JP2016168315A - Leg support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a leg support device that automatically adjusts a torque generated by oscillation exercise by automatically adjusting rigidity of joints for the oscillation exercise, and to thereby make reduction possible for power consumption or a user's burden.SOLUTION: The leg support device includes: a waist side installation part 2 that is installed on the waist side part of a user; a first oscillation arm 13 that is arranged to the side of the user's thigh and that has on top a recessed shape or a projected shape formed which becomes the oscillation axis; a thigh installation part 19 that is attached to the first oscillation arm and that is applied to the user's thigh; a driving shaft member 6 that supports the recessed shape or the projected shape which becomes the oscillation axis of the first oscillation arm and that freely rockingly support the first oscillation arm for the waist installation part; variable rigidity means that makes rigidity variable which is a force required for oscillating the first oscillation arm; and control means for controlling the variable rigidity means. The variable rigidity means is composed of a spiral spring 24, a spring fixing member 23, and rigidity adjustment turning means 21.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a leg support device that supports a user's walking or running by performing a periodic rocking motion.

  As an example of a device that controls a joint that performs periodic rocking motion, for example, Patent Document 1 discloses a walking assist device that provides assisting force to a lower leg (from a hip joint to a toe) of a user (user). Yes. The walking assist device includes a waist brace that is worn around the user's waist, a connecting bar that extends from the side of the hip joint to the side of the knee joint, and a bottom that extends from the side of the knee joint to the calf. A thigh orthosis, a hip joint actuator attached to the side of the hip joint in the connecting bar, and a knee joint actuator attached to the side of the knee joint in the connecting bar. The hip joint actuator is attached to the connecting portion of the hip orthosis, and swings the connecting bar back and forth around the hip joint relative to the hip orthosis on the side of the hip joint. The knee joint actuator swings the lower leg orthosis back and forth around the knee joint with respect to the connecting bar on the side of the knee joint. The hip joint actuator and the knee joint actuator are electric motors, and power to the electric motor is supplied from a battery attached to the waist orthosis.

  Patent Document 2 discloses a walking rehabilitation device that supports a swinging motion of a user's lower leg (from knee to ankle). The walking rehabilitation device includes a controller arranged around the user's waist, a thigh link extending from the side of the hip joint to the side of the knee joint, and a crus link extending from each side of the knee joint to the ankle joint. And a motor disposed on the side of the knee joint and a foot link extending from the ankle joint to the sole. The motor is a connecting portion of the thigh link and the crus link, and is attached to the side of the knee joint, and swings the crus link back and forth around the knee joint with respect to the thigh link at the side of the knee joint. . The power to the motor is supplied from a battery built in the controller.

  Patent Document 3 discloses a one-leg type walking support device that is attached to the affected leg of a user whose one leg is a healthy leg and the other leg is an affected leg, and supports the swinging motion of the affected leg. . The one-leg type walking support machine includes a waist mounting portion disposed on the side of the user's waist, a thigh link portion extending from the side of the hip joint to the side of the knee joint, and downward from the side of the knee joint. A lower leg link portion, a torque generator disposed on the side of the hip joint, and a damper disposed on the side of the knee joint. The torque generator is composed of a cam and a compression spring, generates torque when the affected leg swings backward by swinging out the healthy leg, and uses the generated torque to support the swinging out of the affected leg. An actuator such as a motor is not required. Further, the initial compression amount of the compression spring is configured to be adjustable, and the magnitude of the generated torque is variable.

JP 2004-344304 A JP 2012-125388 A JP 2013-236741 A

  The walking assist device described in Patent Document 1 and the walking rehabilitation device described in Patent Document 2 both support the walking motion of the lower limbs or a part of the lower limbs using an electric motor. If the supply of electricity does not continue, it cannot be supported. In addition, it is estimated that a relatively small and lightweight battery is used because a user who needs walking support cannot have a large and heavy battery. Further, Patent Document 1 and Patent Document 2 do not show a special configuration that reduces the power consumption of the electric motor. Therefore, it is estimated that the support devices described in Patent Document 1 and Patent Document 2 have a relatively short continuous operation time.

  In addition, the single leg type walking support machine described in Patent Document 3 generates torque for swinging out the leg with a cam and a compression spring without using an electric motor. It is longer than Patent Document 2. However, the torque generator is different from the difference in physique for each user (difference in the moment of inertia of the lower limbs), the swing angle of the lower limbs for each user, the physical condition of the user, the difference in the inclination of the walking place, etc. Since the position of the determination part provided in the upper part of a compression spring must be adjusted with tools, such as a flat-blade screwdriver, and the user must adjust the initial compression amount of a compression spring manually, it takes time.

  The present invention has been devised in view of such points, and automatically adjusts the torque generated by the swing motion by automatically adjusting the rigidity of the swinging joint, thereby reducing power consumption or power consumption. It is an object of the present invention to provide a leg support device that can further reduce a user's load.

  In order to solve the above problems, the leg force assisting apparatus according to the present invention takes the following means. First, the first invention of the present invention is a leg force assisting device that provides assisting force to the movement of the user's lower limbs, the lumbar side mounting portion mounted on the lumbar side portion of the user, A first oscillating arm disposed on the side of the thigh, the first oscillating arm having a concave shape or a convex shape as an axis of oscillation of the first oscillating arm on the upper part. A thigh attachment portion attached to the first swing arm and applied to the thigh of the user; and a drive shaft that supports a concave shape or a convex shape as the swing axis of the first swing arm A drive shaft member that supports the first swing arm so as to be swingable in the front-rear direction of the user with respect to the waist side mounting portion; and a drive shaft that is an axis of the drive shaft member The rigidity, which is the force required to swing the first swing arm that swings to the right, is variable. It comprises a rigidity changing means, by controlling the rigidity changing means, and control means for controlling the stiffness of the first swing arm that swings to the drive axis, a. The stiffness variable means includes a spring, a spring fixing member, and a stiffness adjusting swivel means, and the spring, the spring fixing member, and the stiffness adjusting swivel means are coaxial with the drive shaft. And a spring fixing member for supporting a fixed end of the mainspring spring is disposed at a position adjacent to the mainspring. In addition, a free end that is one end of the spring spring is connected to a spring input shaft member that swings at an angle corresponding to a first swing angle that is a swing angle of the first swing arm. The other end of the fixed end is connected to a spring support provided at a position away from the drive shaft in the spring fixing member, and the stiffness adjusting swiveling means is connected to a control signal from the control means. Based on this, the rigidity is adjusted by turning the spring fixing member around the drive shaft and moving the position of the fixed end of the mainspring spring.

  Next, a second invention of the present invention is the leg force assist device according to the first invention, wherein a transmission is provided between the first swing arm and the mainspring spring, and The machine has the spring input shaft member that swings at a post-shift swing angle that is shifted at a predetermined speed ratio when the first swing arm swings at the first swing angle.

  Next, a third invention of the present invention is the leg force assisting device according to the first invention or the second invention, wherein the first angle for detecting the first swing angle of the first swing arm. Detecting means, and the control means adjusts the turning angle of the spring fixing member by controlling the rigidity adjusting turning means according to the first swing angle detected by the first angle detecting means. The rigidity is adjusted by adjusting an apparent spring constant of the main spring as viewed from the first swing arm.

  Next, a fourth invention of the present invention is the leg force assisting device according to the third invention, wherein the control means includes the first oscillation arm and the first oscillation arm around the drive shaft. Based on the swing angle, the moment of inertia around the drive shaft in the swing object including the first swing arm, and the spring constant of the spring, the resonance frequency of the spring is determined by the swing object. The turning angle of the spring fixing member is adjusted so as to coincide with the oscillation frequency of the spring.

  Next, a fifth aspect of the present invention is the leg force assisting apparatus according to any one of the first to fourth aspects, wherein the first swing is based on a control signal from the control means. First driving means for swinging the moving arm around the driving shaft is provided.

  Next, a sixth invention of the present invention is the leg force assisting device according to any one of the first to fifth inventions, wherein the second force support device is swingably supported around the drive shaft. A swing angle; a second angle detecting means for detecting a second swing angle, which is a swing angle of the second swing arm; and the second swing arm based on a control signal from the control means. Second driving means for swinging around a drive shaft, the first swing arm and the second swing arm connected to the first swing arm and the second swing arm, and the first swing angle and the second swing of the first swing arm. A swing link member that operates based on the second swing angle of the arm, and a lower leg mounting portion that is attached to the second swing arm and applied to the lower leg of the user.

  According to the first invention, by controlling the rigidity variable means using the control means and controlling the rigidity around the drive shaft member (the force required to swing the first swing arm), Since the magnitude of the torque necessary to support the swing motion is automatically adjusted with respect to the swing motion by the swing target object including the first swing arm, the torque can be adjusted without any trouble. . In addition, since the torque necessary to support the swinging motion is generated, the power consumption or the load on the user can be further reduced. Further, the rigidity variable means can be specifically realized.

  According to the second invention, by using the transmission, the post-shift rocking angle obtained by amplifying the first rocking angle of the first rocking arm can be input to the spring, so the spring spring having a smaller spring constant. Can be used. Accordingly, it is possible to promote downsizing of the leg strength support device.

  According to the third aspect of the present invention, the apparent spring constant of the mainspring as viewed from the first swing arm can be adjusted simply by controlling the stiffness adjusting swiveling means from the control means to swivel the spring fixing member, so that it can be easily seen. The upper spring constant can be adjusted.

  According to the fourth invention, the turning angle of the spring fixing member can be automatically adjusted using the control means to an appropriate angle corresponding to the swing object including the first swing arm. Therefore, the generated torque can be automatically adjusted by automatically adjusting the rigidity of the joint that swings. Further, even if the first swing arm is swung by the electric motor, the swing motion can be supported with an appropriate torque, so that the power consumption of the swinging electric motor can be further reduced. . Further, even if the swing arm is swung by the user himself / herself without being swung by the electric motor, the swing motion can be supported with an appropriate torque, so that the load on the user can be further reduced. Can do.

  According to the fifth aspect, since the first swing arm is swung by the first drive means, it is possible to further reduce the load when the user walks or runs.

  According to the sixth invention, the user's thigh movement can be supported by the first swing arm and the user's lower leg can be supported by the second swing arm. The load at the time can be further reduced.

It is a disassembled perspective view explaining the schematic shape of each component which comprises the rocking | fluctuation joint apparatus of 1st Embodiment, and an assembly position. FIG. 2 is a perspective view of an oscillating joint device configured by assembling each component shown in FIG. 1. It is a figure explaining the state which mounted | wore the user (The description of a user's arm is abbreviate | omitted) with the rocking joint apparatus shown in FIG. It is a figure explaining the example of the rocking | fluctuation state of a thigh rocking arm (1st rocking arm), and the rocking | fluctuation of a leg leg (2nd rocking arm). FIG. 2 is an enlarged view of a V portion in FIG. 1, and is an exploded perspective view illustrating the configuration of a spring and apparent spring constant variable means. FIG. 4 is a diagram when FIG. 2 is viewed from the VI direction, and is a diagram illustrating the arrangement of each member provided coaxially on the drive shaft of the drive shaft member. FIG. 7 is a view when FIG. 6 is viewed from the VII direction, and shows a state in which the post-shift swing angle of the transmission output shaft member of the transmission is amplified at a predetermined speed ratio with respect to the first swing angle of the thigh swing arm. It is a figure explaining. FIG. 7 is a perspective view showing a reference position with respect to a drive shaft in a spring support (that is, a spring fixed end), showing a state where no biasing torque is generated in the mainspring spring when the swing angle of the thigh swing arm is zero. is there. FIG. 9 is a diagram illustrating a state in which the spring fixing member is turned by a predetermined turning angle from the state of FIG. 8 and the position of the spring support relative to the drive shaft is moved from the reference position. FIG. 10 is a view showing the periphery of the free end and the fixed end of the mainspring when the thigh swing arm swings forward from the state of FIG. 9. FIG. 10 is a view showing the periphery of the free end and the fixed end of the mainspring when the thigh swing arm swings backward from the state of FIG. 9. It is a figure explaining the input / output of a control means. It is a flowchart explaining the example of the process sequence of a control means.

  A first embodiment, which is a mode for carrying out the present invention, will be described in order with reference to the drawings. In each figure, when the X axis, Y axis, and Z axis are described, the X axis, Y axis, and Z axis are orthogonal to each other, the Z axis direction indicates a vertically upward direction, and the X axis direction indicates the user. The front direction with respect to (the user wearing the swing joint device) is shown, and the Y-axis direction shows the left direction with respect to the user. In the present specification, “thigh swing arm 13” shown in FIG. 1 corresponds to “first swing arm”, and “crus swing arm 33” corresponds to “second swing arm”. The “rotation angle detection unit 11S” corresponds to the “first angle detection unit”, and the “rotation angle detection unit 31S” corresponds to the “second angle detection unit”. “Electric motor 11” corresponds to “first driving means”, “electric motor 31” corresponds to “second driving means”, and “electric motor 21” corresponds to “rigidity adjusting turning means”. ing. In the following description, the drive shaft member 6 is an example of a convex member. However, the drive shaft member 6 may be a convex shaft or a concave shape (hole) that supports the shaft. Shape). Therefore, the description “around the drive shaft member 6” indicates the same as “around the drive shaft 6J that is the central axis of the drive shaft member 6”. Further, the “shaft 25A” of the transmission 25 corresponds to a “spring input shaft member”. “Spring fixing member 23” and “electric motor 21” correspond to “apparent spring constant variable means”. The “spring spring 24”, “spring fixing member 23”, and “electric motor 21” correspond to “stiffness variable means”, and “stiffness” is necessary to swing the thigh swing arm 13. The torque per unit angular displacement. Further, the “lower leg relay arm 34” and “lower leg arm 35” correspond to “swing link members”. Further, the “base part 2” corresponds to a “waist side wearing part”, and the “oscillating joint device 1” corresponds to a “leg force support device”.

●● [Overall Configuration of the Swing Joint Device 1 of the First Embodiment (FIGS. 1 to 4)]
The swing joint device 1 according to the first embodiment is attached to a user's one leg (left leg in the first embodiment), and supports the user's actions such as walking or running. As shown in FIG. 1, the oscillating joint device 1 includes a user wearing part indicated by reference numerals 2, 3, 4, 5, 6 and the like, and reference numerals 11, 12, 14, 14B, 15, 13, 19 and the like. The thigh swinging part shown, the rigidity adjusting part shown by reference numerals 21, 22, 23, 24, 25, etc., and the reference numerals 31, 32, 32P, 32B, 33, 34, 35, 36, 39 etc. And the lower leg swinging portion shown. FIG. 1 is an exploded perspective view showing the shape and assembly position of each component of the swing joint device 1, and FIG. 2 shows the swing joint device 1 in a state in which each component is assembled. FIG. 3 illustrates a state where the swing joint device 1 is mounted on the user, and FIG. 4 illustrates an example of swinging of the thigh swing arm 13 and the crus swing arm 33.

[User wearing part (FIGS. 1 to 4) composed of base part 2, waist attaching part 3, shoulder belt 4, control unit 5, drive shaft member 6, etc.]
The base portion 2 is a member that is fixed to the waist mounting portion 3 and serves as a base (substrate) for holding the thigh swinging portion, the rigidity adjusting portion, and the crus swinging portion. A drive shaft member 6 extending substantially parallel to the Y axis is attached to the base portion 2 at a position corresponding to the side of the hip joint of the user wearing the swing joint device 1. The drive shaft member 6 is inserted into a through-hole 13H of the thigh swinging arm 13 after being inserted into a through-hole 33H of the lower leg swinging arm 33 described later. The drive shaft 6J indicates the central axis of the drive shaft member 6.

  The waist mounting portion 3 is a member that is wound around the user's waist and fixed to the user's waist, and is configured to be adjustable according to the dimensions around the user's waist. In addition, the base portion 2 is fixed to the waist mounting portion 3, and one end and the other end of the shoulder belt 4 are connected.

  The shoulder belt 4 is configured such that one end is connected to the front side of the waist mounting portion 3 and the other end is connected to the back side of the waist mounting portion 3 so that the length can be adjusted, and the control unit 5 is attached. ing. The user can carry the control unit 5 on his / her back like a backpack or school bag by adjusting the length of the shoulder belt 4 and attaching the shoulder belt 4 to his / her shoulder.

  The control unit 5 houses a control unit that controls the electric motors 11, 21, and 31, a battery that supplies electric power to the control unit and the electric motors 11, 21, and 31. The control means will be described later with reference to FIG.

● [Thigh swinging part composed of the electric motor 11, the bracket 12, the pulley 14, the belt 14B, the pulley 15, the thigh swinging arm 13, the thigh mounting part 19 and the like (FIGS. 1 to 4)]
The thigh swing arm 13 includes a disc portion 13G and an arm portion extending downward from the disc portion 13G. A through hole 13H is formed at the center of the disc portion 13G, and the drive shaft member 6 is inserted through the through hole 13H. Accordingly, the thigh swing arm 13 is supported so as to be swingable around the drive shaft member 6. The through hole 13H of the thigh swing arm 13 is disposed at a position corresponding to the side of the user's hip joint, and the link hole 13L provided at the lower end of the thigh swing arm 13 is formed on the side of the user's knee joint. It is arranged at the corresponding position. The length extending downward of the thigh swing arm 13 is configured to be adjustable, and the user can adjust the vertical position of the link hole 13L according to the position of his knee joint. Further, the thigh swing arm 13 is attached with a thigh mounting portion 19, and the thigh mounting portion 19 is applied to the user's thigh (around the thigh), and the thigh swing arm 13 is placed on the user's thigh. Easy to install. A pulley 15 is fixed to the disc portion 13G, and the pulley 15 swings integrally with the thigh swing arm 13. Accordingly, the pulley shaft member 15J of the pulley 15 swings around the drive shaft 6J at the same angle as the swing angle of the thigh swing arm 13. A belt 14B is placed between the pulley 15 and a pulley 14 described later, and the swinging power by the electric motor 11 is transmitted to the pulley 15 via the pulley 14 and the belt 14B, and the thigh swinging arm. 13 is swung.

  The bracket 12 is a member for fixing the electric motor 11 to the base portion 2, and is provided with a through hole 12 </ b> H for inserting the rotation shaft of the electric motor 11 and is fixed to the base portion 2. The rotating shaft of the electric motor 11 is inserted into the through hole 12H of the bracket 12, and after the pulley 14 is attached to the inserted rotating shaft, the bracket 12 is fixed to the base portion 2.

  The electric motor 11 has a speed reducer 11D attached to the tip, and the speed reducer 11D is inserted into the through hole 12H of the bracket 12 and attached to the pulley 14. The electric motor 11 is fixed to the bracket 12. The electric motor 11 is supplied with electric power together with a drive signal from a battery and control means housed in the control unit 5. And the electric motor 11 can rock | fluctuate the thigh rocking | fluctuation arm 13 to the front-back direction around the drive shaft member 6 with respect to the bracket 12 (namely, base part 2) (refer FIG. 4). The electric motor 11 is provided with a rotation angle detection means 11S such as an encoder. The rotation angle detection means 11S outputs a signal corresponding to the rotation angle of the shaft of the electric motor 11 to the control means. The control means can detect the rotation angle of the reduction gear 11D based on the detection signal from the rotation angle detection means 11S, the reduction ratio of the reduction gear 11D, and the pulley ratio of the pulley 14 and the pulley 15. The swing angle of the thigh swing arm 13 can be detected. In addition, the bracket 22 (see FIG. 1) or the base portion 2 may be provided with angle detection means (angle sensor) for detecting the swing angle of the thigh swing arm 13 with respect to the base portion 2. You may make it provide the base part 2 the angle detection means (angle sensor) which detects the rocking | fluctuation angle of the lower leg rocking arm 33 with respect to the base part 2. FIG. The electric motor 11 is an idling motor, and when a swinging force is input from the thigh swing arm 13 when no power is supplied, the speed reducer 11D is turned, and according to the turning angle of the speed reducer 11D. The signal is output from the rotation angle detection means 11S.

● [Lower leg composed of electric motor 31, bracket 32, power transmission part (32P, 32B), lower leg swing arm 33, lower leg relay arm 34, lower leg arm 35, foot tip holding part 36, lower leg attachment part 39, etc. Swing part (Figs. 1 to 4)]
The lower leg swing arm 33 is formed with a through hole 33H through which the drive shaft member 6 is inserted. When the drive shaft member 6 is inserted through the through hole 33H, the lower leg swing arm 33 is supported so as to be swingable around the drive shaft member 6. Then, a belt 32B is applied to the lower leg swing arm 33, and power is transmitted from the power transmission section constituted by the electric motor 31, the pulley 32P and the belt 32B, and swings around the drive shaft member 6.

  The upper end of the lower leg relay arm 34 is swingably connected to the tip of the lower leg swing arm 33, and the lower end is swingably connected to the end of the parallel link forming portion 35M on the upper end side of the lower leg arm 35. Has been. The length extending downward of the lower leg relay arm 34 is configured to be adjustable, and the length of the lower leg relay arm 34 is adjusted according to the adjusted length of the thigh swing arm 13.

  The crus arm 35 has a substantially inverted L shape, and a link hole 35L for connecting to the link hole 13L at the lower end of the thigh swing arm 13 is formed at a position corresponding to the bent portion of the L shape. Accordingly, the lower arm 35 is connected such that one end of the parallel link forming portion 35M on the upper end side is swingably connected to the lower end of the lower leg relay arm 34, and the other end of the parallel link forming portion 35M is the lower end of the thigh swing arm 13. The lower end is swingably connected. Further, the upper end of the toe holding portion 36 is swingably connected to the lower end of the lower leg arm 35. The length extending downward of the lower leg arm 35 is configured to be adjustable so as to fit the user's lower leg. Moreover, the foot tip holding part 36 is substantially L-shaped, and the lower end part is disposed on the sole of the user's foot. Further, a crus mounting part 39 is attached to the crus arm 35, and the crus mounting part 39 is applied to the user's lower leg (around the calf), and it is easy to attach the lower leg arm 35 to the user's lower leg part. To do.

  The bracket 32 is a member for fixing the electric motor 31 to the base portion 2 and is fixed to the base portion 2. The bracket 32 is formed with a through hole 32H.

  The electric motor 31 has a speed reducer 31 </ b> D attached to the tip, and the speed reducer 31 </ b> D is inserted through the through hole 32 </ b> H of the bracket 32. A pulley 32P is attached to the speed reducer 31D, and a belt 32B is applied to the pulley 32P and the lower leg swing arm 33. The electric motor 31 is supplied with electric power together with a drive signal from a battery and control means housed in the control unit 5. The electric motor 31 can swing the lower leg swing arm 33 in the front-rear direction around the drive shaft member 6 via the pulley 32P and the belt 32B (see FIG. 4). The electric motor 31 is provided with a rotation angle detection means 31S such as an encoder. The rotation angle detection means 31S outputs a signal corresponding to the rotation angle of the shaft of the electric motor 31 to the control means. The control means can detect the rotation angle of the lower leg swing arm 33 based on the detection signal from the rotation angle detection means 31S and the reduction ratio and pulley ratio of the speed reducer 31D. It is possible to detect the moving angle. Note that the electric motor 31 is an idling motor, and when a swinging force is input from the lower leg swinging arm 33 when the current is not energized, the speed reducer 31D is turned, and according to the turning angle of the speed reducer 31D. The signal is output from the rotation angle detecting means 31S.

  Next, with reference to FIG. 4, the swing support operation of the user's thigh UL1 wearing the thigh swing arm 13 and the swing support operation of the user's lower leg UL2 wearing the crus arm 35 will be described. The thigh swing arm 13 swings around the drive shaft member 6 by the power of the electric motor 11. Similarly, the lower leg swing arm 33 swings around the drive shaft member 6 by the power of the electric motor 31. Further, the thigh swing arm 13, the lower leg swing arm 33, the lower leg relay arm 34, and the parallel link forming portion 35M (of the lower leg arm 35) constitute a parallel link formed of a parallelogram. Therefore, the crus relay arm 34 and the crus arm 35 are connected to the thigh swing arm 13 and the crus swing arm 33, and the swing angle of the thigh swing arm 13 (angle θ1 in FIG. 4) and the crus swing. This corresponds to a swing link member that operates based on the swing angle of the arm 33 (angle θ1-θ2 in FIG. 4). Note that the positions of the thigh swing arm 13, the lower leg swing arm 33, the lower leg relay arm 34, and the lower leg arm 35 indicated by solid lines in FIG. 4 are the initial positions of the respective arms (positions where the user is standing upright). To do.

  When the thigh swing arm 13 is swung forward at an angle θ1 from the initial position of the thigh swing arm 13, as shown in FIG. 4, the user's thigh UL1 is swung forward at an angle θ1. Can do. At the same time, when the lower leg swing arm 33 is swung forward at an angle (θ1-θ2) from the initial position of the lower leg swing arm 33, as shown in FIG. The user's lower leg UL2 can be swung forward so as to have an inclination of. Since the swinging motion of the thigh swinging arm 13 by the electric motor 11 and the swinging motion of the lower leg swinging arm 33 by the electric motor 31 can be controlled independently, the angle θ1 and the angle θ2 can be controlled by the user. It can be freely adjusted according to the desired angle. Further, according to this configuration, the thigh swinging out, which requires a large torque, can be performed with the torques of both the electric motor 11 and the electric motor 31, so that a large motor is not required.

  When the thigh swing arm 13 is swung, the energy of the swing motion is stored in the mainspring 24 and used for the swing motion in the opposite direction. That is, the energy when swinging the thigh swing arm 13 forward is stored in the mainspring 24 and used when swinging the thigh swing arm 13 backward, and the energy when swinging the thigh swing arm 13 backward is used. It is stored in the mainspring 24 and used when swinging the thigh swing arm 13 forward. Next, the rigidity adjusting unit including the mainspring 24 will be described.

● [Rigidity adjustment unit composed of electric motor 21, bracket 22, spring fixing member 23, mainspring spring 24, transmission 25, etc. (FIGS. 1 to 3, FIG. 5 to FIG. 7)]
The bracket 22 is a member that fixes the electric motor 21 with respect to the base portion 2, and is provided with a through hole 22 </ b> H for inserting the rotation shaft of the electric motor 21 and is fixed to the base portion 2. As shown in FIGS. 1 and 6, the through hole 13H of the disk portion 13G of the thigh swing arm 13, the pulley shaft member 15J of the pulley 15, the shaft 25A of the transmission 25, the central axis of the spring spring 24, and the spring fixing The through hole 23H of the member 23, the through hole 22H of the bracket 22, and the speed reducer 21D of the electric motor 21 are arranged coaxially with the drive shaft 6J.

  As shown in FIG. 5, in the transmission 25, a pulley shaft member 15J of a pulley 15 fixed to a disk portion 13G of the thigh swing arm 13 is connected to an input portion 25C, and a predetermined gear ratio [ n], the output turning angle nθ obtained by multiplying the input turning angle θ to the input unit 25C by n is output as the turning angle of the shaft 25A. Therefore, as shown in FIG. 7, when the thigh swing arm 13 swings at the first swing angle (θf), the transmission 25 shifts the post-shift swing angle (nθf) shifted at a predetermined speed ratio (n). ) To swing the shaft 25A. As shown in FIG. 5, the shaft 25A is formed with a spring free end insertion groove 25B, which is a groove extending in the direction of the drive shaft 6J for fixing the free end 24B side of the mainspring 24. The transmission 25 turns the pulley shaft member 15J by the turning angle θb · (1 / n) when the shaft 25A is turned by the turning angle θb by the biasing torque from the mainspring 24.

  The spring spring 24 is wound around an elastic body such as a spring material spirally around a predetermined axis. As shown in FIG. 5, one end, which is an end located near the center of the winding, is formed. The other end, which is the free end 24B and the end located at a position away from the center of winding, is the fixed end 24A. 5, the free end 24B is fixed to the spring free end insertion groove 25B of the shaft 25A, and the fixed end 24A is fixed to the spring support 23J of the spring fixing member 23.

  The spring fixing member 23 is formed with a through hole 23H through which the speed reducer 21D at the tip of the electric motor 21 is inserted and supported by the speed reducer 21D. The bracket 22 and the electric motor 21 support the base portion 2 with respect to the spring fixing member 23. It is fixed. A spring support 23J that supports the fixed end 24A of the mainspring 24 is provided at a position away from the drive shaft 6J on the surface of the spring fixing member 23 that faces the mainspring 24. For example, the spring support 23J is a shaft-like member extending along the direction of the drive shaft 6J, and is inserted through a cylindrical portion formed at the position of the fixed end 24A of the mainspring spring 24. The spring fixing member 23 is turned around the drive shaft 6J by the electric motor 21, and the position of the fixing end 24A of the mainspring spring 24 is variable in the circumferential direction. Thus, the spring fixing member 23 is supported so as to be pivotable around the drive shaft 6J, and is pivoted at a predetermined pivot angle around the drive shaft 6J, so that the position of the spring support 23J relative to the drive shaft 6J is changed to the drive shaft. 6J is moved in the circumferential direction by a predetermined turning angle.

  The electric motor 21 has a speed reducer 21D attached to the tip. The reduction gear 21 </ b> D is inserted into the through hole 22 </ b> H of the bracket 22, the electric motor 21 is fixed to the bracket 22, and the bracket 22 is fixed to the base portion 2. The electric motor 21 is supplied with electric power together with a drive signal from a battery and control means housed in the control unit 5. The electric motor 21 can turn the spring fixing member 23 around the drive shaft 6J with respect to the bracket 22 (that is, the base portion 2) to move the position of the fixing end 24A of the mainspring spring 24 in the circumferential direction. The electric motor 21 is provided with a rotation angle detection means 21S such as an encoder. The rotation angle detection means 21S outputs a signal corresponding to the rotation angle of the shaft of the electric motor 21 to the control means. The control means can detect the rotation angle of the speed reducer 21D based on the detection signal from the rotation angle detection means 21S and the reduction ratio of the speed reducer 21D, and can detect the turning angle of the spring fixing member 23. It is. In addition, you may make it provide the angle detection means (angle sensor) which detects the turning angle of the spring fixing member 23 with respect to the bracket 22 in the bracket 22. FIG. Further, the electric motor 21 is a motor that does not rotate idly, and the turning angle position of the speed reducer 21D is maintained even when not energized, and the fixed end 24A is maintained even when the urging torque is generated in the mainspring spring 24. The position of is maintained.

[The position of the fixed end 24A of the mainspring 24 and the offset angle θs (FIGS. 8 to 11)]
FIG. 8 shows an example in which the user T (user) shown in FIG. 3 is in an upright state and the swing angle of the thigh swing arm 13 is zero, and the biasing torque of the mainspring spring 24 is zero. An example is shown. Then, at the position of the fixed end 24A of the mainspring 24 in the example of FIG. 8, the free end 24B has a biasing torque in the clockwise direction around the drive shaft 6J and a bias in the “counter” clockwise direction around the drive shaft 6J. An example of a state where torque is not generated is also shown. A reference line J1 shown in FIG. 8 is obtained when the position of the fixed end 24A is adjusted so that the biasing torque is not generated at the free end 24B when the swing angle of the thigh swing arm 13 is zero (spring fixing member 23 is a virtual straight line passing through the drive shaft 6J and the spring free end insertion groove 25B, and indicates the reference turning angle position of the shaft 25A. Further, the position of the fixed end 24A (spring support 23J) shown in the example of FIG. 8 is set as the reference position of the fixed end 24A (spring support 23J) of the mainspring spring 24.

  In FIG. 9, the electric motor 21 is driven from the state shown in FIG. 8, and the position of the fixed end 24A of the mainspring spring 24 is moved in the circumferential direction by the turning angle (θs) in the clockwise direction from the reference position. The state changed to the position is shown. This state is referred to as “a state where a clockwise offset angle θs is applied to the mainspring 24”. In this state, even when the user T is in an upright state and the swing angle of the thigh swing arm 13 is zero, the biasing torque of the mainspring 24 is applied to the shaft 25A by the offset angle θs in the clockwise direction, and the speed is changed from the shaft 25A. A biasing torque is acting on the thigh swing arm 13 via the machine 25 and the pulley 15.

  FIG. 10 shows an example in which the thigh swing arm 13 is swung clockwise at a swing angle θf in the state where the “clockwise offset angle θs” shown in FIG. 9 is applied. Show. When the transmission gear ratio of the transmission 25 is [n], when the thigh swing arm 13 swings in the clockwise direction at the swing angle θf, the shaft 25A of the transmission 25 swings in the clockwise direction at the swing angle nθf. Move. In other words, in the example shown in FIG. 10, the spring spring 24 has a “counterclockwise” energizing torque corresponding to an angle (nθf−θs) obtained by subtracting the offset angle θs from the swing angle nθf. It will be.

  FIG. 11 shows the case where the thigh swing arm 13 is swung in the “counterclockwise” direction with the swing angle θr in the state where the “clockwise offset angle θs” shown in FIG. 9 is applied. An example is shown. When the transmission ratio of the transmission 25 is [n], when the thigh swing arm 13 swings in the “counterclockwise” clockwise direction at the swing angle θr, the shaft 25A of the transmission 25 rotates in the “counterclockwise” clockwise direction. It swings at a swing angle nθr. That is, in the example shown in FIG. 11, the spring spring 24 generates a biasing torque in the clockwise direction according to an angle (nθr + θs) obtained by adding the swing angle nθr and the offset angle θs.

● [Input / output of control means (Fig. 12)]
Next, the input / output of the control means 50 will be described with reference to FIG. The control unit 5 accommodates a control means 50 and a battery 60. The control unit 5 is provided with a start switch 54, a touch panel 55 as input / output means, a connector 61 for charging the battery 60, and the like. The control means 50 (control device) includes a CPU 50A, motor drivers 51, 52, 53, and the like. A storage device for storing a program for executing the processing of the control means 50 and various measurement results is also provided, but not shown.

  As will be described later, the control means 50 obtains a target swing period and a target swing angle for swinging the thigh swing arm 13 and outputs a drive signal to the electric motor 11 via the motor driver 51. The electric motor 11 swings the speed reducer 11D based on the drive signal from the control means 50, and the thigh swing arm 13 swings at a predetermined angle at a predetermined cycle via the pulley 14, the belt 14B, and the pulley 15. Let The rotation speed and the rotation amount of the shaft of the electric motor 11 are detected by the rotation angle detection means 11S, and the detection signal is input to the motor driver 51 and also to the CPU 50A via the motor driver 51. The CPU 50A performs feedback control so that the actual swing period and the actual swing angle of the thigh swing arm 13 based on the detection signal from the rotation angle detection unit 11S approach the target swing period and the target swing angle. .

  Further, as will be described later, the control means 50 obtains a target stiffness adjustment angle that is a turning angle of the spring fixing member 23 at which the apparent spring constant of the mainspring spring 24 viewed from the thigh swing arm 13 becomes an optimum value, and the motor driver A drive signal is output to the electric motor 21 via 52. The electric motor 21 rotates the spring fixing member 23 via the speed reducer 21 </ b> D based on the drive signal from the control means 50. Further, the rotation speed and rotation amount of the shaft of the electric motor 21 are detected by the rotation angle detection means 21S, and the detection signal is input to the motor driver 52 and to the CPU 50A via the motor driver 52. The CPU 50A performs feedback control so that the actual turning angle of the spring fixing member 23 based on the detection signal from the rotation angle detection means 21S approaches the target stiffness adjustment angle.

  As will be described later, the control means 50 obtains a target swing period and a target swing angle for swinging the lower leg swing arm 33 and outputs a drive signal to the electric motor 31 via the motor driver 53. Based on the drive signal from the control means 50, the electric motor 31 causes the lower leg swing arm 33 to swing at a predetermined angle at a predetermined cycle via the speed reducer 31D, the pulley 32P, and the belt 32B. The rotation speed and the rotation amount of the shaft of the electric motor 31 are detected by the rotation angle detection means 31S, and the detection signal is input to the motor driver 53 and also to the CPU 50A via the motor driver 53. The CPU 50A performs feedback control so that the actual swing period and the actual swing angle of the crus swing arm 33 based on the detection signal from the rotation angle detection unit 31S approach the target swing period and the target swing angle. .

  The start switch 54 is a switch for starting the control means 50. The touch panel 55 is a device for inputting a user's height and weight, displaying a setting state, and the like. The charging connector 61 is a connector to which a charging cable is connected when the battery 60 is charged.

● [Processing procedure of control means (FIG. 13)]
Next, the processing procedure of the control means 50 is demonstrated using the flowchart shown in FIG. When the user operates the start button of the control unit (step S10), the control means proceeds to step S15.

  In step S15, the control unit waits for a user's initial setting input from the touch panel. When the input of height and weight from the user is confirmed, the control means proceeds to step S20. If the input from the user is not confirmed even after the predetermined time has elapsed, the control means sets, for example, a preset standard height and standard weight, and proceeds to step S20.

  In step S20, the control means does not energize the electric motors 11, 21, and 31 for a predetermined period, measures the user's walking state (or running state), and corresponds to the measurement time to detect the rotation angle detection means 11S, The detection signal from 31S is stored in the storage device as measurement data. The shafts of the electric motors 11 and 31 are configured to idle when not energized. The shaft of the electric motor 21 is configured to be locked without being idle when not energized, and the turning angle of the spring fixing member 23 by the electric motor 21 is when the swing angle of the thigh swing arm 13 is zero. The turning angle is adjusted so that no biasing torque is generated in the spring 24. For example, when the measurement data is collected for a predetermined number of steps or a predetermined time, the control means proceeds to step S25.

  In step S25, the control means walks from the measurement data based on the detection signal from the rotation angle detection means 11S based on the swing angle (swing amplitude) of the thigh swing arm, the angular velocity and the angular acceleration of the thigh swing arm. The period (oscillation period) is calculated. Similarly, the control means calculates the walking cycle from the measurement data based on the detection signal from the rotation angle detection means 31S, from the swing angle (swing amplitude) of the lower leg swing arm, the angular velocity and the angular acceleration of the lower leg swing arm. (Oscillation cycle) is calculated. Then, the control means proceeds to step S30.

  In step S30, the control means, based on the swing angle of the thigh swing arm, the swing period of the thigh swing arm, the height and weight of the user input in step S15, etc., calculated in step S25, A target stiffness adjustment angle that is the optimum joint stiffness is calculated, and the process proceeds to step S35. A specific method for calculating the target stiffness adjustment angle will be described later.

  In step S35, the control means controls the electric motor 21 to set the offset angle of the spring fixing member 23 to the target stiffness adjustment angle obtained in step S30, and proceeds to step S40.

  In step S40, the control means calculates the swing angle of the thigh swing arm, the swing cycle of the thigh swing arm, the swing angle of the lower leg swing arm, the swing cycle of the lower leg swing arm calculated in step S25. Based on the output voltage of the battery, etc., the assist pattern of the user's thigh (output pattern of the drive signal to the electric motor 11) and the assist pattern of the user's lower leg (the drive signal to the electric motor 31) Output pattern), and the process proceeds to step S45.

  In step S45, the control means starts outputting drive signals to the electric motor 11 and the electric motor 31 based on the assist pattern calculated in step S40, and swings the thigh swing arm 13 and the lower leg swing arm 33. The user's walking motion (or running motion) is supported so that the user's walking motion (or running motion) is continued, and the process proceeds to step S50. In addition, the output of the drive signal to the electric motor 11 and the electric motor 31 is continued even when the process proceeds to another step.

  In step S50, the control means operates the electric motor 11 and the electric motor 31 to support the user's walking (or running) operation, and the rotation angle corresponding to the measurement time as measured in step S20. The detection signals from the detection means 11S and 31S are stored in the storage device as measurement data, and the process proceeds to step S55. Note that the collection of measurement data is continued even when the process moves to another step.

  In step S55, the control means determines whether or not the user desires to stop the support of the walking motion (or running motion) based on the measurement data collected in step S50, and desires the stop of the support. If it is determined (Yes), the output of the drive signal to the electric motor 11 and the electric motor 31 is stopped, the process is terminated, and if it is determined that it is not desired to stop the support (No), Return to S25.

[Calculation method of target stiffness adjustment angle (FIG. 10): Target stiffness adjustment angle with respect to the clockwise swing angle θf of the thigh swing arm 13]
First, the calculation procedure of the target stiffness adjustment angle performed in step S30 of the flowchart shown in FIG. 13 will be described with reference to FIG. FIG. 10 shows an example in which the offset angle in the clockwise direction is θs (the “counterclockwise offset angle is −θs) and the thigh swing arm 13 swings in the clockwise direction at the swing angle θf. In this example, the rotation angle in the clockwise direction of the shaft 25A of the transmission 25 is nθf (that is, the transmission ratio of the transmission 25 is [n]). Further, the efficiency of the transmission 25 is η, the apparent spring constant of the mainspring 24 seen from the thigh swing arm 13 side is k1, and the spring constant of the mainspring 24 seen from the spring fixing member 23 side is k ( Assuming that the torque generated by the swinging of the thigh swinging arm 13 is τ, the following formula (1) is established.
τ = k1 · θf = η · n · k (nθf−θs) Equation (1)

By arranging the above equation (1), the apparent spring constant k1 of the mainspring spring 24 seen from the thigh swing arm 13 side can be obtained by the following equation (2). Moreover, Formula (2) can be rearranged and Formula (3) can be obtained.
k1 = η · n ² · k [1-θs / (n · θf)] Equation (2)
θs = n · θf [1-k1 / (η · n ² · k)] Equation (3)

From the above equation (2), for example, when it is desired to make the apparent spring constant k1 of the mainspring 24 seen from the thigh swing arm 13 side zero, the offset angle θs = n · θf may be set. . Further, for example, when the offset angle θs is set to zero, the apparent spring constant k1 of the mainspring 24 viewed from the thigh swing arm 13 side is k1 = η · n ² · k according to the equation (2). I understand that. For example, when it is desired to set the apparent spring constant k1 = 2 · η · n ² · k of the mainspring 24 as viewed from the side of the thigh swing arm 13, it is understood that θs = −n · θf may be set (FIG. In the example of FIG. 10, the spring fixing member 23 may be turned by “n · θf” in the “counterclockwise” direction with respect to the reference line J1).

Here, when the user's walking frequency (swing frequency of the thigh swing arm) is f and the angular frequency (angular velocity) in that case is ω, the following expression (4) is established. The walking frequency f can be obtained from the measured period of walking (or running) of the user. Therefore, the value of ω in the following equation (4) can be obtained.
ω = 2 · π · f Equation (4)

Further, as described above, the apparent spring constant of the mainspring 24 viewed from the thigh swing arm 13 side is k1. Further, let I be the moment of inertia around the drive shaft 6J including the user's lower limbs and the thigh swing arm 13 and the like. For example, the inertia moment I includes the total mass (known) of each member that swings around the drive shaft 6J, the position of the center of gravity of the total mass (the distance from the drive shaft 6J, which is known), the weight of the user And the mass of the lower limb estimated from the height and the position of the center of gravity (the distance from the drive shaft 6J, which is known), and the following equations (5) and (6) are established. Since the value of ω is known from the above and the moment of inertia I is also known, the apparent spring constant k1 of the mainspring 24 viewed from the thigh swing arm 13 side can be obtained from the following equation (6). .
ω = √ (k1 / I) Equation (5)
k1 = I · ω ² formula (6)

The equation of motion of the thigh swing arm 13 is generally expressed as the following equation (7), where ρ is the viscosity coefficient around the joint axis (drive shaft 6J). In equation (7), τ, I, and k1 are used, and the swing angle is θ.

Since the swing of the thigh can be regarded almost as a sine wave, the following formula (7A) can be obtained by substituting θ = A · sin ωt into the above formula (7).
τ = −A · I · ω ² · sinωt + A · ρ · ω · cosωt + A · k1 · sinωt
= A (k1−I · ω ² ) · sin ωt + A · ρ · ω · cos ωt Equation (7A)

In the above equation (7A), when k1 = I · ω ² , that is, when a resonance state is established, τ can be minimized. Therefore, the energy that is the product of torque and angular displacement can also be minimized.

  In the example of FIG. 10, when the thigh swing arm 13 is swung clockwise with the swing angle θf, the offset angle θs that minimizes the power consumption of the electric motor 11 is the target stiffness adjustment angle. The offset angle θs obtained from the equations (7) and (2) is the target stiffness adjustment angle. Further, from the above formulas (6) and (2), the offset angle θs corresponding to the angular frequency ω and the moment of inertia I (the offset angle that matches the resonance frequency of the spring and the oscillation frequency of the oscillation object). θs) can be obtained.

[Calculation method of target stiffness adjustment angle (FIG. 11): Target stiffness adjustment angle with respect to “counterclockwise” pivot angle θr of thigh swing arm 13]
Next, the procedure for calculating the target stiffness adjustment angle performed in step S30 of the flowchart shown in FIG. 13 will be described with reference to FIG. In FIG. 11, the offset angle in the clockwise direction is θs (the offset angle in the “counterclockwise” clockwise direction is −θs), and the thigh swing arm 13 swings in the “counterclockwise” direction at the swing angle θr. An example is shown, in which the “counterclockwise” rocking angle of the shaft 25A of the transmission 25 is nθr (that is, the transmission ratio of the transmission 25 is [n]). . Further, the efficiency of the transmission 25 is η, the apparent spring constant of the mainspring 24 seen from the thigh swing arm 13 side is k2, and the spring constant of the mainspring 24 seen from the spring fixing member 23 side is k. When the torque generated by the swing of the thigh swing arm 13 is τ, the following equation (8) is established.
τ = k 2 · θr = η · n · k (nθf + θs) Equation (8)

By arranging the above equation (8), the apparent spring constant k2 of the mainspring spring 24 seen from the thigh swing arm 13 side can be obtained by the following equation (9). Further, formula (10) can be obtained by rearranging formula (9).
k2 = η · n ² · k [1 + θs / (n · θr)] Equation (9)
θs = −n · θr [1-k2 / (η · n ² · k)] Equation (10)

From the above equation (9), for example, when it is desired to make the apparent spring constant k2 of the mainspring 24 seen from the thigh swing arm 13 side zero, the offset angle θs = −n · θr may be set. Recognize. For example, when the offset angle θs is set to zero, the apparent spring constant k2 of the mainspring 24 viewed from the thigh swing arm 13 side is k2 = η · n ² · k according to the equation (9). I understand that. Further, for example, when it is desired to set the apparent spring constant k2 = 2 · η · n ² · k of the mainspring 24 as viewed from the side of the thigh swing arm 13, it is understood that θs = n · θr may be set (FIG. 11). In this example, the spring fixing member 23 may be rotated by n · θr in the clockwise direction with respect to the reference line J1).

Here, when the user's walking frequency (swing frequency of the thigh swing arm) is f and the angular frequency (angular velocity) in that case is ω, the above equation (4) is established. Further, as described above, the apparent spring constant of the mainspring 24 viewed from the side of the thigh swing arm 13 is k2, and the moment of inertia around the drive shaft 6J including the user's lower limbs, the thigh swing arm 13 and the like is obtained. When I is set as described above, the following formulas (11) and (12) are established. Since the value of ω is known from the above and the moment of inertia I is also known, the apparent spring constant k2 of the mainspring 24 seen from the side of the thigh swing arm 13 can be obtained from the following equation (12). .
ω = √ (k2 / I) Equation (11)
k2 = I · ω ² formula (12)

The equation of motion of the thigh swing arm 13 is generally expressed as the following equation (13), where ρ is the viscosity coefficient around the joint axis (drive shaft 6J). In Expression (13), the above-described τ, I, and k2 are used, and the swing angle is θ.

Since the swing of the thigh can be regarded almost as a sine wave, substituting into the above equation (13) as θ = A · sin ωt, the following equation (13A) can be obtained.
τ = −A · I · ω ² · sinωt + A · ρ · ω · cosωt + A · k2 · sinωt
= A (k2-I · ω ² ) · sin ωt + A · ρ · ω · cos ωt Equation (13A)

In the above equation (13A), k2 = I · ω ² , that is, when the resonance state is established, τ can be minimized. Therefore, the energy that is the product of torque and angular displacement can also be minimized.

  In the example of FIG. 11, when the thigh swing arm 13 is swung in the “counterclockwise” direction at a swing angle θr, the offset angle θs that minimizes the power consumption of the electric motor 11 is the target stiffness adjustment angle. The offset angle θs obtained from the above equations (13) and (9) is the target stiffness adjustment angle. Further, from the above equations (12) and (9), the offset angle θs corresponding to the angular frequency ω and the moment of inertia I (the offset angle that matches the resonance frequency of the spring and the oscillation frequency of the object to be oscillated). θs) can be obtained.

  As described above with reference to FIGS. 10 and 11, the swinging frequency (f) of the thigh swing arm 13 around the drive shaft member 6 and the swing including the thigh swing arm 13 are controlled using the control means 50. The moment of inertia (I) around the drive shaft member 6 in the moving object (all objects including the user's lower limbs and the thigh swing arm 13 and swinging around the drive shaft 6J) and the spring constant (k ), The offset angle (θs) of the mainspring spring 24, the swing angle (θf) in the clockwise direction of the thigh swing arm 13 or the swing angle (θr) in the “counterclockwise” direction of the thigh swing arm 13 , The stiffness adjustment angle (clockwise offset angle θs) is adjusted so that the resonance angular frequency (ω) of the mainspring 24 coincides with the oscillation frequency of the oscillation object.

  As described above, the resonance angular frequency (ω) of the mainspring 24 and the moment of inertia I coincides with the oscillation frequency of the swing object including the thigh swing arm 13 (the entire object swinging around the drive shaft member 6). Thus, by setting the stiffness adjustment angle (clockwise offset angle θs), the power consumed by the electric motor 11 can be minimized. Without obtaining the stiffness adjustment angle from the above equation, after changing the stiffness adjustment angle by a minute angle and measuring the power consumption of the electric motor 11 for a predetermined period at the stiffness adjustment angle, the stiffness adjustment is again made by the minute angle. The stiffness adjustment angle with the least power consumption may be obtained by repeatedly measuring the power consumption of the electric motor 11 for a predetermined period by changing the angle. Further, by providing the transmission 25 and amplifying the swing angle of the thigh swing arm 13 and inputting the amplified swing angle to the spring spring 24, it is possible to use a small spring having a relatively small spring constant. is there. The electric motor 21 can also be a small electric motor with a smaller torque.

  The swing joint device 1 according to the first embodiment described above is for the user's left leg, but the base portion for the right leg (a symmetric version of the base portion 2) and the thigh swing for the right leg. Part (symmetrical version of each member indicated by reference signs 11, 12, 14, 14B, 15, 13, 19 etc.), right leg stiffness adjusting part (reference signs 21, 22, 23, 24, 25 etc.) A symmetric version of each member shown), a leg swinging part for the right leg (a symmetric version of each member indicated by reference numerals 31, 32, 32P, 32B, 33, 34, 35, 36, 39, etc.) In addition, the control unit 5 may support the walking motion (or running motion) of both legs of the user.

●● [Oscillating joint device of the second embodiment]
The swing joint apparatus according to the second embodiment is different from the swing joint apparatus 1 according to the first embodiment shown in FIGS. 1 to 4 in the electric motor 11 (and rotation angle detecting means 11S), the bracket 12, and the pulley 14. The belt 14B is omitted, and a rotation angle detecting means capable of detecting the swing angle of the thigh swing arm 13 is added. In the second embodiment, the movement of the thigh during walking (or running) of the user cannot be supported by the electric motor, but the movement of the lower leg can be supported by the electric motor 31. In addition, since the rigidity adjustment unit indicated by reference numerals 21, 22, 23, 24, 25, etc. is provided, the rigidity adjustment angle (clockwise offset angle θs) is set to an appropriate angle so that the resonance state is always obtained. By doing so, the momentum of the user's thigh can be appropriately reduced.

  Further, as in the first embodiment, the right leg base portion (a symmetrical version of the base portion 2), the right leg thigh swinging portion (the left and right sides of the members indicated by reference numerals 13, 19 and the like). Symmetric version), right leg stiffness adjuster (symmetrical version of each member indicated by reference numerals 21, 22, 23, 24, 25, etc.), right leg lower leg swing part (reference numerals 31, 32, 32P) , 32B, 33, 34, 35, 36, 39, etc.) are added to support the walking movement (or running movement) of both legs of the user from the control unit 5. Also good.

●● [Oscillating joint device of the third embodiment]
The swing joint apparatus of the third embodiment is different from the swing joint apparatus 1 of the first embodiment shown in FIGS. 1 to 4 in that the electric motor 31, the bracket 32, the pulley 32P, the belt 32B, and the lower leg swing. The arm 33, the lower leg relay arm 34, the lower leg arm 35, the toe holding part 36, and the lower leg mounting part 39 are omitted. In the third embodiment, the thigh motion is supported by the electric motor 11 during the user's walking (or running), and the lower leg motion is not supported. In addition, since it has the rigidity adjustment part shown with the code | symbol 21, 22, 23, 24, 25, etc., the rigidity adjustment angle (clockwise offset angle (theta) s) is made into an appropriate angle so that it may always be in a resonance state. Thus, the power consumption of the electric motor 11 can be further reduced.

  Further, as in the first embodiment, a base portion for the right leg (a symmetric version of the base portion 2), a thigh swinging portion for the right leg (reference numerals 11, 12, 14, 14B, 15, 13, (Right and left symmetrical versions of each member indicated by 19 etc.), and a right leg stiffness adjusting portion (left and right symmetrical versions of each member indicated by reference numerals 21, 22, 23, 24, 25, etc.) are added and controlled. The walking motion (or running motion) of both legs of the user from the unit 5 may be supported.

●● [Oscillating joint device of the fourth embodiment]
The swing joint apparatus according to the fourth embodiment omits the electric motor 11 (and the rotation angle detection means 11S), the bracket 12, the pulley 14, and the belt 14B from the swing joint apparatus according to the third embodiment, and the thigh joint apparatus. A rotation angle detecting means capable of detecting the swing angle of the swing arm 13 is added. In the fourth embodiment, it is not possible to support the movement of the lower leg during walking (or running) of the user. In addition, the movement of the user's thigh cannot be supported by the electric motor. However, since it has the rigidity adjusting portion indicated by reference numerals 21, 22, 23, 24, 25, etc., the rigidity adjusting angle (clockwise offset angle θs) is set to an appropriate angle so that the resonance state is always obtained. By doing so, the momentum of the user's thigh can be appropriately reduced.

  Further, as in the first embodiment, the right leg base portion (a symmetrical version of the base portion 2), the right leg thigh swinging portion (the left and right sides of the members indicated by reference numerals 13, 19 and the like). Symmetrical version), a right leg stiffness adjuster (a symmetric version of each member indicated by reference numerals 21, 22, 23, 24, 25, etc.) is added, and the walking motion of both legs of the user from the control unit 5 ( Alternatively, a driving operation) may be supported.

  Various changes, additions, and deletions can be made to the structure, configuration, shape, appearance, and the like of the leg support device of the present invention without departing from the spirit of the present invention.

  The use of the leg support device described in the present embodiment is not limited to the use for supporting the swing motion (walking and running) of the user's lower limbs, but is applicable to various objects that perform periodic swing motion. Is possible.

  In the present embodiment, the swinging and rotating motions of the electric motor 11 and the electric motor 31 are transmitted to the thigh swinging arm 13 and the lower thigh swinging arm 33 by pulleys and belts. You may transmit using a link mechanism etc.

  In the description of the present embodiment, the transmission 25 is provided between the thigh swing arm 13 (pulley 15) and the mainspring spring 24, and the mainspring spring 24 is indirectly connected to the thigh swing arm 13 (pulley 15). Although the example has been described, the transmission 25 may be omitted, and the thigh swing arm 13 (pulley 15) and the spring 24 may be directly connected.

1 Swing joint device (leg force support device)
2 Base part (waist side wearing part)
DESCRIPTION OF SYMBOLS 3 Waist mounting part 4 Shoulder belt 5 Control unit 6 Drive shaft member 6J Drive shaft 11 Electric motor (1st drive means)
11D, 21D, 31D Reducer 11S Rotation angle detection means (first angle detection means)
12 Bracket 13 Thigh swing arm (first swing arm)
13G Disk part 14, 15 Pulley 14B Belt 15J Pulley shaft member 19 Thigh attachment part 21 Electric motor (rigidity adjustment turning means)
21S Rotation angle detection means 22 Bracket 23 Spring fixing member 23J Spring support 24 Spring spring 24A Fixed end 24B Free end 25 Transmission 25A Shaft (spring input shaft member)
25B Spring free end insertion groove 31 Electric motor (second drive means)
31S Rotation angle detection means (second angle detection means)
32 Bracket 32B Belt 32P Pulley 33 Lower leg swing arm (second swing arm)
34 Lower leg relay arm 35 Lower leg arm 35M Parallel link forming part 39 Lower leg mounting part 50 Control means J1 Reference line θf Oscillation angle (oscillation angle of thigh oscillating arm in the clockwise direction)
θr Oscillation angle (Anti-clockwise oscillation angle of thigh swing arm)
θs Offset angle (Rigidity adjustment angle)

Claims (6)

A leg strength support device that provides assisting power to the movement of the user's lower limbs,
A waist-side mounting portion to be mounted on the user's waist side;
A first swing arm disposed on a side of the user's thigh, the first swing arm having a concave shape or a convex shape serving as a swing axis of the first swing arm formed on an upper portion thereof. 1 swing arm,
A thigh attachment portion attached to the first swing arm and applied to the thigh of the user;
A drive shaft member that supports a concave shape or a convex shape as the swing axis of the first swing arm, wherein the first swing arm is placed in the front-rear direction of the user with respect to the waist-side mounting portion. The drive shaft member swingably supported by
Stiffness varying means for varying the stiffness, which is a force required to swing the first swing arm swinging around the drive shaft that is the shaft of the drive shaft member;
Control means for controlling the rigidity of the first swing arm swinging around the drive shaft by controlling the rigidity variable means;
The stiffness variable means is composed of a spring, a spring fixing member, and a stiffness adjustment turning means,
The mainspring spring, the spring fixing member, and the rigidity adjusting turning means are arranged so as to be coaxial with the drive shaft,
A spring fixing member that supports a fixed end of the mainspring spring is disposed at a position adjacent to the mainspring.
A free end that is one end of the spring spring is connected to a spring input shaft member that swings at an angle corresponding to a first swing angle that is a swing angle of the first swing arm,
The fixed end, which is the other end of the spring spring, is connected to a spring support provided at a position away from the drive shaft in the spring fixing member,
The rigidity adjustment turning means adjusts the rigidity by turning the spring fixing member around the drive shaft and moving the position of the fixed end of the mainspring spring based on a control signal from the control means. To
Leg support device. The leg force support device according to claim 1,
A transmission is provided between the first swing arm and the mainspring,
The transmission includes the spring input shaft member that swings at a post-shift swing angle that is shifted at a predetermined speed ratio when the first swing arm swings at the first swing angle.
Leg support device. The leg force assisting device according to claim 1 or 2,
First angle detecting means for detecting the first swing angle of the first swing arm;
The control means controls the stiffness adjusting turning means to adjust the turning angle of the spring fixing member according to the first swing angle detected by the first angle detecting means, and adjusts the turning angle of the spring fixing member. Adjusting the rigidity by adjusting the apparent spring constant of the mainspring as viewed from the moving arm;
Leg support device. The leg force assisting device according to claim 3,
The control means includes
A swing frequency and a first swing angle of the first swing arm around the drive shaft;
A moment of inertia around the drive shaft in a swing object including the first swing arm;
Based on the spring constant of the spring spring, the turning angle of the spring fixing member is adjusted so that the resonance frequency of the spring spring matches the swing frequency of the swing object.
Leg support device. The leg force assisting device according to any one of claims 1 to 4,
First driving means for swinging the first swing arm around the drive shaft based on a control signal from the control means;
Leg support device. The leg force assisting device according to any one of claims 1 to 5,
A second swing arm supported swingably about the drive shaft;
Second angle detection means for detecting a second swing angle that is a swing angle of the second swing arm;
Second driving means for swinging the second swing arm around the drive shaft based on a control signal from the control means;
Connected to the first swing arm and the second swing arm and operated based on the first swing angle of the first swing arm and the second swing angle of the second swing arm. An oscillating link member,
A lower leg mounting portion attached to the second swing arm and applied to the lower leg of the user,
Leg support device.

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