JP2013233406A - Walking assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking device which helps to reduce loads on artificial joints, artificial bones, and artificial muscles absorbing loads on leg joints and muscles, in walking movement.SOLUTION: Walking assist device absorbs and reduces loads and also functions as a muscle-reinforcing brace under enclosure pressure, by the following structure: linear electric power generating bladder shoes and shoes only with a bladder, absorb weight by electric power generation and fluid compression; ring ball artificial joints for the knee joints, the hip joints and the shoes heel joints are connected to the thigh integrated with the ring ball artificial joints for the knee and the crotch continuously connected to the linear electric power generation by the shoes and the bladder-enclosing pressure via a lower-leg pipe slide frame; the ring ball artificial joints include ring bladders, bellows and an electric servomotor; and in a thigh and lower-leg pipe slide frame and a hose cylinder, spring pressure and the bladder respectively work as artificial frame bone and artificial muscle.

Description

The present invention relates to a walking device for lower limb joints, muscles, and intervertebral discs.

There are simple supporters for protecting the lower limbs, upper limb joints, corsets, etc., assistance, assistance, correction tools, biped walking, powered suits that use external power applied to the body from research and development of various robots, handicapped care assist equipment Have been devised, and assistive devices that carry heavy military loads have been tested. Elderly and healthy people can relieve leg fatigue from walking exercise, protect and correct affected areas such as joints and muscles, and can be shared with and easily used by people with lower limb walking disabilities. A simple walking combination that can be combined into a practical walking assist joint and muscle burden reducing device is expected to be realized.

JP 2011-143211 LINK MECHANISM, WALKING ASSISTANCE DEVICE Patent 4989492 Linear shoes In the above-mentioned document, the link mechanism and auxiliary device of Patent Document 1 are configured to receive the load of walking with the spring pressure of the artificial joint, and the thigh and lower leg frames are composed of feet, knees, and hip joints. The artificial joints are connected and fixed, and the motion of each bone and muscle is considered to be received by the spring material of the artificial joints. The linear shoe of Patent Document 2 is floated in the outsole with a bladder (spring) that connects two front and rear linear power generation equipment, and alternating power generation is charged to the secondary battery and spring pressure without power generation equipment. Cushion shoes and shoes with exchangeable hook-and-loop fasteners for the sole and upper, or linear charging cases with linear power generation equipment, spring equipment and rechargeable batteries combined in a hard case.

The present invention is a joint muscle buffer device for the lower limbs, which is an integral equipment in combination with various shoes or the linear shoes, and relates to the muscles and joints of the walking and running feet to knees, knees to hips, and lumbar spine. It is a walking assist device that each load equipment absorbs load load at the same time, it can double the walking and running distance from wearing, it is discarded on the ground of walking and exercise and becomes a muscle load, and the energy that consumes physical strength becomes the energy that becomes actual operation It was changed and the cushion was equipped. The combination of various cushioning equipment consists of knee joints, hip pelvis and spinal pelvis made of artificial bones and joints, used as shock absorbers for artificial muscles, ring pradas that communicate with the fluid pressure of bladders of linear shoes, bellows and electric Ring ball artificial joint of motor, thigh and lower leg are equipped with male and female slide structure pipe slide frame, piston frame with spring frame artificial frame bone and artificial muscle, hip to knee thigh and knee To a single walking assist device that separates the upper and lower parts from the knee.

The artificial joint is supported by an elastic ring ball joint that supports and protects the articular cartilage cushion at an appropriate interval, and various spring materials that are artificial muscles in the pipe slide frame. A shock absorber structure was adopted. The artificial joint that uses the linear power generation bladder shoes of Patent Document 2 as a power source and a fluid pump, the electric power of the artificial muscle, and the fluid actuator are in the configuration of a powered suit, assisting walking, running, working, rehabilitation tools, and partial function enhancement The sports equipment and the overall equipment of the lower limb joint muscle shock absorber.

The body aims to be a leg joint muscle cushioning device that can easily wear and unload bones and muscles with age and reduce the load on leg muscles during walking. It is also used for time work, mountain climbing, etc., and constitutes a device that reduces the burden on walking legs and waist, and the linear shoe heel of patent document 2, linear power generation at the toe part, and the bladder equipment that communicates are kicked from the landing The knee joint and muscles are alleviated mainly from the heel joints, and the knee equipment cushion and muscle load cannot be absorbed with the bladder equipment of this shoe alone. The thigh part is made of an artificial frame bone bladder that acts as a shock absorber that receives a load before the articular cartilage part, and a ring ball artificial joint is made into an artificial muscle that expands and contracts various spring materials, and the articular cartilage part is a large area ring bladder (10a ) Receive with an artificial joint, It was constructed the engineering of bone and muscle and joint.

The artificial joint of this ring bladder (10a) and the artificial muscle of the bladder (10) in the frame bone communicate with the walking fluid pressure bladder of the shoe, and the compression of the tread pressure is applied to the load of the pelvic hip joint and knee joint in the pipe slide frame. The spring material suitable for the weighted impact to be the artificial muscle to be provided repels from the compression absorption with the rod piston, and the expansion and contraction of this spring material is a structure integrated with the joint bone and ligament, various muscles, for example, the load related to knee cartilage Using a spring (composite material of steel spring and rubber, bellows bladder, linear magnet, etc.) that absorbs the load of each muscle by placing a few millimeters of cartilage between the top and bottom with a buffer and proper spacing It was.

The elastic ring ball prosthesis of the male ring frame that fits into the female housing joined with the pipe frame is a male and female prosthetic joint elastic rubber material whose ring surface on the circumferential surface is significantly larger than the knee and hip (cushion) cartilage area. When using spring material (electrical and fluid actuators) that strongly absorbs and absorbs loads and assists in walking while swinging and is strong on the male and female ring frames of the hips, it becomes walking muscle strength and artificial weight is applied to the joint muscles. It was absorbed by muscles and used the linear power generation, the power generation of bladder shoes and the bladder pressure from walking.
The spine orthosis provided on the lumbar frame is a hard frame frame that sandwiches the spine of the back to the left and right as a support hinge cradle, and a plurality of buffer spring materials are alternately sandwiched between a plurality of hard rubber hoses and a hard rod hose is passed through the core material. The adjustment of the compression spring pressure is the adjustment of the proper interval of the intervertebral disc, the cartilage part of the bolt screw adjustment provided on the rod hose is configured with an appropriate load, and the abdomen and thigh are integrated with the supporter and the pelvis frame fixed to the corset A rubber hose cylinder with a rigid frame in the spinal column of the spinal column orthosis.

The pelvic joints and hips centered on the pelvis, the fixed pelvic frame that cushions the hip joint, the knee joint, the hip joint, each bone and muscle, the shoe, the knee joint, and the pelvic hip joint are made of elastic rubber ring rubber balls It is made into a universal joint with a thin width surface and a ball-shaped artificial joint with a shoe dwarf ball, and communicates with the bladder that is linked to the walking power generation of the linear power generation bladder shoes of Patent Document 2, and this charging pocket battery is used as a power source, with 3 degrees of freedom. The circular ring ball artificial joint housing has a spring material and an electric servo motor, or a fluid bellows rotating back and forth, and the male piston frame of the artificial muscle has screw adjustment and selection of the spring material of the head chamber, One spring pneumatic shoe pneumatic bladder communicates the artificial joint, artificial muscle bellows and bladder, and the shoe bladder, and the alternating bladder pressure and volume of body movement. Becomes the forward force, and the interlocking capacity and pressure adjustment valve and bellows aperture, the electric servo motor on the waist, the use of the bellows on the knee or the opposite configuration, all the bellows configuration, or the coil spring material The appropriate artificial joint and artificial muscle to be used together with the spring material and combined with the composite material.

In the walking speed assist device for the elderly and handicapped, a spring spring is provided in the elastic rubber ring frame of the ring ball artificial joint housing of the pelvis hip joint part and knee joint for feeding the foot, and the fixed part of the female part sliding frame The structure is connected to the housing, or the structure is either a tension steel spring or rubber on the housing, and the foot is lifted from the standing posture and at the same time the spring is returned to the load. The ring frame is configured to automatically swing forward, and the load difference of each steel spring between the pelvic hip joint and knee artificial joint is appropriate, and the hip joint from the waist and the artificial frame bone that assists walking speed, It becomes a light and simple walking swing device with muscles.

The above-mentioned electric servo motor for rotationally driving the ring rubber frame of the ball joint of the hip and crotch ring ball artificial joint is provided in the housing male and female frame frame, the coil stator is provided in the male frame to be fixed, and the magnet rotor is provided in the female housing frame. The frame motor, the resistance of the sliding surface of the ring frame is adjusted by screw compression, and the electric servo motor linked to the walking motion is switched to forward / reverse sensorless switching for current sensing, according to the load of forward and reverse motion, The suspension of landing on both feet shall be free of the motor load of the unloaded motor, walking, running and stairs, mountain climbing, mountain climbing mode switching and bicycle pedal assist mode, from the carrying battery of the linear power generation shoes to the front and back of the brushless DC motor Rotation speed is controlled by inverter vector, linked to walking speed, assisting walking speed, Sliding adjusted Ngugomu frame, were of motor rotation can be fixed.

A device for cushioning and reinforcing an artificial frame bone of a lower limb (101, 102) according to claim 1, wherein the male and female ring ball artificial joint (Q1), a small spherical ball artificial joint (Q), and a ring bladder (10a) are provided. This three-degree-of-freedom ring ball prosthesis consists of a mid-rigid composite band frame (I) from the waist to the crotch, a male ring elastic buffer frame fixed to the middle rigid upper and lower frames (J), and a female ring. The structure of the sliding cover housing that fits with the frame, both of which supporters and corsets (B) are fastened with hook-and-loop fasteners or bands (H), and the thighs of the hip joint that are joined around the ring artificial joint of the knee, The pipe slide frame (1) of the lower leg of the shoe is a variety of spring materials (G, G1, G4) that are inserted into the head chamber by inserting a male or hose rod piston (9) into a hard composite female pipe. ) To a rod piston with length adjustment, expansion and contraction, and freedom, The use of a shock-absorber artificial muscle that absorbs the load of the row at the same time as the shoe, or a flexible medium-hard hose cylinder (A) that is fastened with a band and a hook-and-loop fastener at the middle of the thigh and lower leg, Various spring materials (G, G4) in the head chamber are compressed with a male rod hose, and any artificial frame bone and waist ring artificial hip joint outside to knee outside ring ball artificial joint are connected. Combined with the ring inner joint of the knee inside and the inside of the dwarf ball artificial joint (Q), or both sides of the left and right knees and the heel artificial joint are linear power generation bladder shoes (7 ) Or the joints of the various cushion shoes (8) are integrated, and the structure of the joint of the artificial joint is a structure that can adjust the length of the artificial frame bone and adjust the spring to reduce the load on each joint cartilage part , The thigh frame (101) between the knee joint from the pelvis hip and knee joints (102) to the individual division equipped between shoes ankle joints were constructed muscle buffering reinforcement device of lower limb prosthetic frame bones and artificial joints.
That is, the weight of the linear power generation bladder shoes is an alternating compression of about 10 mm of the bladder vertical stroke communicating with the lower part of the linear power generation equipment, the weighted compression stroke is absorbed by the linear power generation, and the battery is a walking charge shoe, or It is a linear power generation equipment that can be removed and shared with a compression equipment of about 20mm only with fluid bladder equipment, and a rigid composite pipe slide frame with shoes and ball joint connection for weight generation and compression of the bladder is thin, square, round or various pipes Use one or more hard and male pipe frames of various hard materials, male pipes and hard rubber rod hoses, the left and right end ports of hydraulic / air / water pressure hoses are connected to various spring material attachment member ports and communicating pipes. The ring ball prosthesis with a high degree of freedom fits the female frame with the male frame of the wide medium-hard O-ring rubber (2). The composite frame is made of a slidable material that does not interfere with walking, such as metal plating, and the ring rubber uses a sliding rubber or elastomer material. Inside the ring frame, a steel spring spring, various actuators and motors are used. The mounting position. The pipe slide frame absorbs the load of muscles and knee joints from the ankle joint with various springs (buffer rubber, elastomer material, steel coil spring material, combined steel plate spring material, steel coil spring material in the buffer rubber), artificial frame bone and artificial muscle Thus, the knee joint cushion part is an artificial joint that is supported and buffered by a shock-absorbing rubber ball joint, and constitutes a walking assist joint muscle buffer device.

The small ring ball prosthesis (Q1) in which the ring bladder (10a) is inserted into the outer ring elastic material outer frame and the inner hard circumferential frame of the crotch and knee to be fixed is a middle hard composite of the crotch from the waist. It is fixed to the material band frame and the upper and lower rigid frames in the knee, and both supporters and corsets are fastened with hook-and-loop fasteners or bands. This ring bladder is connected to the sole equipment sealed with a press-fitting valve and to the shoe bladder. Either way, the female ring frame is fitted into a three-degree-of-freedom ring ball prosthesis with a sliding adjustment cover housing that absorbs the walking load of the articular cartilage of the crotch and knees. As a muscle reinforcement device, a control device was provided, and a ring ball artificial joint composed of this ring bladder was constructed. That is, according to the present invention, the ring bladder is the same as the tube pressure on the tire frame of the car, provided with a press-fitting valve, and the shoe bladder communicates with the ring bladder diameter of 20 mm, 70 cm ³ with a gauge pressure of 0.15 MPa, The corset and the band are fastened to replace the joint cartilage at a tread pressure of 2.0 MPa, and are completely fastened by the upper and lower fixing devices.

The ring ball prosthesis (Q1) is provided with any one of a spring spring (N), a tension steel coil spring, and rubber (O) in the housing cover (P) of either the crotch or the male and female to be fixed according to claim 3. Fasten to the mid-rigid composite band frame from the waist to the crotch and the rigid upper and lower frames in the knee. Both supporters and corset braces are fastened with hook-and-loop fasteners or bands. The female ring frame and mating artificial frame bone are used as a reaction force that swings forward, and the spring load of the three-degree-of-freedom artificial hip joint and knee prosthesis is set to suit individual differences, and the foot moves forward from the landing A ring prosthesis equipped with a spring steel spring is used to assist the handicapped, assisting the disabled and the elderly, and assisting the walking of healthy individuals. In other words, when walking, the position of the center of gravity moves to the landing foot when the foot is lifted, and is balanced by swinging one foot, upper body, and arm, and the weight of the raised foot moves from the pelvis to the landing foot. The raised legs are in the form of a pendulum. This steel spring ring ball prosthesis can be used either as a separate device for the crotch and knees, or as a walking speed assist device integrated with the artificial frame bone. It becomes a rehabilitation and walking assist device, and also assists walking of elderly people with weak muscles. It can be adjusted with a simple spring, enabling long-term walking of healthy people. Steel spring artificial joints, artificial frame bones, and artificial muscles It consists of walking speed assistance and joint muscle buffer device that absorbs load with spring pressure of various spring materials of linear and bladder shoes.

The ring ball artificial joint (Q1) of the electric servo motor (R) provided in the male and female housings of the crotch and knee to be fixed according to claim 4 is from the waist to the mid-rigid composite band frame of the crotch and the mid-rigid upper and lower frames of the knee. The stator coil (S) received by a spring-floating yoke at the bottom of the male ring frame, and a magnet rotor integrated with the female ring housing frame facing each other U) is a free center bearing and uses a brushless DC motor with a rotating housing that fits with a male and female ring frame of 3 degrees of freedom, and a portable pocket battery that is shared with the power generation of the linear power generation bladder shoes (7) and external power is used. The electric motor is controlled by the power supply, and when the landing is stepped on, the forward / backward movement and stop movement are detected, and the controller (W) performs current switching for automatic sensorless forward / reverse sensor control. In conjunction with the operation of the artificial frame bone from the crotch-to-knee and the knee-to-foot fitting with the female ring frame of the magnet rotor, it is either divided or integrated, and the landing load is on the sliding surface of the male and female rings A ring artificial joint equipped with an electric servo motor that has a control device linked to the movement of the joint and muscles, and has a walking speed and torque assistance, with a configuration of motor torque control that turns unloaded when the foot is lifted Configured.
That is, the artificial joint ring ball joint fixed to each leg joint has a configuration of frictional rotation of elastic buffer rubber with looseness of 3 degrees of freedom that is restricted in the left and right and diagonal directions, and supports the circular ring male frame frame to the human body joint part. Inverter vector control brushless DC flat type motors that are fixed and magnet rotors are separated from the stator by a coil spring at the bottom of the male ball ring frame fitted with the female housing frame, and integrated with the axis of freedom, The housing integrated with the magnet rotor is a rotating bearing. The housing is made of steel for the bearing and the base part that matches the load, and is made into a rotating or fixed yoke type.Each lower limb joint is equipped with an electric servo motor with a freedom of movement in the front-rear and up-and-down directions and a limited movable range. The auxiliary device for walking speed of the artificial frame bone that is interlocked with the ring artificial joint is configured.

The ring ball prosthesis (Q1) provided with the bellows (L3) of the compression coil spring inclusion in the male and female housings of the crotch and knee to be fixed according to claim 5 is formed from Fix to the frame, both supporters and corset braces are fastened with hook-and-loop fasteners or bands, bellows (L3) containing compression coil springs are provided, and the piston rod of the pipe slide frame (1) of the artificial frame bone of the thigh and lower leg The head chamber is equipped with either a bladder (L1) that conducts through the same communication pipe or any of the various spring materials (G1), and communicates with the saddle type bladder (10) before and after the linear power generation bladder shoes (7). The pressure capacity of the bladder's sealed fluid is fixed to both the left and right ends of the male ring frame and female ring housing frame with three degrees of freedom, and this bellows expands by pumping, and the advancement of the artificial frame bone combined with the female ring housing The compression time of the bladder (10) before and after walking landing is the ring artificial joint, the bellows of the artificial frame bone (L3) and the expansion of the bladder, and the flow rate is adjusted by the flow control valve (L2) respectively. The upper part of the bellows (L3) is configured to absorb the weight load on the thighs and lower legs and turn forward, and when the legs are raised, the bellows fluid is compressed by the spring pressure and returned to the bladder. Compression is a walking aid that absorbs the load of the joint cartilage and each muscle of the hip, knee, and heel, and a muscle reinforcement device that is proportional to the bladder's enclosed air pressure or liquid mixing capacity. Coil spring that uses either crab electric servo motor and spring equipment (N, O) together with selection, uses magnet or electromagnet (G4) for artificial frame bone, uses power generation of shoe treading pressure and fluid pressure of bladder Consists of internal bellows A ring ball artificial joint was constructed. In other words, the linear power generation bladder shoes enclose appropriate air pressure in the bladder that floats the field mover, and the hips, knees, thighs, and lower leg bladder artificial muscles are expanded and contracted simultaneously and individually. The expansion force is almost the same as the vertical pressure, and the force is proportional to the pressure.

The spinal disc orthodontic device (103) of the rubber hose cylinder (A1) for correcting the spinal disc of claim 6 includes a supporter and a corset (B) for the pelvic rigid composite frame (I) that supports the spinal disc at the back of the pelvis. Fastening with a hook-and-loop fastener or band (H) at the base of the thigh, using the rigid composite frame (I) part on the back as a support base, sandwiching the spinal column from side to side, and supporting and reinforcing the spinal column, Various repulsive springs (G1) are sandwiched between the composite frame and the left and right rubber hoses (D) that are hinged, and the hard rod bolt (D1) is fitted into a bolt fastening structure. The repulsive force is adjusted by adjusting the expansion and contraction of the bolt screw of the hard rod so that the cartilage part is properly spaced, and the correction and reinforcement structure integrated with the hard composite frame, or multiple long steel coil springs integrated with the corset and supporter Both are hard rods Fitting and wearing, the coil spring material is shrunk and the rigid composite frame in the pelvis is fixed to the abdomen and thigh, and after installation, the spring pressure is loosened by adjusting the screw and the proper interval is set, and the lower limb joint, A spinal intervertebral disc correction rubber hose cylinder spine correction device, which is either integrated with a muscle cushion reinforcement device, was constructed. In other words, bones, joints, and muscles decline with age, spinal discs become hernia symptoms, current support is supported with a corset, and orthosis is correct, and severe surgery is surgery. Supporting the affected spinal joint with a cylindrical cushioning rubber material, steel repulsion coil spring material, cushioning rubber and steel spring composite material suitable for each person, and appropriate work contact of the healthy person and the load contact of the spinal disc bearing the heavy load It consists of an assist suit and a spine orthosis for protection and correction.

The human body has ligaments, tendons, and muscles connected to the outside of the bones, and bipedal walking and multi-legged robots use tube muscles, cylinders, and electric motors that transform muscles by fluid pressure. In addition, a power battery, an oil pressure unit, and a control device are required for each. In the application of walking and exercise of the human body according to claim 1 of the linear shoe of Patent Document 2, the present application becomes a load and load on muscles and joints, and changes unused weight to electricity and fluid energy. The power and fluid pressure of the linear power generation bladder shoes were used for artificial joints and muscular auxiliary equipment, and the artificial joints and muscular assisting equipment to be externally attached to reduce and absorb the burden on the lower limbs were used.

The CFRP artificial frame aggregate is thin and can be processed into various calibers and shapes, and the rubber hose is a flexible hose cylinder of either medium-hard or hard-soft material, and the lower limb device (100) and shoulder of the spine and pelvis frame Using ring artificial joints to frame, upper arm and elbow, upper body device (104) of artificial muscle using electric servo motor, bellows cylinder, ring ball artificial joint ring buffer rubber with various spherical elastic buffer rubber ball joints An electric servo motor or multiple cylindrical linear motor pipe cylinders can be combined and used for shoulders, elbows, and wrist joints with a degree of freedom, and it becomes a power assist suit for the upper body. It will be the best for heavy work. There are many combinations of the pipe slide frame and various spring materials, and the electric servo motor is composed of a brushless DC motor. However, there are many combinations of internal structures and field elements, and various servo control devices are used. The use of a sensor makes it complicated and the structure is as simple as possible.

The energy of walking motion absorbs the load by muscles and joints and causes fatigue, and the purpose of this application is to absorb the load by a spring material that replaces the muscles and convert it into electric power and fluid pressure to incorporate it into walking power. Thus, the load on the lower limb is converted into mechanical force. A muscle buffer reinforcement device that converts load fatigue energy, which was naturally discarded, into effective energy. And wearing linear shoes, artificial frame bones, and ring artificial joints will reduce joint and muscle fatigue, naturally reducing the burden on the heart and lungs, making this device a simpler, thinner and easier to wear out. If you keep it in place, the effect will be safe, healthy and convenient, the shape of the current shoes will change, an integrated thinning artificial joint that closely contacts the body, an artificial frame bone and an orthosis, and a knee Centered on the top and bottom, shoes were divided into equipment.

Overall view of wearing shoes, artificial joints and pipe slide frame from pelvic frame and lower limbs. [Example 1] (FIG. 1a) Side view of an artificial joint pipe slide frame on the outside of a hip joint. (b figure) The front whole view of the artificial joint pipe slide frame of the knee joint inside and the shoe collar joint. Detailed view of crotch and knee ring bladder. [Example 2] (Fig. C) A wearing diagram of an inner ring bladder artificial joint of a knee joint. (d) Cross-sectional side view of crotch and knee ring bladder The whole figure which equips the male ring of an artificial joint housing with a torsion steel spring. [Embodiment 3] (Fig. E) Mounting view of a spring steel spring on the housing. The whole structure figure which provides a slide frame and an electric servomotor. [Example 4] (f) Perspective view of a knee ring ball artificial joint brushless DC motor. (g) Detail view of crotch and knee brushless DC motor. The whole figure of the composition of the bellows equipment of the coil spring inclusion of the crotch and knee artificial joint using air pressure. [Example 5] (Fig. H) Detailed view of knee and crotch. (Figure i) Corset on knee prosthesis, zipper with supporter, wearing figure with band. Overall view of spine intervertebral disc reinforcement and orthodontic rubber hose cylinder installation. [Example 6] (Fig. J) Detailed view of intervertebral disc protection and reinforcement equipment. (k diagram) Detailed side view of spine intervertebral disc equipment and muscle shock absorber for artificial frame bone. (l) Detailed view of rubber hose and spring sandwiching the spinal disc. (m) Schematic of a single steel coil spring of the spinal disc. Detailed view of the inside of the linear power generation bladder shoes. [Example 7] (FIG. N) Schematic of a bladder on the left foot of a shoe. (Figure o) Detailed view of the linear power generation equipment inside the shoe. Circuit diagram from linear power generation shoes (p diagram) Circuit diagram from linear power generation battery charging equipment to servo motor.

This will be described based on the drawings and reference numerals.
It is fixed to the mid-rigid composite band frame of the crotch from the waist and the rigid upper and lower frames of the knee described in [Fig. 1]. An electric servo motor (R) is provided at the joint, and a spring spring (N), a ring bladder (10a), and a bellows (L) are provided at the inside knee artificial joint, or each of them is configured to be freely combined separately.

Muscle joint shock absorbers (101, 102) for artificial joints and artificial frame bones from hips to knees and knees to heels, heels in the sole of linear shoes in (o), linear power generation equipment and bladders on toes, walking weight The power generation equipment that absorbs the load of the ankle joint and related muscles by alternately compressing the fluid of the heel and toe bladder that communicates the power generation load of the power generation, and the shoes that can be exchanged with a single bladder shoes and various spring equipment In addition, it is also a shoe that can replace various sole parts and various upper parts with hook-and-loop fasteners and bands. Linear shoe heel sole, knee joint, thigh and lower leg supporters, and two left and right rubber elastic ring ball artificial joints fixed to the corset are combined with a male-female composite female pipe frame, thin elastic buffer The female ring is made of slidable elastomer and rubber elastic material, and the male cover ring is opened and pressed.
A screw adjusting bolt (4) is used for fitting and removing and sliding strength on a thin slidable frame with no tools.
The knee joint and shoe heel joint shown in (b) are the knee inside artificial joints, with the inside part of the heel fitting frame and the inside part of the knee joint supporting the walking load as an artificial joint of a free ball joint. And one or two pipe slide frame structure, the rod piston is inserted into the hard composite pipe frame that is integrated with the female ring housing in the upper and lower joint ball joint male ring rubber frame, or the rod piston of medium hard rubber hose material The two are combined in the opposite direction, and the spring material suitable for each person's muscle strength is sandwiched between the upper and lower pistons in one and two upper and lower head chambers. This spring pressure is light, thin and thin that fits into the human body, which is a linear generator for walking movement, a ligament that expands and contracts with the joints of the legs and knees of the bladder, a shock absorber that absorbs and absorbs muscles, and an artificial muscle for reinforcing muscles. It is a single rigid composite slide pipe frame with a sticky cylinder and a rectangular artificial frame bone that can be mounted inside and outside the pants.
The middle hard rubber hose rod piston that can be exchanged with the male pipe frame in Fig. (a) is a free-bend type, and the length of the male rod-free piston and the spring strength and weakness material must be exchanged and adjusted for packing expansion and contraction. The ball joint / pipe slide frame can be used to assist the walking of the knee joint, lower leg muscles and ankle joints as appropriate, consisting of shoes and knee outside parts, or artificial joints, artificial muscles and artificial frame bones on both sides. The joint muscle buffer device was constructed.

The material of the rigid pipe slide frame is aluminum alloy material, plastic material such as thin and light urethane, polyamide, etc., using stronger CFRP material, with a specific gravity of 1.7, light and various shapes as thin as 2mm to 3mm Then, make a square, circular, or a wide pipe shape with various pipe shapes, or make a plurality of thin and sticky pipe frames round to fit the shin muscle, insert the male pipe into the female pipe, or connect the high-pressure hose to the male In place of the pipe, the male rubber rod hose is made up of attachment members for various spring materials at the right and left end ports of the medium-hard hose of hydraulic pressure. Various spring materials (buffer rubber, elastomer material, steel coil spring material, combined steel plate spring material, steel coil spring in the buffer rubber) in the upper and lower crus pipe frame, or one central piston head chamber centering on the ring ball of the knee joint A shock absorber that absorbs the load on the lower limb by linking the looseness and expansion and contraction of the knee, foot joint, bone and muscle with the spring pressure by inserting a spring material suitable for each person's muscle strength The structure is such that the expansion and contraction of the steel two-plate spring integrated molding is smoothly and silently absorbed in a urethane gel having a wide elastic width. The appropriate diameter rubber ring integrated with the pipe frame and the ball joint of the small diameter ball ball can be fitted and removed without tools, and the length of the male pipe frame is available in various lengths, and the slide structure A pipe frame artificial frame bone, various spring artificial muscles, and a ball joint artificial joint are used. One adult ball joint and pipe slide frame weighed about 300g.

The free-ring ring ball artificial joint has a slidability of a diameter suitable for bending and stretching angles such as seating of the joint and the front and rear and left and right angles and a thick O-ring rubber (2) suitable for weight of adults. This is a rubber ring of a male elastic cushioning material that is attached to a CFRP circular ring frame frame of a bicycle wheel tire with a thin width of rubber and elastomer elastic cushioning material. The round frame is metal-plated or welded with CFRP material or slidable resin (ethylene tetrafluoride) .Grease is used as appropriate, and the female frame material of the left and right ball joints or the male ball material frame is The upper and lower supporters of the knee joint, the band of corset, and the hook-and-loop fastener are fixed and fixed. One type of left and right shoe foot joint is a small-sized male ring ball or spherical ball with a wide width. (Q ), The knee joint is also the same inside frame, the elastic cushioning elastic ball is male, and the female CFRP pipe slide frame is fitted and detached.
The lower leg pipe slide frame from the knee joint, various spring materials compressed with a hard hose are in a state of strength to receive weight when standing on both feet in shoes standing position, and acceleration weight for walking and running is 1.5 times the weight From 2.5 to 65 times, a person weighing 65kg would be 100kg to 165kg. From the standing posture to the forward landing to the center-to-rear acceleration weighting, the linear power generation bladder shoes of literature 2 and the single bladder and the shoes of various spring materials absorb the load, the power generation of the toe part and the bladder It is a bladder with a power generation equipment that fits 1.5 times the weight with a stroke of about 15 mm, using spring pressure, absorbs about 30% of the muscle load with shoe spring pressure, and about 30% in the ring artificial joint The electric motor and air bellows pressure are used for forward force.

[Fig. 2] shows a small ring ball artificial joint (Q1) of the crotch and knee to be fixed from the waist to the mid-rigid composite band frame of the crotch and the mid-rigid upper and lower frame of the knee, both supporters and corsets Fasten the brace with a hook-and-loop fastener or band, insert the ring ring bladder (10a) into the male ring elastic material outer frame and the inner hard circumferential frame, and seal either the single equipment, the shoe bladder or the communication equipment A female ring frame is fitted, and a three-degree-of-freedom ring ball artificial joint of the cover housing with sliding screw adjustment is absorbed, absorbing the load on the articular cartilage of the crotch and knees, walking assistance and high pressure encapsulation are The female ring frame (Fig. C) is a muscle reinforcement device, and has a structure of screw attachment / detachment and load screw adjustment bolt (4), and a bicycle tube air inlet (10b) is provided inside the circumferential frame. The pressure is adjusted, and the communication pipe with shoes A ring ball prosthesis composed of this ring bladder was constructed with a dynamic adjustment valve and a control device. Ringuburada is obtained by the car tire tube in a small, also footwear bladder and communicating the Ringuburada diameter 20mm assumptions knee, sealed gauge pressure 0.15MPa to 70cm ^3, articular cartilage at a pressure 2.0MPa the trampling Instead of the part, the male ring elastic material frame also expands due to the expansion of the press-fitted ring bladder, and the female ring frame for sliding adjustment is adjusted with screws. The corset and the band are fastened to the appropriate distance between the cartilage portions by walking rotation, and are completely fastened by the upper and lower fixing devices. The high-pressure enclosure is configured to receive the load of the articular cartilage portion over the entire circumference of the bladder, with the entire contact surface serving as the pressure receiving surface, and simultaneously absorbs the artificial frame bone and muscle loads of the male ring housing. It is configured to be received by a frame, and walking assistance and high-pressure enclosure are used to increase walking muscle strength and are shared with shoe bladders.

[Fig. 3] shows an artificial ring ball artificial joint (Q1) consisting of a spring spring (N), tension steel spring, and rubber (O) that fits each person's muscle strength inside and outside the pelvic hip joint and knee joint. The frame bone walking device is fixed to the middle rigid composite band frame from the waist to the crotch, and to the rigid upper and lower frames of the knee. Both supporters and corset braces are fastened with hook-and-loop fasteners or bands, and alternate walking is raised. The spring is incorporated into the male rubber frame of the ring rubber elastic ball of the ball joint of the thin joint of the hip joint pelvis frame, and the joint of the female surface of the pelvis frame and knee joint is fixed. The cover frame was a fixed connection part with spring reversal force. In addition, a tension spring and rubber were fitted to the male ring ball frame and connected to the female frame, so that it could be easily detached. The pipe slide frame integrated with the elastic ball male frame does not feel the weight of the leg due to the movement of the center of gravity when the foot is lifted from the standing posture, and it depends on the physical strength and weight of individual differences, but it is a slight spring reaction force for 60 kg people It becomes a hip steel spring artificial joint that swings forward at (3 kg ~ 10 kg), the compression and reversal of the steel spring makes the spring load stronger than the swinging force of the pelvic hip joint, and the reversal force is set when the foot is raised, The tensile load of the spring during landing on one foot and kicking backward is the floor reaction force when the foot is lifted, and the moment of the distance of about 5 cm of the spring in the artificial joint becomes the walking width interval of the shoe 60 cm. The leg muscle strength that compresses the body is less due to the inertia of walking, and the steel spring is configured as an assist suit that increases the walking speed of the physically handicapped and healthy people from the attachment and detachment and replacement and spring load adjustment, and the foot of the foot Artificial The sections any equipment and that of hip, knee prosthesis walking device of the artificial frame bones providing one tensile steel springs and rubber and mainspring steel spring.

[Fig. 4] shows an artificial frame bone walking device that consists of a ring ball artificial joint (Q1) of an electric servo motor (R), and is fixed to the mid-rigid composite band frame from the waist to the mid-rigid upper and lower frames of the knee. Both supporters and corset orthoses are fastened with hook-and-loop fasteners or bands, and the left and right thighs, the pelvic hip joint of the lower leg artificial frame bone, the knee joint, and the artificial joint of the knee joint are limited to three degrees of freedom in the diagonal direction. Inverter vector controlled brushless DC flat motors with male and female rings and ball joints, with different output at the crotch and knee joints that can be made light and thin in the ring frame. The inner rotor frame (U) magnet in the female ring frame with a gap width is used as a universal ball bearing. The male ring rubber elastic cushioning material and the female ring frame are fitted, and the landing load is the friction rotation of the contact between the male ring cushion rubber frame and the female ring. A male and female ring frame of a steel ball bearing table with face-to-face steel that does not become a load on the shaft, becomes a ring ball artificial joint with a degree of freedom, and a multi-pole direct drive motor with any combination of stator and rotor in the opposite combination Axial gap type. Combined with either a rotating or fixed yoke type, combined with a heel ball artificial joint of a linear power generation bladder shoe, the charging pocket battery for walking is used as a common power source for home use, and a joint motor with an output configuration of each crotch and knee, The supporter and corset fixed to the joint movement are fixed, the artificial joint housing cover is fixed to the artificial frame bone, and the pipe slide frame of the artificial frame bone is fitted with the male pipe frame to the frame housing female frame. Or integrated. The magnet rotor inside the female ring frame is driven by the artificial frame bone and the rotor drive of the male housing which are stepped forward, stopped and lifted from the landing, and the rotor drive of the male housing is interlocked.The weighted torque and walking speed are fed back to the controller and reverse switching is performed. The sensorless sensing feedback or forward control combined with current and voltage control is used. The speed of walking and running is the voltage switching related to the rotation speed sensor at the same time as the rotor reverse switching, and the load torque control of the motion related to the rotor is either a gyroscope or a strain sensor switch simultaneously with the rotor reverse switching, Each motion moment has a feedback control configuration.

The thigh and crus are integrated and individually controlled by direct switching linked to the walking and running motors, and the strength and weakness modes are stairs, climbing up and down, and power mode selection for each work motion. The power assist mode for the left and right pedals of the bicycle is a variable torque from the top dead center to the bottom dead center of the pedal. The load is absorbed and reinforced by the bellows and spring pressure of the artificial muscles of the thighs and lower legs, and the hips and knees. The joint motor output drive and load are linked. The joint-linked forward / reverse switch, repeat stop and load and speed are automatically controlled by the controller, and when the walking ability exceeds it, the slope battery where the power of the crotch and knee is superior will charge the pocket battery with regenerative power. did.

(f) is a ring ball prosthesis (Q1) with fixed leg joints with limited 3 degrees of freedom.The ring female frame of the artificial joint housing is fixed to each joint and fixed to the male frame. The inner stator coil (S) is the central axis of the human joint, the rotor (U) is the movable muscle force and the joint bone, and the load of the strength moment is the strength of the rubber sliding contact surface of the male and female ring frame, and this torque is It becomes a rotating artificial muscle. Although the volume of the housing increases, the rotor has a reduced planetary gear ratio, and this planetary gear outer frame is made of a rotating ring cushioning rubber material, which fits into the inner ring frame of the male ball ring frame fitted to the female frame of the ball joint. Combined with a rubber rubber friction rotation configuration, a heavy gap, mountain climbing load, a radial gap type artificial joint for bicycle uphill road loading, fitting and replacement with a male ball ring frame of the same diameter, The supporter and corset fastening frame part can be replaced with various artificial joints, and can be combined conveniently.
The motor output of the artificial joint of the crotch is transmitted to the pelvis by absorbing most of the weight of walking and running mentioned above with each spring shoe and artificial muscle, and kicking from landing is set to the above output mode, kicking with landing, middle and kicking Assuming that the 65 kg person assumed by the shoe power generation and the bladder is stepping on from the damping to the artificial frame bone spring equipment, the crotch electric servo motor is integrated with the human body muscle, kicking out the load of about 40 kg For the walking and running, the knee is used as an auxiliary motor for heavy duty work and bicycles. It was configured to kick out from following. In running and heavy work, the motor load is inevitably increased, battery capacity suitable for each is used, and in the motion where the front and rear operations are irregular, the controller is configured for priority control.

The output and control configuration of the inverter-vector-controlled brushless DC flat motor with output difference between the hip and knee joints in Fig. (g) is housed in each output artificial joint with light and thin housing volume. For example, the range of back and forth rotation of the rotor plate (10 cm) of the pelvic hip joint housing (about 12 cm in diameter) for walking and running is movable up to 50 mm, and the knee motor is movable 50 mm under load load torque踝, kicking ground reaction force of acceleration weight with a heel and kicking. Bicycle traveling is performed with the right and left forward rotation of the knee joint, the thigh muscle force, and the lower leg muscle force, and the pedal depression pressure and the hip joint motor on the knee joint motor output carry the thigh muscle forward and backward stretch and weight. A permanent magnet rotor with about 16 poles for low rotation, a stator coil and a rotating yoke, and a housing case. The power generation capacity changes depending on the magnetic force and speed of the linear shoes, changes depending on the spring pressure of the bladder equipped with the spring and the force of stepping on, and the force of stepping on from the alternate heels of an adult weighing 65 kg (steps and ramps on toes) is about 5 cm Assuming that the walking width is 50cm, the repulsive force that kicks out the toe part instantaneously from the force of about 80kg, which is about 1.5 times the gravitational acceleration, is assumed to be about 80kg on average. While the force of about 1.3 times the heel part moves from the heel part to the rear part of the toe, the left and right legs always generate power by the spring reaction of the grounding and kicking. Cushion shoes, thighs, lower leg artificial muscles and artificial joints absorb about 50% of the reaction load, and walking power is supported by an electric servomotor in the artificial joint with the knee and crotch cartilage as the core. I used a 20W waist variable motor and a 10W knee. The left and right alternate walking of grounding, kicking out and stepping forward is 50 cm on one foot, and it advances at a speed of 1.0 m / second in two steps, and the compression and expansion of the mover before and after the linear stroke spring equipment (3) Reciprocating 20mm / 0.25 seconds, adjusting the pressure of the spring equipment to the leg strength of each person, the linearity of the front and heel of one foot is 40mm / 0.5 seconds in the reciprocation, and for both feet, one side is always grounded Assuming a load of 80 kg with an average stroke of about 60 mm / s from an average distance and time loss of about 25%, and converting the position and kinetic energy in walking to electrical energy, the left and right shoes from the vertical movement of the field element An average of 80 kg of power per second becomes energy that drops in the linear cylinder at a speed of 60 mm / sec, resulting in a power generation capacity of 0.08 t (80 kg) x 0.060 m x 9.8 G = 0.040 x 1000 w = 48 w / sec. 20% from the loss of fall and kicking and reciprocating movement due to the physical strength of adults, the loss of physical strength and the resistance loss of equipment, etc. A linear power generation capacity of about 10w / second, large and small output shoes that do not become a walking burden for power generation, suitable for physical strength, various batteries that can be charged by walking for about an hour are prepared, linear shoes However, it is assumed that it has a power generation capacity that does not cause physical exhaustion. The pair of linear equipment for the front and rear spring equipment (3) is a circular or oval shape of about 50 mm, and 12 magnet rotors on the left and right with the stator coil (S) sandwiched by about 10 mm between the plates. The Nd magnet or ferrite magnet sandwiched between the plates (U) is approximately 10mm (width) x 15mm (length) x 2mm (thickness), which is a heat-resistant, slidable resin material fixed to the coating. The magnetic force is that of the field and coil bundle armature that generates electricity with a stroke of 10 mm, and the two front and rear linear equipments are connected in series, and the power generation capacity changes at the fastest speed, with a maximum of 24 V For cylinders with a synchronous linear power generation capacity of about 1.0A, a vector control inverter from the controller of the power conditioner (Fig. O) was used. The small magnets (Nd magnets) and the number of coils to be embedded in the resin are as thin and light as possible, and the fixed permanent magnet stroke is about 10 mm on average. The linear poles of the field element and armature were assumed to be 12 poles at the front and rear.

The shoe's linear power generation equipment (2) has multiple poles (12 pole linear up / down stroke 30mm / sec), and walking speed is lower than that of normal walking of adults of 1.0m / sec. As a synchronous linear generator for DC charging, and because the shoes are consumables, it is possible to replace the sole, or to replace multiple upper shoes easily, The bladder (airbag) can be repaired by removing it from the arch hole if air is removed, and the pressure can be adjusted by the external fluid injection valve (10b). Is a simple part that can be taken out and confirmed and replaced with a sliding part, and it can be reused and replaced with a part from a screw insertion that can be easily removed.

The crotch and knee joint joint servo motors are load generators, the left and right pockets are carried in small rechargeable batteries, the controller from the wiring is equipped with charging equipment, and the power generation of the shoes is power generation that absorbs the load. Yes, the artificial joint generator is used as a load generator, and the body's share of the normal position energy of walking up and down is taken into the power generation, and it also serves as an accurate gait correction and strength training, absorbing the load and load. It becomes healthy equipment to do.

The ring ball prosthesis (Q1) of the fluid bellows bladder cylinder in [Fig. 5] is fixed from the waist to the mid-rigid composite band frame of the crotch and the rigid upper and lower frames of the knee, both of which support and support the corset orthosis. Fasten it with a fastener or a band, the front and rear bladders (10) that float the linear shoe heel, the two linear power generation equipment (U1) at the back of the toe or the protruding floating plate (U2) without power generation equipment, and the crotch and knee Use either the bellows (L3) of the steel coil spring inclusion provided in the male ring frame of the ring ball artificial joint housing, or provide one of the bellows (L) for forward rotation and the steel spring material for reversal (G3), Communicating with a saddle type bladder (10) that communicates between the front and back of the shoe, using air as the fluid, using either water or a mixed fluid, for example, advancement of the crotch ring prosthesis from walking with simple air pressure Rotation power is shoe The filling pressure and volume of low pressure (about 0.02 MPa) into two bladder 40 cm ² landing, depression, becomes at the same time the expansion of the crotch prosthesis of bellows bladder cylinder waist at compression time of kicking, out the expansion forces kick walking When the foot of the next step was raised, the bellows were compressed due to the reversal of the steel spring pressure, and the bellows and the bladder were placed in a closed circuit with alternating left and right step pressures. The shoe bladder and the thigh and the bladder of the rod piston (9) part of the lower leg pipe frame (1) communicate with each other, and the simultaneous stepping pressure of the front and rear bladders of the shoe becomes the expansion and contraction of the pressure receiving surface of the communicating thigh and lower leg bladder, A flow control valve (L2) is provided in the communication pipe of the bellows and bladder to adjust the strength, and the lower limb bladder is an artificial muscle that shares various spring materials for inflating and reversing, and the foot pressure of the bladder that alternately raises and lowers the foot Time is a force proportional to bladder capacity and pressure. (It is also possible to communicate and integrate the bellows of the joints of the thigh, lower leg bladder and crotch artificial joint from the shoe bladder) When using the electric servo motor (R) for the above-mentioned crotch ring artificial joint, the fluid bellows and the above Any of the spring materials (N, O) are used for knee artificial joints, and the thighs and lower leg artificial frame bones and artificial muscles are configured to use either the various spring materials (G1) and bladders in common, Alternating walking on the left and right absorbs the load applied by the shoe bladder and simultaneously absorbs it by the artificial muscle bladder, and the load on the crotch, knees, and hip joint cartilage is halved. The battery was charged. A fluid artificial joint powered suit walking assist device using artificial joints and various artificial muscle bellows which are equipped with various control devices and assist walking.
In other words, the linear power generation equipment is removed, and the bladder shoes are filled with the appropriate air pressure in the bladder that floats the treading pressure mover, before and after communicating 30cm ³ in the front and back with the above-mentioned 40cm ² , gauge pressure 0.02MPa and one communicating bladder 15mm. walking gravity weighted people flow and weight 65kg of 60cm ³ from compression of the bladder by simultaneously or individually expanding and contracting the artificial muscle of thigh and lower leg bellows at 100kg and 0.2MPa from 80 kg, pneumatic bellows, the weight of the upper and lower trampling The expansion force was almost the same, and the force was proportional to the pedal pressure. The assumed hip joint area of 4 cm ² and the maximum expansion distance of the bellows is 50 mm, the capacity of 20 cm ³ and the total amount of bladder 60 cm ³ to the hip prosthesis joint is 4 cm ² , 20 cm ³ , press fit Is a forward force of the hip joint of 20 kg or more at 0.5 MPa,
With the flow control valve, the thigh and lower leg bladders have a maximum distance of 10 mm and 10 cm ^{3 in} the pipe, 0.1 MPa is enclosed, the load is 10 cm ² up and down, left and right absorption 10 mm distance and the upper and lower air compression becomes a force of 10 kg or more, 20kg load is absorbed by the thigh and lower leg, the rotation of the bellows of the artificial joint is simultaneously reduced, and the load of the articular cartilage is reduced. The compression load of the bladder and the communication bellows are simultaneously expanded with the artificial muscle or artificial joint. It became the composition which becomes.

[Fig. 6] The spinal disc orthosis (103) of the rubber hose cylinder (A1) for spinal disc protection and cushioning of the spinal column shown in [Fig. The left and right rubber hose cylinders, which are paired with a plurality of medium hard frames sandwiching the spinal column from side to side in a rigid composite frame, are composed of left and right hard composite frames, left and right rubber hoses with hinges, and a plurality of hollow hollows. Various spring materials (Repulsion steel coil spring, elastic shock absorbing rubber hose, steel spring and shock absorbing rubber combined spring) (G1) are sandwiched between the rubber hose and the hard rod bolt (D1), rod rubber hose, male bolt of resin material Is fitted with a screw fixing configuration, and the middle hard frame integral with the pelvic frame is attached to the abdomen and thigh surface fastener, or The spinal disc is composed of a rubber hose cylinder that supports the partial spinal column. It was composed of a rubber hose cylinder spine correction device for correcting the spinal disc alone of the pelvis, and an artificial frame bone and artificial muscle of the lower limb, a spinal column, a lower limb joint, and a muscle buffer reinforcement device (100). Alternatively, a long steel coil spring is used as a core bolt screw, and the spinal column and left and right muscles are supported by a plurality of coil springs, and the corset and supporter that supports the spinal column by adjusting male and female bolt screws are used for fixing in the abdomen.

(Figure) The spinal column of multiple spinal intervertebral discs supports the upper limb. This spinal orthosis supports the affected spinal joint with a cylindrical cushioning rubber material, a steel coil spring material, a cushioning rubber and steel spring composite material suitable for each person, etc. It is an assist suit to be carried on the back, and is composed of a spinal correction device that protects and corrects the spinal intervertebral disc so that the load contact is appropriate.

[Fig. 7] is the one that charges the pocket battery with the power generated by the alternating left and right treading pressure of the linear shoe. It is used as the power source for the crotch and knee servomotors that are used as power sources. It is convenient to check the charging status, charge it with the AC adapter's home power supply, and share it with a portable computer.

FIG. 8 is a side view and a simple circuit diagram of a linear power generation bladder shoe.

The knee joint between the knee joint, hip joint, spinal joint cushion part, knee and pelvis hip joint between the artificial frame bones of the thighs and lower legs and the pipe slide frame of the artificial muscles is annoying but walking The load on the muscles and joints later is halved, and it becomes a heavy equipment auxiliary equipment for mountain climbing of heavy work, military, etc., and a rehabilitation equipment for the physically handicapped in the lower limbs. When wearing the entire equipment, the pedestal frame of the spinal orthosis orthosis, the shoe power generation bladder and the load-absorbing attenuation of the lower limb equipment and the servo motor of the ring ball prosthesis for strength reinforcement become a power assist suit shared with the external charging battery. In the case of an individual orthosis configuration consisting of waist-to-knee, knee-to-shoe shoe, linear power generation bladder shoes, and lumbar spine equipment, it becomes an assist suit for each equipment of the waist, thigh, and lower leg. The power assist of the electric servomotor of the ring ball artificial joint and the bellows of the gas pressure of the artificial frame bone interlock with the joints and bones and muscles of the movement of walking movement, driving slopes, stairs, bicycles, carrying heavy objects Power assist suits for various tasks, including the configuration of output and control to assist each joint, the replacement of various artificial muscle spring materials that match the load of each person's weight and the heavy load on the back, and adjustment of the bladder fluid pressure Or a muscle reinforcement for walking and fixing.

In particular, the lumbar disc correction tool is a corset and supporter with spine reinforcement and depending on the symptoms, it is an operation, and the spine is extended by about 10 cm above and below the present invention from the method of fastening the spine with the current corset and fixing the entire spine The method of fixing the cartilage part at an appropriate interval is a device that can be applied to the upper and lower joint parts, unlike the current correction tools.

100 Spinal column, lower limb joint, muscle buffer reinforcement device 101 Artificial frame bone muscle buffer device between pelvis to knee prosthesis 102 Artificial frame bone muscle buffer device between knee and heel prosthesis 103 Rubber spine disc correction rubber hose cylinder (A1 ) Spinal correction device 104 arm joint, muscle buffer reinforcement device
A Hard pipe frame (artificial bone) A1 Rubber straightening rubber hose cylinder B Supporter and corset C Vertical adjustment fixing frame D Rubber hose D1 Core medium hard bolt E Rubber hose F Piston head chamber F1 adjustment bolt F2 communication pipe
G pipe frame, rubber hose spring material (fluid bladder, elastic buffer ring rubber material, steel coil spring material, buffer rubber and steel spring composite spring material, G1 artificial muscle spring (buffer rubber, elastomer material, steel rebound coil spring material, combination) Steel spring material, steel coil spring material in shock-absorbing rubber) Spring material for G2 cushion shoes G3 ring artificial joint metal Various spring materials G4 magnet or electromagnet (repulsion of the same polarity)
H surface fastener or band I Pelvic medium rigid composite band frame J Upper and lower middle rigid frame K Screw fixation L Artificial joint bellows L1 Artificial muscle bladder L2 Flow control valve L3 Compression coil spring inner bellows M Male ball ring frame N Wind-up steel Spring O Tensile steel spring, Rubber P Housing cover Q Ball artificial joint Q1 Ring ball artificial joint R Electric servo motor S Stator coil T Friction rotation elastic buffer rubber ring frame U Magnet rotor plate U1 Linear power generation equipment U2 Protruding floating plate V bearing stand W Controller X Charging Pocket Battery Y Charging Batteries 2 Ring Rubber 3 Sensor 4 Screw Adjustment Bolt 5 Female Joint Housing 6 Various Caliber Joints 6a Knee Prosthesis 6b Knee Prosthesis 6c Hip Prosthesis 7 Linear Power Generation Bladder Shoes 8 Various cushion shoes 9 Slide rod piston 10 Bladder 10a Ring bladder 10b Into the air inlet 11 both rod of over blanking double acting rubber hose cylinder

(Figs. Severely becomes a surgical operation, and this spinal correction device supports the affected part spinal joint, such as a cylindrical cushioning rubber material, steel coil spring material, a spring material composed of a cushioning rubber and steel spring, suitable for each person, It is an assist suit that carries a heavy object, and has a spine correction device that protects and corrects the load contact of the spinal disc.

Claims (6)

The lower limb artificial frame bone muscle buffer reinforcement device (101, 102) is fixed to the middle rigid composite band frame from the waist to the middle rigid upper and lower frames of the knee, and both supporters and corset orthoses are hook-and-loop fasteners or bands The ring ball prosthesis of the crotch and knee of this frame is equipped with a sliding cover housing that fits the female ring frame to the male ring elastic cushioning material frame, and various functional materials in the ring frame One of the three-degree-of-freedom ring ball artificial joints, the shoe is a small spherical ball artificial joint, and the hip joint thigh jointed around this knee ring ball artificial joint, and the upper and lower legs of the shoe heel The pipe slide frame inserts a male piston pipe into a hard composite female pipe, and simultaneously receives the artificial frame bone that is loaded with various spring materials inserted into the head chamber and the load received by the shoes. An artificial muscle that absorbs, either a hard composite material or a medium-hard hose cylinder, and a ring ball artificial joint from the crotch to the knee, and a ball artificial joint from the knee to the inside of the shoe basket. In this split, the left and right knees and heels are joined on both sides, and the pelvis, crotch, knees, and heel shoes are integrated into the muscle cushions of the artificial limb bones. Reinforcement device. The small ring ball artificial joint (Q1) of the crotch and knee to be fixed is fixed from the waist to the mid-rigid composite band frame of the crotch and the mid-rigid upper and lower frame of the knee, both of which supporters and corset orthoses are hook-and-loop fasteners or bands The ring bladder (10a) is inserted into the outer frame of the male ring elastic material and the inner hard circumferential frame, and this ring bladder can be either a single device sealed with a press-fitting valve, or a shoe bladder and a communication device. The female ring frame is fitted into a three-degree-of-freedom ring ball artificial joint with a sliding adjustment cover housing, absorbing the load on the joint cartilage of the crotch and knee, and assisting walking and muscle reinforcement with fluid pressure difference A ring ball prosthesis with a control device and a ring bladder. The ring ball artificial joint (Q1) of the crotch and knee is fixed from the waist to the mid-rigid composite band frame of the crotch and the mid-rigid upper and lower frame of the knee, and both supporters and corset orthoses are fastened with hook-and-loop fasteners or bands. Wear a steel spring in the housing cover of either male or female to raise the walking foot, and at the same time, the artificial frame bone that fits with the female ring frame is used as a reaction force that swings forward, 3 degrees of freedom artificial hip joint The spring load of the knee prosthesis is set to suit individual differences, the feet are lifted from the landing to assist the forward force, and various steels that are used to assist the handicapped and elderly and the walking aids for the disabled by adjusting the spring load Ring ball prosthesis consisting of spring equipment. The electric servo motor (R) installed in the male and female housings of the ring ball artificial joint (Q1) of the crotch and knee to be fixed is fixed from the waist to the middle rigid composite band frame and the middle rigid upper and lower frame of the knee. The supporter and corset equipment are fastened with hook-and-loop fasteners or bands, and the stator coil received by the spring-floating yoke at the bottom of the male ring frame and the magnet rotor integrated with the female ring housing frame facing the surface are used as a free center bearing. Uses a servo motor with a rotating housing that fits with a male and female ring frame, and uses a portable pocket battery that is shared with the power generation of the linear power generation bladder shoes and external power, and the control of the electric servo motor is performed at the same time as the landing Detects forward / reverse and stop movements, switches the stator to automatic control from the controller, and engages with the female ring frame of the magnet rotor. The crotch and knee servo motors act as the rotational force of each artificial frame bone, split the crotch and legs from the knee, and make it one of the integrated equipment, and the landing load is received by the male and female ring sliding surfaces A ring ball artificial joint comprising an electric servo motor that is configured to have a motor torque control that turns to no load when the foot is lifted, and is equipped with a control device that interlocks with the movement of the joint and muscle to assist walking. The bellows (L3) of the compression coil spring included in the male and female housings of the ring ball prosthesis (Q1) of the crotch and knee to be fixed is fixed from the waist to the mid-rigid composite band frame of the crotch and the rigid upper and lower frames of the knee. Both supporters and corset braces are fastened with hook-and-loop fasteners or bands, and fixed to the left and right ends of the male ring frame and female ring housing frame with three degrees of freedom. This fluid bellows communicates with the bladder of the linear power generation bladder shoe, The artificial frame bone combined with the female ring housing for walking treading force is used as a forward gait, and when the foot is lifted, the bellows is compressed by the internal spring and returned to the bladder, and the artificial frame bone pipe slide frame of the thigh and lower leg Conduction through the same communication pipe as the head chamber bladder, and compression of the walking frame thigh and lower leg artificial frame head chamber bladder absorbs the load and Over's, the flow rate control valve provided in the communicating pipe of the bladder, and having a control device, a ring ball prosthesis consisting of bellows of the compression coil spring contained. The spinal intervertebral disc orthodontic rubber hose cylinder (A1) spinal column correction device (103) supports the pelvic rigid composite frame supporter and corset that supports the spinal intervertebral disc on the back of the pelvis with strap fasteners or bands at the abdomen and thigh root. The spine that wears and uses the hard composite frame part of the back as a support base sandwiches the spine from side to side and supports and reinforces it. The left and right hard composite frames are combined with multiple rubber hoses, and multiple rubber hoses are combined. A rebound spring material is sandwiched between them, a hard rod bolt of the core material is fitted, or a single coil spring that makes the spinal column a plurality of lengths on the left and right is provided, and this core material is integrated with the expansion and contraction structure, corset, supporter, The top and bottom screw fastening structure, the repulsive force of these various springs to adjust the expansion and contraction of the cartilage part to an appropriate interval, and the structure of correction and reinforcement integrated with the hard composite frame, Either a single device that shrinks the irspring material and fastens it to the abdomen and thigh, and loosens the spring pressure by adjusting the screw after installation to make it an appropriate interval, or a lower limb joint, a muscle cushion reinforcement device and an integrated device Spinal disc correction device with rubber hose cylinder for spinal disc correction.

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