JP2007014698A - Walking aid device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a walking aid device capable of easily attaching for walking movement. <P>SOLUTION: The walking aid device 10 is attached on a trunk of a person with a belt 18 at the upper part, and it has a brace 12 attached on the inferior limb with another path 40 at the lower part, a wheeled frame 14 for supporting the person attached with the brace 12 not to fall down, and an automatic lift device 64 for connecting the brace 12 and the wheeled frame 14. The automatic lift device 64 can change the height of the brace 12 to the wheeled frame 14 by supplying air to an air cylinder 72. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a walking assist device that allows the wearer to walk while preventing the wearer from falling.

An appropriate walking movement (walking) regulated by the walking correction unit while fixing the walking correction unit, which is attached to the upper body and the left and right legs, to restrict the movement of the legs in a predetermined direction, to the carriage and preventing the wearing from falling. 2. Description of the Related Art A walking assist device that performs training) is known (see, for example, Non-Patent Document 1). In addition, this walking assist device provides walking assist force by fixing the other end of the elastic band having one end fixed to the frame of the carriage near the ankle of the walking exerciser.
Catalog of “The David Hart Clinic” created in January 2004

  However, in the conventional walking assist device as described above, the connecting rod of the walking correction unit mounted on the human body is used in a state of being inserted and fixed to the column portion provided on the carriage, so that the helper's help is helped. Without it, it was difficult to attach the mounting part to the carriage. On the other hand, there is no problem for the assistant when the physique of the person who performs the walking exercise is small, but there is a problem that the assistance labor force is increased when the physique of the person wearing the walking attachment portion is increased.

  Furthermore, in the conventional walking assistance device as described above, it has been desired to improve walking assistance performance so that a person who is particularly difficult to walk independently can perform a walking exercise.

  In view of the above facts, it is a first object of the present invention to provide a walking assistance device that can be easily worn and can perform a walking motion. The second object of the present invention is to obtain a walking assistance device with good walking assistance performance.

  In order to achieve the above object, a walking assistance device according to claim 1 is attached to a human body and supports the wearer so that the wearer can walk in a state in which the wearer is prevented from falling. The upper portion is attached to the trunk of the wearer, the lower portion is attached to the lower limb of the wearer, the support portion that supports the attachment portion with respect to the walking surface, and the support portion And a high-level variable device that is provided between the mounting portion and that can change the height of the mounting portion relative to the support portion.

  In the walking assist device according to claim 1, the user of the device wearing the attachment portion at least on the trunk and the lower limbs is prevented from falling by the support portion that supports the attachment portion via the high-level variable device. Perform walking exercise. When the user wears the walking assist device, for example, the seated part is worn on the trunk and lower limbs, and the wearer is moved from the sitting position to the standing position while the wearing part is moved upward by the high position variable device. Let Accordingly, the mounting portion can be supported on the support portion at a position where the user can perform a walking motion without lifting the user wearing the mounting portion.

  Thus, in the walking assistance device according to the first aspect, it is possible to easily wear and perform walking exercise.

  According to a second aspect of the present invention, there is provided the walking assist device according to the first aspect, further comprising a driving device capable of driving the high-order variable device in a direction in which the mounting portion is lifted with respect to the support portion.

  In the walking assist device according to the second aspect, when the driving device is operated, the high-level variable device is extended and the mounting portion is lifted with respect to the support portion. That is, the user can be shifted from the sitting position to the standing position by the driving force generated by the driving device.

  A walking assistance device according to a third aspect of the present invention is the walking assistance device according to the second aspect, wherein the high-level variable device is an air cylinder, and the driving device is an air supply device that supplies air to the air cylinder. .

  In the walking assistance device according to claim 3, when either one of the cylinder and the rod is fixed to the support portion and the other is fixed to the mounting portion, air (pressure) is supplied to the air cylinder. The user can be extended to move from the sitting position to the standing position. Since the air pressure is used, the walking assist device is configured to be small and light as a whole and has a simple structure.

  The walking assist device according to a fourth aspect of the present invention is the walking assist device according to any one of the first to third aspects, wherein the high-level variable device includes a base portion fixed to the support portion side and the attachment. And a mounting height adjusting section that can change the mounting height between the movable section and the mounting section.

  In the walking assist device according to claim 4, since the mounting position in the relative displacement direction between the mounting portion and the movable portion can be adjusted by the mounting height adjusting portion, the position of the mounting portion relative to the support portion is determined according to the user's physique. Can be adjusted. For this reason, one walking assistance device can be shared by different people, and the position of the mounting portion relative to the support portion can be easily adjusted according to the growth of the body.

  The walking assist device according to a fifth aspect of the present invention is the walking assist device according to any one of the first to fourth aspects, wherein the lower limb of the person wearing the mounting portion is provided with a walking motion. An auxiliary force applying device including an actuator that generates a walking auxiliary force so as to perform walking is further provided.

  In the walking assist device according to claim 5, when the user performs walking motion, the actuator of the assisting force applying device generates walking assist force. For this reason, even for users who are difficult to walk on their own, proper walking that is regulated by the wearing part in response to the walking assisting force from the assisting force applying device while being prevented from falling by the support part Can do exercise.

  A walking assist device according to a sixth aspect of the invention is provided with a mounting portion that has an upper portion attached to the trunk of the wearer and a lower portion attached to the lower limb of the wearer to guide the movement of the lower limb in a predetermined direction. A support part for supporting the wearing part with respect to the walking surface and preventing a person wearing the wearing part from falling, and a lower leg of the person wearing the wearing part to perform a walking motion. And an auxiliary force applying device including an actuator that generates a walking auxiliary force.

  In the walking assist device according to claim 6, the user wearing the mounting portion at least on the trunk and the lower limbs performs a walking exercise in a state in which the user is prevented from falling by the support portion that supports the mounting portion with respect to the walking surface. . At this time, the actuator of the assisting force applying device generates walking assisting force. For this reason, even for users who are difficult to walk on their own, proper walking that is regulated by the wearing part in response to the walking assisting force from the assisting force applying device while being prevented from falling by the support part Can do exercise.

  As described above, in the walking assist device according to the sixth aspect, the walking assist device can be easily attached to perform the walking exercise.

  The walking assist device according to a seventh aspect of the present invention is the walking assist device according to the fifth or sixth aspect, wherein the mounting portion includes a first joint that is angularly displaced following the movement of the hip joint of the wearer. A second joint that angularly displaces following the movement of the knee joint of the wearer, and the auxiliary force applying device includes a first actuator that generates a force in a direction of bending the first joint; The second actuator that generates a force in the direction of bending the second joint, and the third actuator that generates a force in the direction of extending the first joint.

  In the walking assist device according to claim 7, the first and third actuators operate at an appropriate timing to bend or extend the first joint, and the second actuator bends the second joint to synchronize with this. Thus, an appropriate walking assist force is given to the user. The first actuator functions to assist the greater anterior muscle, the second actuator assists the hamstrong, and the third actuator assists the rectus femoris, thus obtaining an effective and natural (no discomfort) walking assist force. Can do. It is also possible to perform effective walking assistance by changing the actuator to be operated according to the strength of the muscle strength of each part of the user.

  The walking assist device according to an eighth aspect of the present invention is the walking assist device according to the seventh aspect, wherein the first to third actuators generate air pressure in the shortening direction while being shortened by supplying air therein. Actuator.

  In the walking assist device according to claim 8, since each actuator is a pneumatic actuator that generates a walking assist force while shortening as air is supplied, a function of assisting each muscle with a simple structure is realized. Can do.

  The walking assist device according to claim 9 is the walking assist device according to claim 7 or claim 8, wherein the assist force applying device detects rotation of each of the first joint and the second joint. The detector includes a detector and a control device that controls the operation of the first to third actuators according to the detection angle of the pre-standardized transfer detector.

  In the walking assist device according to claim 9, since the control device controls the operation of the actuator according to the joint angle (time change thereof), it is possible to apply an appropriate walking assist force according to the user's motor function. . For example, it is possible to apply a large walking assist force to a portion where the user's muscular strength is weak or a portion that requires correction with an assist force, thereby allowing the user to perform an appropriate walking motion.

  As described above, the walking assistance device according to the present invention has an excellent effect that it can be easily worn and walked. In addition, the walking assistance device according to the present invention has an excellent effect that the walking assistance performance is good.

  A walking assistance device 10 as a walking assistance device according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 7. For convenience of explanation, the walking direction of the walking trainer indicated by the arrow A is the front side, and the vertical and horizontal directions are based on the direction when facing the walking direction.

  FIG. 1 is a perspective view showing the walking assistance device 10 worn by a walking trainer, and FIG. 2 is a perspective view showing the walking assistance device 10 not worn. As shown in these drawings, the walking assist device 10 is configured such that a brace 12 as a mounting portion (walking correction portion) to be mounted on a human body is supported by a carriage 14.

  The brace 12 includes a waist frame 16 formed in a substantially semicircular shape (U-shape) opened forward in plan view, and the waist frame 16 is attached to the carriage 14 via an automatic lift device 64 described later. It has been. A waist contact plate 16 </ b> A is attached to the front surface of the center portion of the waist frame 16 in the left-right direction so as to come into contact with the waist portion of the trunk of the human body that has entered the waist frame 16. As shown in FIG. 1, the waist frame 16 is attached to the waist of the human body by waist belts 18 connected to the left and right ends, respectively, and the back of the waist belt 18 is from the lower side to the buttocks of the human body. Wrapped to support. Thereby, the waist frame 16 is configured to transmit (support) the weight of the wearer to the carriage 14. In the drawings other than FIG. 1, the illustration of the waist belt 18 is omitted.

  Further, as shown in FIG. 2, the lower ends of a pair of left and right vertical frames 20 each of which is elongated in a substantially vertical direction are fixed to both left and right ends of the waist frame 16. The left and right vertical frames 20 have such a length that the upper ends thereof reach the wearer's chest. The front end of the sub-frame 22 that is elongated in the front-rear direction is fixed to the lower end side of each vertical frame 20 (above the waist frame 16). As shown in FIG. 1, the upper ends of the left and right vertical frames 20 are attached to the chest of a human body via a common chest belt 23. In the drawings other than FIG. 1, the illustration of the chest belt 23 is omitted.

  Further, in the vicinity of the opening end in front of the joint portion of each vertical frame 20 in the waist frame 16, the knee is elongated in the substantially vertical direction via a hinge shaft 24 having an axis extending along the substantially horizontal direction. The upper end of the frame 26 is connected so as to be rotatable around the hinge shaft 24. The waist frame 16, the hinge shaft 24, and the above-knee frame 26 constitute a first joint K1 corresponding to the hip joint. A front end of a sub-frame 28 that is substantially longitudinal in the front-rear direction is fixed to the upper part of each above-knee frame 26, and a sub-length that is substantially longitudinal in the front-rear direction is fixed to the lower part of each above-knee frame 26. The rear end of the frame 30 is fixed.

  Furthermore, the upper end of the below-knee frame 34, which is elongated in the substantially vertical direction, is pivoted around the hinge shaft 32 via the hinge shaft 32 having an axis extending substantially in the left-right direction at the lower end of each above-knee frame 26. Connected as possible. The upper knee frame 26, the hinge shaft 32, and the lower knee frame 34 constitute a second joint K2 corresponding to the knee joint. A front end of a sub-frame 36 that is substantially longitudinal in the front-rear direction is fixed to the lower part of each lower knee frame 34. On the other hand, directly below the second joint K2 in each lower knee frame 34 is attached a lower knee support 38 that is formed in a semicircular shape that opens forward in plan view and receives the lower knee of the human leg from the rear side. As shown in FIG. 1, each knee support 38 is attached independently to the lower knee of different legs by a leg belt 40 having an intermediate portion fixed to the back side of the knee support 38. Yes. In the drawings other than FIG. 1, illustration of the leg belt 40 is omitted.

  Further, at the lower end of each lower knee frame 34, the upper end of the foot frame 44 which is elongated in the substantially vertical direction is rotatable around the hinge shaft 38 via a hinge shaft 42 having an axis line extending substantially in the left-right direction. It is connected. The lower knee frame 34, the hinge shaft 42, and the foot frame 44 constitute a third joint K3 corresponding to the ankle joint. Further, a shoe holding portion 46 that can be attached to the sole of the shoe S is connected to the lower end of each foot frame 44 so as to be rotatable around the hinge shaft 42.

  The brace 12 described above includes a waist belt 18 on the waist where the waist frame 16 is the lower trunk, a chest belt 23 on the chest where the upper end of each vertical frame 20 is the upper trunk, and a leg support 40 below the knee support 38. The shoe holder 46 is attached to the shoe S, that is, the foot, at the lower knee of the lower limb, and is attached to the human body so as to mainly restrict the movement direction of the lower limb to the rotation direction of the joints K1, K2, and K3. It is.

  The carriage 14 includes a center frame 48 that is elongated in the front-rear direction. A center portion in the longitudinal direction of the front wheel frame 50 that is elongated in the left-right direction is fixedly connected to the front end of the center frame 48, and support shafts 52 that extend in the vertical direction are respectively connected to the left and right ends of the front wheel frame 50. Are connected. An arm 54 is supported on each support shaft 52 so as to be rotatable around the support shaft 52, and an axis of a wheel 56 is rotatably supported on the lower end of each arm 54. As shown in FIG. 1, one end of an elastic band 55 is hooked on the center part in the left-right direction of the front wheel frame 50, and the other end of the elastic band 55 is detachably locked to the lower part of the lower knee frame 34. It has come to be.

  On the other hand, a vertical intermediate portion of a vertical pipe 58 that is elongated in the vertical direction is fixedly connected to the rear end of the center frame 48. A rear wheel frame 62 that is elongated in the left-right direction is connected to the rear of the vertical pipe 58 via a rear frame 60. The axial centers of the wheels 56 are rotatably supported at both ends of the rear wheel frame 62 in the longitudinal direction. In the bogie 14, that is, the walking assist device 10, only the front and rear total four wheels 56 are in contact with the walking surface. The rear frame 60 may employ a suspension structure for absorbing vertical displacement. Further, the carriage 14 may be configured to include two, three, five or more wheels 56 instead of the configuration including the four wheels 56.

  The carriage 14 is provided with an automatic lift device 64 as a high-level variable device. The automatic lift device 64 includes an upper block 66 fixed to the upper end portion of the vertical pipe 58 and a lower block 68 fixed to the vicinity of the lower end of the vertical pipe 58. The upper block 66 and the lower block 68 are fastened to each other with a main body having a recess, 66A and 68A, and pressing portions 66B and 68B sandwiched by a vertical pipe 58 inserted into each recess. 58, that is, fixed to the carriage 14. The main bodies 66A and 68A of the upper and lower blocks 66 and 68 are connected by a pair of left and right connecting plates 70 that are elongated in the vertical direction.

  The automatic lift device 64 includes an air cylinder 72 as a high-level variable device. The air cylinder 72 is configured by fixing the other end of a telescopic rod 72C, one end of which is positioned outside the cylinder 72A, to a piston 72B (see FIG. 5) provided in the cylinder 72A. The sliding rod 72C is configured to expand and contract with respect to the cylinder 72A by sliding inside.

  As shown in FIGS. 1 to 3, in the air cylinder 72, the lower end of the cylinder 72A is fixed to the upper block 66, and the telescopic rod 72C (the upper end) protruding from the upper end of the cylinder 72A moves up and down. It has become. The upper end of the lifter 74 is fixed to the upper end of the telescopic rod 72C. The lifter 74 includes a main body 74A arranged in parallel in front of the air cylinder 72, an upper flange 74B that extends rearward from the upper end of the main body 74A and is fixed to the upper end of the telescopic rod 72C, and the support of the main body 74A. And a lower flange 74C extending forward.

  The upper end of the guide rod 76 is fixed to the lower flange 74C of the lifter 74. The guide rod 76 is inserted into the vertical pipe 58 of the carriage 14 and supported so that only movement in the vertical direction is allowed. As a result, in the automatic lift device 64, when the telescopic rod 72C of the air cylinder 72 extends relative to the cylinder 72A, the guide rod 76 is guided by the vertical pipe 58 (linear guide disposed therein) and the lifter 74 is shown in FIG. Ascending from the initial position shown in A) as shown in FIG. As shown in FIG. 3, the initial position of the lifter 74 is the position where the air cylinder 72 is most shortened. In this embodiment, the lower flange 74 </ b> C is positioned near the upper side of the upper block 66. ing. The maximum stroke of the air cylinder 72 is approximately 300 mm.

  As shown in FIG. 5, the automatic lift device 64 includes an air cylinder 78 as an air source. The air cylinder 78 communicates with an air inlet / outlet 72D disposed near the lower end of the cylinder 72A via an electropneumatic regulator 80. The electropneumatic regulator 80 is configured to be able to open and close independently a port that communicates the air inlet / outlet 72D and the air cylinder 78 and a port that communicates the air inlet / outlet and the outside (atmosphere). Then, each port is opened and closed so that the internal pressure on the air inlet / outlet 72D side of the piston 72B in the cylinder 72A becomes the set pressure.

  The control device 82 is electrically connected to the lift switch 84. When the lift switch 84 is operated to the ascending side, the control device 82 controls the electropneumatic regulator 80 so that the air pressure of the cylinder 72A becomes a predetermined pressure. The electropneumatic regulator 80 is controlled so as to lower the pressure in the cylinder 72A to the atmospheric pressure when the lift switch 84 is moved downward by a predetermined amount from the initial position and operated to the down side. For example, when the walking assist device 10 is shared by a plurality of people, the control device 82 changes the lift amount of the lifter 74 according to the user's physique (height, weight) or keeps the lift amount constant. In this way, the set pressure may be changed as appropriate.

  The air cylinder 78, the electropneumatic regulator 80, and the control device 82 are mounted at appropriate positions on the carriage 14. The air cylinder 78, the electropneumatic regulator 80, and the control device 82 constitute a drive device according to the present invention. Note that a compressor, an air pump, or the like may be provided instead of the air cylinder.

  The automatic lift device 64 described above supports the brace 12 with respect to the carriage 14 as described above. Specifically, the center part (rear end part) in the left-right direction of the waist frame 16 constituting the brace 12 is connected to the lower flange 74C of the lifter 74 constituting the automatic lift device 64 via a connecting member 83 (see FIG. 7). ) Is fixed. Thus, the walking assist device 10 is configured to be able to move the waist frame 16 of the brace 12, that is, the user's waist, upward as shown in FIG. 1 by the lift of the lifter 74 from the initial position.

  The initial position of the lifter 74 corresponds to the position of the waist of the user seated on the chair 86 shown in FIG. 4, and the raised position of the lifter 74 corresponds to the position of the waist of the user who stands up. ing. The chair 86 is formed with a slit 86B that is elongated in the front-rear direction and opens forward in the center in the left-right direction of the seat 86A. From the state in which the portion around the vertical pipe 58 of the carriage 14 enters the slit 86B, It can be pulled out without interfering with the carriage 14.

  Next, the operation of the first embodiment will be described.

  In the walking assist device 10 configured as described above, the user wears the brace 12 in a posture in which the user is seated on the chair 86 shown in FIG. Specifically, the waist belt 18 is wrapped around the hips, the waist frame 16 is attached to the waist, the chest belt 23 is wound around the chest, the chest is fixed to the left and right vertical frames 20, and the leg belt 40 Is attached to the shoe S by attaching the shoe holding portion 46 to the shoe S. Further, the other end of the elastic cord 55 is locked to the lower portion of the lower knee frame 34.

  The user wearing the brace 12 operates the elevation switch 84 to the ascending side. Then, the control device 82 controls the electropneumatic regulator 80 to increase the internal pressure of the cylinder 72A of the air cylinder 72. As a result, in the walking assistance device 10, the telescopic rod 72 </ b> C of the air cylinder 72 extends from the sitting position illustrated in FIG. 7A to raise the lifter 74, and as illustrated in FIG. 7B, The user wearing the brace 12 attached to the lower flange 74C is raised from the seated state. Since the electropneumatic regulator 80 keeps the internal pressure of the cylinder 72A constant, the user is kept standing (standing state).

  Next, the assistant pulls the chair 86 backward. In this state, the user of the walking assistance device 10 walks in an appropriate walking posture while the movement is restricted by the mounted articulated brace 12 and the cart 14 to which the brace 12 is attached is prevented from falling. Do exercise. At this time, the restoring force of the elastic cord 55 acts as a walking assist force.

  When the user removes the brace 12 of the walking assistance device 10, the assistant sets the chair 86 from the rear so that the vertical pipe 58 enters the slit 86B. When the user operates the up / down switch 84 to the down side, the control device 82 controls the electropneumatic regulator 80 to set the cylinder internal pressure of the air cylinder 72 to atmospheric pressure. Then, the lifter 74 is lowered by the weight of the user while the telescopic rod 72C is shortened, and the user shifts from the standing position to the seat 86 (sitting position). In this sitting state, the user removes the brace 12.

  Here, since the walking assist device 10 includes the automatic lift device 64, the user wearing the brace 12 can be easily walked. Specifically, since the carriage 14 and the brace 12 are connected via an automatic lift device 64 that is an expansion / contraction device, a supporter lifts the user wearing the brace 12 and connects to the brace 12. The operation of inserting the rod into the vertical pipe of the carriage 14 is changed to a standing or walking posture while the automatic lift device 64 is extended while a user wearing the brace 12 in a sitting position is performed without performing the conventional operation. be able to. Thereby, the labor of an assistant or an assistant is reduced.

  In particular, the automatic lift device 64 has a configuration in which the lifter 74 is raised by air pressure (power) to shift the user from the sitting position to the standing position, so that it is not necessary for the user to stand up manually, and an assistant or assistant The effort is further reduced.

  As described above, the walking assistance device 10 according to the first embodiment can be easily attached to perform walking motion.

  Moreover, since the air cylinder 72 is adopted as a power source of the automatic lift device 64, the structure is simple, and the walking assist device 10 has a function that can easily make the user walkable, As a whole, it is compact and lightweight. Furthermore, since the air cylinder 72 is used, the automatic lift device 64 can be used as a motion absorbing device. In other words, in order to allow the user to perform an appropriate walking motion, it is necessary to allow the user to move up and down with respect to the carriage 14 while walking, but the air cylinder 72 functions like an air spring device, so Can allow (absorb) the vertical movement of the person. Thereby, for example, the suspension function conventionally provided in the rear frame 60 is not required, and the structure of the carriage 14 can be simplified.

  Further, in the walking assist device 10, the lift amount of the lifter 74 can be adjusted by changing the internal pressure of the air cylinder 72, that is, the setting of the electropneumatic regulator 80. Thereby, users with different physiques can also share the walking assist device.

(Other embodiments)
Next, another embodiment of the present invention will be described. Parts and portions that are basically the same as those in the first embodiment or the previous configuration are denoted by the same reference numerals as those in the first embodiment or the previous configuration, and the description thereof is omitted. There is a case.

(Second Embodiment)
FIG. 8 is a perspective view of an automatic lift device 92 that constitutes the walking assist device 90 according to the second embodiment. As shown in this figure, the automatic lift device 92 includes a lifter 94 as an extendable portion instead of the lifter 74. The lifter 94 is fixed to the tip of the telescopic rod 72C at an upper flange 74B (not shown) provided at the upper end. An attachment member 96 to which the brace 12 is fixed is fixed to the lifter 94 via a connecting member 83 in the same manner as the lower flange 74C in the first embodiment.

  The mounting member 96 is composed of a pair of half bodies 96A that can sandwich and hold the guide rod 76 from the front and back, and a pair of left and right bolts 98 that penetrate the pair of half bodies 96A that sandwich the guide rod 76 are lifters. The bolts 94 </ b> A provided in the holes 94 are respectively screwed to be fixed to the lifters 94.

  The lifter 94 is provided with a plurality of bolt holes 94A along the height direction into which a pair of left and right bolts 98 can be screwed. Thereby, the structure which can change the support height of the attachment member 96 with respect to the lifter 94, ie, the trolley | bogie 14, ie, the brace 12, is realized by changing the bolt hole 94A (the height) into which the bolt 98 is screwed. In this embodiment, the bolt holes 94A are provided so that the height can be adjusted in 15 steps at intervals of 10 mm. In the automatic lift device 92, the cylinder 72A of the air cylinder 72 corresponds to the base in the present invention.

  The other configuration of the walking assist device 90 is the same as the corresponding configuration of the walking assist device 10. Therefore, the same effect as that of the first embodiment can be obtained by the walking assist device 90 according to the second embodiment. Further, in the walking assist device 90, the support height of the brace 12 with respect to the carriage 14 can be adjusted, so that the sitting position and the standing position (especially according to the user's physique) without depending on the setting change of the electropneumatic regulator 80 , Sitting position) can be adjusted.

(Third embodiment)
FIG. 9 is a perspective view of the walking assistance device 100 according to the third embodiment. As shown in this figure, the walking assist device 100 is different from the walking assist device 10 according to the first embodiment in that it includes an assisting force imparting device 102 for imparting walking assist force to the user.

  The assisting force imparting device 102 includes a first actuator 104 that assists bending of the hip joint, a second actuator 106 that assists bending of the knee joint, and a third actuator 108 that assists extension of the hip joint. As shown in FIG. 10, the first to third actuators 104, 106, and 108 are provided in a pair on the left and right corresponding to the left and right legs of the user, respectively. Hereinafter, when the left and right small actuators are described separately, the suffix “A” is added to the symbol of the right actuator, and the suffix “B” is added to the symbol of the left actuator.

  In this embodiment, the first to third actuators 104, 106, and 108 are pneumatic actuators that are shortened to generate a force in a shortening direction when compressed air is supplied, so-called McKibben type artificial muscles.

  One end of each of the left and right first actuators 104 is locked to a locking portion 16 </ b> B protruding upward from a waist plate 16 </ b> A attachment portion of the waist frame 16, and the other end protrudes rearward from the rear end of the subframe 30. The locking portion 30A (near the lower end of the above-knee frame 26) is locked, and by shortening, a force to bend the first joint K1 corresponding to the hip joint is generated. As shown in FIGS. 12A and 12B, the first actuator 104 is configured to generate a force corresponding to the great gluteal muscle of the human body shown in FIG.

  One end of the left and right second actuators 106 is locked to the locking portion 30A and the other end is locked near the rear end of the subframe 36, and the second joint K2 corresponding to the knee joint is shortened by shortening. It is designed to produce a force that bends. Note that one end of the second actuator 106 may be locked near the rear end of the subframe 28. As shown in FIGS. 12A and 12B, the second actuator 106 is configured to generate a force corresponding to hamstrong of the human body shown in FIG.

  The left and right third actuators 108 have one end locked to a locking portion 22A protruding forward from the front end of the subframe 22 and the other end locked to the vicinity of the front end of the subframe 30 for shortening. Thus, a force in the direction of extending the first joint K1 is generated. Since a relatively large force is required for extending the first joint K1, two third actuators 108 are provided on each of the left and right sides. As shown in FIG. 12B, the third actuator 108 is configured to generate a force corresponding to the generally straight muscle of the human body shown in FIG.

  As shown in FIG. 11, the first to third actuators 104, 106, and 108 are connected to the air cylinder 78 via the corresponding electropneumatic regulators 110. The function of the electropneumatic regulator 110 is the same as that of the electropneumatic regulator 80 of the automatic lift device 64. Therefore, by the operation of the electropneumatic regulator 110, the compressed air of the air cylinder 78 is supplied to the actuators 104, 106, and 108 to generate an auxiliary force, and the compressed air of each actuator is discharged and the force auxiliary treasure is in the opposite direction. The movement of the human body is allowed.

  Each electropneumatic regulator 110 is electrically connected to the control device 112, and changes or maintains the air pressure supplied to the corresponding actuator 104, 106, 108 based on a command of the control device 112. ing. About control of the control apparatus 112, an example is shown with 3rd Embodiment and an effect | action. The control device 112 may be configured integrally with the control device 82.

  The other configuration of the walking assist device 100 is the same as the corresponding configuration of the walking assist device 10. Therefore, the same effect as that of the first embodiment can be obtained by the walking assistance device 100 according to the third embodiment.

  Hereinafter, an operation different from the walking assistance device 10 in the walking assistance device 100 according to the third embodiment will be described.

  In the walking assist device 100 having the above-described configuration, when the user wearing the brace 12 provided with the assisting force applying device 102 enters a walkable state, the control device 112 controls each electropneumatic regulator according to a predetermined timing chart. FIG. 13 shows an example of the timing chart. In this example, six levels of pressure are set in each electropneumatic regulator 110, and the length of each actuator 104, 106, 108 is switched in stages. When each actuator 104, 106, 108 consumes play and shortens it further, it generates a walking assist force.

  In the example of FIG. 13, the first actuator 104A and the second actuator 106A on the right foot are operated with a slight phase difference to provide an auxiliary force for bending the first and second joints K1 and K2 on the right side, respectively. At the same timing, the left third actuator 108B is operated to apply a walking assist force that extends the left first joint K1. Approximately 2 seconds after the start of this operation, an operation in which the motions of the left and right feet are opposite to the above is started. That is, the first actuator 104B and the second actuator 106B of the left foot are operated with a slight phase difference to provide auxiliary force for bending the first and second joints K1 and K2 on the left side, and at the same time the right side The third actuator 108A is actuated to apply a walking assist force that extends the first joint K1 on the right side. The control device 112 repeats the above operation.

  FIG. 14 shows actual walking results. FIG. 14A shows the results of a walking experiment when the walking assist device 100 is worn on a doll having hip and knee joints similar to those of a human, and FIG. It is a walking experiment result at the time of attaching auxiliary device 100. The angle of the vertical axis in each figure is obtained by converting the output of the rotary encoder provided at the first joint K1 and the second joint K2 on the right side into an angle. From these figures, it can be seen that the angular displacement of each joint corresponding to the substantially applied walking assist force can be obtained. In the case of a doll that cannot maintain its own standing position and does not produce walking power, the joint displacement may be slightly disturbed, but when applied to a person with a certain level of leg strength, the angular displacement of the stable joint That is, it was confirmed that an appropriate walking state can be obtained.

  Here, in the walking assist device 100, since the actuator of the assisting force imparting device 102 generates walking assist force, even if it is a person who is difficult to walk independently, the assist force is maintained in a state where the cart 14 is prevented from falling. In response to the walking assist force from the applying device 102, an appropriate walking motion regulated by the brace 12 can be performed.

  In particular, the auxiliary force application device 102 corresponds to the first actuator 104 corresponding to the greater gluteal muscle, the second actuator 106 corresponding to the hamstrong, and the rectus femoris corresponding to each muscle mainly used during walking. Since the third actuator 108 is provided, it is possible to obtain an effective and natural (no discomfort) walking assist force. Further, for example, fine walking assistance such as giving a large walking assistance force to a portion where the user's muscle strength is weak and reducing the walking assistance force to a portion where the muscle strength is strong becomes possible.

  As described above, the walking assistance device 100 according to the third embodiment can be easily attached to perform walking exercise. Further, the walking assist device 100 has good walking assist performance.

  Further, in the walking assist device 100, the first to third actuators 104, 106, and 108 are pneumatic actuators (McKibben type artificial muscles) that generate walking assist force while shortening with the supply of air. The function of assisting each muscle can be realized with a simple structure.

(Fourth embodiment)
FIG. 15 is a perspective view of the walking assistance device 120 according to the fourth embodiment. Further, in FIG. 16, an auxiliary force applying device 122 constituting the walking assist device 120 is shown in a block diagram. As shown in these drawings, the walking assist device 120 includes a rotary encoder 124 as a rotation detector that outputs signals corresponding to the displacements of the left and right first joints K1, K2. 126, 128, 130, and a control device 132 that performs feedback control or feedforward control so that each joint K1, K2 takes a predetermined rotation profile based on the output signals of the rotary encoders 124, 126, 128, 130. It differs from the walking assistance apparatus 100 in the point provided.

  The control device 132 synchronizes the angles of the left and right first joints K1 and K2 with each other so as to cause the user to walk, and each takes a predetermined rotational profile (angular displacement) (for example, predetermined). The air pressure supply to each actuator 104, 106, 108 is controlled based on the output signal of each rotary encoder 124, 126, 128, 130. . The other configuration of the walking assist device 120 is the same as the corresponding configuration of the walking assist device 100.

  Therefore, the walking assistance device 120 according to the fourth embodiment can basically obtain the same effects as those of the third embodiment. In other words, the walking assist device 120 can be easily attached to perform a walking exercise. Further, the walking assist device 120 has good walking assist performance. In particular, the control device 132 controls the air pressure supply to the actuators 104, 106, and 108 based on the output signals of the rotary encoders 124, 126, 128, and 130. When the degree and fatigue level are different, it is possible to give a large assisting force to a leg (joint) with a high degree of disability and a leg with a high degree of fatigue (parts with weak muscle strength, etc.) to perform proper walking exercise Become.

  Note that the walking assist devices 100 and 120 may be configured not to include the elastic cord 55 that provides the walking assisting force with a restoring force. Further, the walking assist device 100 is not limited to a preferable configuration having the automatic lift device 64, and the assisting force applying device 102 may be applied to a walking assist device that does not include the automatic lift device 64.

It is a perspective view which shows the use condition of the walking assistance apparatus which concerns on the 1st Embodiment of this invention. It is a perspective view of the air cylinder extension state of the walk auxiliary device concerning a 1st embodiment of the present invention. It is a perspective view of the air cylinder shortening state of the walk auxiliary device concerning a 1st embodiment of the present invention. It is a perspective view of the wearing preparation state of the walk auxiliary device concerning a 1st embodiment of the present invention. It is a schematic diagram which shows the principal part of the automatic lift apparatus which comprises the walking assistance apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows the automatic lift apparatus which comprises the walking assistance apparatus which concerns on the 1st Embodiment of this invention, Comprising: (A) is a schematic diagram of a shortened state, (B) is a schematic diagram of an expansion | extension state. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the automatic lift apparatus which comprises the walking assistance apparatus which concerns on the 1st Embodiment of this invention, Comprising: (A) is a schematic diagram of the state which a user takes a sitting position, (B) is a user standing up. It is a schematic diagram of the state which takes. It is a perspective view which shows the height adjustment structure which comprises the walking assistance apparatus for vehicles which concerns on the 2nd Embodiment of this invention. It is a perspective view which shows the use condition of the walking assistance apparatus which concerns on the 3rd Embodiment of this invention. It is a perspective view which shows the auxiliary power provision apparatus which comprises the walking auxiliary device which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the auxiliary power provision apparatus which comprises the walking auxiliary device which concerns on the 3rd Embodiment of invention. (A) is a rear view of the assisting force imparting device that constitutes the walking assist device according to the third embodiment of the present invention, and (B) is the assisting force that constitutes the walking assisting device according to the third embodiment of the present invention. FIG. 4C is a side view of the applying device, FIG. 5C is an explanatory diagram showing human muscles corresponding to the first and second actuators, and FIG. 4D is an explanatory diagram showing human muscles corresponding to the third actuators. It is a timing chart for demonstrating operation | movement of the auxiliary power provision apparatus which comprises the walking auxiliary device which concerns on the 3rd Embodiment of invention. It is a figure which shows the walk assistance experiment result by the walk assistance apparatus which concerns on 3rd Embodiment of invention, Comprising: (A) is a diagram which shows the result at the time of applying to a doll, (B) shows the result applied to the person. FIG. It is a perspective view which shows the auxiliary power provision apparatus which comprises the walking auxiliary device which concerns on the 4th Embodiment of this invention. It is a block diagram which shows the auxiliary power provision apparatus which comprises the walking auxiliary device which concerns on the 4th Embodiment of invention.

Explanation of symbols

10 Walking assistance device 12 Brace (wearing part)
14 dolly (support)
64 Automatic lift device (high-level variable device)
72 Air cylinder (high-level variable device)
72A Cylinder (base)
78 Air cylinder (drive device)
80 Electro-pneumatic regulator (drive device)
82 Control device (drive device)
90 Walking assist device 92 Automatic lift device (high-level variable device)
96 Mounting member (movable part)
100/120 Walking assist device 102/122 Auxiliary force applying device 104 First actuator 106 Second actuator 108 Third actuator 132 Controller K1 First joint K2 Second joint

Claims (9)

A walking assist device that is attached to a human body and supports the wearer so that the wearer can walk with the fall prevented.
An upper part is attached to the trunk of the wearer and a lower part is attached to the lower limb of the wearer;
A support portion for supporting the mounting portion with respect to the walking surface;
A high-level variable device provided between the support portion and the mounting portion and capable of changing a high level of the mounting portion with respect to the support portion;
A walking assistance device with   The walking assistance device according to claim 1, further comprising a driving device capable of driving the high-level variable device in a direction in which the mounting portion is lifted with respect to the support portion.   The walking assistance device according to claim 2, wherein the high-order variable device is an air cylinder, and the driving device is an air supply device that supplies air to the air cylinder.   The high-level variable device has a base portion fixed to the support portion side, a movable portion fixed to the attachment portion, and an attachment height adjustment portion capable of changing the attachment height between the movable portion and the attachment portion. The walking assistance device according to any one of claims 1 to 3, wherein the walking assistance device is configured as described above.   Any one of Claims 1 thru | or 4 further provided with the auxiliary | assistant force provision apparatus provided with the said mounting part and including the actuator which produces a walking auxiliary | assistance force so that the leg of the person who mounted | wore with this mounting | wearing part may perform a walking motion. The walking assistance device according to item. An upper portion is attached to the trunk of the wearer and a lower portion is attached to the lower limb of the wearer, and the attachment portion guides the movement of the lower limb in a predetermined direction;
A support unit for supporting the mounting unit with respect to the walking surface and preventing a person wearing the mounting unit from falling;
An auxiliary force applying device including an actuator that is provided in the mounting portion and generates a walking assisting force so that a lower limb of the person wearing the mounting portion performs a walking motion;
A walking assistance device with The mounting portion includes a first joint that is angularly displaced following the movement of the wearer's hip joint, and a second joint that is angularly displaced following the movement of the knee joint of the wearer. ,
The auxiliary force applying device generates a first actuator that generates a force in a direction to bend the first joint, a second actuator that generates a force in a direction to bend the second joint, and a force in a direction to extend the first joint. The walking assist device according to claim 5 or 6, comprising a third actuator.   The walking assistance device according to claim 7, wherein the first to third actuators are pneumatic actuators that generate a force in the shortening direction while being shortened by supplying air therein. The auxiliary force applying device is:
A rotation detector for detecting each displacement of the first joint and the second joint;
The walking assistance device according to claim 7 or 8, comprising a control device that controls the operation of the first to third actuators according to a detection angle of the pre-standardized transfer detector.

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