JP2013094322A - Walking assist system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking assist system for correcting the contracture of the foot of a paralyzed person.SOLUTION: The walking assist system includes a walking assist device 10 and an inner shoe 30 to be put on the foot by a user H of the walking assist device 10. The walking assist device 10 includes: an orthosis 12 to be put on a thigh part; a sole unit 22 connected with the orthosis 12 and brought into contact with a ground surface; a detection sensor for detecting force applied when the sole unit 22 is brought into contact with the ground surface; and a controller 11 for controlling the movement of the orthosis 12 according to the detection result of the detection sensor. The inner shoe 30 has a toe part 31 for suppressing the contracture by energizing the contracture part of the toe of the user to the side of a bottom part 34 and maintaining the stretched state of the toe.

Description

  The present invention relates to a walking assistance system including a walking assistance device and a wearing tool.

  A walking assist device that assists walking of a person whose legs are paralyzed due to an accident or illness (hereinafter referred to as a paralyzed person) has been proposed.

  For example, Patent Document 1 discloses a walking assist device including a leg brace and a leg brace connected to the leg brace by an ankle joint. In this foot orthosis, shoes are attached to the sole plate by hook-and-loop fasteners.

JP 2011-110176 A

  Paralyzed people often cannot stretch their toes themselves because the toes contract. In particular, the toe of the paralyzed person is often in a rounded state. In that case, when walking using the walking assist device, the toe of the paralyzed person may hit the shoe, and the toe of the paralyzed person may be damaged. Furthermore, when the walking assist device includes a sensor for detecting the force applied to the foot when contacting the ground, and controls the walking of the paralyzed person according to the detection result, it takes from the toe of the paralyzed person Depending on the force, there is a possibility that the force applied when contacting the ground cannot be detected correctly. In that case, the walking assistance device cannot control walking accurately.

  In the walking assist device according to Patent Document 1, no measures are taken for correcting the contracture of the leg of the paralyzed person.

  The present invention has been made to solve such problems, and an object of the present invention is to provide a walking assistance system that corrects the contracture of the foot of a paralyzed person.

  The walking assistance system according to the present invention is a walking assistance system including a walking assistance device and a wearing tool that a user of the walking assistance device wears on a foot. The walking assist device includes a brace attached to a thigh, a foot connected to the brace and in contact with the ground, and a detection unit that detects a force applied when the foot contacts the ground, A controller that controls movement of the appliance according to a detection result of the detection unit, and the wearing device suppresses contracture by urging a contracture portion of the toe of the user toward the bottom side. , Having a straightening portion that maintains the extended state of the toes. With such a configuration, the contraction portion of the user's toe is urged toward the bottom side of the wearing tool by the correction unit, so that the contracture of the user's foot can be corrected.

  The straightening unit may cover the entire toe of the user. With such a configuration, since the force urging from the correcting portion to the bottom portion is applied to the entire toe, the user's toe can more uniformly contact the bottom. For this reason, the contracture of the user's foot can be corrected more accurately.

  In the wearing device, the height of the correction portion from the bottom portion may be substantially the same as the height of the toe in the extended state of the user. With such a configuration, the user can maintain the toe in an extended state without feeling a feeling of pressure on the toe by the correction unit.

  The bottom portion of the wearing tool may have a rigidity that does not deform with respect to a load applied from the user's foot. With such a configuration, concentrated loads from the user's toes are not transmitted to the foot. Therefore, even if the foot portion is made of a soft material, the detecting portion can more accurately detect the force applied when the foot portion contacts the ground.

  According to the present invention, it is possible to provide a walking assist system that corrects the contracture of the foot of a paralyzed person.

It is the perspective view which showed an example of the walk assistance system concerning Embodiment 1. FIG. 1 is a perspective view showing an example of a sole frame according to a first embodiment. 3 is a cross-sectional view showing an example of a sole frame according to Embodiment 1. FIG. 1 is a perspective view showing an example of an inner shoe according to a first exemplary embodiment. It is the side view which showed an example of attachment of the inner shoes and sole frame concerning Embodiment 1. FIG. It is the 1st figure showing the example of wearing of the walk auxiliary system concerning Embodiment 1. It is the 2nd figure showing the example of wearing of the walk auxiliary system concerning Embodiment 1. It is sectional drawing which showed the shape of the leg | foot at the time of mounting | wearing a general shoe, and the shape of the foot | leg at the time of mounting | wearing the inner shoe concerning Embodiment 1. FIG.

Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view schematically showing an example of a walking assistance system according to the present embodiment. The walking assist system 100 includes a walking assist device 10 and an inner shoe 30 broadly. The walking assist device 10 is attached to the right leg of the user H who is a paralyzed person, and assists the walking motion of the user H by applying torque to the knee joint of the user H. The inner shoe 30 is a wearing tool worn by the user H of the walking assistance device 10 on his / her foot.

  Hereinafter, each part of the walking assist device 10 will be described. The walking assist device 10 includes a controller 11, a brace 12 attached to the thigh of the user H, an ankle joint 18, and a sole frame 20 that supports the user H's foot. The brace 12 includes an upper leg brace 13, a knee joint 14, and a lower leg brace 17. Further, the walking assist device 10 includes a control unit (not shown) that includes the battery, switch, and the like of the walking assist device 10.

Here, the coordinate system shown in FIG. 1 will be described. In the XYZ coordinate system shown in the drawing, the X axis corresponds to the roll axis, the Y axis corresponds to the pitch axis, and the Z axis corresponds to the yaw axis. The roll axis extends in the front-rear direction of the user H (longitudinal direction of the sole frame 20), the pitch axis extends in the left-right direction of the user H (lateral direction of the sole frame 20), and the yaw axis indicates the user H It extends in the vertical direction.
In other words, the yaw axis is substantially orthogonal to the sole of the sole frame 20.

  The controller 11 drives a motor built in the upper thigh brace 13 and the lower thigh brace 17 so as to assist the walking motion of the user H based on the detection result of the load of the load sensor attached to the sole frame 20. . Thereby, the controller 11 controls the movement of the appliance 12. The load sensor attached to the sole frame 20 will be described later.

  The controller 11 may drive the motor based not only on the detection result of the load sensor but also on the detection result of an encoder (not shown) attached to the knee joint 14 and the ankle joint 18. The controller 11 receives the control signal from the control unit, and stops or changes the operation of the walking assist device 10. A description of the control for walking assistance performed by the controller 11 is omitted.

  The upper leg brace 13 is fixed to the upper leg of the user H. A controller 11 is attached to the upper thigh brace 13.

  The knee joint 14 includes a motor-equipped joint 14 a positioned outside the user H's knee and a sub-joint 14 b positioned inside the user H's knee. Here, the joint 14a with motor and the sub-joint 14b are located coaxially with the pitch axis of the knee joint of the user H. The controller 11 swings the lower leg brace 17 around the pitch axis by driving the motor of the motor-equipped joint 14a. Thereby, the walking assistance apparatus 10 applies a torque to the knee joint of the user H, and assists walking operation.

  The lower leg brace 17 includes a connecting bar 15, a right link 16a, and a left link 16b. The lower leg brace 17 is connected to the upper leg brace 13 by a knee joint 14 so as to be swingable. The lower leg brace 17 is fixed to the lower leg of the user H.

  The connecting bar 15 connects the left and right links 16a and 16b, and fixes the lower leg brace 17 to the lower leg of the user H. The links 16 a and 16 b are located on both sides in the pitch axis direction of the lower leg of the user H, and are connected to the sole frame 20 via the ankle joint 18.

  The ankle joint 18 includes a motor-equipped joint 18a positioned outside the ankle of the user H and a sub-joint 18b positioned inside the ankle of the user H. The motor-equipped joint 18a and the sub-joint 18b are positioned coaxially with the pitch axis of the ankle of the user H. The controller 11 swings the sole frame 20 around the pitch axis by driving the motor of the motor-equipped joint 18a. Thereby, the walking assistance apparatus 10 applies a torque to the ankle joint of the user H, and assists walking operation.

  The sole frame 20 is fixed to the foot of the user H. The sole frame 20 is connected to the lower leg brace 17 by an ankle joint 18 so as to be swingable. More specifically, the sole frame 20 is connected to the ankle joint 18 by a link 21, and swings with respect to the crus orthosis 17 by the rotation of the ankle joint 18.

  The sole frame 20 includes a right link 21 a, a left link 21 b, and a sole unit (foot part) 22. Further, although not shown in FIG. 1, the sole frame 20 further includes a belt for fixing the inner shoe 30 on the sole unit 22. With this configuration, the sole frame 20 supports the inner shoe 30.

  FIG. 2 is a perspective view showing an example of the sole frame 20. The link 21 is provided with a hole for connecting to the ankle joint 18 in the upper part. The sole unit 22 is a portion where the back surface comes into contact with the ground when the user H walks using the walking assistance device 10, and the lower ends of the links 21 are fixed to the left and right side surfaces. The sole unit 22 is connected to the orthosis 12 by the link 21. The belts 23 and 24 are belts for fixing the inner shoe 30 on the sole unit 22. One end of the belt 23 is fixed in advance to the left side surface of the front portion of the sole unit 22, and the other end can be fixed to the right side surface of the front portion of the sole unit 22. One end of the belt 24 is fixed in advance to the left side surface of the center portion of the sole unit 22, and the other end can be fixed to the right side surface of the center portion of the sole unit 22. Thus, the inner shoe 30 is fixed to the right side surface of the sole unit 22 by fixing the other end of the belts 23 and 24 with the inner shoe 30 sandwiched between the sole unit 22 and the belts 23 and 24. It can be fixed on the sole unit 22.

  FIG. 3 is a cross-sectional view of the sole frame 20. The sole unit 22 includes an upper sole plate 221, a rubber frame 222, and a lower sole plate 223. The upper sole plate 221 is a portion with which an inner shoe 30 described later comes into contact. The rubber frame 222 is a portion sandwiched between the upper sole plate 221 and the lower sole plate 223, and is provided with a load sensor (detection unit) that detects a load between the user H and the grounding surface. With this load sensor, the walking assistance device 10 can detect the force applied when the sole unit 22 contacts the ground. The lower sole plate 223 is a part that contacts the ground, and is a part that transmits a floor reaction force from the ground to the load sensor in the rubber frame 222. The upper sole plate 221, the rubber frame 222, and the lower sole plate 223 are made of a flexible material.

  Next, the structure of the inner shoe 30 worn on the user's H foot will be described in detail. FIG. 4 is a perspective view showing an example of the inner shoe 30. The inner shoe 30 is a shoe including a toe portion 31, a heel cover portion 32, a side surface portion 33, and a bottom portion 34.

  The toe part 31 covers the upper front part of the inner shoe 30. Thereby, when the user H wears the inner shoes 30, the toe part 31 covers the toe part of the user H. The toe part 31 has a shape in which the height from the bottom part 34 is increased by gently inclining from the front to the back. Accordingly, the toe portion 31 has a shape that is in close contact with the shape of the extended toe.

  The height of the tip portion of the toe portion 31 from the bottom 34 is substantially the same as the height of the toe in a state where a human toe is extended. The toe portion 31 is made of a hard material having such rigidity that the shape of the toe of the user H hardly deforms (does not bend) even when a load is applied from the toe of the user H when the toe of the user H contracts (bends). ing. In other words, when the toe portion 31 generates a force to contract the toe, the toe portion 31 presses against the contracted portion of the toe against the bottom 34 by the reaction force (biasing), thereby reducing the contracture of the foot. Suppress. This hard material is, for example, a carbon reinforced plastic, aluminum, or the like.

  The heel covering portion 32 is a covering portion that covers the heel portion of the user by covering the rear surface of the inner shoe 30. The heel covering portion 32 is made of a soft material such as cotton or cloth. Thereby, a user's wearability is improved and a shoe slip etc. can be controlled.

  The side surface portion 33 is a member that connects the toe portion 31, the heel cover portion 32, and the bottom portion 34. In FIG. 3, the side surface portion 33 is divided into a front side surface portion 33 a that connects the toe portion 31 and the bottom portion 34, and a rear side surface portion 33 b that connects the heel cover portion 32 and the bottom portion 34. Of the side surface portion 33, at least the front side surface portion 33a is made of a rigid material having rigidity.

  The bottom part 34 is divided into a front bottom part 34a where a toe of the foot rests and a rear bottom part 34b where the rest of the foot rests. Of the bottom portion 34, at least the front bottom portion 34a is made of a hard material having rigidity. As described above, the hard material has a rigidity that hardly deforms even when a load is applied from the toe of the user H.

  FIG. 5 is a side view showing a state in which the inner shoe 30 is fixed on the sole unit 22 (on the upper sole plate 221) of the sole frame 20. As shown in FIG. The inner shoe 30 is fixed on the sole unit 22 by belts 23 and 24. The belt 23 is fixed to both ends of the sole unit 22 so as to straddle the toe portion 31 of the inner shoe 30, and fixes the toe portion 31 on the sole unit 22. Similarly, the belt 24 fixes the center portion of the inner shoe 30 on the sole unit 22.

  Next, the mounting method of the walking assistance system 100 is shown using FIG. 6, FIG. First, the user H wears the brace 12 in advance on the upper leg and lower leg.

  Next, the user H wears the inner shoe 30 on his / her foot. FIG. 6 shows a state in which the user H is wearing the brace 12 on the upper thigh and the lower thigh in advance and pulling the foot close to the hand and wearing the inner shoe 30 on the foot.

  Then, the user H places his / her foot with the inner shoe 30 on the upper surface of the sole unit 22 and fixes the inner shoe 30 to the upper surface of the sole unit 22. In FIG. 7, while the user H is sitting on the platform S, the end of the belts 23 and 24 is fixed to the right side surface of the sole unit 22, thereby fixing the inner shoe 30 at the foot to the upper surface of the sole unit 22. doing. This specific fixing method is as described in FIG.

  The walking assistance system 100 described above has the following effects.

  First, the walking assistance system 100 can suppress contracture of the user's foot.

  Details of this effect will be described below. FIG. 8 is a cross-sectional view of the shape of the foot of a paralyzed person with the foot contracted and the toe rounded. FIG. 8A shows a cross-section of the shape of a paralyzed person's foot when a general shoe is worn, and FIG. 8B shows the shape of the foot of a paralyzed person when the inner shoe 30 is worn. The cross section of is shown.

  In general shoes, the toe portion is made of a flexible material, and even if the toe of the paralyzed person is bent and rounded, the shoe does not have an elastic force enough to press the toe against the shoe sole. Therefore, even when a paralyzed person wears shoes, the contracture of the foot cannot be suppressed, and the toe remains in a rounded state.

  FIG. 8A shows a state where only the heel of the paralyzed person and the fingertip of the foot F are in contact with the shoe sole P due to contracture of the foot. In this case, the front half of the foot F other than the fingertip is not in contact with the shoe sole P, and the fingertip is almost in point contact with the shoe sole P. Therefore, the gravity caused by the load of the paralyzed person is applied to the shoe sole P by the force F1 from the heel and the force F2 from the fingertip. Since the force F2 from the fingertip is a force applied in the clockwise direction in FIG. 8 (a), the toe of the shoe sole P is bent in the clockwise direction in FIG. 8 (a).

  In this state, when the paralyzed person wears the walking assist device 10, the force F <b> 2 is applied to the narrow portion of the toe of the sole frame 20 as a concentrated load. Therefore, an internal stress corresponding to the force F <b> 2 is generated in that portion of the sole frame 20. The load sensor attached to the rubber frame 222 detects the internal stress as a reaction force from the floor. Thereby, there is a possibility that the load sensor cannot correctly detect the load between the paralyzed person and the ground plane. In that case, the walking assistance device 10 cannot control walking accurately.

  As described above, in the wearable robot that assists the user's walking based on the detection result of the reaction force from the ground, there is a possibility that the reaction force from the ground cannot be accurately sensed when the shape of the foot is rounded. There was a problem specific to robots. In other words, whether or not the robot accurately senses the reaction force from the ground depends on the shape of the user's foot.

  In the walking assist device 10 according to the present embodiment, the toe part 31 that contacts the upper part of the toe of the inner shoe 30 and the front bottom part 34a that contacts the lower part of the toe of the foot are bent even if force is applied from the toe. It is composed of a hard member having a certain degree of rigidity. And the height from the bottom part 34 of the toe part 31 is substantially the same as the height of the toe in the state where a person's toe extended. Therefore, a force is generated from the toe portion 31 to press (bias) the contracted portion of the toe of the foot F against the bottom portion 34, so that a paralyzed person has a bent toe when the foot is attached to the inner shoe 30. It will be in the state extended straight from. That is, the shape of the foot of the paralyzed person is naturally corrected, and contracture can be suppressed.

  FIG. 8B shows a state where the toe of the foot F of the paralyzed person is maintained as described above. Here, in the “state where the toes are extended”, not only the toes are extended, but also the sole portion of the foot F is in contact with the surface of the upper sole plate 221 of the sole unit 22 in substantially the same manner. Indicates the state. In FIG.8 (b), as a load of a paralyzed person, force F3 is applied to the bottom part 34 from a heel, and force F4 is applied from a fingertip, respectively. Here, the force F4 is weaker than the force F2 in FIG. Since the sole portion of the foot F is in substantially the same contact with the surface of the upper sole plate 221 of the sole unit 22, the load on the paralyzed person is applied relatively uniformly from the entire sole to the bottom 34. Therefore, internal stress generated in the toe portion of the sole unit 22 is suppressed. Thereby, since the load sensor can detect the load between the paralyzed person and the ground surface more accurately, the walking assist system 100 can control walking more accurately.

  And when walking with the state of the foot shown in FIG. 8 (a), the paralyzed person walks with the toe of the foot in contact with the shoe sole, and the toe may be damaged. However, when the paralyzed person wears the inner shoe 30, the contracture itself is suppressed, and the effect of preventing the toe of the paralyzed person from being damaged is also obtained.

  Furthermore, since the front bottom part 34a is a hard member, even if force is applied by rounding the toe of the paralyzed person, it does not bend as shown in FIG. 8 (a), and the way of bending is suppressed. Therefore, the concentrated load from the toe is hardly transmitted to the sole unit 22 disposed on the lower surface of the front bottom portion 34a, and erroneous detection of the floor reaction force of the load sensor can be suppressed.

  As described above, the walking assistance system 100 can more accurately sense the reaction force from the ground without depending on the shape of the user's foot.

  It should be noted that there are two possible contractures for a foot with a bent toe, a case where the toe is rounded and a case where the toe is bent. In the inner shoe 30 according to the present embodiment, since both the toe portion 31 and the front bottom portion 34a are made of a hard member, both contractures can be suppressed.

  Secondly, the walking assistance system 100 can correct the contracture of the paralyzed person's foot more accurately. In the inner shoe 30, the toe portion 31 covers the entire toe of the paralyzed person. Therefore, since the force tightened from the toe portion 31 toward the bottom portion 34 is applied to the entire toe of the paralyzed person, the toe of the user can more uniformly contact the bottom part, so that the contracture of the paralyzed person's feet can be more accurately performed. It can be corrected.

  Thirdly, a paralyzed person wearing the walking assist system 100 can maintain the extended state of the toes without feeling a sense of pressure. Since the height of the toe part 31 from the bottom part 34 is substantially the same as the toe part of the paralyzed person in the extended state, the toe part 31 is compressed by the toe part 31 when the toe part 31 is in the extended state. It will not be done.

  Fourthly, in the walking assist system 100, the sole unit 22 can be made of more various materials. The bottom part 34 of the toe part 31 has such rigidity that it does not deform with respect to the force from the user's foot. With such a configuration, the force from the toe of the paralyzed person is not transmitted to the sole unit 22 of the sole frame 20. Therefore, even if the sole unit 22 is made of a soft material, the load sensor can more accurately detect the force applied when the sole unit 22 contacts the ground.

  In addition, the walking assistance system 100 has the following effects.

  A paralyzed person can easily attach and detach the walking assist system 100 without taking an unreasonable posture. In wearable robots that assist the walking of general paralyzed people, and long lower limb orthoses that assist the paralyzed person's standing legs, all the components of the orthosis are attached in a fixed state, so when wearing The paralyzed person needed to take an unreasonable posture. This is due to the fact that the wearing tool of the brace (particularly, the foot part serving as the base of restraint) cannot be divided. Therefore, a paralyzed person with a high degree of paralysis, such as a severely paralyzed person or a hemiplegic person, may not be able to wear the brace.

  However, in the walking assist system 100 according to the present embodiment, the inner shoe 30 that wraps the foot of the human body and the sole frame 20 that supports the weight can be freely divided. For this reason, as shown in FIGS. 6 and 7, a paralyzed person can wear the inner shoe 30 on his / her foot. The inner shoe 30 can be easily fixed on the surface of the sole frame 20 by the belts 23 and 24 of the sole frame 20. As described above, the paralyzed person does not need to take an unreasonable posture and can wear the walking assist device 10 by a simple wearing method. For this reason, the walking assistance system 100 can be said to be a wearable robot suitable for practical use.

  In the walking assist system 100, the sole frame 20 can be fixed to a paralyzed person's foot firmly and without causing pain to the human body so as not to come off the foot during walking. If the restraint of the foot on the sole frame 20 is too strong, the foot is damaged. Conversely, if the foot is too loose, the sole frame 20 cannot support the weight. In general long leg braces, feet are fixed to a frame with a belt, and shoes are worn and tightened from above. Therefore, the force from the belt is often applied to a specific part of the foot, and hurting the foot has existed as a defect of the foot part in the long leg brace.

  However, in the walking assist system 100 according to the present embodiment, the foot is wrapped around by the inner shoe 30, and the foot is fixed on the surface of the sole frame 20 by the belt from above, so the pressure applied to the foot is dispersed. Thereby, while restricting a leg | foot firmly, the damage which arises on a leg | foot can also be suppressed.

  The walking assist system 100 can easily finely adjust the opening angle (walking angle) of the toe of the inner shoe 30. Since there are individual differences in the opening angle of the toe during walking, fine adjustment of the opening angle of the toe of the inner shoe 30 according to the person is required. In general long leg braces, each person is customized by bending the frame according to the opening angle of the toes. Therefore, there is a problem in the foot that the paralyzed person cannot finely adjust the opening angle of the toe of the long leg brace.

  However, in the walking assist system 100 according to the present embodiment, the inner shoe 30 can be easily moved with respect to the sole frame 20. Thereby, the position of the inner shoe 30 on the sole unit 22 can be easily changed. Therefore, even if there are individual differences in the opening angle of the toes and the walking angle, the change by the paralyzed person can be easily executed.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention. For example, the inner shoe 30 may be fixed in advance to the upper surface of the sole unit 22 (the upper surface of the upper sole plate 221). The inner shoe 30 may not include the heel covering portion 32. The inner shoe 30 may have a sandal shape without the side surface portion 33 and having only the toe portion 31 and the bottom portion 34 connected thereto.

  On the upper surface of the sole unit 22 (the upper surface of the upper sole plate 221), only the toe portion 31, the front side surface portion 33a, and the front bottom portion 34a may be provided as attachments to be attached to the paralyzed person's feet. Furthermore, on the upper surface of the sole unit 22, only the toe part 31 and the front bottom part 34a directly connected to the toe part 31 may be provided. The paralyzed person can suppress the contracture of the foot by placing the foot on the upper surface of the sole unit 22 and inserting the toe into the wearing device.

  The toe portion 31 does not cover the entire toe of the paralyzed person, but may be large enough to cover only the joint portion of the toe. Even in such a configuration, a contracting force on the paralyzed person's foot is suppressed by applying a force to the upper side of the sole unit 22 to the toe of the paralyzed person.

  However, the toe of the paralyzed person has not only the toe of the toe extending, but also the sole part of the foot F in contact with the ground is in substantially the same contact with the surface of the upper sole plate 221 of the sole unit 22. The state is preferred. This is because the load of the paralyzed person is applied relatively uniformly from the entire sole to the shoe sole, and the load sensor can more accurately detect the load between the paralyzed person and the ground contact surface.

  The toe portion 31 or the like may be made of a soft but elastic material such as rubber, instead of a rigid material. That is, the toe part 31 and the like may be any material having an elastic force enough to bias the contracted part of the toe of the paralyzed person toward the bottom side.

  On the sole unit 22, the part for fixing the inner shoe 30 is not limited to a belt, and may be a band such as a string. The inner shoe 30 can be fixed by sandwiching the inner shoe 30 between the sole unit 22 and the center portion of the band with such a band and fastening the inner shoe 30 to the sole unit 22 side. Alternatively, the inner shoe 30 may be bonded to the sole unit 22 by providing a hook-and-loop fastener on the sole unit 22 and the bottom 34 of the inner shoe 30.

DESCRIPTION OF SYMBOLS 10 Walking assistance apparatus 11 Controller 12 Orthosis 13 Upper thigh orthosis 14 Knee joint 15 Connection bar 16 Link 17 Lower leg orthosis 18 Ankle joint 20 Sole frame 21 Link 22 Sole unit 23, 24 Belt 30 Inner shoes 31 Toe part 32 Knee covering part 33 Side surface 34 Bottom 100 Walking assist system 221 Upper sole plate 222 Rubber frame 223 Lower sole plate

Claims (4)

A walking assistance system comprising a walking assistance device and a wearing tool worn by a user of the walking assistance device on a foot,
The walking assist device is:
An orthosis worn on the thigh;
A foot connected to the orthosis and in contact with the ground;
A detection unit for detecting a force applied when the foot part contacts the ground;
A controller for controlling the movement of the appliance according to the detection result of the detection unit,
The wearing device has a correction unit that suppresses contracture by urging a contracture portion of the toe of the user toward the bottom side of the wearing device, and maintains an extended state of the toe.
Walking assistance system. The straightening part covers the entire toe of the user,
The walking assist system according to claim 1. In the wearing tool, the height of the correction portion from the bottom is substantially the same as the height of the toe in the extended state of the user.
The walking assistance system according to claim 1 or 2. The bottom portion of the wearing device has a rigidity that does not deform with respect to a load applied from the user's foot,
The walking assist system according to any one of claims 1 to 3.

Images