JP2010167060A - Walking aid device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking aid device in which a feeling of using it is improved and a feeling of restraining is not given a user even in a state of supporting both legs, for example. <P>SOLUTION: The walking aid device includes a support member 10 capable of supporting a user and a leg link that is coupled to the support member 10 freely rockably in a direction (longitudinal direction) parallel to the advancing direction of the user and in the left/right direction (lateral direction) orthogonal thereto. When the user is supported by the support member 10, an assisting force for supporting at least a part of the user's weight through the leg link is generated to aid the user in walking. The walking aid device is further provided with a rocking starting member 70 which makes the support member 10 start rocking in the left/right direction when the leg link is rotated outward to a prescribed angle θ in the left/right direction, and which comprises a guide rail (connecting member) 32 connected to the leg link 14 and a stopper member 70a to be abutted on the guide rail. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a walking assistance device, and more particularly to a device that is attached to the lower body of a user to improve the feeling of use of the walking assistance device that assists the walking.

  2. Description of the Related Art In recent years, for example, a technique described in Patent Document 1 below is known as a walking assistance device that assists a user's walking.

  In the walking assist device described in Patent Document 1, a support member that can support a user and a support member that swings in a direction parallel to the advancing direction and a right and left direction orthogonal to the support member via a joint corresponding to a hip joint. A leg link having a first link (thigh link) and a second link (crus link) that are freely connected is provided, and when the user is supported by the support member, the actuator is operated to operate the first link and the second link. The link is relatively displaced to generate an assist force that supports at least part of the user's weight to assist the user in walking, and a stopper member is disposed between the leg links. The

  The walking assist device described in Patent Document 1 is configured as described above, so that the stability of the support member is improved by suppressing the support member from swinging in the left-right direction (roll direction) in a state where both legs are supported. I am letting.

JP 2008-73506 A

  However, in the walking assist device described in Patent Document 1, since the swinging of the support member is suppressed in the both-leg support state, for example, when the user bends sideways, such as when picking up dust on the floor, Depending on the movement, there was a sense of restraint to the user.

  Accordingly, an object of the present invention is to provide a walking assist device that solves the above-described problems, improves the feeling of use, and does not give a sense of restraint to the user even in a state where both legs are supported. is there.

  In order to solve the above-described problem, in claim 1, a support member capable of supporting a user, a direction parallel to the traveling direction of the user with respect to the support member, and a left-right direction orthogonal to the traveling direction, And a leg link that is pivotably coupled to the leg link, the support member swings in the left-right direction when the leg link is abbreviated to a predetermined angle in the left-right direction. And a rocking start member for starting the movement.

  In the walking assist device according to claim 2, the swing start member includes a connecting member connected to the leg link, and the connecting member is rotated outwardly to the predetermined angle in the left-right direction. And a stopper member that contacts the connecting member, and at least one of the contact surface of the connecting member and the stopper member is configured to mitigate an impact when the contact is made.

  In the walking assistance device according to claim 3, the walking assist device includes a locking member that can be inserted into a gap formed between the connection member and the stopper member, and the locking member is in accordance with a user's operation. The connecting member can be prevented from swinging by being inserted into the gap.

  According to claim 1, a walking assist device comprising a leg link that is swingably coupled to a support member capable of supporting a user in a direction parallel to the traveling direction of the user and in a lateral direction perpendicular thereto. The leg link is configured to include a swing start member that starts swinging the support member in the left-right direction when the leg link is turned outward in the left-right direction to a predetermined angle. After the roll, the support member swings with the outer rotation of the leg link, so that the user can have a good feeling of use.

  On the other hand, the swinging of the support member in the left-right direction is started when the leg link is abbreviated to a predetermined angle, in other words, the swinging of the support member in the left-right direction is not restricted until the predetermined angle is exceeded. Since it comprised, when a user performs the operation | movement which crouches sideways, for example, when picking up garbage of a floor, for example, a user is not given a sense of binding.

  In the walking assist device according to claim 2, the swing start member is connected to the connecting member when the connecting member is connected to the leg link, and when the connecting member is turned outward to a predetermined angle in the left-right direction. Since it comprises a stopper member that abuts and at least one of the abutment surface of the connecting member and the stopper member abuts against the impact, the user can have a better feeling of use. it can.

  The walking assist device according to claim 3 includes a locking member that can be inserted into a gap formed between the connecting member and the stopper member, and the locking member is inserted into the gap according to a user operation. Since the connecting member can be prevented from swinging, in addition to the effects described above, handling such as when the user carries it becomes easy.

1 is a perspective view of a walking assistance device according to a first embodiment of the present invention. It is a side view of the walking assistance apparatus shown in FIG. It is a front view of the walking assistance apparatus shown in FIG. It is side surface sectional drawing of a drive mechanism and a 1st link etc. which are shown in FIG. It is a partial cross-section rear view of the support member shown in FIG. It is the elements on larger scale of FIG. It is a fragmentary sectional rear view of the supporting member similar to FIG. 6 which shows the walking assistance apparatus which concerns on 2nd Example of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out a walking assist device according to the present invention will be described with reference to the accompanying drawings.

  1 is a perspective view of a walking assist device according to a first embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a front view thereof.

  Referring to FIGS. 1 to 3, the walking assistance device D is a support member (load transmission member) that can support the user P by sitting (stretching) so that the user (person) P straddles it. 10, a pair of left and right shoe parts 12 to be mounted on the left and right foot parts of the user P, a pair of left and right leg links 14 provided between the support member 10 and the pair of left and right shoe parts 12, and a drive mechanism 16 and is attached to the lower half of the user P via a belt (not shown) provided on the support member 10 to assist the walking.

  The left and right leg links 14 are made of an aluminum material, and each includes a first link (thigh link) 22 connected to the support member 10 via a first joint portion 20 (corresponding to a hip joint in human terms), and a shoe portion 12. The second link (lower leg link) 26 connected via the second joint portion 24 (corresponding to an ankle joint in humans), and the first link 22 and the second link 26 are connected (speaking of humans). 3rd joint part 30 equivalent to a knee joint).

  The first link 22 and the second link 26 of the leg link 14 are connected to the drive mechanism 16, and the first link 22 and the second link 26 are more accurately centered around the third joint portion 30 by the drive mechanism 16. The three joint portions 30 are relatively displaced (driven) around the joint shaft 30a.

  The support member 10 includes a saddle-shaped seat portion 10a on which the user P can freely straddle, a support frame 10b that is disposed adjacent to the seat portion 10a and supports the seat portion 10a, and a support frame 10b of the seat portion 10a. It includes a waist pad 10c that rises beyond the rear end (as viewed from the user P) and abuts the waist of the user P.

  A gripping portion (grip) 10d is attached to the waist pad portion 10c so that the user P can grip it. The seat portion 10a is manufactured from a cushion material, and the support frame 10b and the waistrest portion 10c are manufactured from a material having higher rigidity than the seat portion 10a.

  The first joint portion 20 that connects each leg link 14 and the support member 10 is engaged with the arc-shaped guide rail 32 fixed to the support member 10, the guide rail 32, and one end of each leg link 14. The slider 34 is fixed. Although only the left guide rail 32 is shown in FIG. 2, the guide rail 32 and the slider 34 are also provided on the right side as shown in FIGS. The guide rail 32 and the slider 34 are also made of an aluminum material.

  A plurality of rollers 36 are attached to the slider 34. The roller 36 is slidably accommodated in a groove formed in the guide rail 32, so that the slider 34 is movably engaged with the guide rail 32 as shown by an arrow in FIG.

  That is, the leg link 14 is configured to be swingable in the longitudinal direction of the support member 10 (in a direction parallel to the traveling direction of the user P) around the center of curvature 32a of the guide rail 32 (as a swing fulcrum).

  Further, the guide rail 32 is pivotally supported by the waist support portion 10c of the support member 10 on a support shaft 38 disposed in the longitudinal direction of the support member 10, and the lateral direction of the support member 10 around the support shaft 38 (the user P's It is configured to be swingable in the left-right direction perpendicular to the direction parallel to the traveling direction.

  As described above, the leg link 14 is configured to be swingable in the front-rear direction (in the progress of the user P) with the center of curvature 32a of the guide rail 32 as a swing fulcrum. When the action point of the weight of the upper body is shifted to the front of the swinging fulcrum 32a and the support member 10 is tilted forward and downward, the swinging fulcrum 32a is positioned upward in the gravity direction of the support member 10, and thus the action point of the weight is The rearward displacement is performed below the swing fulcrum 32a, the distance in the front-rear direction between the swing fulcrum 32a and the action point of the body weight is reduced, and the rotational moment with respect to the support member 10 is also reduced.

  Next, when the weight application point is displaced to just below the swing fulcrum 32a, the rotational moment acting on the support member 10 becomes zero, and the support member 10 is stabilized. Thus, since the support member 10 automatically converges to a stable state, the support member 10 does not shift in the front-rear direction at the crotch position of the user P.

  Further, since the guide rail 32 is configured to be swingable in the lateral direction (in the progress of the user P) via a swinging fulcrum (support shaft) 38, the leg link 14 can be swung in the lateral direction. The user P can freely rotate the leg. In this specification, “extraversion” means movement to move the limb away from the trunk, and “addition” means movement to bring the limb closer to the trunk.

  The shoe part 12 has a shoe 12a in which the foot part of the user P can be accommodated, and an L-shape (seen from the traveling direction of the user P) that is placed inside the shoe 12a and can be placed on the foot of the user P. A member 12b made of a carbon material and an insole 12c made of a rubber-like elastic material such as urethane rubber disposed on the bottom surface of the member 12b. A second link 26 of each leg link 14 is connected to the member 12b via a second joint portion 24 having a triaxial structure.

  FIG. 4 is a side sectional view of the drive mechanism 16 and the first link 22.

  The drive mechanism 16 includes an actuator (electric motor) 40 disposed near the tip of the first link 22, an output shaft 40b that decelerates and outputs the rotation of the actuator 40 with a speed reducer 40a (shown in FIG. 3), A rocker arm (drive crank arm) 42 fixed to the output shaft 40b, a driven crank arm 44 fixed to the second link concentrically with the joint shaft 30a of the third joint portion 30, and the rocker arm 42 and the driven crank arm 44 are connected. In other words, the connecting rod 46 is connected to the actuator 40 and connects the first joint portion 20 and the second link 26.

  That is, the first link 22 has a hollow structure, and the connecting rod 46 is accommodated therein. One end of the connecting rod 46 is pivotally connected to the rocker arm 42 at the pivot portion 46a, and the other end is pivotally coupled to the driven crank arm 44 at the pivot portion 46b.

  As shown in FIG. 4, the line connecting the pivoting portion 46 a of the drive crank arm 42 and the pivoting portion 46 b of the driven crank arm 44 in the first link 22 is the joint of the output shaft 40 b of the actuator 40 and the third joint portion 30. It arrange | positions so that it may cross to the line | wire which connects the axis | shaft 30a. A battery case 22 a is attached to the first link 22, and a battery 50 is housed inside the first link 22 to supply operating power to the actuator 40 and the like.

  Next, walking assist control for assisting the walking of the user P will be described.

  In the shoe part 12, a pair of front and rear uniaxial force sensors 60 are provided on the lower surface of the insole 12 c, and a load (pressure) acting on the middle phalanx joint (MP joint) part and the heel part of the user's P foot. ) And a biaxial force sensor 62 is incorporated in the second joint portion 24, and the force acting on the second joint portion 24 (the force due to the weight of the support member 10 and each leg link 14) is Output according to the resultant force.

  The outputs of the above-described sensors 60 and 62 are sent to a controller 64 housed in the support frame 10b of the support member 10. The controller 64 includes a microcomputer having a CPU, ROM, RAM, and input / output I / O, and executes assist control for generating an assist force that assists the user P in walking.

  That is, the controller 64 multiplies the preset assist force setting value by the ratio of the load of each foot to the total load acting on both feet of the user P calculated from the output of the force sensor 60, and thus The obtained product is set as a target value of the assist force to be generated at each leg link 14. For example, the set value of the assist force is 90 [N] when the load (weight) of the device D is 60 [N] and the assist force is 30 [N].

  In FIG. 2, the assist force is a line (hereinafter referred to as “reference line”) connecting a swing support point 32 a in the front-rear direction of the leg link 14 in the first joint portion 20 and a swing support point in the front-rear direction of the leg link 14 in the second joint portion 24. Therefore, the controller 64 detects the actual assisting force acting on the reference line L1 based on the output of the force sensor 62, and the detected actual assisting force. The operation of the drive mechanism 16 is controlled so that becomes a target value.

  More specifically, the controller 64 drives the actuator 40 of the drive mechanism 16 when the user P is seated and supported on the seat portion 10 a of the support member 10, so that the first link of the leg link 14 is connected via the connecting rod 46. The first link 22 and the second link 26 are relatively displaced about the joint axis 30a of the third joint portion 30 to generate a support force that supports at least a part of the weight of the user P, that is, an assist force. Assist P walking.

  The assist force generated by the leg link 14 is transmitted to the trunk of the user P through the support member 10, and the load acting on the leg of the user P is reduced to assist walking. As the user P, a worker standing in a factory or the like is also scheduled.

  As described above, the walking assistance device D according to this embodiment includes the support member 10 that can support the user P, the direction parallel to the travel direction of the user P and the left and right directions orthogonal to the travel direction. A leg link 14 that is swingably coupled to the direction, and supports at least a part of the weight of the user P via the leg link 14 when the user P is supported by the support member 10. An assist force is generated to assist the user P in walking.

  Next, features characteristic of the device D according to this embodiment will be described.

  5 is a partially sectional rear view of the support member 10 shown in FIG. 1 and the like, and FIG. 6 is a partially enlarged view of FIG.

  As shown in the figure, the characteristic of the device D according to this embodiment is that when the leg link 14 is abducted outward in the left-right direction to a predetermined angle θ, the support member 10 starts to swing in the left-right direction. The swing start member 70 is configured to be provided.

  The swing start member 70 is disposed outside the guide rail 32 and the guide rail (connecting member) 32 connected to the leg link 14, and the guide rail 32 is rotated outwardly to a predetermined angle θ in the left-right direction. The stopper member 70a is in contact with the guide rail.

  That is, the front end of the guide rail 32 is curved and overlaps in the front-rear direction of the paper surface, and the front end is penetrated by the shaft 38 a constituting the support shaft 38 and fixed to the support frame 10 b of the support member 10. The A ball bearing 72 is inserted between the shaft 38a and the tip of the guide rail 32 to facilitate the outer rotation (or inner rotation) of the guide rail 32 (leg link 14).

  At least one of the contact surface 32c of the guide rail 32 and the stopper member 70a is configured to reduce the impact at the time of contact. More specifically, the stopper member 70a is fixed to the waist pad portion 10c of the support member 10. At the same time, it is manufactured from an elastic body such as rubber and is configured to relieve an impact when it comes into contact with the guide rail 32.

  In the above-described configuration, when the guide rail 32 rotates outward in response to the outer rotation of the leg link 14 and contacts the stopper member 70a beyond the predetermined angle θ, the support member 10 starts swinging from that point, and thereafter Swings as the leg link 14 is abducted, giving the user P a natural feeling of wearing.

  In addition, the leg link 14 can swing between the predetermined angles θ even in the state where both legs are supported, and thus the support member 10 can also swing, so that the user P can pick up dust on the floor, for example. Even when the operation of bending in the horizontal direction is performed, the user P is not bound.

  Here, in the vicinity of the swing start member 70, a locking member 74 that can be inserted into a gap formed between the guide rail 32 and the stopper member 70a, and a locking member in / out that allows the locking member 74 to enter and leave the gap. A mechanism 76 is provided.

  As shown in FIG. 2, the locking member loading / unloading mechanism 76 is built in the waist pad portion 10 c and includes push buttons 76 a and 76 b arranged vertically as shown in FIG. 1. The push buttons 76a and 76b are connected to a seesaw member (not shown) that moves up and down around a fulcrum, and a locking member 74 is provided at one end of the seesaw member (a position corresponding to the lower push button 76b in FIG. 2). Fixed.

  That is, when the lower push button 76b shown in FIG. 1 is pressed by the user P (pressing operation), the locking member 74 enters and exits the locking member 74 in FIG. It is raised in the front-rear direction, and is inserted (inserted) into a gap formed between the guide rail 32 and the stopper member 70a, while when the upper push button 76a is pressed, it is lowered and comes out of the gap. Composed.

  In this embodiment, as described above, the support member 10 that can support the user P, the direction parallel to the travel direction of the user P (longitudinal direction) and the left-right direction (lateral direction) orthogonal to the travel direction. ), And more specifically, when the user P is supported by the support member 10, the user's P is connected via the leg link 14. In the walking assist device D that generates an assist force that supports at least a part of the body weight and assists the user P in walking, when the leg link 14 is turned outward to the predetermined angle θ in the left-right direction, the support member 10 Since the swing start member 70 for starting the swing in the left-right direction is provided, the support member 10 swings with the outer rotation of the leg link 14 after the leg link 14 is rotated to a predetermined angle. Good use for user P It can give the feeling.

  On the other hand, when the leg link 14 is abbreviated to a predetermined angle θ, the support member 10 starts to swing in the left-right direction. In other words, the support member 10 swings in the left-right direction until the predetermined angle θ is exceeded. Therefore, even when the user P bends in the horizontal direction, for example, when picking up garbage on the floor, the user P is not bound.

  In addition, the swing start member 70 contacts the guide rail 32 when the guide rail (connecting member) 32 connected to the leg link 14 and the guide rail 32 are turned outward to a predetermined angle θ in the left-right direction. The stopper member 70a is in contact with the stopper member 70a, and at least one of the contact surface 32c of the guide rail 32 and the stopper member 70a is configured to reduce the impact. More specifically, the stopper member 70a is made of rubber or the like. Since it is constructed so as to relieve the impact at the time of contact, it is possible to give the user P a better feeling of use.

  In addition, a locking member 74 that can be inserted into a gap formed between the guide rail (connecting member) 32 and the stopper member 70a is provided, and locked according to the operation of the user P via the locking member loading / unloading mechanism 76. Since the member 74 is inserted into the gap so that the swing of the guide rail 32 can be prevented, in addition to the above effects, handling such as when the user P carries the device D becomes easy.

  FIG. 7 is a partial cross-sectional rear view of the support member 10 similar to FIG. 5, showing the walking assist device D according to the second embodiment.

  Focusing on the differences from the first embodiment, in the second embodiment, a protrusion 32d is formed at the tip of the guide rail 32, and the guide rail 32 is outwardly rotated in the left-right direction. When this is done, the protrusions 32d approach each other and are configured to contact the stopper member 70a1 fixed to the support frame 10b of the support member 10 between the protrusions 32d. In the second embodiment, the diameter of the shaft 38a constituting the support shaft 38 is increased.

  Even in the second embodiment, the swing start member 70 is abbreviated to a predetermined angle θ outwardly in the left-right direction with the guide rail (connecting member) 32 connected to the leg link 14. At this time, since the stopper member 70a1 is in contact with the guide rail 32, the same effect as that of the first embodiment can be obtained.

  Further, even in the second embodiment, at least one of the contact surface 32c of the guide rail 32 and the stopper member 70a1 is configured to reduce an impact at the time of contact, more specifically, the stopper member 70a1. Is fixed to the waist pad portion 10c of the support member 10 and is made of an elastic body such as rubber, and is configured to relieve an impact when contacting the guide rail 32.

  Further, even in the second embodiment, as shown by an imaginary line in FIG. 7, a locking member 74 that can be inserted into a gap formed between the guide rail 32 (connection member) and the stopper member 70a1 is provided. The guide rail 32 is configured to be able to be prevented from swinging by being inserted into the gap via a locking member insertion / removal mechanism 76 (not shown). Thereby, in addition to the above-described effects, handling such as when the user P carries the device D becomes easy. The remaining configuration and effects are not different from those of the first embodiment.

  In the above, the stopper members 70a and 70a1 are made of an elastic body such as rubber so that the impact when the contact surface 32c of the guide rail 32 and at least one of the stopper members 70a and 70a1 are in contact is alleviated. However, an elastic body may be attached to the contact surface 32c of the guide rail 32, or the stopper members 70a and 70a1 may be manufactured from the elastic body.

  D Walking assist device, 10 support member, 10a seat portion, 10b support frame, 10c waist rest portion, 10d gripping portion, 12 shoe portion, 12a shoe, 12b member, 12c insole, 14 leg link, 16 drive mechanism, 20th 1 joint part, 22 1st link, 24 2nd joint part, 26 2nd link, 30 3rd joint part, 32 guide rail (connection member), 32a curvature center (swinging fulcrum), 34 slider, 36 roller, 38 Support shaft, 40 Actuator (electric motor), 40a Reduction gear, 40b Output shaft, 42 Rocker arm (drive crank arm), 44 Driven crank arm, 46 Connecting rod, 50 Battery, 60, 62 Force sensor, 64 Controller, 70 Swing Starting member, 70a, 70a1, stopper member, 72 ball bearing, 74 locking member, 76 Locking member access mechanism

Claims (3)

  A walking assist device comprising: a supporting member capable of supporting a user; and a leg link that is swingably coupled to the supporting member in a direction parallel to the traveling direction of the user and a lateral direction orthogonal to the traveling direction. And a swing start member for starting swinging of the support member in the left-right direction when the leg link is turned outward by a predetermined angle in the left-right direction. apparatus.   The swing start member includes a connecting member connected to the leg link, and a stopper member that comes into contact with the connecting member when the connecting member is rotated outwardly to the predetermined angle in the left-right direction. The walking assist device according to claim 1, wherein at least one of the contact surface of the connecting member and the stopper member is configured to reduce an impact when the contact is made.   A locking member that can be inserted into a gap formed between the coupling member and the stopper member is provided, and the locking member is inserted into the gap according to a user's operation to prevent the coupling member from swinging. The walking assistance device according to claim 2, wherein the walking assistance device is configured to be possible.

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