JP2010184059A5 - - Google Patents

Description

Strength assist device

  The present invention relates to a muscle force assisting device that supports the movement of a joint such as an elbow, knee, or wrist of a user.

Some conventional wearable joint drive devices drive a joint part of a human body by applying a contraction force between link bodies formed on clothes. This type of device applies the force from the pneumatic actuator to the link body of clothes made of cloth, etc., but flexible materials such as cloth cause wrinkles and slack in the clothes, As a result, the movement amount of the pneumatic actuator is not properly transmitted to the human body due to the displacement of the clothes, and there is a problem that sufficient movement amount and driving force cannot be obtained in actual use. A wearable joint drive device has been proposed that can improve the transmission efficiency of the drive force and increase the amount of movement and the drive force (Patent Document 1).
In Embodiment 1 in Patent Document 1, it is proposed to use, for example, a frame having a predetermined rigidity that can operate in the same manner as in the wearing state even when not wearing the human body as the upper arm frame or the forearm frame. Here, it is described that the material of the frame is a non-metallic soft frame configured by covering a hard resin or sponge with a cloth.
In the second embodiment in the same document, it is proposed that a frame tube is built in a support body on which a thigh and a lower leg are placed. Here, the tube for a frame is formed in a concave shape when air is supplied to the inside of the tube, and wraps a part of the thigh and crus that are placed thereon.
In the third embodiment of the same document, for example, it is proposed that the upper arm frame or the forearm frame is made of a metal such as aluminum or an aluminum alloy.
In Embodiments 1 and 3 in the same document, the upper arm frame and the forearm frame are both configured in a cylindrical shape, and are used with the arm inserted therethrough.
Further, in Embodiment 2 in the same document, a concave surface is provided so as to follow a part of the thigh and the lower leg. When the thigh and the lower leg are covered, A bag-like body into which the lower leg is inserted is formed.
International Publication No. 2004/087033

However, in Embodiments 1 and 3 in Patent Document 1, it is not possible to adjust the frame configured in a cylindrical shape according to the user. Also in Embodiment 2 in the same document, when covering the entire thigh and crus, since a bag-like body is used, it cannot be adjusted according to the user as in the other embodiments.
When the user's arm or leg is shaped to produce a plate according to the user, the method described in the above document may be used, but it is necessary to individually produce a frame for each user.
On the other hand, when a certain size is prepared, if the wearing tool is smaller than the expected size, the wearing feeling is bad, and it is rubbed and hurt when used for a long time. On the other hand, there is a problem that a driving force cannot be sufficiently transmitted due to an unnecessarily large gap between the wearing tool and the body.

  Therefore, the present invention solves such a conventional problem, and an object of the present invention is to provide a muscle force assisting device that can allow a user's physique difference and fits the body even if the physique is different.

The muscle force assisting device according to the first aspect of the present invention includes one wearing tool arranged along one bone of a joint, the other wearing tool arranged along the other bone of the joint, A muscle force assisting device that includes an elastic joint that connects the wearing tool and the other wearing tool, and supports the operation of a joint such as an elbow, knee, or wrist of a user, wherein any of the wearing tools Is constituted by a plurality of divided plates, and each of the divided plates is connected by an elastic coupling body.
A muscle force assisting device according to a second aspect of the present invention is the muscle force assisting device according to the first aspect, wherein an opening for inserting a body such as a user's arm or foot into the wearing tool constituted by the divided plate. A pair of the dividing plates disposed on both sides of the opening is provided with a holder for narrowing the opening.
The muscle force assisting device according to claim 3 of the present invention is the muscle force assisting device according to claim 2 , wherein the dividing plate has a long side in the direction along the bone and a short side direction perpendicular to the long side. The long sides of the adjacent divided plates are connected by the elastic connecting body.
A muscle force assisting device according to a fourth aspect of the present invention is the muscle force assisting device according to the third aspect , wherein the driving mechanism uses an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. Is a drive unit, and the one mounting tool and the other mounting tool are connected by the elastic joint to form a mounting unit, and the driving unit can be attached to and detached from the mounting unit.
A muscle force assisting device according to a fifth aspect of the present invention is the muscle force assisting device according to the fourth aspect, wherein a connecting portion on one end side of the drive unit is arranged on one of the wearing tools, and the other end side of the drive unit The connecting portion is arranged on the other mounting tool.
The muscle force assisting device according to claim 6 of the present invention is the muscle force assisting device according to claim 5, wherein each of the connecting portions of the drive unit is connected to a member connected to the elastic joint. To do.
A muscle force assisting device according to a seventh aspect of the present invention is the muscle force assisting device according to the fourth aspect, wherein the pair of drive units are provided on both sides of the mounting unit.
The muscle strength assisting device of the present invention according to claim 8 is the muscle strength assisting device according to claim 4, wherein one of the wearing devices is a forearm wearing device, and the other wearing device is an upper arm wearing device, and the forearm wearing device, The upper arm wearing device is configured by a plurality of the divided plates, and the number of the divided plates constituting the forearm wearing device is the same as the number of the divided plates constituting the upper arm wearing device, and the forearm wearing in the same direction. Each connecting portion of the drive unit is connected to the divided plate of the tool and the divided plate of the upper arm wearing tool.
A muscle force assisting device according to a ninth aspect of the present invention is the muscle force assisting device according to the first aspect, wherein the dividing plate has a long side in the direction along the bone and a short side direction perpendicular to the long side. The long sides of the adjacent divided plates are connected by the elastic connecting body.
A muscle force assisting device according to a tenth aspect of the present invention is the muscle force assisting device according to the first aspect, wherein the driving mechanism uses an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. Is a drive unit, and the one mounting tool and the other mounting tool are connected by the elastic joint to form a mounting unit, and the driving unit can be attached to and detached from the mounting unit.
The muscle force assisting device of the present invention according to claim 11 is the muscle force assisting device according to claim 10 , wherein a connection portion on one end side of the drive unit is arranged on one of the wearing tools, and the other end side of the drive unit is provided. The connecting portion is arranged on the other mounting tool.
A muscle force assisting device according to a twelfth aspect of the present invention is the muscle force assisting device according to the eleventh aspect , wherein each of the connecting portions of the drive unit is connected to a member connected to the elastic joint. To do.
A muscle force assisting device according to a thirteenth aspect of the present invention is the muscle force assisting device according to the tenth aspect , wherein the pair of drive units are provided on both sides of the mounting unit.
A muscle force assisting device according to a fourteenth aspect of the present invention is the muscle force assisting device according to the tenth aspect , wherein one of the wearing devices is a forearm wearing device, and the other wearing device is an upper arm wearing device, and the forearm wearing device, The upper arm wearing device is configured by a plurality of the divided plates, and the number of the divided plates constituting the forearm wearing device is the same as the number of the divided plates constituting the upper arm wearing device, and the forearm wearing in the same direction. Each connecting portion of the drive unit is connected to the divided plate of the tool and the divided plate of the upper arm wearing tool.
The muscle force assisting device according to claim 15 is the muscle force assisting device according to claim 1, wherein one of the wearing devices is a forearm wearing device, and the other wearing device is an upper arm wearing device, and the forearm wearing device, Each of the upper arm wearing tools is constituted by a plurality of the divided plates.
A muscle force assisting device according to a sixteenth aspect of the present invention is the muscle force assisting device according to the first aspect, wherein one of the wearing devices is a forearm wearing device, the other of the wearing devices is a palm wearing device, and the forearm wearing device is It is characterized by comprising a plurality of the divided plates.

  ADVANTAGE OF THE INVENTION According to this invention, a user's physique difference can be accept | permitted and it can be made to fit a body even if a physique differs.

In the muscle force assisting device according to the first embodiment of the present invention, any of the wearing tools is constituted by a plurality of divided plates, and each divided plate is connected by an elastic connector. According to the present embodiment, since the split plate is connected by the elastic connecting body to constitute the wearing tool, the split plate can be fitted to the body. In particular, since the connection is made not by the hinge but by the elastic connection body, it is possible to maintain the curved state by the respective divided plates even when not attached, making it easy to wear and enhancing the fit to the body.
According to a second embodiment of the present invention, in the muscle force assisting device according to the first embodiment, an opening for inserting a body such as a user's arm or foot is formed in the wearing tool constituted by the divided plate. The pair of divided plates arranged on both sides of the opening is provided with a holder for narrowing the opening. According to this Embodiment, a division | segmentation plate can be made to follow a body with a holder. In particular, the opening can not only facilitate the insertion of the body, but also the fit can be enhanced because the size of the internal space of the wearing tool can be changed by the opening.
According to a third embodiment of the present invention, in the muscle strength assisting device according to the second embodiment, the dividing plate is configured such that the direction along the bone is a long side and the short side direction perpendicular to the long side is curved. The long sides of the adjacent divided plates are connected by an elastic connecting body. According to the present embodiment, it is easy to hold the curved shape in the short side direction of the divided plate, and the mounting becomes easy.
According to a fourth embodiment of the present invention, in the muscle force assisting device according to the third embodiment, a drive mechanism using an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. The driving unit is configured such that one mounting tool and the other mounting tool are connected by an elastic joint to form a mounting unit, and the driving unit can be attached to and detached from the mounting unit. According to the present embodiment, it is possible to follow the deformation of the wearing tool by using the actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. In addition, since the drive unit can be attached to and detached from the mounting unit, the mounting unit and the driving unit can be easily adjusted.
According to a fifth embodiment of the present invention, in the muscular strength assisting device according to the fourth embodiment, the connection portion on one end side of the drive unit is arranged on one wearing tool, and the connection portion on the other end side of the drive unit is arranged. It is arranged on the other mounting tool. According to the present embodiment, the other wearing tool can be stably operated with respect to one wearing tool.
The sixth embodiment of the present invention is such that in the muscular strength assisting device according to the fifth embodiment, each connection portion of the drive unit is connected to a member connected with an elastic joint. According to the present embodiment, the drive unit can be stably operated by directly connecting the elastic body joint to the connected member.
The seventh embodiment of the present invention is a muscle force assisting apparatus according to the fourth embodiment, wherein a pair of drive units are provided on both sides of the mounting unit. According to the present embodiment, it is possible to perform a stable operation by providing the drive units on both sides of the mounting unit, and it is possible to secure a body mounting space on the upper and lower surfaces.
According to an eighth embodiment of the present invention, in the muscle strength assisting apparatus according to the fourth embodiment, one mounting tool is a forearm mounting tool, the other mounting tool is an upper arm mounting tool, and the forearm mounting tool and the upper arm mounting tool are used. Each of the divided plates constituting the forearm wearing device is composed of a plurality of divided plates, and the divided plate constituting the upper arm wearing device is the same in number, and the divided plate of the forearm wearing device and the divided plate of the upper arm wearing device in the same direction. And connecting portions of the drive unit. According to the present embodiment, the drive unit can be operated normally without twisting the drive unit even if the bending state changes due to the mounting.
According to a ninth embodiment of the present invention, in the muscle strength assisting device according to the first embodiment, the dividing plate is configured such that the direction along the bone is a long side and the short side direction perpendicular to the long side is curved. The long sides of the adjacent divided plates are connected by an elastic connecting body. According to the present embodiment, it is easy to hold the curved shape in the short side direction of the divided plate, and the mounting becomes easy.
According to a tenth embodiment of the present invention, in the muscle force assisting device according to the first embodiment, there is provided a drive mechanism using an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. The driving unit is configured such that one mounting tool and the other mounting tool are connected by an elastic joint to form a mounting unit, and the driving unit can be attached to and detached from the mounting unit. According to the present embodiment, it is possible to follow the deformation of the wearing tool by using the actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof. In addition, since the drive unit can be attached to and detached from the mounting unit, the mounting unit and the driving unit can be easily adjusted.
In an eleventh embodiment of the present invention, in the muscle strength assisting device according to the tenth embodiment, the connection portion on one end side of the drive unit is arranged on one wearing tool, and the connection portion on the other end side of the drive unit is arranged. It is arranged on the other mounting tool. According to the present embodiment, the other wearing tool can be stably operated with respect to one wearing tool.
According to a twelfth embodiment of the present invention, in the muscular strength assisting device according to the eleventh embodiment, each connection portion of the drive unit is connected to a member connected with an elastic joint. According to the present embodiment, the drive unit can be stably operated by directly connecting the elastic body joint to the connected member.
The thirteenth embodiment of the present invention is the muscle force assisting apparatus according to the tenth embodiment, wherein a pair of drive units are provided on both sides of the mounting unit. According to the present embodiment, it is possible to perform a stable operation by providing the drive units on both sides of the mounting unit, and it is possible to secure a body mounting space on the upper and lower surfaces.
The fourteenth embodiment of the present invention is the muscle force assisting device according to the tenth embodiment, wherein one wearing tool is a forearm wearing tool, the other wearing tool is an upper arm wearing tool, and the forearm wearing tool and the upper arm wearing tool are used. Each of the divided plates constituting the forearm wearing device is composed of a plurality of divided plates, and the divided plate constituting the upper arm wearing device is the same in number, and the divided plate of the forearm wearing device and the divided plate of the upper arm wearing device in the same direction. And connecting portions of the drive unit. According to the present embodiment, the drive unit can be operated normally without twisting the drive unit even if the bending state changes due to the mounting.
According to a fifteenth embodiment of the present invention, in the muscle strength assisting apparatus according to the first embodiment, one wearing tool is a forearm wearing tool, the other wearing tool is an upper arm wearing tool, and the forearm wearing tool and the upper arm wearing tool are used. Each is constituted by a plurality of divided plates. According to the present embodiment, by configuring both the forearm wearing device and the upper arm wearing device with the divided plates, it is possible to improve the fit to the forearm and the upper arm, and to reliably perform the operation support of the elbow joint. it can.
According to a sixteenth embodiment of the present invention, in the muscle strength assisting apparatus according to the first embodiment, one mounting tool is a forearm mounting tool, the other mounting tool is a palm mounting tool, and the forearm mounting tool is a plurality of divided plates. It is constituted by. According to the present embodiment, the fit to the forearm can be improved, and the wrist joint movement support can be reliably performed.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a perspective view showing a mounting unit of a muscle force assisting apparatus according to an embodiment of the present invention, FIG. 2 is a bottom view of the mounting unit, and FIG. 3 is a side view of the mounting unit.
The mounting unit 100A of the muscle force assisting device according to the present embodiment includes a first mounting tool 110 that is disposed along one bone of the joint, and a second mounting tool 120 that is disposed along the other bone of the joint. And an elastic joint 130 for connecting the first wearing tool 110 and the second wearing tool 120.
In the present embodiment, the first wearing tool 110 is disposed on the forearm to constitute a forearm wearing tool, and the second wearing tool 120 is disposed to the upper arm to constitute the upper arm wearing tool.
The first mounting tool 110 includes a plurality of divided plates 111, 112, 113 and a plurality of elastic coupling bodies 114. Each of the divided plates 111, 112, and 113 has a long side in the direction along the bone, and is configured by curving the short side direction perpendicular to the long side. The split plate 111 is disposed along the forearm dorsal side, and has a short side on the elbow joint side wider than a short side on the anti-elbow joint side. The divided plates 112 and 113 are respectively disposed along both sides of the divided plate 111, and the divided plates 112 and 113 are also configured such that the elbow joint side short side is wider than the anti-elbow joint side short side. The divided plates 111 and 112 are connected at their long sides by a plurality of elastic connectors 114, and the divided plates 111 and 113 are also connected at their long sides by a plurality of elastic connectors 114. It is connected.
In the first wearing tool 110, an opening 115 for inserting a forearm is formed between the divided plate 112 and the divided plate 113. The pair of divided plates 112 and 113 arranged on both sides of the opening 115 are provided with attachment portions 116a for providing a holder 116 (see FIGS. 7 and 8) for narrowing the opening 115.
At the joint side end portions of the split plates 112 and 113, there is a connecting portion 130a for connecting one end of the elastic joint 130, and at the non-joint side end portions of the split plates 112 and 113, a drive unit connecting portion 117 is provided. Yes. The drive unit connecting portion 117 also serves as the attachment portion 116a. Further, the division plate 111 has a drive unit connection portion 118.

The second mounting tool 120 includes a plurality of divided plates 121, 122, 123 and a plurality of elastic coupling bodies 124. Each of the divided plates 121, 122, 123 has a long side in the direction along the bone, and is configured by curving the short side direction perpendicular to the long side. The dividing plate 121 is disposed along the upper arm dorsal side, and the elbow joint side short side and the anti-elbow joint side short side are configured to have substantially the same length. The divided plates 122 and 123 are respectively disposed along both sides of the divided plate 121. The divided plates 122 and 123 are configured such that the anti-elbow joint side short side is slightly wider than the elbow joint side short side. The divided plate 121 and the divided plate 122 are connected at their long sides by a plurality of elastic connectors 124, and the divided plates 121 and the divided plate 123 are also connected at their long sides by a plurality of elastic connectors 124. It is connected.
An opening 125 for inserting the upper arm is formed between the divided plate 122 and the divided plate 123 in the second mounting tool 110. The pair of divided plates 122 and 123 disposed on both sides of the opening 125 is provided with attachment portions 126a for providing a holder 126 (see FIGS. 7 and 8) for narrowing the opening 125.
The joint side ends of the split plates 122 and 123 have a connecting portion 130b for connecting the other end of the elastic joint 130. The split plates 122 and 123 have a drive unit connecting portion 128a together with the drive unit connecting portion 127. ing. Further, the division plate 121 has a drive unit connection portion 128b.

As the elastic joint 130, a spring joint using a coil spring is suitable. The coil spring is used as a tension spring. The length of the coil spring is adjusted so that the deviation of the rotation axis of the coil spring is equal to the rotation deviation of the elbow joint.
The elastic coupling bodies 114 and 124 are not a coupling body by a simple hinge, but are configured by metal or resin leaf springs having a predetermined rigidity. By connecting the divided plates 111, 112, 113 with the elastic connecting body 114 and connecting the divided plates 121, 122, 123 with the elastic connecting body 124 in this way, the curved shape can be maintained even when not attached. it can.

FIG. 4 is an exploded perspective view for each unit of the muscle force assisting device in one embodiment of the present invention, FIG. 5 is a perspective view of the muscle force assisting device, and FIG. 6 is a perspective view from different directions of the same mounting.
The mounting unit 100 </ b> A described with reference to FIGS. 1 to 3 is a state in which a first mounting tool 110 and a second mounting tool 120 are connected by an elastic joint 130.
The muscle force assisting apparatus in the present embodiment includes a bending drive unit 200 and an extension drive unit 300 that can be attached to and detached from the mounting unit 100A.
The bending drive unit 200 includes a first artificial muscle 211 and a second artificial muscle 212. A first connection portion 221 connected to the drive unit connection portion 117 is connected to one end of the first artificial muscle 211, and a displacement portion 222 connected to one end of the second artificial muscle 212 is connected to the other end of the first artificial muscle 211. have. The first connection portion 221 is connected to the drive unit connection portion 117 via the connection auxiliary portion 117a, and the first connection portion 221 is provided so as to be rotatable with respect to the connection auxiliary portion 117a.
The other end of the second artificial muscle 212 has a second connection portion 223 connected to the drive unit connection portion 127. The second connection part 223 is connected to the drive unit connection part 127 using a connector such as a screw. The other end of the displacement portion 222 is rotatably provided at one end side of the second connection portion 223, and the other end of the second artificial muscle 212 is rotatably provided at the other end side of the second connection portion 223. It has been.
As illustrated, the pair of bending drive units 200 are provided on both sides of the mounting unit 100A.

On the other hand, the extension drive unit 300 is provided with a pair of artificial muscles 311 and 312 in parallel. The first connection part 321 connected to the drive unit connection part 118 is connected to one end of the pair of artificial muscles 311 and 312, and the second connection part connected to the drive unit connection part 128 b is connected to the other end of the pair of artificial muscles 311 and 312. 322. In addition, a regulating member 323 that regulates the path of the artificial muscles 311 and 312 is provided at an intermediate portion between the pair of artificial muscles 311 and 312. The restriction member 323 includes a cylindrical member 323a that covers the outer periphery of the artificial muscles 311 and 312 and a connection portion 323b that fixes the cylindrical member 323a at a predetermined position, and the drive unit connection portion 128a is connected by the connection portion 323b. To be pivotally connected to each other.
As illustrated, the extension drive unit 300 is provided in the mounting unit 100A.
The artificial muscles 211, 212, 311, and 312 are actuators that expand and contract when a gas, liquid, solid substance, or a mixture thereof is supplied or discharged.

FIG. 7 is a perspective view of a muscle force assisting device model according to an embodiment of the present invention, and FIG. 8 is a side view of the muscle force assisting device model.
As shown in the figure, the first wearing tool 110 is provided with a holding tool 116 for narrowing the opening 115 for inserting the forearm, and the second wearing tool 120 is a holding tool for narrowing the opening 125 for inserting the upper arm. 126 is provided.
The holders 116 and 126 are configured by a belt divided into two parts, and the one using a hook-and-loop fastener as a fastening method is shown. The fastening method may be by a buckle, and may not be a plurality of belts as shown.
Note that a tube 211 a is connected to one end of the artificial muscle 211, and this tube 211 a is connected to a power source that contracts the artificial muscle 211. A tube 212 a is connected to the other end of the artificial muscle 212, and the tube 212 a is connected to a power source that contracts the artificial muscle 212.

Hereinafter, another embodiment of the present invention will be described with reference to the drawings.
9 is a perspective view showing a muscular strength assisting apparatus according to another embodiment of the present invention, FIG. 10 is a perspective view of the apparatus from different directions, FIG. 11 is a top view of the same mounting, and FIG. 12 is a bottom view of the same mounting. is there.
The muscle force assisting device mounting unit 100B according to the present embodiment includes a first mounting device 110 disposed along one bone of the joint, and a second mounting device 150 disposed along the other bone of the joint. The elastic joint 140 connecting the first wearing tool 110 and the second wearing tool 150 is provided.
In the present embodiment, the first wearing tool 110 is disposed on the forearm to constitute a forearm wearing tool, and the second wearing tool 150 is disposed on the hand to constitute a hand wearing tool.
The first mounting tool 110 includes a plurality of divided plates 111, 112, 113 and a plurality of elastic coupling bodies 114. Each of the divided plates 111, 112, 113 has a long side in the direction along the bone, and is configured by curving a short side direction perpendicular to the long side. The split plate 111 is disposed along the forearm dorsal side, and has a short side on the anti-wrist joint side wider than the short side on the wrist joint side. The divided plates 112 and 113 are respectively disposed along both sides of the divided plate 111, and the divided plates 112 and 113 are configured such that the short side on the anti-wrist joint side is wider than the short side on the wrist joint side. The divided plates 111 and 112 are connected at their long sides by a plurality of elastic connectors 114, and the divided plates 111 and 113 are also connected at their long sides by a plurality of elastic connectors 114. It is connected.
In the first wearing tool 110, an opening 115 for inserting a forearm is formed between the divided plate 112 and the divided plate 113. The pair of divided plates 112 and 113 arranged on both sides of the opening 115 are provided with attachment portions 116a for providing a holder 116 (see FIGS. 7 and 8) for narrowing the opening 115.
In addition, the connection part 130a provided in the counter wrist joint side edge part of the division | segmentation plates 112 and 113 in a present Example connects the drive unit 500, and the drive provided in the wrist joint side edge part of the division | segmentation plates 112 and 113 is carried out. The unit connecting portion 117 is used for connecting the elastic joint 140.
The elastic coupling body 114 is not a coupling body by a simple hinge, but is constituted by a metal or resin leaf spring having a predetermined rigidity. In this way, by connecting the respective divided plates 111, 112, and 113 with the elastic coupling body 114, the curved shape can be maintained even when not mounted.

The second wearing tool 150 in this embodiment includes a palm gripping member 151 that supports the hand. An angle changing member 152 is disposed on both sides of the palm gripping member 151, and the elastic joint 140 connects the first wearing tool 110 and the angle changing member 152. The elastic body joints 140 are provided for the respective angle changing members 152, and the respective elastic body joints 140 are located on both sides of the wrist.
At both ends of the palm gripping member 151, a moving mechanism 153 that moves the palm gripping member 151 close to and away from the forearm is provided. In addition, at both ends of the upper surface of the palm gripping member 151, a belt fixture 154a for attaching a belt is provided. In addition, the pair of angle changing members 152 are connected by support members 152a and 152b. The stability of the behavior of the angle changing member 152 is enhanced by connecting the pair of angle changing members 152 by the support members 152a and 152b.

As the elastic joint 140, a spring joint using a coil spring is suitable. The coil spring is used as a tension spring. With this configuration, it is possible to antagonize the driving force generated by the actuator installed across the wrist joint and the contraction force in the axial direction that compresses the wrist joint by the driving force. Accordingly, it is possible to reduce the hindrance to the force (torque) for causing the wrist joint to bend and dorsiflex. That is, there is little resistance to the wrist of the wrist assist device, and a smooth operation can be performed.
Also, a compression spring can be used as the elastic joint 140. By using a compression spring, the length of the spring becomes constant at the axial center of the spring against palm flexion and dorsiflexion of the wrist. Accordingly, since there is no contact between the coils, deterioration due to rubbing between the coils can be suppressed in long-term repeated use.

As shown in FIG. 11, the palm gripping member 151 and the moving mechanism 153 are connected by a rotating shaft 151a. The pivot shaft 151a is provided in the long hole 151b so that the palm gripping member 151 can change the angle with respect to the moving mechanism 153.
That is, the muscle force assisting apparatus of the present embodiment is provided with a moving mechanism 153 that moves the palm gripping member 151 close to and away from the palm gripping member 151 in the forearm direction, and a rotation shaft 151a that changes an angle with respect to the moving mechanism 153 at both ends of the palm gripping member 151. The rotation shaft 151 a is displaceable with respect to the palm gripping member 151. Therefore, since the angle of the palm gripping member 151 can be changed, the palm gripping member 151 is easily gripped. In particular, even when the wrist is bent due to an obstacle, it can be applied without difficulty. The long hole 151b is an example of a configuration that allows the rotation shaft 151a to be displaced with respect to the palm gripping member 151.

The drive unit 500 in the present embodiment is detachably attached to the mounting unit 100B.
The drive unit 500 includes a first artificial muscle 511 that bends the palm gripping member 151 in one direction, and a second artificial muscle 512 that bends the palm gripping member 151 in the other direction.
A first link member 521 connected to the angle changing member 152 is provided at one end of the first artificial muscle 511, and a second link connected to the angle changing member 152 at one end of the second artificial muscle 512. A member 522 is provided. Here, the first link member 521 and the second link member 522 constitute a connection part for coupling to the second mounting tool 150.
In addition, a connection portion 523 connected to the first wearing tool 110 is provided at the other end of the first artificial muscle 511 and the other end of the second artificial muscle 512.
The first artificial muscle 511 and the second artificial muscle 512 are actuators that expand and contract by supplying or discharging a gas, liquid, solid substance, or a mixture thereof.
As illustrated, the pair of drive units 500 are provided on both sides of the mounting unit 100B.

In the muscle force assisting device in the present embodiment, the palm gripping member 151 is gripped so that the opening 115 is on the back side of the forearm and the back of the hand is supported by a belt attached to the belt fixing device 154a.
In such a wearing state, the hand is bent to the back side by the contraction of the first artificial muscle 511, and the hand is bent to the palm side by the contraction of the second artificial muscle 512.
In addition, in the muscular strength assistance apparatus in a present Example, it can also mount | wear so that the opening part 115 side may become the ventral side of a forearm. In this case, the palm gripping member 151 is configured to be detachable with respect to the moving mechanism 153 in either the vertical direction. After gripping the removed palm gripping member 151, if the palm gripping member 151 is mounted on the moving mechanism 153 so that the opening 115 side is the ventral side of the forearm, it can be easily mounted if there is a handicap. Can do.
In such a wearing state, the hand can be bent to the palm side by the contraction of the first artificial muscle 511, and the hand can be bent to the back side by the contraction of the second artificial muscle 512.

As described above, according to the present embodiment, the first mounting tool 110 is configured by the plurality of divided plates 111, 112, 113, and the second mounting tool 120 is configured by the plurality of divided plates 121, 122, 123. Then, by connecting each of the divided plates 111, 112, 113, 121, 122, 123 with elastic coupling bodies 114, 124, the first wearing tool 110 is fitted to the forearm and the second wearing tool 120 is fitted to the upper arm. Can be made. In particular, since the connection is made not by the hinge but by the elastic connection bodies 114, 124, the curved state by the respective divided plates 111, 112, 113, 121, 122, 123 can be maintained, and the fit to the body can be enhanced. .
In addition, according to the present embodiment, the opening 115 for inserting the forearm is formed in the first mounting tool 110, and the opening 125 for inserting the upper arm is formed in the second mounting tool 120. A pair of divided plates 112 and 113 arranged on both sides of the plate is provided with a holder 116 that narrows the opening 115, and a pair of divided plates 122 and 123 arranged on both sides of the opening 125 narrows the opening 125. By providing the holder 126, the divided plates 111, 112, 113, 121, 122, 123 can be placed along the body. In particular, the openings 115 and 125 not only facilitate the insertion of the body, but also the openings 115 and 125 fit for changing the size of the internal space of the first wearing tool 110 and the second wearing tool 120. A feeling can be heightened.
Further, according to the present embodiment, the divided plates 111, 112, 113, 121, 122, 123 are configured such that the direction along the bone is a long side and the short side direction perpendicular to the long side is curved, and adjacent to each other. By connecting the long sides of the divided plates 111, 112, 113, 121, 122, 123 with elastic coupling bodies 114, 124, the bending of the divided plates 111, 112, 113, 121, 122, 123 in the short side direction is performed. Easy to hold the shape and easy to install.
Moreover, according to the present Example, by using the artificial muscles 211, 212, 311, 312, 311, 511, 512, it is possible to follow the deformation of the wearing tool. The drive mechanism is a drive unit 200, 300, 500, and one mounting tool 110 and the other mounting tool 120, 150 are connected by elastic joints 130, 140 to form mounting units 100A, 100B. On the other hand, since the drive units 200, 300, and 500 are detachable, the mounting units 100A and 100B and the drive units 200, 300, and 500 can be easily adjusted.
Further, according to the present embodiment, in the drive unit 200, the first connection part 221 is arranged in the first attachment tool 110 and the second connection part 223 is arranged in the second attachment tool 120, and in the drive unit 300, the first connection part. 321 is arranged on the first wearing tool 110 and the second connecting part 322 is arranged on the second wearing tool 120, and in the drive unit 500, the connecting part 523 is connected to the first wearing tool 110 and the link member 521 constituting the connecting part, By disposing 522 on the second mounting tool 150, the second mounting tools 120 and 150 can be stably operated with respect to the first mounting tool 110.
Further, according to the present embodiment, in the drive unit 200, the first connection portion 221 is connected to the divided plates 112 and 113 to which the elastic joint 130 is connected, and the second connection portion 223 is the divided plate 122 to which the elastic joint 130 is connected. 123, and in the drive unit 500, the connecting member 523 connects the elastic joint 140 to the divided plates 112 and 113, and the link members 521 and 522 constituting the connecting portion connect the elastic joint 140 to the angle changing member 152. Therefore, the drive units 200 and 500 can be stably operated.
Further, according to the present embodiment, the pair of drive units 200 and 500 are provided on both sides of the mounting units 100A and 100B, so that stable operation can be performed, and space for mounting the body on the upper and lower surfaces is secured. can do.
Further, according to the present embodiment, one mounting tool 110 is a forearm mounting tool, the other mounting tool 120 is an upper arm mounting tool, and the forearm mounting tool and the upper arm mounting tool are each divided into a plurality of divided plates 111, 112, 113, 121. , 122, 123 can improve the fit to the forearm and the upper arm, and can reliably support the movement of the elbow joint.
Further, according to the present embodiment, the forearm wearing device 110 is constituted by three divided plates 111, 112, and 113, and the upper arm wearing device 120 is also constituted by three divided plates 121, 122, and 123, and they are in the same direction. The connection portions 221 and 223 of the drive unit 120 are connected to the division plate 112 and the division plate 122, and the connection portions 221 and 223 of the drive unit 120 are connected to the division plate 113 and the division plate 123 in the same direction. As a result, even if the bending state changes due to the mounting, the drive unit 200 can be operated normally without twisting the drive unit 200.
Further, according to the present embodiment, one mounting tool 110 is a forearm mounting tool, the other mounting tool 150 is a palm mounting tool, and the forearm mounting tool 110 is constituted by a plurality of divided plates 111, 112, 113. The fit to the forearm can be enhanced, and the wrist joint movement can be reliably supported.

  INDUSTRIAL APPLICABILITY The present invention can be used as a muscle force assisting device that supports the movement of a joint such as an elbow, knee, or wrist.

The perspective view which shows the mounting unit of the muscular strength assistance apparatus in one Example of this invention. Bottom view of the same mounting unit Side view of the same mounting unit The disassembled perspective view for every unit of the muscular strength assistance apparatus in one Example of this invention Perspective view of the muscle strength assist device Perspective view from different directions of the same mounting 1 is a perspective view of a muscle force assist device model according to one embodiment of the present invention. FIG. Side view of the muscle strength assistive device model The perspective view which shows the muscular strength assistance apparatus in the other Example of this invention. Perspective view of the device from different directions Top view of the same mounting Bottom view of the same installation

100A, 100B Mounting unit 110 First mounting tool 111, 112, 113 Split plate 114 Elastic coupling body 115 Opening portion 120 Second mounting tool 130 Elastic body joint 120 Second mounting tool 121, 122, 123 Split plate 124 Elastic Connected body 125 Opening portion 200 Bending drive unit 300 Extension drive unit 211 First artificial muscle 212 Second artificial muscle 150 Second wearing tool 151 Palm gripping member 140 Elastic body joint 500 Drive unit 511 First artificial muscle 512 Second artificial muscle

Claims (16)

One wearer placed along one bone of the joint;
The other wearing device disposed along the other bone of the joint;
An elastic joint for connecting the one wearing tool and the other wearing tool;
A muscle force assisting device that supports the movement of a user's elbow, knee, or wrist joint,
Any one of the wearing tools is constituted by a plurality of divided plates, and each of the divided plates is connected by an elastic coupling body.   An opening for inserting a body such as a user's arm or foot is formed in the wearing device constituted by the divided plate, and the opening is formed in a pair of the divided plates arranged on both sides of the opening. The muscular strength assisting device according to claim 1, further comprising a holding tool that narrows the arm. The dividing plate is configured such that a direction along the bone is a long side, a short side direction perpendicular to the long side is curved, and the long sides of the adjacent dividing plates are connected by the elastic connector. The muscle strength assisting device according to claim 2 , wherein A drive mechanism using an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof is used as a drive unit.
One mounting tool and the other mounting tool are connected by the elastic joint to form a mounting unit,
The muscle force assisting device according to claim 3 , wherein the drive unit is detachable from the mounting unit.   The muscle strength according to claim 4, wherein a connection portion on one end side of the drive unit is disposed on one of the wearing tools, and a connection portion on the other end side of the drive unit is disposed on the other wearing tool. Auxiliary device.   The muscle force assisting device according to claim 5, wherein each of the connection portions of the drive unit is connected to a member connected to the elastic joint.   The muscle force assisting device according to claim 4, wherein the pair of drive units are provided on both sides of the mounting unit.   One of the wearing devices is a forearm wearing device, the other of the wearing devices is an upper arm wearing device, and each of the forearm wearing device and the upper arm wearing device is constituted by a plurality of the divided plates, and the divided arm constituting the forearm wearing device. Each of the drive units is connected to the divided plate of the forearm wearing device and the divided plate of the upper arm wearing device in the same direction with the same number of plates and the divided plates constituting the upper arm wearing device. The muscle strength assisting device according to claim 4, wherein the portions are connected.   The dividing plate is configured such that a direction along the bone is a long side, a short side direction perpendicular to the long side is curved, and the long sides of the adjacent dividing plates are connected by the elastic connector. The muscular strength assisting device according to claim 1, wherein: A drive mechanism using an actuator that expands and contracts by supplying or discharging a gas, liquid, or solid substance, or a mixture thereof is used as a drive unit.
One mounting tool and the other mounting tool are connected by the elastic joint to form a mounting unit,
The muscle force assisting device according to claim 1, wherein the driving unit is detachable from the mounting unit. 11. The muscle strength according to claim 10 , wherein a connection portion on one end side of the drive unit is disposed on one of the wearing devices, and a connection portion on the other end side of the drive unit is disposed on the other wearing device. Auxiliary device. The muscle force assisting device according to claim 11 , wherein each of the connection portions of the drive unit is connected to a member connected to the elastic joint. The muscle force assisting device according to claim 10 , wherein the pair of drive units are provided on both sides of the mounting unit. One of the wearing devices is a forearm wearing device, the other of the wearing devices is an upper arm wearing device, and each of the forearm wearing device and the upper arm wearing device is constituted by a plurality of the divided plates, and the divided arm constituting the forearm wearing device. Each of the drive units is connected to the divided plate of the forearm wearing device and the divided plate of the upper arm wearing device in the same direction with the same number of plates and the divided plates constituting the upper arm wearing device. The muscle strength assisting device according to claim 10 , wherein the parts are connected.   The one mounting tool is a forearm mounting tool, the other mounting tool is an upper arm mounting tool, and the forearm mounting tool and the upper arm mounting tool are each configured by a plurality of the divided plates. Muscle strength assist device.   2. The muscle strength assisting apparatus according to claim 1, wherein one of the wearing devices is a forearm wearing device, the other of the wearing devices is a palm wearing device, and the forearm wearing device is constituted by a plurality of the divided plates.