JP2011125546A - Walking aid - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking aid capable of assisting a user in walking, and allowing the user to easily change the size of shoes and to wear the device. <P>SOLUTION: The walking aid at least includes: a support member which can transmit the load of the user; a pair of shoe parts 12 including shoes 12a which can store the user's feet and pressure sensors disposed inside the shoes 12a for detecting the stepping force of the user; a driving mechanism capable of driving a pair of leg links connected to the support member and the shoe parts 12; and a controller. The walking aid assists the user in walking by driving the driving mechanism based on the load of the user transmitted to the shoe parts 12 and the output of the pressure sensors. The shoes can be attached to/detached from the shoe parts 12 via attaching/detaching mechanisms 50. The attaching/detaching mechanism 50 is composed of a first engagement body 50a attached to the shoe 12a, and a second engagement body 50b attached to a coupling part 24 coupled to the leg link to be engaged with the first engagement body. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a walking assist device.

  As a walking assistance device, for example, a technique described in Patent Document 1 below is known.

  In the technique described in Patent Document 1, a support member capable of supporting the user and transmitting the user's load and a shoe capable of accommodating the user's foot are provided, and the user is provided inside the shoe. A pair of shoe portions in which a sensor for detecting the treading force is disposed, a pair of leg links coupled to the support member and the shoe portion, an actuator capable of driving the leg link, and control of driving of the actuator A walking assist device that assists the user's walking by driving the actuator via the controller based on the load of the user transmitted to the shoe part and the output of the sensor. The

JP 2007-20909 A

  Although the above-mentioned walking assistance device can assist the user's walking, the shoe part is integrally fixed with the shoe that can accommodate the user's foot part and the part connected to the leg link, It could not be removed without using a tool. Therefore, when the shoe size of the user is different, changing the size is troublesome. In addition, there is an inconvenience that the apparatus cannot be worn while wearing shoes.

  Accordingly, an object of the present invention is to provide a walking assistance device that solves the above-mentioned problems and assists the user's walking, and also makes it easy to change the size of the user's shoes and to wear the device. is there.

  In order to achieve the first object described above, according to claim 1, there is provided a support member capable of supporting the user and transmitting the user's load and a shoe capable of accommodating the user's foot. And a pair of shoe portions in which a sensor for detecting a pedaling force of a user is disposed inside the shoe, a pair of leg links coupled to the support member and the shoe portion, and the leg link being drivable An actuator and at least a controller for controlling the driving of the actuator, and the user's walking by driving the actuator via the controller based on the load of the user transmitted to the shoe part and the output of the sensor In the walking assistance device for assisting, the shoe is configured to be detachable from the shoe part via an attachment / detachment mechanism.

  In the walking assist device according to claim 2, the attachment / detachment mechanism is attached to the shoe and connected to the first engagement body formed by extending a support body supporting the sensor and the leg link. And a second engagement body that can be engaged with the first engagement body.

  The walking assist device according to claim 3 is configured such that a connector is inserted in a signal line connecting the sensor and the controller, and the connector is disposed in the attachment / detachment mechanism.

  In the walking assist device according to claim 4, the connector includes an electrode and a conductor that can be energized in contact with the electrode, and the electrode is disposed on the first engagement body, The conductor is configured to be disposed on the second engaging body.

  The walking assist device according to claim 5 is configured such that the first engagement body and the second engagement body are configured to be engageable via a waterproof seal.

  In Claim 1, it has a support member which can support a user and can transmit a user's load, and a shoe which can store a user's foot, and a user's treading force is given inside the shoe. A pair of shoe portions in which sensors for detection are arranged, an actuator capable of driving a pair of leg links connected to the support member and the shoe portion, and a controller for controlling the drive are provided, and are transmitted to the shoe portion. In the walking assistance device that assists the user's walking by driving the actuator via the controller based on the load of the user and the output of the sensor, the shoe is configured to be detachable from the shoe portion via the attachment / detachment mechanism, Since the shoe can be attached and detached from the shoe part via the attaching / detaching mechanism without using a tool or the like, the user can easily attach / detach the shoe when the shoe size is different. While sharing a plurality of users equipment, shoes only becomes possible to each person only. Further, since it can be easily attached and detached, it is possible to attach the apparatus while wearing the shoes, and then connect the shoes and the apparatus, and the apparatus can be easily attached.

  In the walking assist device according to claim 2, the attachment / detachment mechanism is attached to the shoe, and is attached to the first engagement body formed by extending the support body supporting the sensor and the portion connected to the leg link. In addition to the above-described effects, the configuration is simplified because the second engagement body is configured to be engaged with the first engagement body.

  In the walking assist device according to claim 3, since the connector is inserted in the signal line connecting the sensor and the controller, and the connector is arranged in the attachment / detachment mechanism, the mechanical connection is made by the attachment / detachment mechanism. And electrical connection can be made together, and the configuration becomes simple.

  In the walking assist device according to claim 4, the connector is composed of an electrode and a conductor that can be energized in contact with the electrode, and the electrode is disposed on the first engagement body, while the conductor is In addition to the above-described effects, dust can be prevented from being attached as much as possible. That is, even if the user wears shoes and walks around, and the dust adheres to the electrode, the electrode usually has a flat shape and can be easily removed by wiping. On the other hand, the conductor often has a shape with large irregularities, but since it is arranged on the second engagement body, in other words, on the main body side of the apparatus, it is less likely to move when removed from the shoe. Therefore, the opportunity for dust to adhere can be reduced.

  In the walking assistance device according to claim 5, since the first engaging body and the second engaging body are configured to be engageable via the waterproof seal, in addition to the above-described effects, the connector Etc. can be prevented from being flooded.

1 is a perspective view of a walking assist device according to an 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 a perspective view when the walk assistance apparatus shown in FIG. 1 is seen from back. It is an expansion perspective view which shows the attachment / detachment mechanism of the shoe part of the walking assistance apparatus shown in FIG. It is a perspective view of the 2nd engaging body of the attachment or detachment mechanism of the shoe part shown in FIG. It is an expanded sectional view which shows the structure of the attachment or detachment mechanism of the shoe part shown in FIG. It is the expansion description perspective view which looked at the 2nd engagement body of the attachment / detachment mechanism of the shoe part shown in FIG. 5 from the downward direction. It is the expansion explanation perspective view which looked at a part of the 1st engagement body of the attachment or detachment mechanism of the shoe part shown in FIG. 5 from the one surface side. It is the expansion explanation perspective view which looked at a part of the 1st engagement object shown in Drawing 9 from the opposite side.

  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 assistance device according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a front view thereof, and FIG. 4 is a perspective view of the walking assistance device shown in FIG. It is.

  1 to 4, reference numeral D denotes a walking assistance device, and the walking assistance device D supports the user P (shown in FIG. 2) and can support the load of the user P. A member (load transmission member) 10, a pair of left and right shoes 12 that can accommodate the foot of the user P, and a pair of left and right leg links 14 provided between the support member 10 and the pair of left and right shoes 12. A driving mechanism (actuator) 16 including an electric motor is provided, and is attached to the lower half of the user P via a fixture (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 are respectively connected to the support member 10 via a first joint portion 20 comprising a swinging mechanism (corresponding to a hip joint in human terms). A second link (lower leg link) 26 connected to the shoe part 12 via a second joint part 24 (corresponding to an ankle joint in humans), and the first link 22 and the second link 26. And a third joint portion 30 (corresponding to a knee joint in human terms).

  The support member 10 has a saddle-like seat portion 10a that can be seated so that the user P straddles it, and a support frame 10b that is disposed below the seat portion 10a (in FIG. 1 and the like) and supports the seat portion 10a. And a backrest portion 10c that rises from the support frame 10b beyond the rear end (as viewed from the user P) of the seat portion 10a and can contact the waist of the user P. A hole 10d is formed in the waist pad 10c so that the user P can grip it, thereby forming a grip 10d.

  The seat portion 10a is manufactured from a cushion material, and is manufactured from a material having higher rigidity than the support frame 10b, the waist pad portion 10c, and the seat portion 10a. Thus, the support member 10 is configured to support the user P and transmit the load of the user P freely.

  As shown in FIGS. 2 and 3, the shoe portion 12 includes a shoe 12 a in which the foot portion of the user P can be accommodated, and an L-shape (which is placed inside the shoe 12 a and on which the foot of the user P can be placed ( A connecting member 12b made of a carbon material (when viewed from the traveling direction of the user P shown in FIG. 3), and an insole 12c made of a rubber-like elastic material such as urethane rubber disposed on the bottom surface of the connecting member 12b. . The second link 26 of each leg link 14 is connected to the connecting member 12b via the second joint portion 24 having a triaxial structure.

  The swinging mechanism of the first joint portion 20 that connects each leg link 14 and the support member 10 is engaged with the guide rail 32 that is fixed to the support member 10 in an arc shape when viewed from the side, and the guide rail 32. It comprises a slider (movable body) fixed to one end of the leg link 14.

  The leg link 14 is configured to be swingable in the longitudinal direction (front-rear direction) of the support member 10 around the center of curvature of the guide rail 32. Further, the guide rail 32 is pivotally supported by a support shaft (not shown) arranged in the longitudinal direction of the support member 10, so that the leg link 14 can swing in the lateral direction of the support member 10 around the support shaft. Configured.

  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 relatively displaced (driven) around the third joint portion 30 by the drive mechanism 16. It is done. Reference numeral 34 denotes a storage case for storing a battery for operation of the drive mechanism 16 and the like.

  As shown in FIG. 2, a pressure sensor 40 is provided on the lower surface of the insole 12c. The pressure sensor 40 includes a total of three, two at the position below the middle joint joint (MP joint) of the user's foot and one at the heel position. In addition, an output corresponding to the pedaling force (load or pressure) acting on these parts is generated, and a biaxial force sensor (not shown) is incorporated in the second joint part 24 to act on the second joint part 24. An output corresponding to the force (the resultant force of the support member 10 and the force due to the weight of each leg link 14) is generated.

  The outputs of these sensors are sent to a controller (not shown) comprising a microcomputer. As shown in FIG. 2, since the three pressure sensors 40 are arranged on the lower surface of the insole 12c arranged on the bottom surface of the connecting member 12b, the connecting member 12b can be used as a support for the three pressure sensors 40. Function.

  The controller detects the load of the user P transmitted to the shoe part 12 with a force sensor, detects the pedaling force of the user P with the pressure sensor 40, and drives the drive mechanism 16 based on the output of the sensor 40 and the like. And assisting the user P in walking.

  As described above, the walking assistance device D includes the support member 10 that supports the user P and can transmit the user's load, and the shoe 12a that can accommodate the foot of the user P, and the inside of the shoe 12a. Are connected to the pair of shoe parts 12, the support member 10 and the shoe part 12, more specifically, the support member 10 includes a swing mechanism. A first link 22 that is swingably connected via the first joint portion 20, and a second link 26 that is connected to the shoe portion 12 and connected to the first link 22 via the third joint portion 30. And a pair of left and right leg links 14, a drive mechanism (actuator) 16 capable of driving the leg link 14, and a controller for controlling the drive of the drive mechanism 16. P load and pressure sensor 40 Configured to assist the walking of the user P by driving the driving mechanism 16 via the controller based on the output of the sensor. However, since the details of the walking assist device D are described in Patent Document 1 described above, further description thereof is omitted.

  Since this embodiment is characterized by the structure of the shoe portion 12 of the walking assist device D, the following description will be given. In this embodiment, the shoe 12a can be detached from the shoe portion 12 via the attachment / detachment mechanism 50. did.

  Referring to FIGS. 5 to 10, the attachment / detachment mechanism 50 is attached to the shoe 12 a, and a first engagement body 50 a formed by extending a connecting member (support body) 12 b that supports the pressure sensor 40, A portion connected to the leg link 14, that is, a second engagement body 50 b that is attached to the second joint portion 24 and engageable with the first engagement body 50 a.

  To describe the second engaging body 50b first, the second engaging body 50b includes a base body 50b1 having a polygonal shape in plan view and attached to a connecting portion 24a provided at the lower end of the second joint portion 24.

  As shown in FIG. 7, the base body 50b1 includes a rod-like portion 50b11 extending to the back surface side, and the rod-like portion 50b11 is inserted into a through hole 24a1 formed in the connecting portion 24a and fixed to the connecting portion 24a. It is attached to the part 24.

  As well shown in FIG. 8, the base 50b1 is formed with a correspondingly shaped recess 50b12. The base body 50b1 projects inward (overhangs) at the end of the recess 50b12, and a guide groove 50b13 is formed there.

  A lock lever 50b2 is accommodated in the recess 50b12. The lock lever 50b2 includes a push button 50b21 having a circular shape in a plan view, an engaging portion 50b22 having a rectangular shape in a plan view continuously extending upward, and a spring 50b23 for urging the engaging portion 50b22 and the like inward.

  The base body 50b1 is covered with a case 50b3. The case 50b3 is provided with a window 50b31 at an appropriate position to expose the push button 50b21 of the lock lever 50b2 to the outside so that the user P can operate it.

  Five conductors 52a of the connector 52 are provided in the vicinity of the guide groove 50b13 of the base body 50b1. The five conductors 52a are made of a conductive material such as copper and have a protruding shape as shown in the figure.

  Of the five conductors 52a, the left and right are for power supply and ground, and the three between them are for three pressure sensors 40. The conductor 52 a of the connector 52 is connected to a controller or the like via the harness 54.

  As shown well in FIG. 6 and FIG. 8, a waterproof seal 50b4 having a rectangular shape in plan view is formed around the conductor 52a in the recess 50b12 of the base body 50b1, and the conductor 52a is completely surrounded by the waterproof seal 50b4. Is done.

  Next, the first engaging body 50a will be described. The first engaging body 50a is attached to the shoe 12a, and is formed by extending a connecting member (supporting body) 12b that supports the pressure sensor 40, as shown in FIGS. As shown well in FIG. 2, it consists of a portion 12b1 protruding through the shoe 12a.

  That is, as shown in FIGS. 5 and 10, the first engaging body 50a has a fan-like shape as a whole, and a portion having a shape corresponding to the concave portion 50b12 of the second engaging body 50b is attached to the tip of the first engaging body 50a with the bolt 50a1. It will be.

  Similarly, as shown in FIG. 9, the first engagement body 50a is provided with five electrodes 52b that can come into contact with the five conductors 52a of the connector 52 disposed on the second engagement body 50b. The electrode 52b has a flat shape, and is manufactured from a material having conductivity such as copper, and is waterproofed by being filled with an insulating material (resin), like the conductor 52a.

  The electrode 52b is connected to the three pressure sensors 40 and the like via an amplifier mounted on the amplifier board 50a2 via the harness 56. The first engaging body 50a is entirely covered with a waterproof cover 50a3 as shown in FIG.

  FIG. 9 shows the surface side where the electrode 52b of the connector 52 comes into contact with the conductor 52a. On the back surface side shown in FIG. 10, an engagement groove 50a3 having a rectangular shape in plan view is formed.

  Next, the mounting will be described. When the user P inserts the first engagement body 50a into the recess 50b12 of the second engagement body 50b while fitting both ends into the guide groove 50b13, the distal end of the engagement portion 50b22 of the lock lever 50b2 Engages with the engaging groove 50a3, and the first engaging body 50a is locked to the second engaging body 50b.

  At this time, since the engaging portion 50b22 of the lock lever 50b2 is urged inward by the spring 50b23, the first engaging body 50a and the second engaging body 50b are surely brought into the engaging position shown in FIG. Retained.

  Further, when the conductor 52a of the connector 52 disposed on the second engagement body 50b is pressed in contact with the corresponding electrode 52b, the conductor 52a is bent and reliably connected to the corresponding electrode 52b. Further, since the conductor 52a is surrounded by the waterproof seal 50b4, the electrode 52b is also surrounded by the waterproof seal 50b4, and the connector 52 and the like are prevented from being submerged.

  Next, the removal will be described. When the user P pushes the push button 50b21 of the lock lever 50b2 with his / her finger, the engaging portion 50b22 is disengaged from the engaging groove 50a3 by the action of the lever, as is apparent from FIG. The combined 50a is released.

  Accordingly, when the user P pulls the first engagement body 50a downward in FIG. 7, the first engagement body 50a can be removed from the second engagement body 50b, and thus the user can remove the shoe 12a from the shoe portion. 12 can be easily removed.

  In this embodiment, it has a support member 10 that can support the user P and transmit the load of the user P, and a shoe 12a that can accommodate the foot of the user P, and the inside of the shoe 12a. A pair of shoe parts 12 in which a pressure sensor 40 for detecting the pedaling force of the user P is arranged, a pair of leg links 14 connected to the support member 10 and the shoe parts 12, and the leg links 14 are driven. At least a possible drive mechanism (actuator) 16 and a controller for controlling the drive of the drive mechanism 16, and the load of the user P transmitted to the shoe portion 12 and the output of the pressure sensor 40 (and force sensor). In the walking assist device D that assists the walking of the user P by driving the driving mechanism 16 based on the controller, the shoe 12a is configured to be detachable from the shoe portion 12 via the detachable mechanism 50, In other words, since the shoe 12a is detachable from the shoe part 12 via the attaching / detaching mechanism 50 without using a tool or the like, the user P can easily attach / detach when the size of the shoe 12a is different. The size can be easily changed, and a plurality of users can share the apparatus, and only shoes can be used exclusively for each person. Further, since it can be easily attached and detached, it is possible to attach the device D while wearing the shoe 12a, and then connect the shoe 12a and the device D, and the device D can be easily attached.

  The attachment / detachment mechanism 50 is attached to the shoe 12a, and is connected to the first engagement body 50a obtained by extending a support body (connection member) 12b that supports the pressure sensor 40, and the leg link 14. And the second engaging body 50b that can be engaged with the first engaging body 50a, and the structure of the attaching / detaching mechanism 50 is simplified.

  Further, since the connector 52 is inserted into signal lines (harnesses) 54 and 56 that connect the pressure sensor 40 and the controller, and the connector 52 is disposed in the attachment / detachment mechanism 50, the attachment / detachment mechanism 50 is provided. Thus, both mechanical connection and electrical connection can be performed, and the configuration is simplified.

  The connector 52 includes an electrode 52b and a conductor 52a that can be energized while being in contact with the electrode 52b. The electrode 52b is disposed on the first engagement body 50a, while the conductor 52a is Since it is configured so as to be disposed on the second engagement body 50b, adhesion of dust and the like can be prevented as much as possible. That is, even if dust adheres to the electrode 52b when the user P walks around wearing the shoes 12a, the electrode 52b has a flat shape and can be easily removed by wiping. On the other hand, the conductor 52a has a large shape with protrusions and depressions, but is disposed on the second engagement body 50b, in other words, on the main body side of the device D, and therefore is moved when removed from the shoe 12a. Therefore, the chance of dust adhering can be reduced.

  Further, since the first engaging body 50a and the second engaging body 50b are configured to be engageable via the waterproof seal 50b4, in addition to the above-described effects, the connector 52 and the like are submerged. Can be prevented.

  In the above description, the shapes of the first and second engaging bodies can be variously modified. Moreover, although the connector 52 was provided in the attachment / detachment mechanism 50, you may arrange | position both in a separate position.

  Further, as shown in FIG. 5 and the like, the first engaging body 50a attached to the shoe 12a in the attaching / detaching mechanism 50 is configured such that the upper part protrudes from the instep of the shoe 12a. You may comprise so that it may fall below so that it may not protrude from.

  D Walking assist device, 10 support member, 10a seat part, 10b support frame, 10c waist support part, 10d grip, 12 shoe part, 12a shoe, 12b connecting member (support), 12c insole, 14 leg link, 16 drive Mechanism (actuator), 20 1st joint part (guide mechanism), 22 1st link, 24 2nd joint part, 24a connection part, 26 2nd link, 30 3rd joint part, 32 guide rail, 34 storage case, 40 Pressure sensor, 50 attachment / detachment mechanism, 50a first engagement body, 50a1 bolt, 50a3 engagement groove, 50b second engagement body, 50b1 base, 50b12 recess, 50b13 guide groove, 50b2 lock lever, 50b21 push button, 50b22 engagement Part, 50b3 case, 50b4 waterproof seal, 52 connector, 52a lead Body, 52b electrodes, 54 and 56 harness

Claims (5)

  A supporting member capable of supporting the user and transmitting the user's load and a shoe capable of accommodating the user's foot, and a sensor for detecting the pedaling force of the user are disposed inside the shoe. A pair of shoe parts; a pair of leg links coupled to the support member and the shoe part; an actuator capable of driving the leg link; and a controller for controlling the driving of the actuator; In a walking assistance device for assisting a user's walking by driving the actuator via the controller based on the transmitted user load and the sensor output, the shoe is removed from the shoe portion via an attachment / detachment mechanism. A walking assist device characterized by being configured to be detachable.   The attachment / detachment mechanism is attached to the shoe, and is attached to a first engagement body formed by extending a support that supports the sensor, and a portion connected to the leg link, and the first engagement body. The walking assist device according to claim 1, further comprising a second engaging body that can engage with the second engaging body.   The walking assistance device according to claim 2, wherein a connector is inserted in a signal line connecting the sensor and the controller, and the connector is disposed in the attachment / detachment mechanism.   The connector includes an electrode and a conductor that can be energized in contact with the electrode, and the electrode is disposed on the first engagement body, while the conductor is disposed on the second engagement body. The walking assist device according to claim 3.   The walking assist device according to any one of claims 2 to 4, wherein the first engagement body and the second engagement body are configured to be engageable via a waterproof seal.

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