JP2011143211A - Link system, walking aid equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a link system which uses no other power source than a human's own body to provide sufficient rigidity and soft flexibility against a load added on the human muscle skeletal system, and is safe, low-priced, and ready to transmit a stress; and walking aid equipment installed with the link system. <P>SOLUTION: The walking aid equipment, which will be worn by the human body to aid in walking, includes: a link system comprising a plurality of link materials 19, 20; and joint systems 23, 24 connected to the distal parts or the proximal parts of the link system. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

Detailed Description of the Invention

Industrial application fields

The present invention relates to a link mechanism in which a pair of links are connected by a joint mechanism, and more particularly, to a human walking assistance device via the link mechanism.

Patent Document 1 has a driving means applying an ultrasonic motor as a joint reaction force assisting device that is small and light and easy to be attached and detached, and a control means for synchronizing the power of the driving means with the movement of a human joint. The driving means is arranged in a joint typified by a human knee, and when the human makes an arbitrary movement, the movement is assisted, and the driving means is combined with a motor using traveling wave ultrasonic waves, and the human There has been proposed a joint assist device composed of a sensor that senses the movement of the joint.

Patent Document 2 discloses a wearable joint drive device that can improve the transmission efficiency of the driving force and can amplify the operation amount and the driving force. The device includes a fluid actuator and a control unit. A wearable joint drive device in which an expansion / contraction body that expands and contracts by the fluid actuator is attached between frames connected to the joint mechanism, and the expansion / contraction body expands and contracts to generate and transmit a driving force. Has been proposed.

Patent Document 3 discloses a prosthesis having a pair of left and right struts that are attached to the trunk of a wearer and fix left and right lower limbs in order to provide a self-walking means to persons with walking disabilities such as paralysis of the lower limbs, and the prosthesis Equipped with a pneumatic strut length variable mechanism that independently changes the length of each of the two struts, and further detects the strut length, the strut angle with respect to the vertical direction, and the operating air pressure. And a walking assist device characterized by having a control device that alternately expands and contracts the length of the column according to a control algorithm based on a signal from the sensor and an air source that supplies air pressure to the column length variable mechanism. ing.

JP 2000-107213 A WO 2004/087033 Patent No. 3032039

Problems to be Solved by the Invention

All of the above-described conventional techniques use an electric motor, a fluid device, and a pneumatic device for the joint mechanism and the exoskeleton support for assisting the movement of the human body. For this purpose, a power supply device for driving the motor, There is a problem that a power device for supplying and discharging a driving fluid to and from a fluid device, a pneumatic power source device for driving a pneumatic device, and a control device are necessary, and the device becomes large and expensive. .

Further, when the power source is installed outside, a cap tire, an air hose, and a hydraulic hose are necessary, and the action range is limited to the vicinity of the power source, and the action by the wearer's free will is restricted.

In addition, if the control device malfunctions, there is a problem that it shows an abnormal movement against the wearer's will and causes an accident.

However, the biggest problem of the wearable human musculoskeletal system according to these prior documents is the link mechanism for transmitting stress.

In other words, almost all external forces applied to muscles and bones constituting the human musculoskeletal system are non-linear, and as a natural consequence, internal stresses are also nonlinearly antagonized by external forces.

Stress analysis using body free diagrams that analyze stress distribution in the body in a static and good environment such as a laboratory, and the realization of so-called EMG (electromyogram) signals from electrodes placed on the skin surface The external force that cannot be processed by the stress analysis method is always or suddenly generated in daily life.

The strength calculation to determine the members that make up the link mechanism that transmits stress that antagonizes such external force is calculated by multiplying the safety factor by an integer multiple of the normal impact load range for external forces that are difficult to predict. The material, dimensions, processing method, etc. of the member are determined.

However, a rigid body determined by such a method cannot transmit stress in synchronism with the flexibility and tracking of external forces, which are the most excellent functions of the human musculoskeletal system.

There is a need for a link mechanism for stress transmission that is simple, safe, and inexpensive, antagonizing external forces generated in a non-linear manner, moving not only with necessary and sufficient strength, but also flexibly and immediately. To date there is no such link mechanism.

In view of the above-described conventional problems and situations, the present invention has sufficient rigidity and flexible followability to externally generated external force without using a power source other than the human body, and is safe. It is an object of the present invention to provide an inexpensive and simple link mechanism for stress transmission and a walking assist device including the link mechanism.

Means for solving the problem

In order to solve the above problems, the present invention provides the following means.

A pair of opposing link mechanisms are each composed of four links arranged so as to form a quadrilateral, and one end and the other end of the link are connected via a universal joint, preferably a spherical joint. A link mechanism connected to a fixed plate for sandwiching the link.

Via a universal joint, preferably a spherical joint, attached to the intersection of the extension line of the center of rotation of the quadrilateral cross section conceptually formed by four links and the fixing plate sandwiching the four links. A link mechanism connected to a joint mechanism.

A link mechanism in which another link member is provided on a fixed plate that clamps the link member via a universal joint, preferably a spherical joint, at the rotation center of the four links.

A link mechanism in which the link material is composed of a member having or not having an initial tension.

As the material of the link material, any material such as metal, non-ferrous metal, or polymer material can be selected. Also, the cross-sectional shape of the material can be any shape such as a square, a cylinder, or a column, but the link mechanism is preferably a column, and more preferably a cylinder.

However, more important is the internal structure of the link material. Non-Patent Document “KINESIOLOGY of the MUSCULOSKELETAL” by Donald A. According to Neuman, human muscle collagen fibers are approximately 65 ° to the normal, and adjacent layer fibers run in the opposite direction. This structural arrangement resists dissociation (separation of the vertical axis), shearing (sliding) and twisting (twisting). If these collagen fibers are only perpendicular, they can withstand the index force of external forces, but cannot resist the forces of sliding and twisting. An angle of 65 ° is a geometric compromise that can resist tension from normal motion. The distraction force is an element inherent in bending, progressing, and lateral bending, and occurs when tilting with respect to the adjacent vertebral body. Shear and torsional forces occur with almost every movement of the spine. Since the fiber running of the annulus is an alternating pattern for each layer (FIG. 1), only the collagen fibers corresponding to the direction of the torsional force are strained, and the other fibers are relaxed. Therefore, in the link material of the present invention, the internal stress of the material facing the external force is 180 °, 95 °, 65 ° with respect to the vertical direction as in the orientation of collagen fibers, which is the basic constitutional position of the muscles of the human body. It is characterized by being alternately laminated so as to form For example, if a rolled product of metal or non-ferrous metal is selected as the material of the link, it may be molded so as to form the previous angle with respect to the rolling direction. As a simple chord, a target material can be obtained by laminating a spiral molded material, a pipe material, and a plate-formed pipe molded material.

The left and right thigh joints, knee joints, hip joints, sacroiliac joints (FIG. 2), the outer periphery of the horizontal plane, and the posterior origin of the sacrovertebral spine, preferably L5 (fifth lumbar vertebrae) and S4 (fourth) More preferably, the joint mechanism disposed around the back of the horizontal plane between L5 (fifth lumbar vertebra) and S2 (second sacrum) (FIG. 3) is the distal and proximal of the early link mechanism. A walking assist device characterized by being connected.

In the previous period, the knee joint mechanism of the joint mechanism includes one to two mechanical springs, preferably a torsion coil spring, to assist the joint reaction force during walking.

The thigh joint mechanism is directly or indirectly mounted on the wearer's shoes and transmits the floor reaction force during walking to the distal knee joint by the link mechanism connected to the joint mechanism.

The reaction force transmitted to the knee joint mechanism is transmitted to the distal hip joint mechanism by the link mechanism.

The reaction force transmitted to the hip joint is transmitted via the frame to the reaction force receiving device using the second sacral spine posterior portion of the horizontal surface or the posterior portion of the sacral spine heel portion as the support.

The invention's effect

The present invention has the following effects.

Since the link mechanism of the present invention and the walking assist device provided with the link mechanism are configured as described above, the wearer of the device assists the joint reaction force of the lower limbs with a prosthesis and is necessary for walking. Less energy is consumed.

Since the link mechanism moves following the wearer's musculoskeletal system, the wearer can safely and smoothly walk without discomfort.

In addition, since no power source other than the human body is used, it is inexpensive, lightweight and simple, and control is also performed by the human senses, so that no malfunctions occur and it is possible to walk safely.

It is an orientation map of collagen fibers It is a block diagram of the lower limb skeleton system It is a block diagram of a thoracic kyphosis, a lumbar lordosis, and a Sendo vertebra. It is a perspective view which shows the whole structure of the walking assistance apparatus of this invention. It is a dimension figure of a torsion coil spring. It is an operation line sketch of a knee joint apparatus connection link material.

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

The mutual exchange of potential energy and kinetic energy in each gait cycle of the stance phase and swing phase shown below, muscle activity timing and muscle strength, energy production and absorption in each joint itself, free diagram analysis itself Although known from various analysis methods such as EMG signal analysis and the prior art, the stress generated nonlinearly as shown in the following table imposes a burden on the human musculoskeletal system in a complex manner.

First, according to the present invention, the ground reaction force from the radius (3) is applied to the talus (3) at the center of the talus at the limb phase of the initial gait cycle of 0% in the gait cycle shown in FIG. 1) is transmitted. As shown in the above table, this reaction force vector corresponds to and receives a reaction force due to dorsiflexion, bottom flexion, inward bending, and outward bending. The thigh joint device of FIG. 4 and reference numeral (30) supplementarily receives the floor reaction force applied to (2). In this case, by means of a proximal universal joint, preferably a spherical joint (22), the reaction force is connected via a proximal fixed plate (21) to the (21) by a spherical joint (19) and (19). 20), also transmitted by the distal spherical joint (22) to the knee joint device (23) via the spherical joint sandwiched by the distal fixed plate (21), which (23) is provided inside. In particular, the knee joint device has a fine control of the lower limbs by the five senses of a human being walking, the so-called toe clearance that occurs during the free leg (the minimum distance between the toes and the ground). 8m / m to 9m / m), and smoothly shifts to the stance phase.

The reaction force buffered by the knee joint device (23) is similarly applied to the upper link by the same configuration via the proximal (21) (22) and the lower limb mounting fastener (28) and the mounting plate (27). (19) is transmitted to (20), and is transmitted to the hip joint device (24) via the upper portions (21) and (22).

The hip joint device is attached to the mounting frame (26) via a universal joint. Since the frame is made of an elastic body because of its close contact with the body, the reaction force transmitted to the hip joint is made of a material having a necessary and sufficient strength with respect to the reaction force attached to the (26). It is transmitted to the reaction force receiving device (25).

Said. The reaction force receiving device (25) is composed of a frame (26) having an appropriate hardness and friction coefficient, and a sacroiliac joint ▲ 13 located proximal to the body center of gravity ▲ 11 ▼ of the wearer of the device. ▼, sacrum (17), coccyx (18) near the horizontal plane, sagittal plane passing through the pubic bone, and near the frontal plane, because it receives a reaction force, the moment of inertia due to the reaction force that always gives a nonlinear load during walking Torque is absorbed as much as possible and smooth walking is possible.

In addition, as shown in FIG. 1, the link mechanism (19) (20) is formed by laminating members having orientation similar to that of muscle collagen fibers, and is optimal for stress generated nonlinearly. The load can be transmitted under certain conditions.

Used as a member of the link (19) proposed in, for example, Japanese Patent No. 3769615 “Nonlinear Spring Element SAT” against a load generated in a non-linear manner, and the center link (20) is necessary for giving and receiving stress. By configuring the member with a sufficient section modulus, any load (tensile, bending, twisting, buckling, compound load, etc.) can be flexibly followed.

Next, the operation and effect of the link mechanism will be described.

In addition to the above-described configuration [0040], the use of the member (20) with the built-in initial tension makes it possible to reduce the acceleration of gravity and further reduce energy consumption during walking. This effect can also be achieved by incorporating an initial tension in the link (19).

The knee joint device (23) is constituted by the mechanical torsion coil spring presented in FIG. 5, and both ends of the spring are attached to a holding plate for connecting to the upper and lower links by a fastener (28).

In this knee joint device (23), the dynamic rotation axis by the distal part of the femur at the knee joint center (11), the tibia (5) and the rib (6) is not constant, and is displaced by the sliding and rolling of the joint. Therefore, in order to correspond to the rotating shaft that is displaced, it is possible to adopt a configuration in which the upper and lower two joint devices are equipped with or not equipped with a tuning mechanism such as a tuning lever and a friction gear with the rotating shaft interposed therebetween.

The device is attached to a shoe prepared in advance by tightening the thigh joint (4), the midfoot joint, the sagittal plane of the lateral tarsal joint, the frontal plane, and the horizontal plane around the fulcrum.

The position where the reaction force receiving device (25) and the fasteners (28) and (29) are attached to the body is provided on a horizontal plane around the center of gravity of each segment of the body, thereby reducing the moment of inertia of each part, Smooth walking is possible. In addition, the center-of-gravity position of each somite is described in from Dempster WT: 1955: Space requirements for the saturated operator. WADC-TR-55-159, Wright Patterson Air Force Base. Braune and Fischer 1989. “KINESIOLOGY of the MUSCULOSKELETAL SYSTEM” by Donald A. According to Neuman P94:

Position of the center of gravity of each segment Lower limb: Just above the knee joint Thigh: 13 m / m inward of the rough surface of the gluteus dorsi muscle within the short adductor muscle (or greater adductor muscle, medial vastus muscle), deep layer of the adductor tube: thigh 18 m / m proximal of the short adductor distal fiber 29 m / m below the apex of the triangle.
Lower leg: 35 m / m below the popliteal posterior part of the posterior tibial muscle: 16 m / m above the proximal end of the Achilles tendon: 8 m / m behind the interstitium.
Foot: In the plantar aponeurosis, or in the surface of the adjacent deep foot muscles: the second half of the cuneiform bone, the middle of the ankle joint and the first middle of the foot in the second metatarsal plane On the line connecting the head of the foot.
Whole body: Before the second sacral spine.

(1) Talar (19) Link (2) Center of talus (20) Link (3) Rib (21) Fixing plate (4) Thigh joint (22) Joint (5) Rib (23) Knee joint device (6 ) Tibia (24) Hip joint device (7) Knee joint center (25) Reaction force receiving device (8) Patella (26) Frame (9) Femur (27) Fastener mounting plate (10) Hip joint rotation center (28) Fastener (11) Body center of gravity (29) Fastener (12) Sacroiliac rotation center (30) Thigh joint device (13) Sacroiliac joint (14) Iliac (15) Ileal limb (16) Thigh Bone head (17) Sacrum (18) Coccyx

Claims (11)

A link mechanism in which a pair of link mechanisms are connected by a joint mechanism, and the knee joint mechanism is constituted by one or two mechanical springs, preferably a torsion coil spring, that act as a joint reaction force against a load of an external force. One end of the first link of the link mechanism is connected to one end of the joint mechanism, and one end of the second link is connected to the other end of the joint mechanism. A knee joint mechanism comprising a torsion coil spring having a maximum torque of 3.4 Nm, a maximum angle of 100 °, and a maximum outer shape of 60 m / m. The material of the torsion coil spring is metal, non-ferrous metal, or various polymer materials, and is preferably SKE (equivalent to S70CM) that is easily available on the market, inexpensive, and highly reliable. Torsion coil spring. A link mechanism in which the cross section of a quadrilateral formed by four links disposed so that the link mechanisms of claim 1 are opposed to each other has the same shape or a similar shape. 5. A link mechanism in which both end portions in the axial direction of the link mechanism of claim 4 are connected to a fixed plate holding the link through a universal joint, preferably a spherical joint. A link mechanism in which another picture ink is connected to the fixed plate according to claim 5 through a spherical joint at the rotational center of the cross section formed by the link of claim 4. A link mechanism, wherein the link according to claim 6 is a member having or not having an initial tension. A wearable walking assist device in which the joint mechanism connected by the above-described link mechanism is provided in contact or non-contact with the horizontal plane outer portions of the human left and right thigh joints, knee joints and hip joints. The floor reaction force receiving device of the walking assist device according to claim 8 is a sacral vertebral starting point of the vertebral column, preferably between L5 (fifth lumbar vertebra) and S2 (second sacral vertebrae), more preferably L5 ( A walking assistance device provided at the back of the horizontal plane between the fifth lumbar vertebra and S2 (second sacral vertebra) and connected to the left and right hip joints via a frame. A walking assist device in which a frame in which the reaction force receiving device according to claim 8 is connected through a pin structure or the like is in contact with the left and right lower gluteus musculature and the pubic joint. The direction of the internal stress of the material of the link mechanism according to claim 1 and claims 4 to 8 is alternately changed depending on the material forming 180 °, 90 °, and 65 ° with respect to the vertical direction of the external force, respectively. Laminated

Images