JP2012165823A - Apparatus for assisting knee-joint exercise - Google Patents

Apparatus for assisting knee-joint exercise Download PDF

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JP2012165823A
JP2012165823A JP2011027547A JP2011027547A JP2012165823A JP 2012165823 A JP2012165823 A JP 2012165823A JP 2011027547 A JP2011027547 A JP 2011027547A JP 2011027547 A JP2011027547 A JP 2011027547A JP 2012165823 A JP2012165823 A JP 2012165823A
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knee joint
cam
thigh
drive gear
leg
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JP5713388B2 (en
Inventor
Hidetsugu Terada
英嗣 寺田
Shojiro Wakabayashi
正二郎 若林
Rei Takahashi
玲 高橋
Kiyoto Nagai
清人 永井
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SUNCALL ENGINEERING KK
University of Yamanashi NUC
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SUNCALL ENGINEERING KK
University of Yamanashi NUC
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1418—Cam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a knee-joint exercise assisting apparatus capable of faithfully reproducing the complicated movement of a knee joint.SOLUTION: This knee-joint exercise assisting apparatus includes: a thigh-worn section to be worn on a thigh region; a leg-worn section to be worn on a leg region; a connecting section for rotatably connecting the knee joint-side ends of the thigh-worn section and the leg-worn section; and a drive section for relatively sliding the thigh-worn section and the leg-worn section between the knee joint-side ends in the front/rear direction while relatively rotating them about the connecting section. In the apparatus, the drive section has a circumferential-edge cam, a drive gear arranged on the outer circumferential edge of the circumferential-edge cam, a cam groove formed on the inner circumferential surface of the circumferential-edge cam and a cam follower to be engaged with the cam groove; the circumferential-edge cam, the cam follower and the driving gear are attached to one of the thigh-worn section and the leg-worn section and the other, respectively; and a tooth row where the drive gear is engaged is formed on the outer circumferential edge of the circumferential-edge cam. This apparatus is adapted to produce the rotating movement and the sliding movement when the circumferential-edge cam is rotated between the driving gear and the cam follower by the rotation of the drive gear.

Description

本発明は、変形性膝関節症の患者等における歩行運動、屈伸動作、リハビリテーション等の補助に使用することができる膝関節運動補助装置に関する。   The present invention relates to a knee joint motion assisting device that can be used for assisting gait, bending and stretching, rehabilitation and the like in patients with knee osteoarthritis.

人体の膝関節は大腿骨、脛骨、膝蓋骨からなる骨の部分と、半月板からなる軟骨と、前十字靭帯、後十字靭帯、内側副靭帯、外側副靭帯等の靭帯によって構成される。   The human knee joint is composed of a bone portion including a femur, a tibia, and a patella, a cartilage including a meniscus, and a ligament such as an anterior cruciate ligament, a posterior cruciate ligament, an inner collateral ligament, and an outer collateral ligament.

図１０に示すように、大腿骨１の下部は後方に突出しており、いくつもの大きさの違う円弧を組み合わせたような形状になっている。脛骨２の上面は略平坦でこの上を大腿骨１の下部が滑りながら回転することで膝の屈伸運動が行われる。   As shown in FIG. 10, the lower part of the femur 1 protrudes rearward, and has a shape that combines arcs of different sizes. The upper surface of the tibia 2 is substantially flat, and the knee is bent and extended by rotating while the lower part of the femur 1 slides on the upper surface.

図１１は膝の屈伸運動に伴って大腿骨１の下部の回転中心３が描く軌跡を示す。図１１から明らかなように、膝関節が屈伸すると大腿骨１の下部の回転中心３は、ずれながら螺旋状の軌跡を描く。このように膝関節は単なる回転運動を行うのではなく、すべり転がり運動を行っている。   FIG. 11 shows a trajectory drawn by the rotation center 3 at the lower part of the femur 1 as the knee bends and stretches. As is clear from FIG. 11, when the knee joint is bent and stretched, the rotation center 3 at the lower part of the femur 1 draws a spiral locus while shifting. In this way, the knee joint does not simply rotate, but slides and rolls.

また、図１０は膝関節の角度とすべり量との関係の一例を示す。図１０中、膝関節の屈曲角度Ｕ，Ｖ，Ｗはすべり量ｕ，ｖ，ｗにそれぞれ対応する。膝関節１の屈伸運動の可動域は、膝が伸びた状態のときを０°とすると、０°〜１３０°程度であり、歩行時に使用している可動域は大体０°〜６０°である。この可動域のうち、膝の曲がり始めから１０°〜１５°の間は、略一軸の転がり運動をし、その後徐々にすべり運動へ移行してすべり転がり運動となる。   FIG. 10 shows an example of the relationship between the knee joint angle and the slip amount. In FIG. 10, knee joint flexion angles U, V, and W correspond to slip amounts u, v, and w, respectively. The range of motion of the flexion / extension motion of the knee joint 1 is about 0 ° to 130 °, assuming that the knee is in the extended state, and the range of motion used during walking is about 0 ° to 60 °. . Within this range of motion, between 10 ° and 15 ° from the start of bending of the knee, a substantially uniaxial rolling motion is performed, and thereafter, the sliding motion is gradually shifted to a sliding motion.

従来、このような膝関節のすべり転がり運動を考慮して、人体の上腿部に装着される上腿装着部に対して人体の下腿部に装着される下腿装着部を回転させたときに、下腿装着部の膝関節側端部が前後方向にスライドするようにした膝関節運動補助装置が提案されている（例えば、特許文献１参照。）。この膝関節運動補助装置によれば、人間の膝関節運動への追従性を高めることができ、装具のずれを防止したり、装着違和感等を解決したりすることができる。   Conventionally, taking into account such a sliding motion of the knee joint, when rotating the lower leg attachment part attached to the lower leg part of the human body relative to the upper leg attachment part attached to the upper leg part of the human body There has been proposed a knee joint exercise assisting device in which the knee joint side end of the lower leg mounting portion slides in the front-rear direction (see, for example, Patent Document 1). According to this knee joint exercise assisting device, it is possible to improve the ability to follow a human knee joint motion, to prevent the displacement of the brace, and to solve the uncomfortable feeling of wearing.

しかしながら、上記従来の膝関節運動補助装置では、モーターの動力をリンク装置によって膝関節に伝えるようになっているので、作動時にリンクが装置本体から食み出たり、人体の一部に接触したりするという問題がある。また、リンクの回動角度によって減速比が変化し、特に膝関節の屈曲角度が大きい場合にトルクが低下しやすくなるという問題がある。   However, in the above conventional knee joint movement assist device, the power of the motor is transmitted to the knee joint by the link device, so the link protrudes from the device main body or contacts a part of the human body during operation. There is a problem of doing. Further, there is a problem that the torque is likely to decrease when the reduction ratio changes depending on the rotation angle of the link, and particularly when the bending angle of the knee joint is large.

そこでこのような問題を解決すべく、本発明の発明者は、このような股関節の複雑な動きを忠実に再現できる股関節運動補助装置を開発した（特許文献２参照。）   Therefore, in order to solve such a problem, the inventor of the present invention has developed a hip joint exercise assisting device that can faithfully reproduce such complicated movement of the hip joint (see Patent Document 2).

特開２００７−２７５４８２号公報JP 2007-275482 A 特開２０１０−０６３５８１号公報JP 2010-063581 A

特許文献２に開示されている膝関節運動補助装置は、上腿装着部と下腿装着部とのスライド運動を成立させるために、周縁カムを挟むようにカムフォロア及び駆動歯車を配置した構成を有しており、周縁カムの駆動歯車と噛み合う歯列部分に、駆動としての要素とカムとしての要素の２つの要素をもたせていたため、この歯列部分には負担がかかっていた。また、ギヤ側におけるバックラッシュが発生していた。   The knee joint exercise assisting device disclosed in Patent Document 2 has a configuration in which a cam follower and a drive gear are arranged so as to sandwich a peripheral cam in order to establish a sliding motion between the upper thigh mounting portion and the lower thigh mounting portion. In addition, since the tooth row portion that meshes with the drive gear of the peripheral cam has two elements, that is, a drive element and a cam element, this tooth row portion is burdened. Further, backlash has occurred on the gear side.

そこで、本発明は、歯列部分における負担軽減とバックラッシュの発生を防止可能であって、膝関節の複雑な動きを忠実に再現することが出来る膝関節運動補助装置を提供することを目的とする。   Accordingly, an object of the present invention is to provide a knee joint exercise assisting device that can reduce the burden on the dentition portion and prevent the occurrence of backlash, and can faithfully reproduce the complicated movement of the knee joint. To do.

上記課題を解決するため、本発明は次のような構成を採用する。なお、理解を容易にするため図面の参照番号を括弧付きで付するが、本発明はこれに限定されるものではない。   In order to solve the above problems, the present invention employs the following configuration. For ease of understanding, reference numerals in the drawings are attached with parentheses, but the present invention is not limited thereto.

すなわち、請求項１に係る膝関節運動補助装置は、上腿部（４）に装着される上腿装着部（５）と、下腿部（６）に装着される下腿装着部（７）と、上記上腿装着部及び下腿装着部の膝関節側端部間を回転可能に連結する連結部（８）と、この連結部を中心にして上記上腿装着部と下腿装着部とを相対的に回転運動させながら上記膝関節側端部間を前後方向に相対的にスライド運動させる駆動部とを備えた膝関節運動補助装置において、上記駆動部が、周縁カム（５２）と、この周縁カムの外周縁に配置される駆動歯車（２５）と、当該周縁カムの内周面に形成されるカム溝（５３）と、当該カム溝と係合するカムフォロア（２４）と、を有し、この周縁カムとカムフォロア及び駆動歯車とが上記上腿装着部及び下腿装着部の一方と他方に夫々取り付けられ、上記周縁カムの外周縁には、上記駆動歯車が係合する歯列（２２ａ）が形成され、上記駆動歯車の回転により上記周縁カムと上記カムフォロアとが回転すると上記回転運動及びスライド運動が生じるようにしたことを特徴とする。   That is, the knee joint exercise assisting device according to claim 1 includes an upper thigh mounting portion (5) mounted on the upper thigh (4), and a lower thigh mounting portion (7) mounted on the lower thigh (6). The connecting part (8) for rotatably connecting the knee joint side ends of the upper leg mounting part and the lower leg mounting part, and the upper leg mounting part and the lower leg mounting part relative to each other with the connecting part as a center A knee joint motion assisting device including a drive unit that relatively slides between the knee joint side ends in the front-rear direction while being rotationally moved to each other. The drive unit includes a peripheral cam (52) and the peripheral cam A drive gear (25) disposed on the outer periphery of the peripheral cam, a cam groove (53) formed on the inner peripheral surface of the peripheral cam, and a cam follower (24) engaged with the cam groove. A peripheral cam, cam follower, and drive gear are connected to one and the other of the upper thigh mounting portion and the thigh mounting portion A tooth row (22a) with which the drive gear engages is formed on the outer peripheral edge of the peripheral cam. When the peripheral cam and the cam follower are rotated by the rotation of the drive gear, the rotational motion and the slide motion are performed. It is characterized by the fact that this occurs.

この発明によれば、上腿装着部と下腿装着部とのスライド運動を成立させるために、周縁カム５２の外周縁に駆動歯車２５を配置し、周縁カム５２の内周面に溝カム５３を形成し、この溝カム５３にカムフォロア２４を配置した構成としたことで、駆動歯車と噛み合う噛み合い部の負担を軽減するとともに、当該噛み合い部におけるバックラッシュを防止できる。また、膝関節の動きを再現することが出来ると同時に、作動時に部品、部材等が装置本体から食み出たり、人体や他の物体に接触したりするというおそれがない。さらに、動力の伝達につき減速比が安定するので、膝関節の屈曲角度が大きい場合等においても膝関節を屈伸させるためのトルクの低下を防止することができる。従って、変形性膝関節症や膝関節機能に障害を有する患者、膝関節機能が低下した高齢者等にとって膝関節の無理のない屈伸運動を補助することができ、患者や高齢者等はごく自然に歩行したり、立ち上がったり、座ったりすることができる。   According to the present invention, the drive gear 25 is disposed on the outer peripheral edge of the peripheral cam 52 and the groove cam 53 is provided on the inner peripheral surface of the peripheral cam 52 in order to establish a sliding motion between the upper leg mounting part and the lower leg mounting part. By forming the cam follower 24 in the groove cam 53, it is possible to reduce the burden on the meshing portion that meshes with the drive gear, and to prevent backlash in the meshing portion. In addition, the movement of the knee joint can be reproduced, and at the same time, there is no fear that parts, members, etc. will protrude from the apparatus main body or come into contact with the human body or other objects during operation. Furthermore, since the speed reduction ratio is stabilized for power transmission, it is possible to prevent a decrease in torque for bending and extending the knee joint even when the knee joint has a large bending angle. Therefore, it is possible to assist the patient with the knee joint function and the knee joint function, the elderly with reduced knee joint function, and the like. You can walk, stand up and sit down.

また、請求項２に記載の膝関節運動補助装置は、請求項１に記載の膝関節運動補助装置において、上記カムフォロア及び駆動歯車が上記上腿装着部に取り付けられ、上記周縁カムが上記下腿装着部に取り付けられたことを特徴とする。   The knee joint motion assisting device according to claim 2 is the knee joint motion assisting device according to claim 1, wherein the cam follower and the drive gear are attached to the upper thigh mounting portion, and the peripheral cam is mounted on the lower thigh. It is attached to the part.

この発明によれば、モーター等の駆動源を上腿部側に設置することができ、患者等への負担を軽減することができる。   According to this invention, a driving source such as a motor can be installed on the upper thigh side, and the burden on the patient or the like can be reduced.

また、請求項３に記載の膝関節運動補助装置は、請求項１又は請求項２に記載の膝関節運動補助装置において、上記連結部（８）が、枢軸（２０）と、この枢軸（２０）が挿入される長孔（５５）とを有し、この枢軸（２０）と長孔（５５）とが上記上腿装着部及び下腿装着部の一方と他方に夫々設けられたことを特徴とする。   The knee joint motion assisting device according to claim 3 is the knee joint motion assisting device according to claim 1 or 2, wherein the connecting portion (8) includes a pivot (20) and the pivot (20 ) And a long hole (55) into which the pivot (20) and the long hole (55) are provided in one and the other of the upper thigh mounting portion and the lower thigh mounting portion, respectively. To do.

この発明によれば、膝関節運動補助装置の構造を簡素化することができる。   According to the present invention, the structure of the knee joint motion assisting device can be simplified.

また、請求項４に記載の膝関節運動補助装置は、請求項１に記載の膝関節運動補助装置において、モーター（２９）が上記上腿装着部に取り付けられ、このモーターから上記駆動歯車への動力伝達系が、平歯車及びすぐばかさ歯車（３０，３１）の一方又は双方からなる歯車列によって構成されたことを特徴とする。   The knee joint motion assisting device according to claim 4 is the knee joint motion assisting device according to claim 1, wherein a motor (29) is attached to the upper thigh mounting portion, and the motor is connected to the drive gear. The power transmission system is constituted by a gear train including one or both of a spur gear and a quick bevel gear (30, 31).

この発明によれば、クラッチ等を設けずとも人体側からの入力に対してその動きを制限することがない。したがって、モーターの非稼動時に患者等は自由に脚を動かせることができるのはもちろんのこと、稼動時において患者等が転倒するような場合であってもすこぶる安全である。   According to the present invention, the movement of the input from the human body side is not limited without providing a clutch or the like. Therefore, the patient can freely move his / her leg when the motor is not operated, and it is extremely safe even when the patient falls while operating.

本発明の膝関節運動補助装置によれば、駆動歯車と噛み合う噛み合い部の負担を軽減可能であるとともに、当該噛み合い部におけるバックラッシュを防止できる。また、変形性膝関節症や膝関節機能に障害を有する患者、膝関節機能が低下した高齢者等にとって膝関節の無理のない屈伸運動を補助することができ、患者や高齢者等はごく自然に歩行したり、立ち上がったり、座ったりすることができる。   According to the knee joint motion assisting device of the present invention, it is possible to reduce the burden on the meshing portion that meshes with the drive gear, and to prevent backlash in the meshing portion. In addition, patients with knee osteoarthritis and impaired knee joint function, elderly people with impaired knee joint function, etc. can assist the knee joint's reasonable bending and stretching exercises. You can walk, stand up and sit down.

本発明に係る膝関節運動補助装置の使用状態を示す説明図であり、（Ａ）は脚を伸ばした状態を示し、（Ｂ）は脚を曲げた状態を示す。It is explanatory drawing which shows the use condition of the knee joint exercise assistance apparatus which concerns on this invention, (A) shows the state which extended the leg, (B) shows the state which bent the leg. 図１に示した膝関節運動補助装置の装着状態を示す斜視図である。It is a perspective view which shows the mounting state of the knee joint exercise assistance apparatus shown in FIG. 本発明に係る膝関節運動補助装置の要部を示す斜視図である。It is a perspective view which shows the principal part of the knee joint exercise assistance apparatus which concerns on this invention. 図３に示す膝関節運動補助装置の中心部を保護カバーを除いて示す正面図である。It is a front view which shows the center part of the knee joint movement assistance apparatus shown in FIG. 3 except a protective cover. 駆動部付近の縦断面図である。It is a longitudinal cross-sectional view near a drive part. 図５中、ＶＩ−ＶＩ線矢視断面図であり、膝関節が伸長した状態を示す。In FIG. 5, it is a VI-VI arrow directional cross-sectional view, and shows the state which the knee joint extended | stretched. 図６と同様な断面図であり、膝関節が歩行時に屈曲した状態を示す。FIG. 7 is a cross-sectional view similar to FIG. 6, showing a state where the knee joint is bent during walking. 図６と同様な断面図であり、膝関節が着座時に屈曲した状態を示す。FIG. 7 is a cross-sectional view similar to FIG. 6, showing a state where the knee joint is bent when seated. 図６と同様な断面図であり、膝関節が立上がりに際し更に屈曲した状態を示す。FIG. 7 is a cross-sectional view similar to FIG. 6, showing a state in which the knee joint is further bent upon rising. 膝関節の運動を示す説明図である。It is explanatory drawing which shows the exercise | movement of a knee joint. 大腿骨の下部の回転中心が膝関節の屈曲と共に移動する様子を示す説明図である。It is explanatory drawing which shows a mode that the rotation center of the lower part of a femur moves with the bending of a knee joint.

以下、図面を参照して本発明を実施の形態について説明する。なお、本実施形態の膝関節運動補助装置は、従来の駆動部が、上腿装着部と下腿装着部とのスライド運動を成立させるために、周縁カムを挟むようにカムフォロア及び駆動歯車を配置した構成であるのに対して、後述するように、周縁カム５２の外周縁に駆動歯車２５を配置し、周縁カム５２の内周面に溝カム５３を形成し、この溝カム５３にカムフォロア２４を配置した構成である点で異なるものである。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the knee joint exercise assisting device of the present embodiment, the conventional drive unit has the cam follower and the drive gear arranged so as to sandwich the peripheral cam in order to establish the sliding motion between the upper thigh mounting unit and the lower thigh mounting unit. In contrast to the configuration, as will be described later, the drive gear 25 is disposed on the outer peripheral edge of the peripheral cam 52, the groove cam 53 is formed on the inner peripheral surface of the peripheral cam 52, and the cam follower 24 is attached to the groove cam 53. It is different in that it is an arranged configuration.

図１乃至図３に示すように、本実施形態の膝関節運動補助装置は、人体の脚に装着されるもので、脚の膝関節から上腿部４にかけて装着される上腿装着部５と、膝関節から下腿部６にかけて装着される下腿装着部７と、上腿装着部５及び下腿装着部７の膝関節側端部間を回転可能に連結する連結部８と、連結部８を中心にして上腿装着部５と下腿装着部７とを相対的に回転させながら上記膝関節側端部間を前後方向に相対的にスライド運動させる駆動部とを具備する。   As shown in FIGS. 1 to 3, the knee joint exercise assisting device according to the present embodiment is attached to a leg of a human body, and includes an upper thigh attachment portion 5 attached from the knee joint of the leg to the upper thigh 4. A crus attaching part 7 attached from the knee joint to the crus part 6, a connecting part 8 for rotatably connecting the knee joint side ends of the upper leg attaching part 5 and the crus attaching part 7; A driving unit that relatively slides between the knee joint side end portions in the front-rear direction while relatively rotating the upper thigh mounting unit 5 and the lower thigh mounting unit 7 around the center.

図４及び図５に示すように、上腿装着部５は、膝関節の側面に沿うように設けられる板状の基部９を有する。   As shown in FIG.4 and FIG.5, the upper leg mounting | wearing part 5 has the plate-shaped base 9 provided along the side surface of a knee joint.

この基部９には、図１乃至図５に示すように、細長い板状の上添え部１０が連結されて基部９と一体化される。この上添え部１０が上腿部４の外側面に沿って立ち上がる。図１乃至図３に示すように、上添え部１０の上端部は患者の腰に巻き付けられた腰ベルト１１に連結具１２を介して連結され、上添え部１０の上記基部９に隣接した部分が上腿当て部１３、面ファスナ１４等を介して上腿部４に連結される。   As shown in FIGS. 1 to 5, the base 9 is connected to a base plate 9 by connecting an elongated plate-like top attachment 10. The upper appendage 10 rises along the outer surface of the upper thigh 4. As shown in FIGS. 1 to 3, the upper end portion of the upper attachment portion 10 is connected to a waist belt 11 wound around the patient's waist via a connector 12, and a portion adjacent to the base portion 9 of the upper attachment portion 10. Is connected to the upper thigh 4 via the upper thigh pad 13 and the hook-and-loop fastener 14.

また、図１乃至図５に示すように、下腿装着部７は細長い板状の下添え部１５を有し、この下添え部１５の上端部が上記基部９に膝関節側から重なり合い、そこから下腿部６の外側面に沿って垂下する。図１乃至図３に示すように、下添え部１５の上記基部９に隣接する部分が下腿当て部１６、面ファスナ１７等を介して下腿部６の膝下部分に連結され、下添え部１５の下端部が足首当て部１８、面ファスナ１９等を介して下腿部６の足首に連結される。   Further, as shown in FIGS. 1 to 5, the crus mounting portion 7 has an elongated plate-like bottom attachment portion 15, and the upper end portion of the lower attachment portion 15 overlaps the base portion 9 from the knee joint side, and from there It hangs along the outer surface of the lower leg 6. As shown in FIGS. 1 to 3, a portion of the lower attachment portion 15 adjacent to the base portion 9 is connected to the lower knee portion of the crus portion 6 via the crus pad portion 16, the hook-and-loop fastener 17, and the like. Is connected to the ankle of the crus 6 via the ankle pad 18 and the hook-and-loop fastener 19.

上腿装着部５と下腿装着部７の膝関節側端部間は、連結部８によって回転可能に連結される。   The knee joint side ends of the upper thigh mounting portion 5 and the lower thigh mounting portion 7 are rotatably connected by a connecting portion 8.

図４及び図５に示すように、上腿装着部５の膝関節側端部は上記上添え部１０が連結された基部９が該当し、下腿装着部７の膝関節側端部は上記下添え部１５の上端部が該当する。   As shown in FIGS. 4 and 5, the knee joint side end portion of the upper thigh mounting portion 5 corresponds to the base portion 9 to which the upper appendage portion 10 is connected, and the knee joint side end portion of the lower thigh mounting portion 7 is the above lower portion. The upper end part of the attachment part 15 corresponds.

図４乃至図６に示すように、連結部８は、ピン状の枢軸２０とこの枢軸２０が挿入される長孔５５を具備する。枢軸２０は基部９に固定され、基部９から下添え部１５の上端部へと突出する。下添え部１５の上端部には基部９に対向するように後述する駆動部の周縁カム５２が固定され、この周縁カム５２の中央部に上記長孔５５が形成される。枢軸２０はこの長孔５５を下添え部１５へと貫通する。図５に示すように、枢軸２０の先端には周縁カム５２を基部９側に拘束する頭部２０ａが設けられる。   As shown in FIGS. 4 to 6, the connecting portion 8 includes a pin-shaped pivot 20 and a long hole 55 into which the pivot 20 is inserted. The pivot 20 is fixed to the base 9 and protrudes from the base 9 to the upper end of the lower attachment 15. A peripheral cam 52 of a driving unit, which will be described later, is fixed to the upper end portion of the lower attachment portion 15 so as to face the base portion 9, and the long hole 55 is formed in the central portion of the peripheral cam 52. The pivot 20 passes through the elongated hole 55 to the lower attachment 15. As shown in FIG. 5, a head 20 a that restrains the peripheral cam 52 on the base 9 side is provided at the tip of the pivot 20.

これにより、上腿装着部５と下腿装着部７は、連結部８の枢軸２０を中心にして相対的な回転運動が可能であり、かつ、枢軸２０が長孔５５内をスライド可能であることによって上腿装着部５と下腿装着部７の膝関節側端部間は前後方向に相対的にスライド運動が可能となる。   Thereby, the upper thigh mounting part 5 and the lower thigh mounting part 7 can be relatively rotated around the pivot 20 of the connecting part 8, and the pivot 20 can slide in the long hole 55. As a result, the relative movement between the knee joint side ends of the upper leg mounting part 5 and the lower leg mounting part 7 is possible in the front-rear direction.

なお、枢軸２０と長孔５５とは、上腿装着部５と下腿装着部７との間で入れ替えることも可能である。   The pivot 20 and the long hole 55 can be interchanged between the upper thigh mounting portion 5 and the lower thigh mounting portion 7.

上腿装着部５と下腿装着部７の上記回転運動とスライド運動は、図４乃至図６に示す駆動部の駆動によって行われる。   The rotational movement and sliding movement of the upper thigh mounting part 5 and the lower thigh mounting part 7 are performed by driving the driving unit shown in FIGS.

この駆動部は、周縁カム５２と、この周縁カム５２の外周縁に配置される駆動歯車２５と、周縁カム５２の内周面に形成される溝カム５３と、この溝カム５３に係合するカムフォロア２４と、を有する。駆動部は、図３に示すように、カバー２８によって覆われる。カバー２８は基部９に対して着脱可能である。   The drive unit engages with the peripheral cam 52, the drive gear 25 disposed on the outer peripheral edge of the peripheral cam 52, the groove cam 53 formed on the inner peripheral surface of the peripheral cam 52, and the groove cam 53. And a cam follower 24. The drive unit is covered with a cover 28 as shown in FIG. The cover 28 is detachable from the base 9.

周縁カム５２は上述したように下腿装着部７の下添え部１５の上端部にネジ等の固定具によって固定される。   As described above, the peripheral cam 52 is fixed to the upper end portion of the lower attachment portion 15 of the lower leg mounting portion 7 by a fixing tool such as a screw.

カムフォロア２４及び駆動歯車２５は、上腿装着部５の基部９に回転可能に枢支され、基部９から上記枢軸２０と同じ方向に突出する。カムフォロア２４は回転自在なローラとして基部９に取り付けられる。駆動歯車２５はピニオンとして形成され、その軸２５ａが基部９にベアリング２７を介して回転自在に支持される。   The cam follower 24 and the drive gear 25 are pivotally supported by the base 9 of the upper thigh mounting portion 5 and protrude in the same direction as the pivot 20 from the base 9. The cam follower 24 is attached to the base 9 as a rotatable roller. The drive gear 25 is formed as a pinion, and its shaft 25 a is rotatably supported by the base 9 via a bearing 27.

カムフォロア２４及び駆動歯車２５は、上腿装着部５の基部９に回転可能に枢支され、基部９から上記枢軸２０と同じ方向に突出する。カムフォロア２４は回転自在なローラとして基部９に取り付けられる。駆動歯車２５はピニオンとして形成され、その軸２５ａが基部９にベアリング２７を介して回転自在に支持される。カムフォロア２４と駆動歯車２５は、枢軸２０を挟んで対峙するように設けられる。   The cam follower 24 and the drive gear 25 are pivotally supported by the base 9 of the upper thigh mounting portion 5 and protrude in the same direction as the pivot 20 from the base 9. The cam follower 24 is attached to the base 9 as a rotatable roller. The drive gear 25 is formed as a pinion, and its shaft 25 a is rotatably supported by the base 9 via a bearing 27. The cam follower 24 and the drive gear 25 are provided so as to face each other with the pivot 20 interposed therebetween.

図６に示すように、周縁カム５２の一部周縁には、駆動歯車２５が係合する歯列５２ａが形成されている。歯列５２ａ及び駆動歯車２５の歯は望ましくはすぐ歯として形成される。   As shown in FIG. 6, a tooth row 52 a with which the drive gear 25 is engaged is formed on the peripheral edge of the peripheral cam 52. The teeth of the tooth row 52a and the drive gear 25 are preferably formed as immediate teeth.

また、本実施形態の長孔５５は、図６に示すように、中央部から左斜め上方に延びるように形成されている。   Further, as shown in FIG. 6, the long hole 55 of the present embodiment is formed so as to extend obliquely upward to the left from the center portion.

このように構成された駆動部は、駆動歯車２５が回転すると、駆動歯車２５が周縁カム５２の周縁を歯列５２ａに沿って移動すると同時に周縁カム５２が揺動する。   When the drive gear 25 rotates in the drive unit configured as described above, the drive gear 25 moves along the tooth row 52a along the peripheral edge of the peripheral cam 52, and at the same time, the peripheral cam 52 swings.

したがって、図６乃至図９に示すように、上腿装着部５と下腿装着部７とが枢軸２０を支点にして相対的な回転運動を行うと同時に、枢軸２０が長孔５５内をスライドし、上腿装着部５と下腿装着部７の膝関節側端部間は前後方向に相対的にスライド運動を行うこととなる。このときの上腿装着部５と下腿装着部７の動きは、図１０に示した膝関節の回転運動ないしすべり転がり運動に近似し、また、大腿骨１の下部における回転中心３は、図１１に示した螺旋状の軌跡を描くように移動する。   Accordingly, as shown in FIGS. 6 to 9, the upper thigh mounting portion 5 and the lower thigh mounting portion 7 perform relative rotational movement with the pivot 20 as a fulcrum, and at the same time, the pivot 20 slides in the long hole 55. The knee joint side end portions of the upper thigh mounting portion 5 and the lower thigh mounting portion 7 are relatively slid in the front-rear direction. The movements of the upper thigh mounting part 5 and the lower thigh mounting part 7 at this time approximate the rotational movement or sliding rolling movement of the knee joint shown in FIG. 10, and the rotation center 3 at the lower part of the femur 1 is shown in FIG. Move to draw the spiral trajectory shown in.

上記周縁カム５２の周縁の輪郭は、上記のような膝関節の運動を生じるように形成される。すなわち、実際の膝関節は、図１０及び図１１に示したように、膝関節角がまっすぐな０°から曲がり始めの１５°の間は、すべりのない単純な回転運動を行うことから、周縁カム５２及び溝カム５３の輪郭のうち膝関節角の０°〜１５°に対応する部分は、真円状の円弧に形成され、膝関節角が１５°〜１０５°の間では、膝関節は回転すべり運動を行うことから、周縁カム５２の輪郭は横方向に延びる楕円状の円弧に形成され、膝関節角が１０５°以上では膝関節は再び回転運動を行うことから、周縁カム５２の輪郭は真円状の円弧に形成される。これにより、上腿装着部５と下腿装着部７には、実際の膝関節の動きに近似した動きが実現される。   The contour of the peripheral edge of the peripheral cam 52 is formed so as to cause the movement of the knee joint as described above. That is, as shown in FIGS. 10 and 11, the actual knee joint performs a simple rotational motion without slipping between 0 ° where the knee joint angle is straight and 15 ° where it begins to bend. Of the contours of the cam 52 and the groove cam 53, the portion corresponding to the knee joint angle of 0 ° to 15 ° is formed in a perfect circular arc, and when the knee joint angle is between 15 ° and 105 °, the knee joint is Since the rotational sliding motion is performed, the contour of the peripheral cam 52 is formed in an elliptical arc extending in the lateral direction. When the knee joint angle is 105 ° or more, the knee joint performs rotational motion again. Is formed in a perfect circular arc. As a result, movement similar to the actual movement of the knee joint is realized in the upper leg mounting part 5 and the lower leg mounting part 7.

膝関節の動きは患者の体型、年齢、性等によって違いが生じるが、これには周縁カム５２の輪郭を適宜変更することによって対処可能である。   The movement of the knee joint varies depending on the patient's body shape, age, sex, and the like, but this can be dealt with by appropriately changing the contour of the peripheral cam 52.

また、図４及び図５に示すように、駆動部の動力源としてのモーター２９が上記上腿装着部５の基部９に縦向きに取り付けられる。また、このモーター２９から上記駆動歯車２５への動力伝達系もこの基部９に取り付けられる。動力伝達系は、第１の実施の形態と同様に、平歯車及びすぐばかさ歯車の組合せからなる歯車列によって構成される。この歯車列の一部はモーター２９内の図示しない歯車減速機として設けられる。この歯車減速機は例えば平歯車列によって構成される。歯車減速機の終端歯車の軸２９ａはモーター２９のケーシングから略垂直下方に向かって突出し、その軸２９ａの先端にすぐばかさ歯車３０が固定される。このすぐばかさ歯車３０には他のすぐばかさ歯車３１が噛み合っており、このすぐばかさ歯車３１が上記駆動歯車２５の軸２５ａに固定される。   Further, as shown in FIGS. 4 and 5, a motor 29 as a power source of the drive unit is vertically attached to the base 9 of the upper thigh mounting unit 5. A power transmission system from the motor 29 to the drive gear 25 is also attached to the base 9. As in the first embodiment, the power transmission system is constituted by a gear train composed of a combination of a spur gear and a straight bevel gear. A part of this gear train is provided as a gear reducer (not shown) in the motor 29. This gear reducer is constituted by a spur gear train, for example. The shaft 29a of the terminal gear of the gear reducer protrudes from the casing of the motor 29 substantially vertically downward, and the bevel gear 30 is immediately fixed to the tip of the shaft 29a. This straight bevel gear 30 is engaged with another straight bevel gear 31, and this quick bevel gear 31 is fixed to the shaft 25 a of the drive gear 25.

これにより、モーター２９が回転すると、その動力が駆動歯車２５に伝達され、上述したような相対的回転運動及びスライド運動が上腿装着部５と下腿装着部７との間に生じることになる。また、このように動力伝達系が平歯車及びすぐばかさ歯車３０，３１の一方又は双方からなる歯車列によって構成されることから、クラッチ等を設けずとも人体側からの入力に対してその動きを制限することがない。したがって、セルフロックが回避されることとなり、モーター２９の非稼動時に患者等は自由に脚を動かせることができるのはもちろんのこと、モーター２９の稼動時において患者等が転倒するような場合であってもモーター２９に抗するように脚を動かせることができるのですこぶる安全である。   Thus, when the motor 29 rotates, the power is transmitted to the drive gear 25, and the relative rotational movement and sliding movement as described above occur between the upper thigh mounting part 5 and the lower thigh mounting part 7. Since the power transmission system is constituted by a gear train composed of one or both of a spur gear and a quick bevel gear 30, 31 in this way, its movement with respect to an input from the human body side without providing a clutch or the like. There is no limit. Therefore, self-locking is avoided, and the patient can freely move his / her legs when the motor 29 is not in operation, as well as when the patient falls while the motor 29 is in operation. But you can move your legs to resist the motor 29.

上記モーター２９は図４に示す制御部３２によって制御され、上記周縁カム５２の所定の角度範囲内において正転し又は逆転する。   The motor 29 is controlled by the control unit 32 shown in FIG. 4 and rotates forward or reverse within a predetermined angle range of the peripheral cam 52.

例えば、この膝関節運動補助装置を装着した患者等が、図６に示す起立状態から図７に示す中間状態を経て図８に示す屈曲状態に姿勢を変更しようとする場合は、駆動歯車２５が矢印Ａの方向に回転しつつ周縁カム５２の回りを矢印ａの方向に公転する。これにより、上腿装着部５と下腿装着部７が連結部８を中心にして屈曲し、例えば患者の上腿部４は椅子等に着座可能になる。   For example, when a patient or the like wearing this knee joint exercise assisting device tries to change the posture from the standing state shown in FIG. 6 to the bent state shown in FIG. 8 through the intermediate state shown in FIG. Revolving around the peripheral cam 52 in the direction of arrow a while rotating in the direction of arrow A. As a result, the upper thigh mounting portion 5 and the lower thigh mounting portion 7 are bent around the connecting portion 8, and for example, the patient's upper thigh portion 4 can be seated on a chair or the like.

図６に示すように、上腿装着部５が下腿装着部７に対して真っ直ぐに伸びた状態から少しばかり屈曲するまでは、枢軸２０が長孔５５の一端５５ａに当たって停止し、長孔５５内を滑ることなく回転のみ可能である。これは、膝関節角の０°〜１５°に対応し、この角度範囲内では、膝関節はすべりのない単純な回転運動を行う。   As shown in FIG. 6, until the upper thigh mounting portion 5 is bent straight from the state where the upper thigh mounting portion 5 extends straight to the lower thigh mounting portion 7, the pivot 20 hits one end 55 a of the long hole 55 and stops. Only rotation is possible without sliding. This corresponds to a knee joint angle of 0 ° to 15 °, and within this angle range, the knee joint performs a simple rotational motion without slipping.

図７及び図８に示すように、上腿装着部５が下腿装着部７に対して更に曲がろうとすると、枢軸２０が長孔５５内をその一端５５ａから他端５５ｂに向かって滑りつつ回転運動を行う。これは、膝関節角の１５°〜１０５°に対応する。これにより、図８に示すように、患者の上腿部４は下腿部６に対して約９０°屈曲し、患者は無理なく椅子等に着座することができる。   As shown in FIGS. 7 and 8, when the upper thigh mounting portion 5 tries to bend further with respect to the lower thigh mounting portion 7, the pivot 20 rotates while sliding in the elongated hole 55 from one end 55a to the other end 55b. Do exercise. This corresponds to a knee joint angle of 15 ° to 105 °. As a result, as shown in FIG. 8, the patient's upper thigh 4 is bent about 90 ° with respect to the lower thigh 6, and the patient can comfortably sit on a chair or the like.

また、この膝関節運動補助装置を装着した患者が、図８に示す椅子等への着座状態から起立しようとする場合は、患者の上腿部４は下腿部６に対して９０°を超えて更に屈曲しようとする。その場合の膝関節角は１０５°〜１３５°であり、この角度範囲内では膝関節は再び回転運動のみを行う。これにより、膝関節角が１０５°に到達するまでは、図８中、枢軸２０が長孔５５内をその一端５５ａから他端５５ｂに向かって滑りつつ回転運動を行い、膝関節角が１０５°に到達すると、図９に示すように、枢軸２０が長孔５５の他端５５ｂに当って停止し、膝関節が１０５°〜１３５°の範囲内で屈曲する際は枢軸２０はその停止位置で回転運動のみ行う。   In addition, when the patient wearing the knee joint exercise assisting device tries to stand up from the sitting state on the chair shown in FIG. 8, the patient's upper leg 4 exceeds 90 ° with respect to the lower leg 6. Try to bend further. In this case, the knee joint angle is 105 ° to 135 °. Within this angle range, the knee joint again performs only rotational motion. Thus, until the knee joint angle reaches 105 °, the pivot 20 in FIG. 8 performs a rotational motion while sliding in the elongated hole 55 from one end 55a to the other end 55b, and the knee joint angle is 105 °. 9, as shown in FIG. 9, the pivot 20 comes into contact with the other end 55 b of the long hole 55 and stops. When the knee joint bends within the range of 105 ° to 135 °, the pivot 20 is in the stop position. Perform only rotational motion.

その後、制御部３２からの指令によってモーター２９が逆転し、図９、図８、図７および図６で順次示すように、駆動歯車２５が矢印Ｂの方向に回転しつつ周縁カム５２の回りを矢印ｂの方向に公転する。これにより、患者は椅子等への着座状態から起立することが可能になる。   Thereafter, the motor 29 reverses in response to a command from the control unit 32, and the drive gear 25 rotates around the peripheral cam 52 while rotating in the direction of arrow B as shown in FIGS. 9, 8, 7, and 6. Revolve in the direction of arrow b. As a result, the patient can stand up from a sitting state on a chair or the like.

また、図９中、周縁カム５２における歯列５２ａと長孔５５の各々をより長く形成することによって、上腿装着部５が下腿装着部７に対して例えば約１６０°屈曲可能とすることもできる。その場合は、患者は正座をすることができる。   Further, in FIG. 9, each of the tooth row 52 a and the long hole 55 in the peripheral cam 52 is formed to be longer so that the upper thigh mounting portion 5 can be bent with respect to the lower thigh mounting portion 7 by, for example, about 160 °. it can. In that case, the patient can sit upright.

次に、本実施形態の膝関節運動補助装置の作用について説明する。   Next, the operation of the knee joint exercise assisting apparatus of this embodiment will be described.

まず、図１（Ａ）及び図２に示すように、膝関節運動補助装置が変形性膝関節症を発症した患者の脚に装着される。   First, as shown in FIG. 1 (A) and FIG. 2, the knee joint movement assist device is attached to the leg of a patient who has developed knee osteoarthritis.

すなわち、膝関節運動補助装置の連結部８が患者の膝関節の側面に当てられ、上腿装着部５の上添え部１０が上腿部４の側面に当てられ、下腿装着部７の下添え部１５が下腿部６の側面に当てられる。   That is, the connecting portion 8 of the knee joint movement assisting device is applied to the side surface of the knee joint of the patient, the upper appendage portion 10 of the upper leg attachment portion 5 is applied to the side surface of the upper leg portion 4, and the lower attachment portion of the lower leg attachment portion 7 is provided. The part 15 is applied to the side surface of the lower leg part 6.

そして、上添え部１０の上端部が患者の腰に巻き付けられた腰ベルト１１に連結具１２を介して連結され、上添え部１０の基部９に隣接した部分が上腿当て部１３、面ファスナ１４等を介して上腿部４の膝上部分に連結される。   The upper end portion of the upper attachment portion 10 is connected to a waist belt 11 wound around the patient's waist via a connector 12, and a portion adjacent to the base portion 9 of the upper attachment portion 10 is an upper thigh pad portion 13, a hook and loop fastener. It connects with the above-knee part of the upper leg part 4 via 14 grade | etc.,.

また、下添え部１５の基部９に隣接する部分が下腿当て部１６、面ファスナ１７等を介して下腿部６の膝下部分に連結され、下添え部１５の下端部が足首当て部１８、面ファスナ１９等を介して下腿部６の足首に連結される。   Further, the portion of the lower attachment portion 15 adjacent to the base portion 9 is connected to the lower knee portion of the lower leg portion 6 via the lower leg contact portion 16 and the hook and loop fastener 17, and the lower end portion of the lower attachment portion 15 is connected to the ankle contact portion 18. It is connected to the ankle of the crus 6 via a hook-and-loop fastener 19 or the like.

その他、図示しないが電池が腰ベルト１１に取り付けられ、この電池にモーター２９が電気的に接続される。   In addition, although not shown, a battery is attached to the waist belt 11, and a motor 29 is electrically connected to the battery.

モーター２９の図示しないＯＮ／ＯＦＦスイッチが入れられると、モーター２９が起動し、その動力が駆動部の歯車列を介して駆動歯車２５に入力される。   When an ON / OFF switch (not shown) of the motor 29 is turned on, the motor 29 is activated and the power is input to the drive gear 25 via the gear train of the drive unit.

モーター２９は制御部３２によって歩行用、着座用等の各種の制御モードで制御される。   The motor 29 is controlled by the control unit 32 in various control modes such as walking and sitting.

歩行用の制御モードにセットされた場合は、図６のごとく膝関節が伸長した状態で駆動歯車２５が矢印Ａの方向に回り始め、周縁カム５２の回りを矢印ａ方向に公転し、その結果、上腿装着部５と下腿装着部７とが相対的回転運動を行って図７及び図８のごとく膝関節を屈曲させる。この回転運動による膝関節の回転角度は例えば０°〜６０°の範囲内である。   When the walking control mode is set, the drive gear 25 starts to rotate in the direction of arrow A with the knee joint extended as shown in FIG. 6, and revolves around the peripheral cam 52 in the direction of arrow a. The upper thigh mounting portion 5 and the lower thigh mounting portion 7 perform a relative rotational motion to bend the knee joint as shown in FIGS. The rotation angle of the knee joint by this rotational movement is in the range of 0 ° to 60 °, for example.

また、同時に周縁カム５２が駆動歯車２５とカムフォロア５４との間で周縁カム５２の直径方向に揺動するものの、枢軸２０は図６の位置から図８の位置へと長孔５５内を上方にスライドする。   At the same time, the peripheral cam 52 swings in the diametrical direction of the peripheral cam 52 between the drive gear 25 and the cam follower 54, but the pivot 20 moves upward in the elongated hole 55 from the position of FIG. 6 to the position of FIG. Slide.

このように、上腿装着部５と下腿装着部７とが枢軸２０を支点にして屈曲する回転運動を行うと同時に、枢軸２０が長孔５５内を上方にスライド運動することから、上腿装着部５と下腿装着部７は、図１０に示した人体の膝関節のすべり転がり運動に近似した動きをすることとなり、患者は無理なく自然に脚を屈曲させることができる。   In this way, the upper thigh mounting portion 5 and the lower thigh mounting portion 7 perform a rotational motion of bending with the pivot 20 as a fulcrum, and at the same time, the pivot 20 slides upward in the elongated hole 55, so that the upper thigh is mounted. The part 5 and the crus mounting part 7 move similar to the sliding movement of the knee joint of the human body shown in FIG. 10, and the patient can bend the leg naturally without difficulty.

駆動歯車２５が周縁カム５２の回りを矢印ａ方向に所定角度だけ公転すると、モーター２９が逆転に切り替えられ、駆動歯車２５が矢印Ｂの方向に回り始め、周縁カム５２の回りを矢印ｂ方向に公転し、その結果、上腿装着部５と下腿装着部７とが相対的回転運動を行って図１２のごとく膝関節を伸長させる。   When the drive gear 25 revolves around the peripheral cam 52 in the direction of arrow a by a predetermined angle, the motor 29 is switched to reverse rotation, the drive gear 25 starts to rotate in the direction of arrow B, and the periphery of the peripheral cam 52 in the direction of arrow b. As a result, the upper thigh mounting portion 5 and the lower thigh mounting portion 7 perform a relative rotational movement to extend the knee joint as shown in FIG.

また、同時に周縁カム５２が駆動歯車２５とカムフォロア５４との間を周縁カム５２の直径方向に揺動することから、枢軸２０が図８の位置から図６の位置へと長孔５５内を下方にスライドする。   At the same time, since the peripheral cam 52 swings between the drive gear 25 and the cam follower 54 in the diameter direction of the peripheral cam 52, the pivot 20 moves downward in the long hole 55 from the position of FIG. 8 to the position of FIG. Slide to.

これにより、上腿装着部５と下腿装着部７とが枢軸２０を支点にして脚を伸ばす方向に回転運動を行うと同時に、枢軸２０が長孔５５内を下方にスライド運動することから、上腿装着部５と下腿装着部７は、図１０に示した人体の膝関節のすべり転がり運動に近似した動きをすることとなり、患者は無理なく自然に脚を伸ばすことができる。   As a result, the upper thigh mounting part 5 and the lower thigh mounting part 7 rotate in the direction of extending the leg with the pivot 20 as a fulcrum, and at the same time, the pivot 20 slides downward in the long hole 55. The thigh attachment part 5 and the crus attachment part 7 move similar to the sliding movement of the knee joint of the human body shown in FIG. 10, and the patient can naturally stretch his / her legs without difficulty.

枢軸２０が図８の位置から図６の位置へと長孔５５内を下方にスライドすると、長孔５５の一端５５ａに当たって停止する。   When the pivot 20 slides downward in the long hole 55 from the position of FIG. 8 to the position of FIG. 6, it strikes against one end 55 a of the long hole 55 and stops.

その後、モーター２９の正逆転の繰り返しによって、上記駆動歯車２５の回転が矢印Ａの方向と矢印Ｂの方向に交互に切り替えられ、上腿装着部５と下腿装着部７の伸長と屈曲とが繰り返され、図１（Ａ）（Ｂ）に示すように、患者の歩行動作が補助される。   Thereafter, the rotation of the drive gear 25 is alternately switched between the direction of the arrow A and the direction of the arrow B by repeating the forward and reverse rotations of the motor 29, and the extension and bending of the upper leg mounting part 5 and the lower leg mounting part 7 are repeated. Thus, as shown in FIGS. 1A and 1B, the walking motion of the patient is assisted.

一方で、モーター２９が制御部３２によって着座用の制御モードにセットされた場合は、図６のごとく膝関節が伸長した状態で駆動歯車２５が矢印Ａの方向に回り始め、周縁カム５２の回りを矢印ａ方向に公転し、その結果、上腿装着部５と下腿装着部７とが相対的回転運動を行い、図７の状態を経て、図８のごとく膝関節を屈曲させる。この回転運動による膝関節の回転角度は例えば０°〜９０°の範囲内である。   On the other hand, when the motor 29 is set to the seating control mode by the control unit 32, the drive gear 25 starts to rotate in the direction of arrow A with the knee joint extended as shown in FIG. Is revolved in the direction of arrow a, and as a result, the upper thigh mounting portion 5 and the lower thigh mounting portion 7 perform relative rotational motion, and the knee joint is bent as shown in FIG. 8 through the state of FIG. The rotation angle of the knee joint by this rotational movement is in the range of 0 ° to 90 °, for example.

また、同時に周縁カム５２が駆動歯車２５とカムフォロア２４との間を周縁カム５２の直径方向に揺動することから、枢軸２０が図６の位置から図８の位置へと長孔５５内を上方にスライドする。これにより、枢軸２０は図１０に示した膝関節のすべり転がり運動に倣うように運動する。   At the same time, since the peripheral cam 52 swings between the drive gear 25 and the cam follower 24 in the diameter direction of the peripheral cam 52, the pivot 20 moves upward in the long hole 55 from the position of FIG. 6 to the position of FIG. Slide to. Thereby, the pivot 20 moves so as to follow the sliding motion of the knee joint shown in FIG.

駆動歯車２５が周縁カム５２の回りを矢印ａ方向に所定角度だけ公転すると、モーター２９が停止し、上腿装着部５と下腿装着部７との相対的回転運動も停止し、患者は椅子等に着座可能となる。   When the drive gear 25 revolves around the peripheral cam 52 in the direction of arrow a by a predetermined angle, the motor 29 stops, the relative rotational movement between the upper thigh mounting part 5 and the lower thigh mounting part 7 also stops, and the patient becomes a chair or the like. Can be seated.

患者が椅子から起立しようとする場合は、患者の上腿部４は下腿部６に対して９０°を超えて更に屈曲しようとする。これに対応して、モーター２９が正転を開始し、膝関節角が１０５°になったところで枢軸２０が長孔５５の他端５５ｂに当って停止し、膝関節角が１０５°〜１３５°の範囲内において枢軸２０はその停止位置で回転運動のみ行う。   When the patient wants to stand up from the chair, the patient's upper leg 4 tries to bend more than 90 ° with respect to the lower leg 6. Correspondingly, when the motor 29 starts normal rotation and the knee joint angle reaches 105 °, the pivot 20 stops by hitting the other end 55b of the long hole 55, and the knee joint angle becomes 105 ° to 135 °. Within the range, the pivot 20 only performs rotational movement at its stop position.

続いて、モーター２９が逆転に切り替えられ、駆動歯車２５が矢印Ｂの方向に回り始め、周縁カム５２の回りを矢印ｂ方向に公転し、その結果、上腿装着部５と下腿装着部７とが相対的回転運動を行って図６のごとく膝関節を伸長させる。   Subsequently, the motor 29 is switched to reverse rotation, the drive gear 25 starts to rotate in the direction of the arrow B, revolves around the peripheral cam 52 in the direction of the arrow b, and as a result, the upper leg mounting part 5 and the lower leg mounting part 7 Performs a relative rotational movement to extend the knee joint as shown in FIG.

また、同時に周縁カム５２が駆動歯車２５とカムフォロア２４との間を周縁カム５２の直径方向に揺動することから、枢軸２０が図９の位置から図６の位置へと長孔５５内を下方にスライドする。これにより、枢軸２０は図１０に示した膝関節のすべり転がり運動に倣うように運動する。   At the same time, since the peripheral cam 52 swings between the drive gear 25 and the cam follower 24 in the diameter direction of the peripheral cam 52, the pivot 20 moves downward in the long hole 55 from the position of FIG. 9 to the position of FIG. Slide to. Thereby, the pivot 20 moves so as to follow the sliding motion of the knee joint shown in FIG.

枢軸２０が図９の位置から図６の位置へと長孔５５内を下方にスライドすると、長孔５５の一端５５ａに当たって停止する。このとき、上腿装着部５と下腿装着部７が真っ直ぐに伸びた状態に保持される。   When the pivot 20 slides downward in the long hole 55 from the position of FIG. 9 to the position of FIG. 6, it strikes against one end 55 a of the long hole 55 and stops. At this time, the upper thigh mounting part 5 and the lower thigh mounting part 7 are held in a state of being straightened.

なお、本発明は、上記実施形態に限定されるものではなく、本発明の要旨の範囲内において種々の変更が可能である。例えば、上記実施の形態では、膝関節運動補助装置を右脚用として示したが、右脚用のものを略対称形にすることによって左足用のものとすることも可能である。また、左右両脚に膝関節運動補助装置を装着することも可能である。また、駆動源としてモーターを用いたが他の種類の駆動源を使用することも可能である。   In addition, this invention is not limited to the said embodiment, A various change is possible within the range of the summary of this invention. For example, in the above-described embodiment, the knee joint exercise assisting device is shown for the right leg, but it is also possible to make it for the left foot by making the right leg device substantially symmetrical. It is also possible to wear knee joint exercise assisting devices on the left and right legs. Further, although a motor is used as the drive source, other types of drive sources can be used.

４…上腿部
５…上腿装着部
６…下腿部
７…下腿装着部
８…連結部
２０…枢軸
５５…長孔
５２…周縁カム
５２ａ…歯列
２４…カムフォロア
２５…駆動歯車
３０，３１…すぐばかさ歯車 4 ... Upper leg part 5 ... Upper leg part 6 ... Lower leg part 7 ... Lower leg part 8 ... Connection part 20 ... Axle 55 ... Long hole 52 ... Peripheral cam 52a ... Teeth row 24 ... Cam follower 25 ... Drive gear 30, 31 ... immediately bevel gear

Claims (4)

上腿部に装着される上腿装着部と、下腿部に装着される下腿装着部と、上記上腿装着部及び下腿装着部の膝関節側端部間を回転可能に連結する連結部と、この連結部を中心にして上記上腿装着部と下腿装着部とを相対的に回転運動させながら上記膝関節側端部間を前後方向に相対的にスライド運動させる駆動部とを備えた膝関節運動補助装置において、上記駆動部が、周縁カムと、この周縁カムの外周縁に配置される駆動歯車と、当該周縁カムの内周面に形成されるカム溝と、当該カム溝と係合するカムフォロアと、を有し、この周縁カムとカムフォロア及び駆動歯車とが上記上腿装着部及び下腿装着部の一方と他方に夫々取り付けられ、上記周縁カムの外周縁には、上記駆動歯車が係合する歯列が形成され、上記駆動歯車の回転により上記周縁カムと上記カムフォロアとが回転すると上記回転運動及びスライド運動が生じるようにしたことを特徴とする膝関節運動補助装置。   An upper thigh attachment portion attached to the upper thigh portion, a lower thigh attachment portion attached to the lower thigh portion, and a connecting portion that rotatably connects between the upper thigh attachment portion and the knee joint side ends of the lower thigh attachment portion; And a knee provided with a drive part that relatively slides between the knee joint side end parts in the front-rear direction while relatively rotating the upper leg attachment part and the lower leg attachment part around the connecting part. In the joint motion assisting device, the drive unit is engaged with the peripheral cam, the drive gear disposed on the outer peripheral edge of the peripheral cam, the cam groove formed on the inner peripheral surface of the peripheral cam, and the cam groove. A cam follower, and the peripheral cam, cam follower, and drive gear are attached to one and the other of the upper thigh mounting portion and the lower thigh mounting portion, respectively, and the driving gear is engaged with the outer peripheral edge of the peripheral cam. A matching tooth row is formed, and the drive gear rotates to Knee exercise assisting apparatus in which the edge cam and the cam follower, characterized in that when rotating as the rotary motion and sliding motion occurs. 請求項１に記載の膝関節運動補助装置において、上記カムフォロア及び駆動歯車が上記上腿装着部に取り付けられ、上記周縁カムが上記下腿装着部に取り付けられたことを特徴とする膝関節運動補助装置。   The knee joint exercise assisting device according to claim 1, wherein the cam follower and the drive gear are attached to the upper thigh mounting portion, and the peripheral cam is attached to the lower thigh mounting portion. . 請求項１又は請求項２に記載の膝関節運動補助装置において、上記連結部が、枢軸と、この枢軸が挿入される長孔とを有し、この枢軸と長孔とが上記上腿装着部及び下腿装着部の一方と他方に夫々設けられたことを特徴とする膝関節運動補助装置。   The knee joint exercise assisting device according to claim 1 or 2, wherein the connecting portion has a pivot and a long hole into which the pivot is inserted, and the pivot and the long hole are the upper thigh mounting portion. And a knee joint motion assisting device provided on one and the other of the lower leg mounting portions, respectively. 請求項１に記載の膝関節運動補助装置において、モーターが上記上腿装着部に取り付けられ、このモーターから上記駆動歯車への動力伝達系が、平歯車及びすぐばかさ歯車の一方又は双方からなる歯車列によって構成されたことを特徴とする膝関節運動補助装置。   The knee joint motion assisting device according to claim 1, wherein a motor is attached to the upper thigh mounting portion, and a power transmission system from the motor to the drive gear is composed of one or both of a spur gear and a straight bevel gear. A knee joint motion assisting device comprising a gear train.
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KR101557914B1 (en) 2013-06-10 2015-10-08 신정훈 Auxiliary device for the treatment of knee joint
JP2016059763A (en) * 2014-09-22 2016-04-25 国立大学法人山梨大学 Lower limb motion support apparatus
CN106239479A (en) * 2016-08-23 2016-12-21 哈尔滨工业大学 A kind of series connection flexible drive knee joint in lower limb assistance exoskeleton robot
WO2018098848A1 (en) * 2016-12-02 2018-06-07 广东思谷智能技术有限公司 Exoskeleton apparatus for reducing loads of lower limb joints and measuring supporting force
CN108685670B (en) * 2017-03-31 2020-09-01 本田技研工业株式会社 Joint mechanism
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CN112074260A (en) * 2017-12-25 2020-12-11 国立大学法人山梨大学 Joint support unit and walking support device
JP2019111223A (en) * 2017-12-25 2019-07-11 国立大学法人山梨大学 Joint assisting unit and walking assisting device
WO2019131152A1 (en) * 2017-12-25 2019-07-04 国立大学法人山梨大学 Joint assistance unit and walking assistance device
EP3733146A4 (en) * 2017-12-25 2021-10-06 University of Yamanashi Joint assistance unit and walking assistance device
JP7016075B2 (en) 2017-12-25 2022-02-04 国立大学法人山梨大学 Joint assist unit, walking assist device
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WO2019138901A1 (en) * 2018-01-15 2019-07-18 サンコール株式会社 Joint assistance unit and walking assistance device
JP2019122514A (en) * 2018-01-15 2019-07-25 サンコール株式会社 Joint auxiliary unit, walking auxiliary device
CN111655217A (en) * 2018-01-15 2020-09-11 新确有限公司 Joint support unit and walking support device
JP2020124431A (en) * 2019-02-06 2020-08-20 トヨタ自動車株式会社 Walking aid

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