JP2009240488A - Walking support apparatus - Google Patents

Walking support apparatus Download PDF

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JP2009240488A
JP2009240488A JP2008089819A JP2008089819A JP2009240488A JP 2009240488 A JP2009240488 A JP 2009240488A JP 2008089819 A JP2008089819 A JP 2008089819A JP 2008089819 A JP2008089819 A JP 2008089819A JP 2009240488 A JP2009240488 A JP 2009240488A
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walking
support
wearer
movement
actuator
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JP5273773B2 (en
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Hiroyuki Inoue
浩行 井上
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Institute of National Colleges of Technologies Japan
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Institute of National Colleges of Technologies Japan
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking support apparatus for almost achieving the movements of knees and ankles during the normal walking of a wearer by assisting muscle force of a hip joint, a knee joint and a foot joint for a person with an impaired or weakened lower limb function. <P>SOLUTION: The walking support apparatus supports the walking movement of the wearer by moving a movement support brace 1 for which a leg part composed of a thigh support, a lower thigh support and a foot support is constituted of a linking mechanism by one actuator 2. The movement support brace 1 lifts the thigh to the front by assisting the muscle force of the hip joint, secures a step by assisting the muscle force of the knee joint, prevents lowering of toes by assisting the muscle force of the foot joint, and thus makes natural walking possible and lowers the risk of falling. Further, the walking support apparatus includes a controller 5 for generating command signals for making the actuator 2 generate power and driving current generation means 4 for supplying a current to the actuator 2. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援する歩行支援装置に関し、大腿支持部と、下腿支持部と、足支持部からなる脚部がリンク機構で構成される動作支援装具を一つのアクチュエータで動作させて歩行支援を行う歩行支援装置に関する。 The present invention relates to a walking support device that supports a walking motion by assisting muscle strength of a hip joint, a knee joint, and an ankle joint during walking of a wearer, and includes a thigh support portion, a crus support portion, and a foot support portion. The present invention relates to a walking support device that performs a walking support by operating a motion support device having a leg portion constituted by a link mechanism with a single actuator.

加齢や疾病によって下肢の筋力が低下すると、歩行障害や高さがある障害物や段差を乗り越えるときに足を引っ掛けたりして転倒するケースが多くなり、安全に日常生活を送ることが困難となる。そのため、歩行補助装置（特許文献１参照）や自立歩行支援機（特許文献２参照）が提案されているが、筋力補助を行う関節に対して一つ以上のアクチュエータが必要である。
特開２００３−１３５５４３号公報 特開２００４−２６１６２２号公報 If the muscle strength of the lower limbs decreases due to aging or illness, it will be difficult to live daily life safely, because there are many cases of walking obstacles and obstacles with height and falling over when climbing over steps, etc. Become. For this reason, a walking assist device (see Patent Document 1) and a self-supporting walking assist device (see Patent Document 2) have been proposed, but one or more actuators are required for a joint that performs muscle strength assistance.
JP 2003-135543 A JP 2004-261622 A

しかしながら、以上の技術によれば、筋力補助を行う膝や足首などの各関節に対して一つ以上のアクチュエータを配置するため、筋力補助を行う関節数が増えるに従って重量が増加し、コストも高くなる。また、制御面においても複数のアクチュエータを適切に制御するとともに、装着者に身体的な危害を加えないようにハード面においても安全性の確保が不可欠となる。そこで、この発明は一つのアクチュエータで股関節と、膝関節と、足関節の筋力補助を行うことで、装着者の通常歩行時の膝と足首の動きをほぼ実現する歩行支援装置を提供することを課題とする。 However, according to the above technique, since one or more actuators are arranged for each joint such as a knee or ankle for assisting muscle strength, the weight increases and the cost increases as the number of joints for assisting muscle strength increases. Become. In addition, in terms of control, it is essential to appropriately control a plurality of actuators and to ensure safety in terms of hardware so as not to cause physical harm to the wearer. Therefore, the present invention provides a walking support device that substantially realizes movement of the knee and ankle during normal walking of the wearer by assisting muscle strength of the hip joint, knee joint, and ankle joint with one actuator. Let it be an issue.

以上の課題を解決するためになされた第一の発明は、装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援する歩行支援装置は、大腿支持部と、下腿支持部と、足支持部からなる脚部がリンク機構で構成される動作支援装具と、上記動作支援装具を動作させる一つのアクチュエータと、上記アクチュエータに動力を発生させるための指令信号を生成する制御装置と、電流を上記アクチュエータに供給する駆動電流生成手段を備えることを特徴とする。 A first invention made to solve the above problems is a walking support device that supports a walking motion by assisting muscle strength of a hip joint, a knee joint, and an ankle joint during walking of a wearer. , A lower leg support part, a leg support unit composed of a motion support device having a link mechanism, a single actuator for operating the operation support device, and a command signal for generating power in the actuator And a drive current generation means for supplying a current to the actuator.

また、第二の発明の動作支援装具は、上記大腿支持部を構成する四節リンクを主とするリンク機構と、上記下腿支持部を構成する四節リンクを主とするリンク機構と、上記装着者の足を保持する上記足支持部から構成されるとともに、一つの上記アクチュエータで上記動作支援装具を動作させることで上記装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援することを特徴とする。 Further, the motion support device of the second invention includes a link mechanism mainly including a four-bar link constituting the thigh support part, a link mechanism mainly including a four-bar link constituting the crus support part, and the mounting. The above-mentioned foot support part for holding a person's foot, and the above-mentioned motion support device is operated by one of the above-mentioned actuators to assist the hip joint, the knee joint, and the ankle joint during the walking of the wearer. It is characterized by supporting the walking movement by performing.

また、第三の発明の上記大腿支持部下端は、上記大腿支持部を構成するリンク機構の各リンク長を調整することで、上記アクチュエータの動きに連動して、上記装着者の通常歩行時の膝の動きを実現する一定の円弧運動を行うことを特徴とする。 Further, the lower end of the thigh support part of the third aspect of the invention adjusts each link length of the link mechanism constituting the thigh support part, so that the movement of the actuator is interlocked with the movement of the wearer during normal walking. It is characterized by performing a constant arc motion that realizes knee movement.

また、第四の発明の上記下腿支持部下端は、上記下腿支持部を構成するリンク機構の各リンク長を調整することで、上記アクチュエータの動きと、上記大腿支持部を構成するリンク機構の動きに連動して、上記装着者の通常歩行時の足首の動きをほぼ実現する楕円運動を行うことを特徴とする。 Further, the lower end of the crus support part of the fourth invention is configured such that the movement of the actuator and the movement of the link mechanism constituting the thigh support part are adjusted by adjusting each link length of the link mechanism constituting the crus support part. In conjunction with this, an elliptical motion that substantially realizes the movement of the ankle during normal walking of the wearer is performed.

また、第五の発明の上記足支持部は、上記下腿支持部を構成するリンク機構の動きに連動して上記装着者のつま先が下がるのを防止するために、上記下腿支持部下端と上記足支持部の連結部が、弾性体またはスプリングなどを介する可動式の機構を備えることを特徴とする。 Further, the foot support part of the fifth invention is characterized in that the lower end of the crus support part and the foot are prevented in order to prevent the toe of the wearer from lowering in conjunction with the movement of the link mechanism constituting the crus support part. The connecting portion of the support portion includes a movable mechanism via an elastic body or a spring.

以上の五つの発明により、装着者の脚に適合するリンク長さで大腿支持部と、下腿支持部と、足支持部からなる脚部である動作支援装具を構成し、装着者の歩行周期に基づいてアクチュエータに動力を発生させるために、指令信号に従って駆動電流を生成することで、大腿支持部で股関節の筋力補助を行うことで大腿を前に持ち上げ、下腿支持部で膝関節の筋力補助を行うことで歩幅を確保し、足支持部で足関節の筋力補助を行うことでつま先が下がるのを防止する。その結果、装着者は通常歩行時の膝と足首の動きをほぼ実現する自然な歩行動作が可能になり転倒の危険性が低下する。動作支援装具は一つのアクチュエータで動作されるため、歩行支援装置の軽量化と低コスト化を図ることができる。また、動作支援装具の脚部を構成する大腿支持部、下腿支持部、足支持部が連動して一定の動きである人の歩行時における脚の膝と足首の動きをほぼ実現することができるので、下肢機能が低下している人の機能回復を目的としたリハビリ装置としての効果を併せ持っている。 According to the above five inventions, an operation support device that is a leg portion composed of a thigh support portion, a crus support portion, and a foot support portion with a link length that fits the wearer's leg is configured, and the wearer's walking cycle is In order to generate power to the actuator based on the command signal, a drive current is generated according to the command signal, so that the thigh support part lifts the thigh forward by assisting the hip joint, and the lower leg support part supports the knee joint strength. By doing so, the stride is secured, and the toe is prevented from lowering by assisting the muscle strength of the ankle joint at the foot support part. As a result, the wearer can perform a natural walking motion that substantially realizes the movement of the knee and ankle during normal walking, and the risk of falling is reduced. Since the motion assisting device is operated by one actuator, the walking assist device can be reduced in weight and cost. In addition, the thigh support part, the crus support part, and the foot support part that constitute the leg part of the motion support brace can be interlocked with each other to substantially realize the movement of the knee and ankle of the leg when the person is walking with a constant movement. Therefore, it also has an effect as a rehabilitation device for the purpose of functional recovery of a person with lower limb function.

以下に本発明の実施形態を図面に基づいて説明する。図１は本発明の実施形態における歩行支援装置の全体図である。歩行支援装置は、大腿支持部と下腿支持部と足支持部からなる脚部を構成する動作支援装具1と、上記動作支援装具1を動作させる一つのアクチュエータ2と、上記アクチュエータ2に動力を発生させるための指令信号を生成する制御装置5と、電流を上記アクチュエータ2に供給する駆動電流生成手段4を備える。 Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall view of a walking support device according to an embodiment of the present invention. The walking support device includes an operation support device 1 that constitutes a leg portion including a thigh support portion, a crus support portion, and a foot support portion, one actuator 2 that operates the operation support device 1, and generates power to the actuator 2. A control device 5 for generating a command signal for causing the actuator 2 and a drive current generating means 4 for supplying a current to the actuator 2.

図２の動作支援装具1では、支持体3にはアクチュエータ2と支持軸31が固定されている。今回はアクチュエータ2としてDCモータを用いている。装着者の大腿に大腿支持部を構成している四節リンク右側の大腿支持部リンク17を、装着者の下腿に下腿支持部を構成している四節リンク左側の下腿支持部リンク23を、装着者の足に足支持部25を図略のベルトにより装着している。大腿支持部リンク17と下腿支持部リンク23の長さは、装着者の大腿と下腿の長さとする。 2, the actuator 2 and the support shaft 31 are fixed to the support 3. This time, a DC motor is used as the actuator 2. The thigh support part link 17 on the right side of the four-node link constituting the thigh support part on the wearer's thigh, and the thigh support part link 23 on the left side of the four-joint link constituting the crus support part on the lower leg of the wearer, The foot support 25 is attached to the wearer's foot with a belt (not shown). The length of the thigh support part link 17 and the lower leg support part link 23 is the length of the wearer's thigh and lower leg.

大腿支持部リンク11の一端はアクチュエータ出力軸30に固定され、もう一端は大腿支持部リンク12と大腿支持部リンク18と大腿支持部リンク19が連結軸32により連結されている。大腿支持部リンク12の残りの一端は大腿支持部リンク13と大腿支持部リンク15が連結軸33により連結されている。大腿支持部リンク13の残りの一端は大腿支持部リンク16と大腿支持部リンク14が連結軸34により連結されている。大腿支持部リンク14の残りの一端と大腿支持部リンク15の残りの一端は支持軸31に連結されている。 One end of the thigh support portion link 11 is fixed to the actuator output shaft 30, and the other end is connected to the thigh support portion link 12, the thigh support portion link 18, and the thigh support portion link 19 by a connecting shaft 32. The remaining end of the thigh support part link 12 is connected to the thigh support part link 13 and the thigh support part link 15 by a connecting shaft 33. The remaining end of the thigh support portion link 13 is connected to the thigh support portion link 16 and the thigh support portion link 14 by a connecting shaft 34. The remaining end of the thigh support portion link 14 and the remaining end of the thigh support portion link 15 are connected to the support shaft 31.

大腿支持部リンク17の一端は支持軸31に連結され、もう一端は大腿支持部リンク18の残りの一端と下腿支持部リンク20と下腿支持部リンク23と下腿支持部リンク21が連結軸36により連結されている。大腿支持部リンク16の残りの一端は下腿支持部リンク20の残りの一端と下腿支持部リンク22が連結軸35により連結されている。大腿支持部リンク19の残りの一端と下腿支持部リンク21の残りの一端と下腿支持部リンク24が連結軸37により連結されている。 One end of the thigh support portion link 17 is connected to the support shaft 31, and the other end is connected to the remaining end of the thigh support portion link 18, the crus support portion link 20, the crus support portion link 23, and the crus support portion link 21 by the connection shaft 36. It is connected. The remaining end of the thigh support part link 16 is connected to the remaining end of the crus support part link 20 and the crus support part link 22 by a connecting shaft 35. The remaining one end of the thigh support part link 19, the remaining one end of the crus support part link 21, and the crus support part link 24 are connected by a connecting shaft 37.

大腿支持部リンク11がアクチュエータ2によりアクチュエータ出力軸30を中心として回転すると、大腿支持部リンク12と大腿支持部リンク18が連動して動くことで、支持軸31を支点として、大腿支持部リンク14と大腿支持部リンク16と大腿支持部リンク20と大腿支持部リンク17からなる四節リンクが動作することで、連結軸36は支持軸31を中心、大腿支持部リンク17を半径として一定の円弧運動を行う。 When the thigh support portion link 11 is rotated about the actuator output shaft 30 by the actuator 2, the thigh support portion link 12 and the thigh support portion link 18 move in conjunction with each other, so that the thigh support portion link 14 has the support shaft 31 as a fulcrum. And the thigh support portion link 16, the thigh support portion link 20, and the thigh support portion link 17 are operated, so that the connecting shaft 36 is centered on the support shaft 31 and the thigh support portion link 17 has a radius as a constant arc. Do exercise.

また、足支持部25は下腿支持部リンク22の残りの一端と下腿支持部リンク23の残りの一端が連結軸38により連結されている。下腿支持部リンク24の残りの一端は足支持部25に備える可動式の機構に連結軸39により連結されている。 Further, in the foot support portion 25, the remaining end of the crus support portion link 22 and the remaining end of the crus support portion link 23 are connected by a connecting shaft 38. The other end of the crus support part link 24 is connected to a movable mechanism provided in the foot support part 25 by a connecting shaft 39.

大腿支持部リンク11がアクチュエータ2によりアクチュエータ出力軸30を中心として回転すると、大腿支持部リンク19が連動して動くことで、連結軸36自身の動きに連動しながら連結軸36を基準として、下腿支持部リンク21と下腿支持部リンク23と足支持部25と下腿支持部リンク24からなる四節リンクが動作することで、連結軸38は楕円運動を行う。 When the thigh support part link 11 is rotated about the actuator output shaft 30 by the actuator 2, the thigh support part link 19 moves in conjunction with each other, so that the thigh support part link 19 moves in conjunction with the movement of the connection shaft 36 itself. The connection shaft 38 performs an elliptical motion by the movement of the four-joint link including the support part link 21, the crus support part link 23, the foot support part 25, and the crus support part link 24.

図３の動作支援装具1の動作の状態では、大腿支持部リンク17と下腿支持部リンク23がほぼ直線となる立脚期において装着者と動作支援装具1が分担して体を支えており、もう一方の脚が前に動くのに従って地面から足支持部25の踵部分が浮いた後に全体が離れ、遊脚期を経て再び地面に着地して立脚期となる。 In the state of movement of the movement support apparatus 1 in FIG. 3, the wearer and the movement support apparatus 1 share the body and support the body in the stance phase in which the thigh support part link 17 and the crus support part link 23 are substantially straight. As one leg moves forward, the heel portion of the foot support 25 is lifted from the ground, and then the whole is separated. After the swing leg period, the leg is landed again and enters the stance period.

図４の足支持部25では、歩行時のバランスをとるために装着者のつま先部分は足支持部25で支持されていない。また、遊脚期の初期は踵を後ろに持ち上げるために下腿支持部リンク24が上に移動するために、連結軸39は足支持部25に備える可動式の機構上部に接する。足関節の筋力低下によりつま先が下がると足支持部25に備える可動式の機構下部に連結軸39が接するので、それ以上つま先が下がるのを防止する。スプリング26は連結軸39が滑らかにそして安定して可動するために用いている。 In the foot support portion 25 of FIG. 4, the toe portion of the wearer is not supported by the foot support portion 25 in order to balance the walking. Further, in the early stage of the swing leg period, the crus support part link 24 moves upward to lift the heel back, so that the connecting shaft 39 contacts the upper part of the movable mechanism provided in the foot support part 25. When the toes are lowered due to a decrease in muscle strength of the ankle joint, the connecting shaft 39 is in contact with the lower part of the movable mechanism provided in the foot support portion 25, so that the toes are prevented from further lowering. The spring 26 is used so that the connecting shaft 39 can move smoothly and stably.

制御装置5では、装着者の歩行周期を予め調べておき、左右の脚の位相差を考慮して指令信号を生成する。今回はパーソナルコンピュータを用いているが、マイコン等を用いることで支持体3に配置することも可能である。 The control device 5 examines the wearer's walking cycle in advance and generates a command signal in consideration of the phase difference between the left and right legs. Although a personal computer is used this time, it can be arranged on the support 3 by using a microcomputer or the like.

駆動電流生成手段4では、制御装置5からの指令信号が入力されると、この指令に基づいて駆動電流を生成して、アクチュエータ2に供給することで動作支援装具1を動作させる。 When the command signal from the control device 5 is input, the drive current generating means 4 generates a drive current based on this command and supplies it to the actuator 2 to operate the operation support equipment 1.

人の歩行パターンは決まっており、そのパターンで歩行したときには違和感を受けない。図５に動作支援装具1の装着時と通常歩行時における装着者の膝と足首の軌道を示す。図５より、膝に関してはよく一致しており、足首についてもほぼ一致していることから、動作支援装具1は装着者の通常歩行時の膝と足首の動きをほぼ実現することができる。また、歩行パターンの差異に起因する違和感はほとんどない。 A person's walking pattern is fixed, and when he walks in that pattern, he does not feel uncomfortable. FIG. 5 shows the trajectory of the wearer's knee and ankle when the motion assisting device 1 is worn and during normal walking. As shown in FIG. 5, the knees are well matched and the ankles are almost matched. Therefore, the motion assisting device 1 can substantially realize the movement of the knee and ankle during normal walking of the wearer. Moreover, there is almost no sense of incongruity caused by the difference in walking patterns.

人の歩行は，腸腰筋による大腿の屈曲と大殿筋による屈伸が繰り返されている。図６に動作支援装具1の装着時と通常歩行時における装着者の腸腰筋の筋電位を示す。図６より、装具を装着することで生じる筋電位が通常歩行時の約20％まで減少しており、動作支援装具1により腸腰筋の筋力補助がなされている。 In human gait, thigh flexion by the iliopsoas muscle and flexion and extension by the gluteal muscle are repeated. FIG. 6 shows the myoelectric potential of the wearer's iliopsoas muscle when the motion assisting device 1 is worn and during normal walking. From FIG. 6, the myoelectric potential generated by wearing the brace is reduced to about 20% during normal walking, and the muscle assist of the iliopsoas muscle is provided by the motion assisting brace 1.

本発明に係る歩行支援装置の全体図である。1 is an overall view of a walking support device according to the present invention. 動作支援装具を示した図である。It is the figure which showed the movement assistance brace. 動作支援装具の動作の状態を示した図である。It is the figure which showed the state of operation | movement of an operation | movement assistance brace. 足支持部を示した図である。It is the figure which showed the leg | foot support part. 動作支援装具装着時と通常歩行時の膝と足首の軌道を示した図である。It is the figure which showed the locus | trajectory of the knee and an ankle at the time of operation | movement assistance brace | wearing wearing and a normal walk. 動作支援装具装着時と通常歩行時における装着者の筋電位を示した図である。It is the figure which showed the wearer's myoelectric potential at the time of operation support equipment wearing, and the time of normal walking.

符号の説明Explanation of symbols

１ 動作支援装具
２ アクチュエータ
３ 支持体
４ 駆動電流生成手段
５ 制御装置
１１ 大腿支持部リンク
１２ 大腿支持部リンク
１３ 大腿支持部リンク
１４ 大腿支持部リンク
１５ 大腿支持部リンク
１６ 大腿支持部リンク
１７ 大腿支持部リンク
１８ 大腿支持部リンク
１９ 大腿支持部リンク
２０ 下腿支持部リンク
２１ 下腿支持部リンク
２２ 下腿支持部リンク
２３ 下腿支持部リンク
２４ 下腿支持部リンク
２５ 足支持部
２６ スプリング
３０ アクチュエータ出力軸
３１ 支持軸
３２ 連結軸
３３ 連結軸
３４ 連結軸
３５ 連結軸
３６ 連結軸
３７ 連結軸
３８ 連結軸
３９ 連結軸

























DESCRIPTION OF SYMBOLS 1 Action support equipment 2 Actuator 3 Support body 4 Driving current generation means 5 Control apparatus 11 Thigh support part link 12 Thigh support part link 13 Thigh support part link 14 Thigh support part link 16 Thigh support part link 17 Thigh support part 17 Part link 18 thigh support part link 19 thigh support part link 20 crus support part link 21 crus support part link 22 crus support part link 23 crus support part link 24 crus support part link 25 foot support part 26 spring 30 actuator output shaft 31 support axis 32 connecting shaft 33 connecting shaft 34 connecting shaft 35 connecting shaft 36 connecting shaft 37 connecting shaft 38 connecting shaft 39 connecting shaft

























Claims (5)

装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援する歩行支援装置であって、大腿支持部と、下腿支持部と、足支持部からなる脚部を構成する動作支援装具と、上記動作支援装具を動作させる一つのアクチュエータと、上記アクチュエータに動力を発生させるための指令信号を生成する制御装置と、電流を上記アクチュエータに供給する駆動電流生成手段を備えることを特徴とする歩行支援装置。 A walking support device for assisting walking motion by assisting muscle strength of a hip joint, a knee joint, and an ankle joint during walking of a wearer, wherein the leg includes a thigh support portion, a crus support portion, and a foot support portion An operation support device that constitutes a unit, one actuator that operates the operation support device, a control device that generates a command signal for generating power in the actuator, and a drive current generation unit that supplies current to the actuator A walking support device comprising: 請求項１に記載の歩行支援装置において、
上記動作支援装具は、上記大腿支持部を構成する四節リンクを主とするリンク機構と、上記下腿支持部を構成する四節リンクを主とするリンク機構と、上記装着者の足を保持する上記足支持部から構成されるとともに、一つの上記アクチュエータで上記動作支援装具を動作させ、上記装着者の歩行時における股関節と、膝関節と、足関節の筋力補助を行うことで歩行動作を支援することを特徴とする歩行支援装置。 The walking support device according to claim 1,
The movement support device holds a link mechanism mainly including a four-bar link constituting the thigh support part, a link mechanism mainly including a four-bar link constituting the lower leg support part, and the wearer's foot. It consists of the above-mentioned foot support part, and the above-mentioned motion support equipment is operated by one above-mentioned actuator, and assists walking motion by assisting the muscle strength of the hip joint, knee joint, and ankle joint during walking of the wearer A walking support device characterized by that. 請求項１に記載の歩行支援装置において、
上記装着者の膝に対応する上記大腿支持部下端は、上記アクチュエータの動きに連動して、上記装着者の通常歩行時の膝の動きを実現する一定の円弧運動を行うことを特徴とする歩行支援装置。 The walking support device according to claim 1,
The lower end of the thigh support portion corresponding to the knee of the wearer performs a constant arc motion that realizes the movement of the knee during the normal walk of the wearer in conjunction with the movement of the actuator. Support device. 請求項１に記載の歩行支援装置において、
上記装着者の足首に対応する上記下腿支持部下端は、上記アクチュエータの動きと、上記大腿支持部を構成するリンク機構の動きに連動して、上記装着者の通常歩行時の足首の動きをほぼ実現する楕円運動を行うことを特徴とする歩行支援装置。 The walking support device according to claim 1,
The lower end of the crus support part corresponding to the ankle of the wearer is substantially linked to the movement of the ankle during normal walking of the wearer in conjunction with the movement of the actuator and the movement of the link mechanism constituting the thigh support part. A walking support device characterized by performing an elliptical motion. 請求項１に記載の歩行支援装置において、
上記足支持部は、上記下腿支持部を構成するリンク機構の動きに連動して上記装着者のつま先が下がるのを防止するために、上記下腿支持部下端と上記装着者の土踏まずから踵までが接する上記足支持部の連結部が可動式の機構を備えることを特徴とする歩行支援装置。 The walking support device according to claim 1,
In order to prevent the wearer's toes from lowering in conjunction with the movement of the link mechanism constituting the crus support part, the foot support part has a lower end between the crus support part and the arch of the wearer to the heel. A walking support device, wherein a connecting portion of the foot support portion in contact with the foot supporting portion includes a movable mechanism.
JP2008089819A 2008-03-31 2008-03-31 Walking support device. Expired - Fee Related JP5273773B2 (en)

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