JP2008220635A - Walking support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make this walk support device capable of helping walker easily turn his or her walk direction when it assists him or her in his walk by lifting his or her entire lower limbs from his or her soles. <P>SOLUTION: Walking direction turning action detecting means (i.e., left and right transformation force detecting sensors 71L and 71R) are provided to detect a walker's action for turning his or her direction leftward or rightward. From the detection results, the device determines whether the walker is trying to turn his or her direction leftward or rightward. If the device determined that the walker is trying to turn leftward, it makes left strides narrower than right strides in the device's walking action with left and right legs 1L and 1R, and if it determined that he or she is trying to turn rightward, it makes right strides narrower than left strides in the walking action. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention belongs to a technical field related to a walking support device that supports walking of a person (especially an elderly person who is difficult to walk).

In recent years, various devices have been proposed as walking support devices for supporting walking of elderly people, etc. Among them, as shown in Patent Document 1, for example, support is provided by lifting the entire lower limb from the sole of the foot. What to do is known. This device includes a left foot portion and a right foot portion that are respectively worn on the left and right feet in a state where a person puts both left and right feet, a waist attachment portion that is attached to the waist of the person, and the left and right both feet portion and the waist attachment portion. The left leg part and the right leg part are connected to each other. These left leg and right leg are each composed of a crus quadrilateral link mechanism and a thigh quadrilateral link mechanism connected to the crus quadrilateral link mechanism via knee joint means. The crus quadrilateral link mechanism is connected to the foot part via an ankle joint means, and the thigh quadrilateral link mechanism is connected to the lumbar attachment part via a hip joint means. The lower leg quadrilateral link mechanism and the thigh quadrilateral link mechanism are each driven by an actuator, and the left foot part and the right foot part are caused to walk, thereby supporting the walking of the person.
JP 2006-43871 A

  However, in the conventional walking support device, when a person walks straight forward, although he can appropriately support the walking, even if the person tries to change the walking direction to the left or right side, Since the left and right strides in the walking motion of the right foot are always set to be the same, it is impossible to make a small turn and the walking direction cannot be easily changed.

  The present invention has been made in view of such points, and an object of the present invention is to provide a walking support device that supports walking of the person by lifting the entire lower limb from the sole of the person as described above. On the other hand, by improving the configuration, the person wearing the walking assistance device can easily change the walking direction.

  In order to achieve the above object, according to the present invention, a motion of a person trying to change the walking direction to the left or right side is detected, and based on the detection result, the person changes the walking direction to the left side or the right side. Determine which side you are going to change to, and if you decide to change to the left side, make the left step and the right step in the walking motion of the left and right feet smaller than the right step and change to the right When it is determined that the walking distance is right, the right stride in the walking motion is made smaller than the left stride.

  Specifically, in the invention of claim 1, a left foot part and a right foot part that are respectively attached to the left and right legs in a state where a person puts both left and right legs, and a waist attachment part that is attached to the waist part of the person, A left upper link member extending vertically on the left side of the thigh in the left leg of the person and having an upper end connected to the waist mounting part via a joint joint; and a lower leg of the left leg A left lower link member extending vertically on the left side and having an upper end connected to the lower end of the upper left link member via an articulated joint and a lower end connected to the left foot via an articulated joint A left leg, a right upper link member extending up and down on the right side of the thigh in the right leg of the person and having an upper end connected to the waist mounting part via a joint joint; and the right leg And extending vertically on the right side of the lower leg A right leg including a lower right link member having an end connected to the lower end of the upper right link member via a joint joint and a lower end connected to the right foot via an joint joint; and the upper left side Upper left link member driving means and upper right side link member driving means for driving the link member and upper right side link member, and lower left side link member driving means and lower right side for driving the lower left side link member and lower right side link member, respectively. Side link member driving means, and the left foot portion and the right foot portion move in the front-rear direction and the up-down direction with respect to the waist mounting portion by driving the link members by the link member driving means. Each link member driving means, so that each of the link members can be walked at a predetermined stride by the left foot portion and the right foot portion, respectively. By moving, to target a walking support apparatus for supporting the walking of the people.

  Then, based on the detection result by the walking direction changing operation detecting means for detecting the movement of the person to change the walking direction to the left or the right side, and the detection result by the walking direction changing action detecting means, the person changes the walking direction to the left and Determining means for determining which side of the right side is to be changed, and when the determining means determines that the person is changing the walking direction to the left side, the walking motion of the left foot part and the right foot part When the determination means determines that the person is changing the walking direction to the right side, the right side in the walking motion is And a step changing means for changing the predetermined step so that the step is smaller than the step on the left side.

  With the above configuration, a person (especially an elderly person who is difficult to walk) wears the left and right feet on the left and right feet with the left and right feet on the left and right feet, respectively, Attach the waist mounting part of the walking support device to the person's waist, and in this state, the left foot and the right foot will perform a walking motion at a predetermined stride (the stride optimal for the person's walk) , Each person's lower limbs are lifted by the left and right legs, so that the person can easily walk.

  And if the said person performs the operation | movement which changes the walking direction to the left side or the right side, the walking direction change operation | movement will be detected by the walking direction change operation | movement detection means. For example, when the person performs an operation of turning the toe side of the left foot to the left side in an attempt to change the walking direction to the left side, a force that deforms to the left side (the side opposite to the person) acts on the lower left link member, The person's walking direction changing operation can be detected by detecting the force with a pressure-sensitive sensor, a bending detection sensor, or the like. Alternatively, the front end of the left foot part is set to the rear end with respect to a predetermined left foot axis extending in a vertical direction from a preset reference state (a state when a person normally walks straight). Around a predetermined right foot axis extending in the vertical direction from a preset reference state (a state when a person normally walks straight), which is rotatable so as to move to the left side, When the front end of the right foot is pivotable so as to move to the right with respect to the rear end, the left foot is turned around the left foot axis by the action of turning the toe side of the left foot to the left. The person's walking direction changing operation can be detected by rotating the front end so as to move to the left with respect to the rear end and detecting the amount of rotation by an angular velocity sensor or the like.

  Based on the detection result by the walking direction changing operation detecting means, it is determined by the determining means whether the person is changing the walking direction to the left side or the right side, and the determining means tries to change to the left side. When it is determined that the walking distance of the left foot and the right foot is smaller than the right step, the predetermined step is changed so that the person can easily move the walking direction to the left. Will be able to change. On the other hand, when the determination means determines that the right step is to be changed to the right side, the predetermined step is changed so that the right step in the walking motion is smaller than the left step. Can be easily changed to the right.

  According to a second aspect of the present invention, in the first aspect of the invention, the walking direction change motion detecting means is a left deformation force detection that detects a force that is provided in the lower left link member and deforms the left lower link member to the left side. A sensor, and a right deformation force detection sensor that detects a force that is provided on the lower right link member and that deforms the lower right link member to the right side, and the determination means includes the left deformation force detection sensor. When the detected force is greater than a predetermined value and the force detected by the right deformation force detection sensor is not more than the predetermined value, it is determined that the person is changing the walking direction to the left side, and the left When the force detected by the deformation force detection sensor is greater than or equal to the predetermined value and the force detected by the right deformation force detection sensor is greater than the predetermined value, the person is in the walking direction. It is assumed to be configured to determine that the attempt to change to the right.

  As a result, when a person tries to change the walking direction, a force that deforms the lower left link member or the lower right link member to the opposite side of the person acts on the left deforming force detection sensor and With the right deformation force detection sensor, it is possible to easily detect a change operation in which a person tries to change the walking direction, and determine whether the person is changing the walking direction to the left side or the right side. It can be done accurately.

  In the invention of claim 3, in the invention of claim 2, the stride changing means is detected by the left deformation force detecting sensor when the judging means judges that the person is going to change the walking direction to the left side. The greater the applied force, the greater the difference between the left and right stride in the walking motion, and when the determination means determines that the person is changing the walking direction to the right, the right deformation force detection sensor It is assumed that the greater the detected force, the greater the difference between the left and right stride in the walking motion.

  This makes it possible to change the difference between the left and right stride lengths in accordance with the degree of change in the walking direction, and to smoothly change the walking direction in the direction that the person is changing.

  According to a fourth aspect of the present invention, in the first aspect of the invention, the left foot portion is arranged around a predetermined left foot portion axis extending in a vertical direction from a preset reference state with respect to the waist mounting portion. The right foot portion is configured to be pivotable so as to move to the left with respect to the rear end, and the right foot portion is a predetermined right foot portion extending in a vertical direction from a preset reference state with respect to the waist mounting portion. It is configured to be rotatable so that the front end of the right foot moves to the right with respect to the rear end around the axis, and the walking direction changing operation detecting means determines the amount of rotation of the left foot from the reference state. The left foot rotation detection sensor for detecting and the right foot rotation detection sensor for detecting the amount of rotation of the right foot from the reference state, and the determination means is detected by the left foot rotation detection sensor. Is the amount of rotation made greater than a predetermined amount? When the amount of rotation detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, the person is determined to change the walking direction to the left side, while being detected by the left foot rotation detection sensor. When the amount of rotation is less than the predetermined amount and the amount of rotation detected by the right foot rotation detection sensor is larger than the predetermined amount, the person is determined to change the walking direction to the right side. It shall be configured.

  In this way, when a person tries to change the walking direction, the left foot or right foot rotates around a predetermined left foot axis or right foot axis, so the left foot rotation detection sensor and the right foot rotation The motion detection sensor can easily detect a motion of a person trying to change the walking direction, and accurately determine whether the person is changing the walking direction to the left side or the right side. be able to.

  According to a fifth aspect of the present invention, in the fourth aspect of the present invention, when the stride changing means determines that the person is changing the walking direction to the left by the determining means, the left foot rotation detection sensor is used. The greater the detected amount of rotation, the greater the difference between the left and right stride in the walking motion, and when the determining means determines that the person is about to change the walking direction to the right, the right foot rotation It is assumed that the larger the amount of rotation detected by the detection sensor, the larger the difference between the left and right stride in the walking motion.

  Thus, similarly to the invention of claim 3, the walking direction can be smoothly changed in the direction in which the person is changing.

  According to a sixth aspect of the present invention, a left foot portion and a right foot portion that are respectively worn on the left and right feet in a state where a person puts both left and right feet, a waist attachment portion that is attached to the waist of the person, and the left foot portion and the waist portion A left leg that connects the mounting part, and a right leg that connects the right foot and the waist mounting part, and the left leg is provided on the left side of the thigh in the left leg of the person. The left upper quadrilateral link mechanism and the left lower quadrilateral link mechanism provided on the left side of the lower leg of the left leg and connected to the left upper quadrilateral link mechanism, the right leg The right upper quadrilateral link mechanism provided on the right side of the thigh in the right leg of the person and the right upper quadrilateral link mechanism provided on the right side of the lower leg of the right leg. And the lower right quadrilateral link mechanism connected to the upper left quadrilateral link mechanism. A left waist plate connected to the waist mounting portion and extending in the front-rear direction at substantially the same height as the person's waist, and a left knee extending in the front-rear direction at the same height as the person's knee The left lower quadrilateral link mechanism is connected to the left knee plate and is connected to the left waist plate and the left knee plate. A plate, the left foot, and the left knee plate and the left foot, connected to the front and rear, and two lower left link members extending in the vertical direction, the right upper quadrilateral link mechanism, A right waist plate connected to the waist mounting portion and extending in the front-rear direction at substantially the same height position as the person's waist; a right knee plate extending in the front-rear direction at substantially the same height position as the person's knee; and Two upper right side links that are connected to the right waist plate and right knee plate and extend vertically The right lower side quadrilateral link mechanism is connected to the right knee plate, the right foot, the right knee plate and the right foot, and extends in the vertical direction along the front and rear. A left upper link mechanism driving means and an upper right link mechanism driving means for driving the left upper quadrilateral link mechanism and the upper right quadrilateral link mechanism, respectively, and the lower left quadrilateral. A left lower link mechanism driving means and a lower right link mechanism driving means for driving the link mechanism and the lower right quadrilateral link mechanism, respectively. By driving the quadrilateral link mechanism, it is possible to move in the front-rear direction and the up-down direction with respect to the waist mounting portion, and to perform a walking motion. It is intended for a walking support device that supports the walking of the person by driving a link mechanism such that the left foot and the right foot perform a walking motion with a predetermined stride.

  Then, based on the detection result by the walking direction changing operation detecting means for detecting the movement of the person to change the walking direction to the left or the right side, and the detection result by the walking direction changing action detecting means, the person changes the walking direction to the left and Determining means for determining which side of the right side is to be changed, and when the determining means determines that the person is changing the walking direction to the left side, the walking motion of the left foot part and the right foot part When the determination means determines that the person is changing the walking direction to the right side, the right side in the walking motion is And a step changing means for changing the predetermined step so that the step is smaller than the step on the left side.

  According to this invention, the left leg is composed of an upper left quadrilateral link mechanism and a lower left quadrilateral link mechanism, and the right foot is composed of an upper right quadrilateral link mechanism and a lower right quadrilateral link mechanism. It is possible to move in the front-rear direction and up-down direction while maintaining the part parallel to the ground or floor surface, and to the front-rear direction and up-down direction while maintaining the right foot part parallel to the ground or floor surface. It becomes possible to move in the direction. As a result, the walking motion of the left foot portion and the right foot portion is stabilized, and the walking of the person wearing the walking support device is further facilitated. And also in this invention, if the said person performs the operation | movement which changes the walking direction to the left side or the right side similarly to invention of Claim 1, the change operation | movement will be detected by the walking direction change operation | movement detection means, Based on the detection result, it is determined by the determining means whether the person is changing the walking direction to the left side or the right side, and the predetermined stride is changed by the stride changing means. Therefore, the person wearing the walking support device can easily change the walking direction.

  According to a seventh aspect of the invention, in the sixth aspect of the invention, the walking direction changing operation detecting means is provided on a front left lower link member of the two left lower link members and the front lower left link member. A left deformation force detection sensor for detecting a force that deforms the left side of the left side and a front right lower link member of the two lower right link members, and the front lower right link member is deformed to the right side. A right deformation force detection sensor for detecting a force to be detected, and the determination means has a force detected by the left deformation force detection sensor larger than a predetermined value and a force detected by the right deformation force detection sensor. When it is less than or equal to the predetermined value, it is determined that the person is going to change the walking direction to the left, and the force detected by the left deformation force detection sensor is greater than or equal to the predetermined value and the right When the shape force detected detected force by the sensor is greater than the predetermined value is assumed to be configured to determine that the person is trying to change the walking direction to the right.

  Thus, when a person tries to change the walking direction, a force for deforming the person on the opposite side to the person acts on the front left lower link member or the front right lower link member. Similarly to the invention of Item 2, the left deforming force detection sensor and the right deforming force detection sensor can easily detect a change operation in which a person tries to change the walking direction, and the person can change the walking direction to the left and right sides. It is possible to accurately determine which side is to be changed.

  In the invention of claim 8, in the invention of claim 7, the stride changing means is detected by the left deformation force detecting sensor when the judging means judges that the person is going to change the walking direction to the left side. The greater the applied force, the greater the difference between the left and right stride in the walking motion, and when the determination means determines that the person is changing the walking direction to the right, the right deformation force detection sensor It is assumed that the greater the detected force, the greater the difference between the left and right stride in the walking motion.

  Thus, the same effect as that attained by the 3rd aspect can be attained.

  According to a ninth aspect of the present invention, in the sixth aspect of the present invention, the left foot portion is arranged around a predetermined left foot portion axis extending in a vertical direction from a preset reference state with respect to the waist mounting portion. The right foot portion is configured to be pivotable so as to move to the left with respect to the rear end, and the right foot portion is a predetermined right foot portion extending in a vertical direction from a preset reference state with respect to the waist mounting portion. It is configured to be rotatable so that the front end of the right foot moves to the right with respect to the rear end around the axis, and the walking direction changing operation detecting means determines the amount of rotation of the left foot from the reference state. The left foot rotation detection sensor for detecting and the right foot rotation detection sensor for detecting the amount of rotation of the right foot from the reference state, and the determination means is detected by the left foot rotation detection sensor. Is the amount of rotation made greater than a predetermined amount? When the amount of rotation detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, the person is determined to change the walking direction to the left side, while being detected by the left foot rotation detection sensor. When the amount of rotation is less than the predetermined amount and the amount of rotation detected by the right foot rotation detection sensor is larger than the predetermined amount, the person is determined to change the walking direction to the right side. It shall be configured.

  By doing so, when the person tries to change the walking direction, the left foot or the right foot rotates around the predetermined left foot or right foot axis, so that the left foot The movement detection sensor and the right foot rotation detection sensor can easily detect the movement of the person trying to change the walking direction, and the person should change the walking direction to either the left side or the right side. It is possible to accurately determine whether or not

  According to a tenth aspect of the present invention, in the ninth aspect of the invention, when the step changing means determines that the person is changing the walking direction to the left by the determining means, the left foot rotation detection sensor is used. The greater the detected amount of rotation, the greater the difference between the left and right stride in the walking motion, and when the determining means determines that the person is about to change the walking direction to the right, the right foot rotation It is assumed that the larger the amount of rotation detected by the detection sensor, the larger the difference between the left and right stride in the walking motion.

  Thus, the same effect as that attained by the 3rd aspect can be attained.

  As described above, according to the walking support device of the present invention, a person detects an action of changing the walking direction to the left side or the right side, and based on the detection result, the person changes the walking direction to the left side and the right side. The left stride in the walking motion of the left foot and right foot is made smaller than the right stride and when the right stride is changed to the right. When it is determined that a change is to be made, the right stride in the walking motion is made smaller than the left stride, so that the person wearing the walking support device can easily change the walking direction.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 shows a walking support device according to Embodiment 1 of the present invention, and this walking support device supports walking of a person wearing this walking support device (especially an elderly person who is difficult to walk). The left foot 1L and the right foot 1R, the waist mounting portion 5, the left leg 15L connecting the left foot 1L and the waist mounting portion 5, and the right leg connecting the right foot 1R and the waist mounting portion 5 Part 15R.

  The left and right feet are placed on the left foot 1L and the right foot 1R. In this state, the left foot 1L is attached to the left foot of the person, and the right foot 1R is attached to the right foot. Is done. That is, on the upper surfaces of the left foot portion 1L and the right foot portion 1R, the band-like engaging portions 2 that engage with the instep portions of the person's feet are provided with both ends fixed to the upper surface, By engaging the instep portion of the person's foot with the engaging portion 2, the left foot portion 1L and the right foot portion 1R are respectively attached to the foot. The left foot 1L and the right foot 1R may be attached to the person's foot as long as the person does not come off when performing the normal walking motion.

  The waist mounting part 5 includes a waist plate 6 extending in the left-right direction (the same as the left-right direction of the person wearing the walking support device) behind the person's waist (upper part of the waist), and the person's waist From the left side plate 7L and the right side plate 7R that are located on the left side and the right side, respectively, and extend in the front-rear direction (same as the front-rear direction of the person wearing the walking support device), and the left and right ends of the waist pad 6 A left fixing member 8L and a right fixing member 8R that extend forward and to which the left plate 7L and the right plate 7R are fixed, respectively, and below the waist plate 6 (approximately the same height as the lower portion of the waist). It includes a support plate 10 that is disposed so as to extend in the left-right direction and is connected to the waist plate 6 via a connection plate 9 that extends in the up-down direction. And although illustration is abbreviate | omitted, the one end part of the mounting belt is each fixed to the front-end part of the left side board 7L and the right side board 7R, and the other end parts of these both mounting belts are the front side of the said person's abdomen. In this way, the waist attachment portion 5 is attached and fixed to the person's waist (upper portion of the waist). In addition, as long as the waist mounting part 5 can be fixed to the person's waist, the waist mounting part 5 may be mounted on the person's waist.

  The left end portion of the support plate 10 is substantially the same as the person's waist (lower part of the waist) via a uniaxial joint joint 12L in which a rotation axis (rotation axis A shown in FIG. 3A) extends in the front-rear direction. It is connected to the center in the length direction of the left waist plate 16L extending in the front-rear direction at the same height position, and the right end of the support plate 10 is connected to the above-mentioned person via a uniaxial joint joint 12R whose rotation axis extends in the front-rear direction. It is connected to the center in the length direction of the right waist plate 16R extending in the front-rear direction at the same height position as the waist (lower part of the waist).

  Here, the single-shaft joint joint is symbolized as indicated by a symbol J1 in FIG. 3A, and when the two link members L1 and L2 are connected by the single-shaft joint joint J1, the two link members L1 and L2 are connected. Can rotate around the rotation axis A of the uniaxial joint joint J1. In the case of the three link members L1, L2 and L3, they are symbolized as indicated by the symbol J2 in FIG. 3B, and the three link members L1, L2 and L3 are connected by the uniaxial joint joint J2. Then, they can rotate around the rotation axis A of the uniaxial joint joint J2. A typical form of such single-shaft joint joints J1 and J2 can be a pivot shaft inserted through the end portions of two or three link members.

  The uniaxial joint joints 12L and 12R allow the support plate 10 to be tilted so that one of the left and right ends is higher than the other. A second left upper parallelogram link mechanism 53L and a second lower left parallelogram link mechanism 54L, and a second upper right parallelogram link mechanism 53R and a second lower right parallelogram link, which will be described later, are provided. When the mechanism 54R is eliminated, the support plate 10, the left lumbar plate 16L, and the right lumbar plate 16R may be directly fixed without the uniaxial joint joints 12L and 12R (also in the second embodiment described later). The same).

  The configuration of the left leg portion 15L and the right leg portion 15R will be described with reference to FIGS. In FIG. 2, the main components of the right leg 15R are symbolized and illustrated, and the same components as those shown in FIG.

  The left leg portion 15L includes first and second upper left links that extend vertically in the front-and-rear direction on the left side (outside side) of the left thigh plate of the left leg plate 16L and the left leg of the person. Members 17L and 18L (the first left upper link member 17L is on the front side), and first and second lower left sides extending vertically in the front and rear side on the left side of the lower leg of the left leg. Link members 19L and 20L (the first lower left link member 17L is on the front side). Similarly, the right leg portion 15R includes first and second right and left plates 16R and the first leg extending side by side in the front and back on the right side (outside side) of the thigh in the right leg of the person. Two upper right side link members 17R, 18R (the first upper right side link member 17L is on the front side) and the first and Second lower right link members 19R and 20R (the first lower right link member 17L is on the front side).

  The upper end portion of the first left upper link member 17L is connected to the front end portion of the left waist plate 16L via a uniaxial joint joint 22L whose rotation axis extends in the left-right direction, and the second left upper link member 18L The upper end portion is connected to the rear end portion of the left waist plate 16L via a uniaxial joint joint 23L whose rotation axis extends in the left-right direction.

  Similarly, the upper end portion of the first upper right side link member 17R is connected to the front end portion of the right waist plate 16R via a uniaxial joint joint 22R whose rotation axis extends in the left-right direction, and the second upper right side link member 17R is connected. The upper end portion of the side link member 18R is connected to the rear end portion of the right waist plate 16R via a uniaxial joint joint 23R whose rotation axis extends in the left-right direction.

  An upper end portion of the first lower left link member 19L rotates around an axis extending in the left-right direction via a first left knee plate 25L extending in the front-rear direction at substantially the same height as the knee portion of the person. The first left upper link member 17L is movably coupled to the lower end portion of the first left upper link member 17L, and the upper end portion of the second lower left link member 20L extends in the left-right direction via the first left knee plate 25L. The second left upper link member 18L is connected to a lower end portion of the second left upper link member 18L so as to be rotatable around an axis. That is, the upper end portion of the first lower left link member 19L is connected to the first left knee via the uniaxial joint joint 27L (uniaxial joint joint J2 shown in FIG. 3B) whose rotation axis extends in the left-right direction. The front end portion of the part plate 25L and the lower end portion of the first left upper link member 17L are connected to the upper end portion of the second lower left link member 18L. It is connected to the rear end portion of the first left knee plate 25L and the lower end portion of the second left upper link member 18L via a uniaxial joint joint J2) shown in FIG.

  Similarly, an upper end portion of the first lower right link member 19R is anteroposteriorly at a height position substantially the same as that of the human knee via a uniaxial joint joint 27R whose rotation axis extends in the left-right direction. Are connected to the front end of the first right knee plate 25R and the lower end of the first upper right link member 17R, and the upper end of the second lower right link member 18R has a rotational axis in the left-right direction. The first right knee plate 25R is connected to the rear end portion of the first right knee plate 25R and the lower end portion of the second right upper link member 18R via an extending uniaxial joint joint 28R.

  In the present embodiment, the lower left portion of the first lower left link member 19L is connected to the left side portion (outer side portion) of the left foot portion 1L via an omnidirectional joint 30L, and the second lower left link member. The lower end portion of 20L is connected to the rear side of the left side portion of the left foot portion 1L via the omnidirectional joint 31L rather than the connection portion with the first lower left link member 19L.

  Similarly, the lower end portion of the first lower right link member 19R is connected to the right side portion (outer side portion) of the right foot portion 1R via an omnidirectional joint 30R, and the second lower right side portion The lower end portion of the link member 20R is connected to the rear side of the right side portion of the right foot portion 1R through the omnidirectional joint 31R rather than the connection portion with the first lower right link member 19R.

  Here, the omnidirectional joint is symbolized as indicated by a symbol J4 in FIG. 3D, and the two link members L1 and L2 connected by the omnidirectional joint J4 rotate with respect to each other in all directions. Can do. Typical examples of the omnidirectional joint J4 include a swivel joint, a ball joint, and a spherical plain bearing.

  The left waist plate 16L, the first and second left upper link members 17L, 18L, and the first left knee plate 25L are provided on the left side of the thigh in the left leg of the person. The upper left parallelogram link mechanism 51L is configured, and the first left knee plate 25L, the first and second lower left link members 19L and 20L, and the left foot portion 1L are the lower leg portion of the left leg. The first lower left parallelogram link mechanism 52L is provided on the left side of the first link and connected to the first upper left parallelogram link mechanism 51L.

  The right waist plate 16R, the first and second upper right side link members 17R and 18R, and the first right knee plate 25R are provided on the right side of the thigh in the right leg of the person. 1 right side parallelogram link mechanism 51R, the first right knee plate 25R, the first and second lower right link members 19R, 20R and the right foot 1R are connected to the right side of the person. A first lower right parallelogram link mechanism 52R is provided on the right side of the lower leg of the leg and connected to the first upper right parallelogram link mechanism 51R.

  In the present embodiment, the left leg 15L includes a second left upper parallelogram link mechanism 53L in addition to the first left upper parallelogram link mechanism 51L and the first lower left parallelogram link mechanism 52L. And a second lower left parallelogram link mechanism 54L connected to the second upper left parallelogram link mechanism 53L, and the right leg portion 15R includes the first upper right parallelogram link. In addition to the mechanism 51R and the first lower right parallelogram link mechanism 52R, a second upper right parallelogram link mechanism 53R and a second connected to the second upper right parallelogram link mechanism 53R. And a lower right parallelogram link mechanism 54R.

  The second left upper parallelogram link mechanism 53L includes a third left upper link member 34L extending up and down on the right rear side of the thigh in the left leg of the person, and the second lower left side. The parallelogram link mechanism 54L includes a third lower left link member 35L that extends vertically on the right rear side of the lower leg of the person's left leg.

  Similarly, the second upper right side parallelogram link mechanism 53R includes a third upper right side link member 34R extending vertically on the right rear side of the thigh in the right leg of the person, The second lower right parallelogram link mechanism 54R includes a third lower right link member 35R that extends vertically on the right rear side of the lower leg of the person's right leg.

  A lower end portion of the third lower left link member 35L is connected to a rear end portion of the right side portion (inner side portion) of the left foot portion 1L via an omnidirectional joint 36L, and the third lower left link member 35L. Is connected to the right end of the second left knee plate 26L extending in the left-right direction on the rear side of the person's knee via an omnidirectional joint 37L. The left end portion of the second left knee plate 26L is connected to the rear end portion of the first left knee plate 25L via a uniaxial joint joint 41L whose rotation axis extends in the front-rear direction.

  Similarly, the lower end portion of the third lower right link member 35R is connected to the rear end portion of the left side portion (inner side portion) of the right foot portion 1R via an omnidirectional joint 36R, and the third The upper right end of the lower right link member 35R is connected to the left end of the second right knee plate 26R extending in the left-right direction on the rear side of the person's knee via an omnidirectional joint 37R. The right end portion of the second right knee plate 26R is connected to the rear end portion of the first right knee plate 25R via a uniaxial joint joint 41R whose rotation axis extends in the front-rear direction.

  An upper end portion of the third left upper link member 34L is connected to a position in the vicinity of the left side in the center in the length direction of the support plate 10 via a biaxial joint joint 44L. Here, the biaxial joint joint is symbolized as indicated by a symbol J3 in FIG. 3C, and when the two link members L1 and L2 are connected by the biaxial joint joint J3, the link members L1 and L2 are connected. Can rotate around two rotation axes A1 and A2 perpendicular to each other of the biaxial joint joint J3. A typical example of such a biaxial joint joint J3 is a universal joint.

  The biaxial joint joint 44L is arranged such that two rotation axes orthogonal to each other (rotation axes A1 and A2 in FIG. 3C) extend in the front-rear direction and the left-right direction.

  Similarly, at the upper end portion of the third upper right link member 34R, two rotation axes orthogonal to each other extend in the front-rear direction and the left-right direction at positions near the right side of the center in the length direction of the support plate 10. It is connected via a biaxial joint joint 44R.

  A lower end portion of the third left upper link member 34L is connected to the third lower left link member 35L via a biaxial joint joint 45L in which two rotation axes orthogonal to each other extend in the left-right direction and the front-rear direction. It is connected to an omnidirectional joint 37L that connects the two left knee plates 26L.

  Similarly, the lower end portion of the third upper right side link member 34R is connected to the third lower right side via a biaxial joint joint 45R in which two rotation axes orthogonal to each other extend in the left-right direction and the front-rear direction. The side link member 35R and the second right knee plate 26R are connected to an omnidirectional joint 37R.

  The support plate 10, the second and third left upper link members 18L and 34L, and the second left knee plate 26L constitute the second left upper parallelogram link mechanism 53L, and the second left The knee plate 26L, the second and third lower left link members 20L and 35L, and the left foot 1L constitute the second lower left parallelogram link mechanism 54L. Similarly, the support plate 10, the second and third upper right side link members 18R, 34R, and the second right knee plate 26R constitute the second upper right side parallelogram link mechanism 53R, The second right knee plate 26R, the second and third lower right link members 20R, 35R, and the right foot 1R constitute the second lower right parallelogram link mechanism 54R.

  The first and second upper left parallelogram link mechanisms 51L and 53L are arranged in a manner orthogonal to each other, and the first and second lower left parallelogram link mechanisms 52L and 54L are arranged in a manner orthogonal to each other. Has been. Similarly, the first and second upper right parallelogram link mechanisms 51R and 53R are arranged in a manner orthogonal to each other, and the first and second lower right parallelogram link mechanisms 52R and 54R are They are arranged in a manner orthogonal to each other.

  In order to drive the first left upper parallelogram link mechanism 51L, a left upper drive motor 56L is provided. The upper left drive motor 56L is supported by the left waist plate 16L (the illustration of the support mode is omitted). A drive pulley 61 is attached to the output shaft of the upper left drive motor 56L. On the other hand, a driven pulley 62 that rotates integrally with the first left upper link member 17L around the rotation axis of the uniaxial joint joint 22L is attached to the upper end portion of the first left upper link member 17L. . A transmission belt 63 is wound around the drive pulley 61 and the driven pulley 62, whereby the first left upper link member 17L is rotated by the single-shaft joint joint 22L by driving the left upper drive motor 56L. By rotating around the moving axis, the first upper left parallelogram link mechanism 51L is deformed. When the first left upper parallelogram link mechanism 51L is driven, at least one of the first and second left upper link members 17L and 18L may be driven by the left upper drive motor 56L.

  Also, a lower left drive motor 57L is provided to drive the first lower left parallelogram link mechanism 52L. The lower left drive motor 57L is supported by the second upper left link member 18L (the support mode is not shown). A drive pulley 61 is attached to the output shaft of the lower left drive motor 57L. On the other hand, a driven pulley 62 that rotates integrally with the second lower left link member 20L around the rotation axis of the uniaxial joint joint 28L is attached to the upper end portion of the second lower left link member 20L. . A transmission belt 63 is wound around the drive pulley 61 and the driven pulley 62, and the second lower left link member 20L is rotated by the single-shaft joint joint 28L by the drive of the lower left drive motor 57L. By rotating around the movement axis, the first lower left parallelogram link mechanism 52L is deformed. When the first lower left parallelogram link mechanism 52L is driven, at least one of the first and second lower left link members 19L and 20L may be driven by the lower left drive motor 57L.

  Similarly, an upper right drive motor 56R is provided to drive the first upper right parallelogram link mechanism 51R, and to drive the first lower right parallelogram link mechanism 52R, A lower drive motor 57R is provided. These drive mechanisms are the same as the first left upper parallelogram link mechanism 51L and the first lower left parallelogram link mechanism 52L, respectively. An actuator other than a motor can be used to drive the parallelogram link mechanisms 51L, 51R, 52L, and 52R.

  By deforming one or both of the first left upper parallelogram link mechanism 51L and the first lower left parallelogram link mechanism 52L, the left foot 1L is maintained parallel to the ground or the floor. In this state, it is possible to move in the front-rear direction and the up-down direction. Similarly, by deforming either one or both of the first upper right parallelogram link mechanism 51R and the first lower right parallelogram link mechanism 52R, the right foot 1R can be moved to the ground or floor surface. It is possible to move in the front-rear direction and the up-down direction while being maintained parallel to each other. As a result, the left foot 1L and the right foot 1R can be walked at a predetermined stride.

  The second upper left parallelogram link mechanism 53L and the second lower left parallelogram link mechanism 54L are the first upper left parallelogram link mechanism 51L and the first lower left parallelogram link mechanism 52L. It deforms in cooperation with the movement of the person's left foot (that is, the left foot portion 1L) in the left-right direction. Although the deformation of the first left upper parallelogram link mechanism 51L and the deformation of the first left lower parallelogram link mechanism 52L are independent of each other, the deformation of the second left upper parallelogram link mechanism 53L And the deformation of the second lower left parallelogram link mechanism 54L are interlocked with each other.

  Similarly, the second upper right parallelogram link mechanism 53R and the second lower right parallelogram link mechanism 54R are the same as the first upper right parallelogram link mechanism 51R and the first lower right link mechanism. While deforming so as to cooperate with the side parallelogram link mechanism 52R, it is deformed in conjunction with the movement of the person's right foot (that is, the right foot 1R) in the left-right direction. The deformation of the first upper right parallelogram link mechanism 51R and the deformation of the first lower right parallelogram link mechanism 52R are independent of each other, but the second upper right parallelogram link mechanism 53R The deformation and the deformation of the second lower right parallelogram link mechanism 54R are interlocked with each other.

  The second upper left parallelogram link mechanism 53L, the second lower left parallelogram link mechanism 54L, the second upper right parallelogram link mechanism 53R, and the second lower right parallelogram link mechanism. 54R is not necessarily required and can be eliminated. The second upper left parallelogram link mechanism 53L and the second lower left parallelogram link mechanism 54L are actively driven by a motor or the like so as to interlock with each other, and the second upper right parallelogram link mechanism. The link mechanism 53R and the second lower right parallelogram link mechanism 54R can be actively driven by a motor or the like so as to be interlocked with each other to support the movement of the person in the left-right direction. It is.

  A left front pressure detection sensor 68L and a left rear pressure detection sensor 69L that detect the pressure with which the left foot of the person presses the left foot 1L downward are provided on the front and rear portions of the left foot 1L. Similarly, a right front pressing force detection sensor 68R for detecting a pressing force with which the right foot of the person presses the right foot 1R downward is provided on a front portion and a rear portion of the right foot portion 1R, and a right rear portion. A side pressure detection sensor 69R is provided. In the present embodiment, these pressing force detection sensors 68L, 68R, 69L, 69R are configured by pressure-sensitive sensors having pressure-sensitive conductive rubber.

  The left front pressing force detection sensor 68L and the right front pressing force detection sensor 68R are disposed at portions corresponding to the left and right thumbs of the person, respectively, and the left rear pressing force detection sensor 69L and the right rear side. The pressing force detection sensors 69R are disposed at portions corresponding to the left and right heels of the person. When the person walks, in the case of the left foot portion 1L, the pressing force detected by the left front pressing force detection sensor 68L (hereinafter referred to as the left front pressing force) is low and is detected by the left rear pressing force detection sensor 69L. State where the pressing force (hereinafter referred to as the left rear side pressing force) is high, the left front side pressing force and the left rear side pressing force are both high, the left front side pressing force is high and the left rear side pressing force is low, and the left front side The state where the pressing force and the left rear pressing force are both low is repeated in order. The same applies to the right foot portion 1R, but the right front side pressing force and the right rear side pressing force are opposite in level to the left front side pressing force and the left rear side pressing force, respectively. For example, when the left front pressing force is high, the right front pressing force is low, and when the left rear pressing force is low, the right rear pressing force is high.

  The output values of the respective pressing force detection sensors 68L, 68R, 69L, 69R are input to a controller 70 attached to the rear side surface of the waist pad 6, and the controller 70 performs the above-described operation based on the input output values. The drive of each of the drive motors 56L, 56R, 57L, 57R is controlled in consideration of the relationship between the pressing forces of the two. That is, the left foot portion 1L and the right foot portion 1R are made to walk at a predetermined stride in accordance with the walking motion of the person. Here, the predetermined stride is preset as an optimal stride for the person's walking in accordance with the person's physique, and is set to the same stride on both the left and right sides. Although not shown, a battery for operating the controller 70 and driving the drive motors 56L, 56R, 57L, 57R is disposed on the rear side surface of the waist pad 6. .

  In the present embodiment, the central portion in the length direction (vertical direction) of the first lower left link member 19L can be more elastically deformed in the left and right directions than the upper and lower side portions. Here, the first lower left link member 19L is made of a metal such as stainless steel, but the central portion in the longitudinal direction is made of, for example, a metal such as stainless steel and a rubber plate whose thickness is smaller than the upper and lower side portions. Consists of joints. Thereby, the left foot 1L is a predetermined left foot axis extending in the vertical direction from the preset reference state with respect to the left waist plate 16L and the first left knee plate 25L (in this embodiment, all directions). It is possible to turn the front end of the left foot portion 1L to the left side with respect to the rear end around the joint 31L. It becomes possible to turn with power. That is, when the person tries to turn the toe side of the left foot toward the left side of the heel, the left foot portion 1L is moved from the reference state to the left foot portion with respect to the left waist plate 16L and the first left knee plate 25L. Around the axis, an attempt is made to rotate the front end of the left foot 1L so as to move to the left with respect to the rear end. At this time, the lower end of the first left lower link member 19L is pushed to the left, The first lower left link member 19L bends with a slight twist at the center in the length direction, so that the portion from the center in the length direction to the lower end of the first lower left link member 19L is on the left side ( The left foot 1L can be rotated as described above.

  Similarly, in the first lower right link member 19R, the central portion in the length direction can be elastically deformed more in the left-right direction than the upper and lower side portions thereof. As a result, the right foot 1R has a predetermined right foot axis extending in the vertical direction from the preset reference state with respect to the right waist plate 16R and the first right knee plate 25R (in this embodiment, all directions). Around the axis of the joint 31R, the front end of the right foot 1R is rotatable so as to move to the right with respect to the rear end. Therefore, the person can turn the toe side of the right foot to the right side of the heel with a light force.

  The reference state in the left foot portion 1L and the right foot portion 1R is a state when the person normally walks straight, and in this state, a left deformation force detection sensor 71L and a right deformation force detection sensor described later. The force detected by 71R becomes zero.

  A left deformation force detection sensor 71L that detects a force that deforms the first lower left link member 19L to the left (opposite to the person) is provided at the center in the length direction of the first lower left link member 19L. Is provided. Similarly, a force that deforms the first lower right link member 19R to the right (opposite side of the person) is detected at the center in the length direction of the first lower right link member 19R. A right deformation force detection sensor 71R is provided. In the present embodiment, as the left deformation force detection sensor 71L and the right deformation force detection sensor 71R, bending detection sensors such as strain gauges are used, but the same feeling as the pressing force detection sensors 68L, 68R, 69L, 69R. A pressure sensor or another sensor may be used. For example, when a pressure sensitive sensor is used, a support member is provided on an upper portion of the first lower left link member 19L (first lower right link member 19R) in the lengthwise central portion (a portion that is greatly elastically deformed). Is fixed, and the support member is lowered so as to face the opposite side of the person with respect to the longitudinal center of the first lower left link member 19L (first lower right link member 19R). The pressure sensor is installed in the opposite part of the support member, and the deformed first lower left link member 19L (first lower right link member 19R) presses the pressure sensor. What is necessary is just to comprise so.

  As described above, it is not always necessary to configure the first lower left link member 19L and the first lower right link member 19R so that the central portions in the length direction are more elastically deformed than the upper and lower side portions thereof. The left foot portion 1L and the right foot portion 1R can be rotated as described above by reducing the structural rigidity of the entire device or adding play, and the left deformation force detection sensor 71L and the right deformation force detection sensor 71R. The force that deforms the first lower left link member 19L and the first lower right link member 19R can be detected. However, from the viewpoint of obtaining a relatively large amount of rotation in the left foot portion 1L and the right foot portion 1R, the first lower left link member 19L and the first lower right link member 19R are sufficiently large to ensure the large amount of rotation. It is preferable that a part or the whole is configured to be elastically deformed.

  The output values of the left deformation force detection sensor 71L and the right deformation force detection sensor 71R are input to the controller 70. The controller 70 determines whether the person is changing the walking direction to the left side or the right side based on the detection results of the two deformation force detection sensors 71L and 71R. Specifically, the controller 70 determines that the force detected by the left deformation force detection sensor 71L is greater than a predetermined value (the maximum value detected when the person is walking straight) and the right deformation force. When the force detected by the detection sensor 71R is equal to or less than the predetermined value, it is determined that the person is changing the walking direction to the left side, and the force detected by the left deformation force detection sensor 71L is equal to or greater than the predetermined value. When the force detected by the right deformation force detection sensor 71R is larger than the predetermined value, it is determined that the person is going to change the walking direction to the right side. Further, the controller 70 determines that the person moves the walking direction to either side when the forces detected by the two deformation force detection sensors 71L and 71R are both greater than the predetermined value or less than the predetermined value. Is determined not to change.

  When the controller 70 determines that the person is going to change the walking direction to the left side, the predetermined step is performed so that the left stride in the walking motion of the left foot 1L and the right foot 1R is smaller than the right stride. And the predetermined stride is changed so that the right stride in the walking motion is smaller than the left stride when it is determined that the person is changing the walking direction to the right. Further, when the controller 70 determines that the person does not change the walking direction to either side, the controller 70 maintains the predetermined stride (the same stride on both the left and right sides). In the present embodiment, when the left stride is made smaller than the right stride, only the left stride is made smaller than the predetermined stride, and the right stride is set as the predetermined stride. On the other hand, when the right stride is made smaller than the left stride, only the right stride is made smaller than the predetermined stride and the left stride is set as the predetermined stride.

  The method for changing the predetermined stride is not limited to the above. For example, when making the left stride smaller than the right stride, the left stride is smaller than the predetermined stride, the right stride is larger than the predetermined stride, and the right stride is When making it smaller than the stride, the right stride may be made smaller than the predetermined stride, and the left stride may be made larger than the predetermined stride.

  Further, when the controller 70 determines that the person is going to change the walking direction to the left side, the greater the force detected by the left deformation force detection sensor 71L, the more left and right in the walking motion of the left foot 1L and the right foot 1R. When it is determined that the person is going to change the walking direction to the right side, the greater the force detected by the right deformation force detection sensor 71R is, The difference between the left and right strides in the walking motion is increased (the right stride is decreased). That is, when the person intends to greatly change the walking direction, the amount of rotation of the left foot portion 1L or the right foot portion 1R increases, and therefore the left deformation force detection sensor 71L or the right deformation force detection sensor 71R detects. The power is also increased. Therefore, the larger the detected force is, the larger the difference between the left and right strides in the walking motion can be, so that the difference between the left and right strides can be changed in accordance with the degree of change in the walking direction. It is not always necessary to do this, and the difference between the left and right stride may be a preset amount.

  In the present embodiment, the left upper drive motor 56L and the upper right drive motor 56R constitute left upper link mechanism drive means and upper right link mechanism drive means, respectively. The lower left drive motor 57L and lower right drive motor 57R The lower left link mechanism driving means and the lower right link mechanism driving means are respectively configured. Further, the left deformation force detection sensor 71L and the right deformation force detection sensor 71R constitute a walking direction changing operation detecting means for detecting an operation of the person changing the walking direction to the left side or the right side, and the controller 70 includes The determination means for determining whether the person is going to change the walking direction to the left side or the right side, and the stride changing means for changing the predetermined stride.

  Therefore, in the present embodiment, the left foot 1L and the right foot 1R perform the walking motion at a predetermined stride corresponding to the walking motion of the person wearing the walking support device, so that the entire lower limb of the person is the left and right legs. It is lifted by 1L and 1R, and the person can walk easily. When the person performs an action to change the walking direction to the left or right side, the change action is detected by the left deformation force detection sensor 71L and the right deformation force detection sensor 71R, and the controller 70 detects the detection. Based on the result, it is determined whether the person is changing the walking direction to the left side or the right side. When it is determined that the person is going to change the walking direction to the left side, the predetermined step length is changed so that the left step length in the walking motion of the left foot portion 1L and the right foot portion 1R is smaller than the right step length. When it is determined that the person is going to change the walking direction to the right side, the predetermined stride is changed so that the right stride in the walking motion is smaller than the left stride.

  For example, when the person performs an operation of turning the toe side of the left foot to the left side in order to change the walking direction to the left side, the left foot 1L is in the reference state with respect to the left waist plate 16L and the first left knee plate 25L. To the left foot portion axis so that the front end of the left foot portion 1L moves to the left with respect to the rear end. In conjunction with this rotation, a force that deforms the first lower left link member 19L to the left acts on the first lower left link member 19L, and the length of the first lower left link member 19L. At the center of the direction, bend so that its lower part is displaced to the left. At this time, the force detected by the left deformation force detection sensor 71L is larger than the predetermined value. On the other hand, the right foot 1R is at or near the reference state, and the force detected by the right deformation force detection sensor 71R is not more than the predetermined value. Thereby, the controller 70 determines that the person is going to change the walking direction to the left side, makes only the left stride smaller than the predetermined stride, and sets the right stride to the predetermined stride.

  As a result, the person can easily change the walking direction. In addition, the greater the force detected by the left deformation force detection sensor 71L or the right deformation force detection sensor 71R, the greater the difference between the left and right stride in the walking motion. The difference in the stride can be changed, and the walking direction can be smoothly changed to the direction in which the person is changing.

  In the first embodiment, the left deforming force detection sensor 71L and the right deforming force detection sensor 71R detect the movement of the person to change the walking direction to the left side or the right side. Instead of the sensor 71L and the right deformation force detection sensor 71R, the amount of rotation of the left foot 1L around the left foot axis from the reference state (the amount of rotation by which the front end of the left foot 1L moves to the left with respect to the rear end) And a left foot rotation detection sensor for detecting the right foot 1R and a rotation amount of the right foot 1R around the right foot axis from the reference state (a rotation amount by which the front end of the right foot 1R moves to the right with respect to the rear end). It is also possible to detect the walking direction changing operation using a right foot rotation detecting sensor. As the left foot rotation detection sensor (right foot rotation detection sensor), an angular velocity for detecting an angular velocity of rotation around the left foot axis (right foot axis) attached to the left foot 1L (right foot 1R). A sensor etc. are mentioned. In this case, when the rotation amount detected by the left foot rotation detection sensor is larger than a predetermined amount and the rotation amount detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, the person is in the walking direction. Is determined to be changed to the left side, the amount of rotation detected by the left foot rotation detection sensor is equal to or less than the predetermined amount, and the amount of rotation detected by the right foot rotation detection sensor is the predetermined amount. When it is larger than the above, it may be determined that the person is going to change the walking direction to the right side. When it is determined that the person is changing the walking direction to the left side, the greater the amount of rotation detected by the left foot rotation detection sensor, the greater the left and right stride in the walking motion of the left foot 1L and the right foot 1R. When the person is about to change the walking direction to the right side, the greater the amount of rotation detected by the right foot rotation detection sensor, the greater the difference between the left and right stride in the walking motion. Is preferably increased.

  In the first embodiment, the left leg 15L is connected to the first upper left parallelogram link mechanism 51L and the first lower left parallelogram link mechanism 52L (and the second left upper parallelogram link mechanism 53L). And the second lower left parallelogram link mechanism 54L), and the right leg portion 15R includes the first upper right parallelogram link mechanism 51R and the first lower right parallelogram link mechanism 52R (and the first 2) the upper right parallelogram link mechanism 53R and the second lower right parallelogram link mechanism 54R). However, the parallelogram link mechanism need not necessarily be a quadrilateral link mechanism. That is, the left leg 15L is composed of the upper left quadrilateral link mechanism and the lower left quadrilateral link mechanism, and the right leg 15R is composed of the upper right quadrilateral link mechanism and the lower right parallelogram link mechanism. It may be.

(Embodiment 2)
FIG. 4 shows a second embodiment of the present invention (the same parts as those in FIG. 1 are denoted by the same reference numerals and detailed description thereof is omitted), and the configurations of the left leg portion 15L and the right leg portion 15R are implemented as described above. This is a simplified version of the first embodiment.

  That is, in the present embodiment, the walking support device is similar to the first embodiment, in which the left leg 1L and the right foot 1R, the waist mounting portion 5, and the left leg 1L and the waist mounting portion 5 are connected to each other. The left leg portion 15R and the right leg portion 15R that connects the right foot portion 1R and the waist attachment portion 5 are provided, but the configurations of the left leg portion 15L and the right leg portion 15R are different from those of the first embodiment.

  The left leg portion 15L includes a left waist plate 16L similar to that of the first embodiment, one left upper link member 75L extending up and down on the left side of the thigh in the left leg of the person, and the left leg And a left lower link member 76L extending vertically on the left side of the lower leg.

  Similarly, the right leg 15R includes a right waist plate 16R similar to that of the first embodiment and one right link member 75R extending vertically on the right side of the thigh in the right leg of the person. And one right lower link member 76R extending vertically on the right side of the lower leg in the right leg.

  An upper end portion of the left upper link member 75L is connected to the left waist plate 16L via a uniaxial joint joint 77L whose rotation axis extends in the left-right direction, and a lower rotation portion of the left upper link member 75L has a rotation axis in the left-right direction. It is connected with the upper end part of the said lower left side link member 76L via the uniaxial joint joint 78L extended in this. A lower end portion of the lower left link member 76L is connected to a left side portion (outer side portion) of the left foot portion 1L via a uniaxial joint joint 79L having a rotation axis extending in the left-right direction.

  Similarly, the upper end portion of the upper right side link member 75R is connected to the right waist plate 16R via a uniaxial joint joint 77R whose rotation axis extends in the left-right direction, and the lower end portion of the upper right side link member 75R is rotated. The dynamic axis is connected to the upper end of the lower right link member 76R via a uniaxial joint joint 78R extending in the left-right direction. A lower end portion of the lower right link member 76R is connected to a right side portion (outer side portion) of the right foot portion 1R via a uniaxial joint joint 79R having a rotation axis extending in the left-right direction.

  A left upper drive motor 56L (in this embodiment, constituting left upper link member driving means) for driving the left upper link member 75L is attached to the left waist plate 16L, and this left upper drive motor By driving 56L, the upper left link member 75L rotates around the rotation axis of the uniaxial joint joint 77L via the transmission belt 63 similar to that of the first embodiment. Similarly, the right waist plate 16R is attached with an upper right drive motor 56R that drives the upper right link member 75R (in this embodiment, it constitutes an upper right link member drive means), By driving the upper right drive motor 56R, the upper right link member 75R rotates about the rotation axis of the uniaxial joint joint 77R.

  Further, the lower left link member 75L is provided with a lower left drive motor 57L (in this embodiment, constituting the lower left link member driving means) for driving the lower left link member 76L. By driving the side drive motor 57L, the lower left link member 76L is rotated around the rotation axis of the uniaxial joint joint 78L. The upper right link member 75R is provided with a lower right drive motor 57R (in the present embodiment, constituting the lower right link member driving means) that drives the lower right link member 76R. By driving the lower right drive motor 57R, the lower right link member 76R rotates about the rotation axis of the uniaxial joint joint 78R.

  By driving one or both of the left upper link member 75L and the lower left link member 76L, the left foot 1L can be moved in the front-rear direction and the vertical direction. Similarly, by driving either one or both of the upper right side link member 75R and the lower right side link member 76R, the right foot 1R can be moved in the front-rear direction and the up-down direction. As a result, the left foot 1L and the right foot 1R can be walked at a predetermined stride.

  In this embodiment, when the walking support device is worn on a person, in addition to the left foot 1L and the right foot 1R being attached to the person's foot, and the waist attaching part 5 being attached to the person's waist. The left upper link member 75L and the lower left link member 76L are respectively attached to the thigh and the lower leg of the person's left leg, and the upper right link member 75R and the lower right link member 76R are connected to the person. You may make it mount | wear to the thigh part and lower leg part in each right leg.

  In the front part and the rear part of the left foot part 1L, as in the first embodiment, the left front side pressing force that detects the pressing force that the left foot of the person wearing the walking support device presses the left foot part 1L downward is detected. A detection sensor 68L and a left rear pressing force detection sensor 69L are provided, respectively, and the front right and the rear portions of the right foot 1R detect the right front for detecting the pressing force with which the right foot of the person presses the right foot 1R downward. A side pressing force detection sensor 68R and a right rear pressing force detection sensor 69R are provided. Then, the controller 70 inputs the output values of the respective pressing force detection sensors 68L, 68R, 69L, 69R, and controls the drive motors 56L, 56R, 57L, 57R based on the input output values. Thus, the left foot portion 1L and the right foot portion 1R are made to walk at a predetermined stride corresponding to the walking motion of the person.

  In the present embodiment, the left foot portion 1L and the right foot portion 1R are not configured to positively rotate around the axis extending in the vertical direction as in the first embodiment, and the structural rigidity of the entire apparatus. It can be turned by a certain amount by reducing or reducing play.

  Similarly to the first embodiment, the lower left link member 76L is provided with a left deformation force detection sensor 71L that detects a force that deforms the lower left link member 76L to the left, and the lower right link member 76R includes Is provided with a right deformation force detection sensor 71R that detects a force that deforms the lower right link member 76R to the right. That is, for example, when the person tries to turn the toe side of the left foot to the left side of the heel, a force that deforms to the left side with twisting acts on the lower left link member 76L via the left foot portion 1L, This leftward deformation force is detected by the left deformation force detection sensor 71L. The output values of the left deformation force detection sensor 71L and the right deformation force detection sensor 71R are input to the controller 70.

  As in the first embodiment, the controller 70 determines whether the person is changing the walking direction to the left side or the right side based on the detection results of the two deformation force detection sensors 71L and 71R. And when the person is determined to change the walking direction to the left side, the predetermined step length is set so that the left step length in the walking motion of the left foot portion 1L and the right foot portion 1R is smaller than the right step length. When it is determined that the person is about to change the walking direction to the right side, the predetermined stride is changed so that the right stride in the walking motion is smaller than the left stride. In this embodiment, the difference between the left and right stride is set to a preset amount. When the person tries to change the walking direction greatly, the force detected by the left deformation force detection sensor 71L or the right deformation force detection sensor 71R is basically increased, so that the same as in the first embodiment. It is also possible to increase the difference between the left and right strides in the walking motion as the detected force increases.

  Therefore, also in the present embodiment, as in the first embodiment, the left deformation force detection sensor 71L and the right deformation force detection sensor 71R allow the person wearing the walking assistance device to change the walking direction to the left or right. When the motion is detected, and based on the detection result, it is determined whether the person is changing the walking direction to the left side or the right side, and when the left side is determined to be changed to the left side, When it is determined that the left step in the walking motion of 1L and the right foot portion 1R is made smaller than the right step and the right step is changed to the right, the right step in the walking motion is made smaller than the left step. As a result, the person can easily change the walking direction.

  In the second embodiment, the left foot portion 1L and the right foot portion 1R are not actively rotated about an axis extending in the vertical direction, but the left foot portion 1L and the lower left link member 76L are connected. Instead of the uniaxial joint joint 79L, the left foot 1L and the lower left link member 75L are connected via a biaxial joint joint in which two rotation axes orthogonal to each other extend in the up-down direction and the left-right direction. 1L is configured to rotate about a rotation axis extending in the vertical direction in the biaxial joint joint, and similarly, a biaxial joint joint in which two rotation axis orthogonal to each other extends in the vertical direction and the left-right direction. By connecting the right foot portion 1R and the lower right link member 76R via the right foot portion 1R, the right foot portion 1R may be configured to rotate around a rotation axis extending in the vertical direction of the biaxial joint joint. In this way, the left foot 1L is moved from the reference state set in advance with respect to the waist mounting portion 5 to a predetermined left foot axis extending in the vertical direction (rotating axis extending in the vertical direction in the biaxial joint joint). It is possible to rotate the front foot 1L so that the front end of the left foot 1L moves to the left with respect to the rear end, and the right foot 1R is set in a predetermined reference state with respect to the waist mounting portion 5. Can be pivoted so that the front end of the right foot 1R moves to the right with respect to the rear end about a predetermined right foot axis extending in the vertical direction (rotating axis extending in the vertical direction in the biaxial joint joint). Can be configured. In this case, instead of the left deforming force detection sensor 71L and the right deforming force detection sensor 71R, the left foot 1L is rotated by the amount of rotation of the left foot 1L around the left foot axis from the reference state (the left foot 1L A left foot rotation detection sensor that detects the amount of movement of the front end to the left with respect to the rear end is provided, and the right foot 1R has a rotation amount around the right foot axis from the reference state of the right foot 1R ( A right foot portion rotation detection sensor for detecting a rotation amount of the right foot portion 1R moving to the right with respect to the rear end), and the left foot portion rotation detection sensor and the right foot portion rotation detection sensor What is necessary is just to detect the operation | movement which is going to change a walking direction to the left side or the right side. In this case, when the rotation amount detected by the left foot rotation detection sensor is larger than a predetermined amount and the rotation amount detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, the person is in the walking direction. Is determined to be changed to the left side, the amount of rotation detected by the left foot rotation detection sensor is equal to or less than the predetermined amount, and the amount of rotation detected by the right foot rotation detection sensor is the predetermined amount. When it is larger than the above, it may be determined that the person is going to change the walking direction to the right side. When it is determined that the person is changing the walking direction to the left side, the greater the amount of rotation detected by the left foot rotation detection sensor, the greater the left and right stride in the walking motion of the left foot 1L and the right foot 1R. When the person is about to change the walking direction to the right side, the greater the amount of rotation detected by the right foot rotation detection sensor, the greater the difference between the left and right stride in the walking motion. Is preferably increased.

  Further, the configurations of the left leg portion 15L and the right leg portion 15R are not limited to the configurations of the first embodiment and the second embodiment. That is, the left upper leg member 15L extends vertically on the left side of the thigh in the left leg of the person and the upper end is connected to the waist attachment part 5 via the joint joint, and the left The leg extends vertically on the left side of the lower leg, and the upper end is connected to the lower end of the upper left link member via an articulated joint, and the lower end is connected to the left foot 1L via an articulated joint. A right leg 15R that extends vertically on the right side of the thigh in the right leg of the person and whose upper end is connected to the waist mounting part 5 via a joint joint. A side link member and the right leg of the right leg extend vertically on the right side of the lower leg, and an upper end portion is connected to a lower end portion of the upper right side link member via an articulated joint, and a lower end portion is connected via an articulated joint. Including a lower right link member connected to the right foot 1R. Thus, if the left foot 1L and the right foot 1R can move in the front-rear direction and the up-down direction with respect to the waist mounting portion 5 and perform a walking motion, how are the left leg 15L and the right leg 15R? It may be a simple configuration.

  Further, in the first and second embodiments, the left foot 1L and the right foot 1R are provided with the band-like engaging portions 2 so that the left foot and the right foot of the person are worn. For example, the left foot 1L and the right foot A footwear such as a commercially available sandal may be attached to the upper surface of 1R so that a person can wear the footwear. In this case, the footwear is preferably attached to the upper surfaces of the left foot portion 1L and the right foot portion 1R by hook-and-loop fasteners or the like so as not to be detached from the left foot portion 1L and the right foot portion 1R during walking and to be easily detached in an emergency. Further, when such footwear is attached to the upper surfaces of the left foot portion 1L and the right foot portion 1R, the pressing force detection sensors 68L, 68R, 69L, 69R may be embedded in the footwear (sole). . In this way, it is possible to reduce the relative displacement amount of the pressing force detection sensors 68L and 69L with respect to the left foot and the relative displacement amount of the pressing force detection sensors 68R and 69R with respect to the right foot.

  INDUSTRIAL APPLICABILITY The present invention is useful for a walking support device that supports walking of a person, and particularly useful for a device that supports the entire leg by lifting it from the sole.

It is the perspective view seen from the left front side which shows the walking assistance apparatus which concerns on Embodiment 1 of this invention. It is the perspective view seen from the left front side which symbolizes and shows the right leg part of the said walking assistance apparatus, respectively. FIGS. 3A and 3B are explanatory views of the components symbolically illustrated in FIG. 2, wherein FIG. 2A is a perspective view of a symbolized uniaxial joint joint, and FIG. (C) is a perspective view of a symbolized biaxial joint joint, and (d) is a perspective view of a symbolized omnidirectional joint joint. FIG. 3 is a view corresponding to FIG. 1 showing Embodiment 2 of the present invention.

Explanation of symbols

1L Left foot 2L Right foot 5 Lumbar attachment part 15L Left leg 15R Right leg 16L Left waist plate 16R Right waist plate 17L First left upper link member 17R First upper right link member 18L Second left upper link member 18R Second upper right side link member 19L First lower left side link member 19R First lower right side link member 20L Second lower left side link member 20R Second lower right side link member 25L First left knee plate 25R first right knee plate 51L first left upper parallelogram link mechanism 51R first upper right parallelogram link mechanism 52L first lower left parallelogram link mechanism 52R first lower right parallelogram Type link mechanism 56L upper left drive motor (upper left link member drive means) (upper left link mechanism drive means)
56R Upper right side drive motor (upper right side link member drive means) (upper right side link mechanism drive means)
57L Lower left drive motor (lower left link member drive means) (lower left link mechanism drive means)
57R Lower right drive motor (lower right link member drive means) (lower right link mechanism drive means)
70 controller (determination means) (step length changing means)
71L Left deformation force detection sensor (walking direction change motion detection means)
71R Right deformation force detection sensor (walking direction change motion detection means)

Claims (10)

A left foot and a right foot to be worn on each of the left and right feet in a state where a person puts the left and right feet respectively;
A waist mounting part to be mounted on the waist of the person;
A left upper link member extending vertically on the left side of the thigh in the left leg of the person and having an upper end connected to the waist mounting part via a joint joint; and a lower leg of the left leg A left lower link member extending vertically on the left side and having an upper end connected to the lower end of the upper left link member via an articulated joint and a lower end connected to the left foot via an articulated joint The left leg,
An upper right link member extending vertically on the right side of the thigh in the right leg of the person and having an upper end connected to the waist mounting part via an articulation joint; and a lower leg of the right leg A lower right link member extending vertically on the right side and having an upper end connected to the lower end of the upper right link member via an articulated joint and a lower end connected to the right foot via an articulated joint. Including the right leg,
A left upper link member driving means and a right upper link member driving means for driving the left upper link member and the upper right link member, respectively;
The lower left link member driving means and the lower right link member driving means for driving the lower left link member and the lower right link member, respectively,
The left foot portion and the right foot portion are configured to be able to perform a walking motion by moving in the front-rear direction and the up-down direction with respect to the waist mounting portion by driving the link members by the link member driving means.
A walking support device for supporting the walking of the person by driving the link members by the link member driving means so that the left foot part and the right foot part perform a walking motion at a predetermined stride. ,
A walking direction change operation detecting means for detecting an operation in which the person tries to change the walking direction to the left side or the right side;
Based on the detection result by the walking direction changing operation detecting means, the determining means for determining whether the person is changing the walking direction to the left side or the right side;
When the determining means determines that the person is changing the walking direction to the left side, the predetermined step length is set so that the left step length in the walking motion of the left foot portion and the right foot portion is smaller than the right step length. And when the determination means determines that the person is going to change the walking direction to the right side, the predetermined step length is changed so that the right step length in the walking motion is smaller than the left step length. A walking support device comprising stride changing means. The walking support device according to claim 1,
The walking direction changing operation detecting means is provided on the lower left link member and detects a force that deforms the lower left link member to the left, and is provided on the lower right link member and the left lower link member. A right deformation force detection sensor that detects a force that deforms the lower right link member to the right,
When the force detected by the left deformation force detection sensor is greater than a predetermined value and the force detected by the right deformation force detection sensor is less than or equal to the predetermined value, the determination means When the force detected by the left deformation force detection sensor is equal to or greater than the predetermined value and the force detected by the right deformation force detection sensor is greater than the predetermined value, A walking support device configured to determine that a person is changing the walking direction to the right side. The walking support device according to claim 2,
When the step change means determines that the person is changing the walking direction to the left by the determination means, the greater the force detected by the left deformation force detection sensor, the greater the left and right steps in the walking motion. When the determination means determines that the person is changing the walking direction to the right side, the greater the force detected by the right deformation force detection sensor, the greater the left and right in the walking motion. A walking support device that is configured to increase a difference in stride. The walking support device according to claim 1,
The left foot portion moves from a reference state set in advance to the waist attachment portion around a predetermined left foot axis extending in the vertical direction so that the front end of the left foot portion moves to the left with respect to the rear end. It is configured to be rotatable,
The right foot portion moves from the reference state set in advance to the waist mounting portion around a predetermined right foot axis extending in the vertical direction so that the front end of the right foot portion moves to the right with respect to the rear end. It is configured to be rotatable,
The walking direction changing operation detecting means includes a left foot rotation detection sensor that detects the amount of rotation of the left foot from the reference state, and a right foot rotation that detects the amount of rotation of the right foot from the reference state. Consisting of a motion detection sensor,
When the rotation amount detected by the left foot rotation detection sensor is greater than a predetermined amount and the rotation amount detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, While it is determined that the walking direction is to be changed to the left side, the rotation amount detected by the left foot rotation detection sensor is equal to or less than the predetermined amount and the rotation amount detected by the right foot rotation detection sensor is A walking assist device configured to determine that the person is about to change the walking direction to the right when the predetermined amount is greater than the predetermined amount. The walking support device according to claim 4,
When the determination means determines that the person is changing the walking direction to the left side, the stride changing means increases the amount of rotation detected by the left foot rotation detection sensor and increases the left and right in the walking motion. When the determination means determines that the person is changing the walking direction to the right side, the larger the amount of rotation detected by the right foot rotation detection sensor is, the larger the difference in step length is. A walking support device configured to increase a difference in left and right stride in motion. A left foot and a right foot to be worn on each of the left and right feet in a state where a person puts the left and right feet respectively;
A waist mounting part to be mounted on the waist of the person;
A left leg connecting the left foot and the waist mounting part;
A right leg connecting the right foot and the waist mounting portion;
The left leg is provided on the left upper side quadrilateral link mechanism provided on the left side of the thigh in the left leg of the person, and the left upper side on the left side of the lower leg in the left leg. The lower left quadrilateral link mechanism connected to the shape link mechanism,
The right leg is provided on the right side of the right leg of the lower leg of the right leg, and the right side of the lower leg of the right leg is provided on the right side of the thigh. The lower right quadrilateral link mechanism connected to the shape link mechanism,
The left upper quadrilateral link mechanism is connected to the waist mounting portion and extends in the front-rear direction at the same height as the person's waist, and the front / rear at the same height as the person's knee. A left knee plate extending in the direction, and two left upper link members connected to the left waist plate and the left knee plate and extending in the vertical direction along the front and rear,
The lower left quadrilateral link mechanism is connected to the left knee plate, the left foot, the left knee plate and the left foot, and two lower left link members extending in the vertical direction along the front and rear. Configured,
The right upper quadrilateral link mechanism is connected to the waist mounting portion and extends in the front-rear direction at the same height as the person's waist, and the front / rear at the same height as the person's knee. A right knee plate extending in the direction, and two right upper link members connected to the right waist plate and the right knee plate and extending in the up-down direction along the front-rear direction,
The lower right quadrilateral link mechanism is connected to the right knee plate, the right foot, the right knee plate and the right foot, and two right lower link members extending in the vertical direction along the front and rear. And consists of
A left upper link mechanism driving means and an upper right link mechanism driving means for driving the left upper quadrilateral link mechanism and the upper right quadrilateral link mechanism, respectively;
A left lower link mechanism driving means and a lower right link mechanism driving means for driving the lower left quadrilateral link mechanism and the lower right quadrilateral link mechanism, respectively;
The left foot part and the right foot part can be moved in the front-rear direction and the up-down direction with respect to the waist mounting part by the driving of the quadrilateral link mechanisms by the link mechanism driving means. And
A walking support device for supporting the walking of the person by driving the quadrilateral link mechanisms by the link member driving means so that the left foot part and the right foot part perform a walking motion at a predetermined stride. There,
A walking direction change operation detecting means for detecting an operation in which the person tries to change the walking direction to the left side or the right side;
Based on the detection result by the walking direction changing operation detecting means, a determining means for determining which side the walking direction is going to be changed to the left side or the right side;
When the determining means determines that the person is changing the walking direction to the left side, the predetermined step length is set so that the left step length in the walking motion of the left foot portion and the right foot portion is smaller than the right step length. And when the determination means determines that the person is going to change the walking direction to the right side, the predetermined step length is changed so that the right step length in the walking motion is smaller than the left step length. A walking support device comprising stride changing means. The walking support device according to claim 6,
The walking direction changing motion detecting means is provided on a front left lower link member of the two lower left link members and detects a force that deforms the front left lower link member to the left. And a right deformation force detection sensor that detects a force that is provided on the front right lower link member of the two right lower link members and that deforms the front right lower link member to the right. ,
When the force detected by the left deformation force detection sensor is greater than a predetermined value and the force detected by the right deformation force detection sensor is less than or equal to the predetermined value, the determination means When the force detected by the left deformation force detection sensor is equal to or greater than the predetermined value and the force detected by the right deformation force detection sensor is greater than the predetermined value, A walking support device configured to determine that a person is about to change the walking direction to the right side. The walking support device according to claim 7,
When the step change means determines that the person is changing the walking direction to the left by the determination means, the greater the force detected by the left deformation force detection sensor, the greater the left and right steps in the walking motion. When the determination means determines that the person is changing the walking direction to the right side, the greater the force detected by the right deformation force detection sensor, the greater the left and right in the walking motion. A walking support device that is configured to increase a difference in stride. The walking support device according to claim 6,
The left foot portion moves from a reference state set in advance to the waist attachment portion around a predetermined left foot axis extending in the vertical direction so that the front end of the left foot portion moves to the left with respect to the rear end. It is configured to be rotatable,
The right foot portion moves from the reference state set in advance to the waist mounting portion around a predetermined right foot axis extending in the vertical direction so that the front end of the right foot portion moves to the right with respect to the rear end. It is configured to be rotatable,
The walking direction changing operation detecting means includes a left foot rotation detection sensor that detects the amount of rotation of the left foot from the reference state, and a right foot rotation that detects the amount of rotation of the right foot from the reference state. Consisting of a motion detection sensor,
When the rotation amount detected by the left foot rotation detection sensor is greater than a predetermined amount and the rotation amount detected by the right foot rotation detection sensor is equal to or less than the predetermined amount, While it is determined that the walking direction is to be changed to the left side, the rotation amount detected by the left foot rotation detection sensor is equal to or less than the predetermined amount and the rotation amount detected by the right foot rotation detection sensor is A walking assist device configured to determine that the person is about to change the walking direction to the right when the predetermined amount is greater than the predetermined amount. The walking support device according to claim 9, wherein
When the determination means determines that the person is changing the walking direction to the left side, the stride changing means increases the amount of rotation detected by the left foot rotation detection sensor and increases the left and right in the walking motion. When the determination means determines that the person is changing the walking direction to the right side, the larger the amount of rotation detected by the right foot rotation detection sensor is, the larger the difference in step length is. A walking support device configured to increase a difference in left and right stride in motion.

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