounting member 該装 fixture is to be attached to the upper leg portion, the lower rotatably mounted on the upper thigh attachment member consists of a lower leg attachment member to be attached to thigh portion, the rotation of the upper leg mounting member and the crus attachment member, connecting these two members telescopically, ball screw connected via a flexible coupling to the motor and the motor shaft walking assistance device, characterized by being configured so as to be able to regulate optionally the telescopic mechanism consisting of a socket and screwing the ball screw.
  2. 【請求項2】上記モータは上腿取付部材または下腿取付部材の何れか一方に少々の遊びを設けて取り付けられ、 Wherein said motor is mounted to provide a little play in one of the upper leg mounting member or lower leg mounting member,
    ボールネジを螺合するソケットは他方の部材に固定されていることを特徴とする請求項1に記載の歩行補助装具。 Walking assistance device of claim 1 socket, characterized in that it is fixed to the other member screwed to the ball screw.
  3. 【請求項3】上記モータによるボールネジの回転は杖に設けたリモートコントローラにより制御しうるように構成してなることを特徴とする請求項1に記載の歩行補助装具。 3. A walking assistance device according to claim 1, characterized by being configured so that the rotation of the ball screw by the motor can be controlled by a remote controller provided in the wand.
JP2000404456A 2000-12-22 2000-12-22 Walking prosthesis Pending JP2002191654A (en)

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