JP2017086460A - Actuator unit for long leg brace - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator unit that is properly wearable in various long leg braces tailor-made in conformity to the physique of a user.SOLUTION: An actuator unit of the present invention has: an outside elastic body in which an upper connecting body for engaging the upper frame of the actuator unit with an outside thigh frame of a long leg brace is interposed between an outside clamping area opposed to the outside surface of the outside thigh frame and an outside surface of the outside thigh frame among the inside surface of the upper frame; and an inside connecting member having an inside clamping area opposed to the inside surface of the outside thigh frame on the side directed to the user width direction outward, and detachably connected to the upper frame so that the outside thigh frame and the outside elastic body may be clamped by the inside clamping area and the outside clamping area.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an actuator unit that can be attached to a long leg brace.

  Long leg braces that support knee joints are used as walking aids or rehabilitation devices for people with disabilities or those who have paralysis due to stroke, etc., electric motors that assist leg movement, etc. There has also been proposed a long leg brace that is provided with an actuator unit including the driving body (see Patent Document 1 below).

  By the way, the long leg brace includes an upper leg attachment body and a lower leg attachment body that are respectively attached to a user's upper leg and lower leg, and an upper leg frame and a lower leg frame that support the upper leg attachment body and the lower leg attachment body, respectively. A brace-side rotation connecting portion for connecting the both frames so that the lower leg frame is rotatable about the swing axis of the user's knee joint with respect to the upper leg frame; It is made to order according to the physique.

  Specifically, the user width direction inclination angle and / or bending shape of the upper leg with respect to the lower leg differs depending on the user's physique, so when manufacturing a long leg brace, the inclination angle of the upper leg frame with respect to the lower leg frame in the user width direction Further, it is necessary to tailor the bent shape according to the physique of the user to be used.

  Therefore, in the conventional long leg brace equipped with the actuator unit, the actuator unit must be manufactured as a dedicated product in accordance with the size and shape of the long leg brace as a wearing destination. The cost of long lower leg orthosis was incurred.

Japanese Patent No. 5724312

  The present invention has been made in view of such prior art, and an object of the present invention is to provide an actuator unit that can be appropriately mounted on various long leg braces tailored to the user's physique.

  In one aspect of the present invention, in order to achieve the above object, the upper thigh mounting body and the lower thigh mounting body, and the upper thigh mounting body and the upper thigh mounting body, which are respectively mounted on the user's upper thigh and lower thigh, are supported. A long leg brace having a thigh frame, a lower leg frame, and a brace-side coupling portion that couples the frames so that the lower leg frame can rotate about the swing axis of a user's knee joint with respect to the upper leg frame. An actuator unit to be mounted, the upper frame facing the outer upper thigh frame positioned outside in the width direction of the user among the upper thigh frames, and the outer side positioned outside in the width direction of the user among the lower thigh frames A lower frame facing the lower leg frame, and the two frames so that the lower frame can rotate about a pivot axis relative to the upper frame. An actuator-side connecting portion that connects the upper frame, a driving body that is mounted on an outer surface of the upper frame, and that generates a driving force for rotating the lower frame about the pivot axis, and the upper frame is connected to the outer upper thigh. An upper connecting body to be engaged with the frame, and a lower connecting body for transmitting the movement of the lower frame to the outer crus frame, wherein the upper linking body is formed on the outer upper thigh frame of the inner side surface of the upper frame. An outer elastic body inserted between an outer pinching region facing the outer surface and the outer surface of the outer crus frame, and an inner surface of the outer crus frame facing the outer side in the user width direction It has an inner clamping area, and is detachably connected to the upper frame so that the outer upper thigh frame and the outer elastic body are clamped by the inner clamping area and the outer clamping area. Providing long foot orthosis actuator unit having an inner connecting member.

  In the aspect, the upper coupling body may include an inner elastic body interposed between the inner pinching region and the inner side surface of the outer upper thigh frame.

  According to another aspect of the present invention, in order to achieve the above object, the upper thigh mounting body and the lower thigh mounting body, and the upper thigh mounting body and the upper thigh mounting body that are respectively mounted on the upper thigh and the lower thigh of the user are supported. A long leg brace having a thigh frame, a lower leg frame, and a brace-side coupling portion that couples the frames so that the lower leg frame can rotate about the swing axis of a user's knee joint with respect to the upper leg frame. An actuator unit to be mounted, the upper frame facing the outer upper thigh frame positioned outside in the width direction of the user among the upper thigh frames, and the outer side positioned outside in the width direction of the user among the lower thigh frames A lower frame facing the lower leg frame, and the two frames so that the lower frame can rotate about a pivot axis relative to the upper frame. An actuator-side connecting portion for connecting the upper frame, a driving body that is mounted on an outer surface of the upper frame and generates a driving force for rotating the lower frame about the pivot axis, and the upper frame is connected to the outer upper thigh frame An upper connection body engaged with the lower frame, and a lower connection body that transmits the movement of the lower frame to the outer crus frame, wherein the upper connection body is formed on the outer side of the outer crus frame on the inner side surface of the upper frame. An outer spacer that is detachably attached to an outer pressing area facing the side surface; an inner pressing area that faces the inner side surface of the outer upper thigh frame on a side facing outward in the user width direction; An inner connecting member that is detachably connected to the upper frame so that the outer upper thigh frame and the outer spacer are clamped by the pressure region and the outer clamping region. The outer spacer has a side surface facing outward in the width direction of the user in surface contact with the outer pressing region and a side surface facing inward in the width direction of the user is in surface contact with the outer surface of the outer crus frame. Provided is an actuator unit for a long leg brace that is configured.

In the other aspect, the upper coupling body may include an inner spacer that is detachably attached to the inner clamping region.
The inner spacer is configured such that a side surface facing inward in the width direction of the user is in surface contact with the inner pinching region and a side surface facing outward in the width direction of the user is in surface contact with the inner side surface of the outer crus frame. Is done.

  In the various configurations, preferably, the lower connecting body is a lower frame side engaging portion that is concave or convex toward an inner side surface of the lower frame in the user width direction, and is formed on the outer crus frame. It may have a lower frame side engaging portion that engages directly or indirectly with concave and convex.

  Preferably, in the various configurations, the actuator unit may include a rotation center coupling body that engages the actuator side coupling portion coaxially with the appliance side coupling portion.

  The orthosis side coupling portion has a thigh frame side mounting hole provided in a lower part of the outer crus frame, a crus frame side mounting hole provided in an upper part of the outer crus frame, and a screw hole, A female screw member inserted into the upper thigh frame side mounting hole and the lower thigh frame side mounting hole so that the screw hole opens outward in the width direction of the user, and the outer side by being screwed into the screw hole of the female screw member A male screw member for connecting the upper thigh frame and the outer lower thigh frame so as to be rotatable relative to each other, and wherein the actuator side connecting portion includes an upper frame side mounting hole provided in a lower portion of the upper frame, and the lower frame A lower frame side mounting hole provided in an upper portion of the upper frame side, and a rotation connecting shaft inserted into the upper frame side mounting hole and the lower frame side mounting hole. The ligated body has a male screw threadedly engaged with the screw hole of the female screw member on one end side, and a device side rotation center connecting member having one of a convex portion and a concave portion on the other end side, and the upper frame side mounting hole, An actuator-side rotation center connecting member fixed to the upper frame so as to be coaxially positioned, wherein the protrusion-and-concave portion engages with one of the protrusion and the recess in the appliance-side rotation center connecting member. An actuator side rotation center connecting member having the other.

According to the actuator unit for a long lower limb orthosis according to one aspect of the present invention, the upper coupling body that engages the upper frame in the actuator unit with the outer upper thigh frame in the long lower limb orthosis is the inner side surface of the upper frame. An outer elastic body inserted between an outer pinching region facing the outer surface of the outer crus frame and the outer surface of the outer crus frame, and a side of the outer crus frame that faces outward in the user width direction. It has an inner clamping area facing the inner surface, and is detachably connected to the upper frame so that the outer upper thigh frame and the outer elastic body are clamped by the inner clamping area and the outer clamping area. The outer crus flare present between the various lower leg braces of various shapes tailored to the user's physique. The inclination angle and / or differences in the curved shape of the user the width direction of the outer upper leg frame against beam can be effectively absorbed by the outer elastic bodies.
Therefore, the actuator unit according to one aspect of the present invention can be appropriately mounted on the various leg prosthesis.

  Further, according to the actuator unit for an ankle foot orthosis according to one aspect of the present invention, the upper coupling body is attached to and detached from an outer pinching region facing the outer surface of the outer upper thigh frame among the inner surfaces of the upper frame. An outer spacer that is freely mounted, and an inner pinching region that faces the inner side surface of the outer upper thigh frame on a side surface facing outward in the user width direction, the inner pinching region and the outer pinching region An outer crus frame and an inner connecting member that is detachably connected to the upper frame so that the outer spacer is clamped, and the outer spacer has a side surface facing outward in the width direction of the user. The side surface that is in surface contact with the outer pinching region and faces inward in the width direction of the user is configured to be in surface contact with the outer surface of the outer upper thigh frame. By simply replacing the outer spacer that matches the inclination angle and / or the bending shape of the outer upper leg frame with respect to the outer lower leg frame, which is unique to each of the variously shaped long lower limb orthoses, The actuator unit can be appropriately attached to the long leg brace of the shape.

FIG. 1 is a perspective view of a long leg brace equipped with an actuator unit according to an embodiment of the present invention. FIG. 2 is a partially exploded perspective view of FIG. 1 and shows a state viewed from the outside in the user width direction. FIG. 3 is a partially exploded perspective view of FIG. 1 and shows a state viewed from the inside in the user width direction. FIG. 4 is a front view of only the long leg orthosis with the actuator unit removed. FIG. 5 is a perspective view of a portion V in FIG. FIG. 6 is an enlarged perspective view of FIG. 5 in a state in which the first connecting piece of the first upper leg frame on the outer side in the user width direction and the male screw member on the first device side connecting part on the outer side in the user width direction of the long leg brace are disassembled. FIG. FIG. 7 is a longitudinal front view of FIG. FIG. 8 is a partially longitudinal front view of a portion VIII in FIG. FIG. 9 is a partially longitudinal front view of a portion IX in FIG. FIG. 10 is an enlarged view of a portion X in FIG. 2 in a state in which the illustration of the long leg brace is omitted. FIG. 11 is an enlarged view of a portion XI in FIG. 3 in a state in which the illustration of the long leg brace is omitted. 12 (a) to 12 (c) show first to first different inclination angles and / or bending shapes of the first upper thigh frame outside the user width direction with respect to the first lower thigh frame outside the user width direction. FIG. 4 is a schematic front view of the first upper leg frame and the first lower leg frame in a three-length lower limb orthosis, and is a front schematic view showing a connection state by an upper connecting body in the actuator unit. FIGS. 13A to 13C are schematic front views corresponding to FIGS. 12A to 12C, respectively, showing a connection state by the upper connection body provided with the inner elastic body. FIGS. 14A to 14C are schematic front views corresponding to FIGS. 12A to 12C, respectively, showing a connection state by the upper connecting body in the actuator unit according to the modification. 15 (a) to 15 (c) are schematic front views corresponding to FIGS. 14 (a) to 14 (c), respectively, and show a connected state by the upper connector in the modified example including the inner spacer. .

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of an actuator unit for a long leg orthosis according to the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows a perspective view of the long leg brace 1 in a state where the actuator unit 100A according to the present embodiment is mounted.
2 and 3 are partial exploded perspective views of FIG. 1 viewed from the outer side and the inner side in the width direction of the user, respectively.

The long leg brace 1 is a device worn by a person with a disability or a person with paralysis due to a stroke to assist walking or for rehabilitation, and is tailored to the user's physique. It is what is done.
The actuator unit 100A gives a user who wears the long leg brace 1 a force assisting walking.

First, the configuration of the long leg brace 1 will be described.
As shown in FIGS. 1 to 3, the long leg brace 1 includes an upper thigh mounting body 10 and a lower thigh mounting body 30 which are respectively mounted on a user's upper thigh and lower thigh, and the upper thigh mounting body 10 and the lower thigh mounting. The upper thigh frame 20 and the lower thigh frame 40 that respectively support the body 30, and the brace-side connecting portion 50 that connects the upper thigh frame 20 and the lower thigh frame 40.

The upper thigh mounting body 10 and the lower thigh mounting body 30 can take various forms as long as they can be mounted on the user's upper thigh and lower thigh, respectively.
In the present embodiment, as shown in FIG. 1, the upper thigh mounting body 10 has a cylindrical shape that has a mounting hole that can be inserted into the user's upper thigh and fits the upper thigh. Yes.
Similarly, the lower leg mounting body 30 has a cylindrical shape having a mounting hole that can be inserted into the user's lower leg and fits the lower leg.

  As shown in FIGS. 1 to 3, the upper thigh frame 20 has a first upper thigh frame 20 (1) that extends vertically along the user's upper thigh on the outer side in the width direction of the user.

  In the present embodiment, as shown in FIGS. 1 to 3, the upper thigh frame 20 further includes the first upper thigh frame 20 across the user's upper thigh inserted into the upper thigh wearing body 10. It has the 2nd upper thigh frame 20 (2) extended up and down along a user's upper leg in the width direction inner side of a user so as to oppose (1).

  As shown in FIGS. 1 to 3, the crus frame 40 has a first crus frame 40 (1) that extends vertically along the user's crus on the outer side in the width direction of the user.

  In the present embodiment, as shown in FIGS. 1 to 3, the crus frame 40 further includes the first crus frame 40 (1) sandwiching the user's crus inserted into the crus mounting body 30. A second lower leg frame 40 (2) extending vertically along the user's lower leg is provided on the inner side in the width direction of the user so as to face each other.

FIG. 4 shows a front view of the long leg brace 1.
As described above, the upper thigh frame 20 and the lower thigh frame 40 are tailored to the user along the user's upper thigh and lower thigh, respectively.
That is, the inclination angle and / or the bending shape of the upper leg frame 20 with respect to the user width direction W with respect to the lower leg frame 40 are different for each long leg brace that is custom-made according to the user's physique.

In the present embodiment, as shown in FIGS. 1 and 4, the long lower limb orthosis 1 further includes a foot frame 60 on which a user places his / her foot.
In this case, the lower leg frame 40 is connected to the foot frame 60 at the lower end.

FIG. 5 is a perspective view of a V portion in FIG.
The orthosis-side connecting portion 50 connects both the frames 20 and 40 so that the lower leg frame 40 can rotate around the swing axis X of the user's knee joint with respect to the upper leg frame 20.

  As described above, in the present embodiment, the upper thigh frame 20 includes the first and second upper thigh frames 20 (1) and 20 (2), and the lower thigh frame 40 includes the first and second lower thighs. It has frames 40 (1) and 40 (2).

  Accordingly, as shown in FIGS. 1 to 5, the orthosis-side connecting portion 50 includes the first upper thigh frame 20 (1) and the first lower thigh frame 40 (1) positioned on the outer side in the user width direction. A first brace-side connecting portion 50 (1) that is rotatably connected about the swing axis X of the knee joint, the second upper thigh frame 20 (2) and the second lower thigh located on the inner side in the user width direction. It has the 2nd orthosis side connection part 50 (2) which connects the frame 40 (2) so that rotation to the rocking | fluctuation axis X of a knee joint is possible.

6 is an enlarged perspective view of FIG. 5 in a state in which the following first connecting piece 21a in the first upper thigh frame 20 (1) and the following male screw member 55 in the first orthosis side connecting portion 50 (1) are disassembled. Indicates.
In FIG. 6, the following first lock member 70 (1) is not shown for easy understanding.
FIG. 7 shows a longitudinal front view of FIG.

  As shown in FIGS. 5 to 7, the orthosis-side connecting portion 50 includes an upper leg frame-side attachment hole 20 a provided in the lower part of the upper leg frame 20 and a lower leg frame provided in the upper part of the lower leg frame 40. It has a side mounting hole 40a, a female screw member 51 inserted into the upper thigh frame side mounting hole 20a and the lower thigh frame side mounting hole 40a, and a male screw member 55 that is screwed into the female screw member 51.

  In the present embodiment, the lower end portion of the upper thigh frame 20 includes a pair of connecting pieces 21a and 21b that are spaced apart in the user width direction, and the upper thigh frame 20 is connected to the pair of connecting pieces 21a and 21b. A frame side mounting hole 20a is formed.

  Specifically, in the present embodiment, the upper thigh frame 20 includes a frame main body extending in the vertical direction, and the pair of connections fixed by pin connection or welding to both sides in the user width direction of the lower end portion of the frame main body. It has pieces 21a and 21b.

  The upper part of the lower leg frame 40 is inserted between the pair of connecting pieces 21a, 21b so that the lower leg frame side mounting hole 40a is positioned coaxially with the upper leg frame side mounting hole 20a.

  The female screw member 51 has a screw hole, and is inserted into the lower leg frame side mounting hole 40a and the upper leg frame side mounting hole 20a so that the screw hole opens outward in the width direction of the user.

Specifically, the female screw member 51 includes a cylindrical portion 52 in which the screw hole is formed, and a flange portion 53 that extends radially outward from one end side of the cylindrical portion 52.
In the female screw member 51, the cylindrical portion 52 is inserted into the upper thigh frame side mounting hole 20a and the lower thigh frame side mounting hole 40a from the inner side in the user width direction, and the flange portion 53 is connected to the pair of couplings. Of the pieces 21a and 21b, they are in contact with the inner connecting piece 21b located on the inner side in the user width direction.

  Reference numeral 53a in FIGS. 6 and 7 is a radially outward projection provided on the flange portion 53 and engages with a recess 22 (see FIG. 6) formed on the inner connecting piece 21b. Thus, the female screw member 51 is held so as not to rotate relative to the inner connecting piece 21b (that is, the upper thigh frame 20) around the axis.

  The male screw member 55 is screwed into the screw hole of the female screw member 51 to connect the upper thigh frame 20 and the lower thigh frame 40 so as to be relatively rotatable.

  Specifically, the male screw member 55 includes a shaft portion 56 in which a screw that is screwed into the screw hole is formed on an outer peripheral surface, and a flange portion 57 that extends radially outward from one end side of the shaft portion 56. have.

  The male screw member 55 has an outer connecting piece 21a positioned on the outer side in the user width direction of the pair of connecting pieces 21a and 21b, and the shaft portion 56 is screwed into the screw hole. It is in contact.

  In the present embodiment, as shown in FIGS. 5 to 7, the long leg apparatus 1 further prohibits the rotation of the lower leg frame 40 around the swing axis X with respect to the upper leg frame 20. A lock member 70 is provided.

  The lock member 70 surrounds the upper thigh frame 20 and the lower thigh frame 40 to connect the frames 20 and 40, and the lower thigh frame 40 is relative to the upper thigh frame 20 around the swing axis X. The locked state (the state shown in FIG. 5) that prevents the rotation and the connection between the upper thigh frame 20 and the lower thigh frame 40 are released, and the lower thigh frame 40 is pivoted with respect to the upper thigh frame 20. A release state in which relative rotation about X is permitted is possible.

  In the present embodiment, the lock member 70 is located on the outer side in the user width direction that acts on the first upper leg frame 20 (1) and the first lower leg frame 40 (1). (1) and a second lock member 70 (2) located on the inner side in the user width direction that acts on the second upper leg frame 20 (2) and the second lower leg frame 40 (2).

  Further, in the present embodiment, as shown in FIG. 6, the upper end surface 45 of the crus frame 40 (the end surface facing the crus frame 20) goes from one side to the other side around the swing axis X. The lower end surface 25 of the upper leg frame 20 (the end surface facing the lower leg frame 40) is the upper end surface 45 of the lower leg frame 40. It is an inclined surface corresponding to.

  With such a configuration, the lower leg frame 40 rotates only around the swing axis X with respect to the upper leg frame 20 in one side (the direction in which the user's lower leg is bent with respect to the upper leg) and to the other side. Does not rotate.

Hereinafter, the actuator unit 100A according to the present embodiment will be described.
FIG. 8 is a partial longitudinal sectional front view of a portion VIII in FIG.

  As shown in FIGS. 1 to 3 and 8, the actuator unit 100 </ b> A is opposed to the upper frame 120 disposed to face the first upper leg frame 20 (1) and the first lower leg frame 40 (1). A lower frame 140, an actuator-side connecting portion 150 that connects the upper frame 120 and the lower frame 140, a driver 110 that generates a driving force for rotating the lower frame 140, and the upper frame An upper coupling body 160 that engages 120 with the first upper leg frame 20 and a lower coupling body 170 that engages the lower frame 140 with the first lower leg frame 40 (1) are provided.

FIG. 9 shows a partial longitudinal sectional front view of a portion IX in FIG.
As shown in FIGS. 2, 3 and 9, the upper frame 120 faces the inner side in the user width direction and faces the first upper thigh frame 20 (1), and the outer side in the user width direction. And an outer side surface 122 facing the other side.

  2 and 3, the lower frame 140 faces the inner side in the user width direction, faces the inner side surface 141 facing the first lower leg frame 40 (1), and the outer side in the user width direction. And an outer surface 142.

  The actuator side connecting portion 150 connects the frames 120 and 140 so that the lower frame 140 can rotate around the pivot axis Y with respect to the upper frame 120.

  In the present embodiment, as shown in FIG. 8, the actuator side connecting portion 150 is provided at the upper frame side mounting hole 120 a provided at the lower portion of the upper frame 120 and at the upper portion of the lower frame 140. The lower frame side mounting hole 140a and the upper frame side mounting hole 120a and the rotation connecting shaft 151 inserted into the lower frame side mounting hole 140a are provided.

  The driving body 110 includes a driving source 111 such as an electric motor, and a transmission mechanism 115 that transmits a driving force generated by the driving source 111 to the lower frame 140.

The driving source 111 is fixed to the outer surface 122 of the upper frame 120.
In the present embodiment, as shown in FIG. 8, the drive source 111 is fixed to the outer surface 122 of the upper frame 120 with the output shaft 111a extending downward.

  In the present embodiment, as shown in FIG. 8, the transmission mechanism 115 includes a drive side bevel gear 116 that is supported on the output shaft 111a so as not to rotate relative to the output shaft 111a, and a driven side bevel gear engaged with the drive side bevel gear 116. 117 and a torque limiter 118 that transmits the rotation of the driven bevel gear 117 to the lower frame 140.

In the present embodiment, the driven bevel gear 117 is supported by the rotation connecting shaft 151 so as not to rotate relative to the rotation connecting shaft 151, and the actuator unit 100 </ b> A rotates around the axis of the rotation connecting shaft 151. A sensor 190 for detecting the angle is provided.
The swing angle of the lower frame 140 can be recognized by detecting the rotation angle around the axis of the rotation connecting shaft 151 by the sensor 190.
Note that reference numeral 195 in FIG. 8 denotes a gear train for transmitting the rotation of the rotation connecting shaft 151 to the sensor 190.

10 and 11 show enlarged views of the X part and the XI part in FIGS. 2 and 3, respectively.
In FIGS. 10 and 11, the elongate leg orthosis 1 is not shown for easy understanding of the upper coupling body 160.

  As shown in FIGS. 2, 3, and 9 to 11, the upper coupling body 160 is positioned between the inner side surface 121 of the upper frame 120 and the outer side surface of the first upper thigh frame 20 (1). And an inner connecting member 165 connected to the upper frame 120 so as to sandwich the outer elastic body 161 between the first upper thigh frame 20 (1) and the outer elastic body 161.

  Specifically, the outer elastic body 161 includes an outer pinching region 121a (see FIG. 9) facing the outer surface of the first upper thigh frame 20 (1) among the inner surface 121 of the upper frame 120 and the first. It arrange | positions between the outer surface of the upper leg frame 20 (1).

In the present embodiment, as shown in FIGS. 9 and 11, a concave portion is provided in a portion of the inner side surface 121 of the upper frame 120 that forms the outer pressing region 121 a, and the outer elastic body 161. Is disposed in the recess.
According to such a configuration, positional deviation of the outer elastic body 161 can be effectively prevented.

  Further, in the present embodiment, the upper frame 120 includes an inner pressing region 121a on which a member forming the outer surface 122 to which the driving body 110 is mounted and an outer elastic body 161 abuts. The members forming the side surface 121 are separated from each other, and both members are detachably connected by a fastening member 125 (see FIGS. 10 and 11). Of course, the upper frame 120 is integrally formed. Is also possible.

The inner connecting member 165 has an inner pinching region 166a facing the inner side surface of the first upper thigh frame 20 (1) on the side surface 166 facing outward in the user width direction, and the inner pinching region 166a. In addition, the first upper thigh frame 20 (1) and the outer spacer 161 are detachably connected to the upper frame 120 so as to be pinched by the outer pinching region 121a.
In the present embodiment, the inner connecting member 165 is detachably connected to the upper frame 120 by a fastening member 169 such as a bolt.

  The actuator unit 100A according to the present embodiment includes the upper coupling body 160, so that the actuator unit 100A can be appropriately attached to the long-leg brace 1 having various shapes that are custom-made according to the user's physique.

This point will be described in detail.
As described above, the long lower limb orthosis 1 is custom-made according to the user's physique, and the inclination angle and / or the bending shape of the upper thigh frame 20 with respect to the lower thigh frame 40 with respect to the user width direction W are: It differs for each long leg brace 1.

  12 (a) to 12 (c), the first to the first to the first thigh frame 20 (1) are different in the user width direction inclination angle and / or the bending shape with respect to the first thigh frame 40 (1). 3 is a schematic front view of the first upper leg frame 20 (1) and the first lower leg frame 40 (1) in the three-long leg brace 1 </ b> A to 1 </ b> C, and is a schematic front view showing a connection state by the upper connecting body 160. Indicates.

In the first long leg brace 1A shown in FIG. 12 (a), the inclination angle of the first upper leg frame 20 (1) with respect to the first lower leg frame 40 (1) in the user width direction is reduced. Has been.
In the second long leg brace 1B shown in FIG. 12 (b), the inclination angle of the first upper leg frame 20 (1) with respect to the first lower leg frame 40 (1) in the user width direction is the first length. It is formed to be larger than the case of the lower limb orthosis 1A.

In the third long leg brace 1C shown in FIG. 12 (c), the inclination angle of the first upper thigh frame 20 (1) with respect to the first lower thigh frame 40 (1) in the user width direction is the first upper thigh frame. The frame 20 (1) is changed in the middle portion in the longitudinal direction.
That is, in the third long leg brace 1C, an inclination angle in the user width direction with respect to the first lower leg frame 40 (1) is small and an inflection point in the lower part of the first upper leg frame 20 (1). In the upper part above P, the inclination angle in the user width direction with respect to the first lower leg frame 40 (1) is increased.

  As shown in the lower part of FIGS. 12 (a) to 12 (c), the outer elastic body 161 in the upper coupling body 160 exists between the first to third long leg orthoses 1A to 1C. The elastic deformation is performed so as to absorb the difference in the inclination angle and / or the bending shape of the upper thigh frame 20 (1).

  Therefore, the outer surface 122 of the upper frame 120 acting as the mounting surface of the driving body 110 is substantially the same even when the actuator unit 100A is mounted on any of the first to third long leg orthoses 1A to 1C. Maintained along the vertical.

  In the present embodiment, as shown in FIGS. 9 to 11, the upper connector 160 is further provided between the inner clamping region 166a and the inner side surface of the first upper leg frame 20 (1). The inner elastic body 162 is inserted.

  13 (a) to 13 (c), front schematic views of the first upper leg frame 20 (1) and the first lower leg frame 40 (1) in the first to third long leg orthoses 1A to 1C, respectively. And the schematic model showing the connection state by the said upper coupling body 160 provided with the said inner side elastic body 162 is shown.

  As shown in FIGS. 13A to 13C, by providing the inner elastic body 162, the inner connecting member 165 and the first upper frame 120 can be connected more stably.

Next, the lower connector 170 will be described.
In the present embodiment, as shown in FIGS. 2 and 3, the lower coupling body 170 has a lower frame side engaging portion 171 provided on the inner side surface 141 of the lower frame 140.

  The lower frame side engaging portion 171 has a concave shape or a convex shape (in the illustrated embodiment, a concave shape) in the user width direction, and is directly or indirectly connected to the first crus frame 40 (1). Configured to match.

  With such a configuration, the lower frame 140 can transmit power to the first lower leg frame 40 (1) simply by moving the actuator unit 100A inward in the user width direction with respect to the long leg brace 1. The engaged state can be revealed, and the first lower leg frame 40 (the lower frame 140) can be simply moved outwardly in the user width direction with respect to the long leg brace 1 with respect to the first lower leg frame 40 ( The engagement with respect to 1) can be released.

  In the present embodiment, the lower frame side engaging portion 171 is formed on the engaging member 175 that is separate from the lower frame 140 and fixed to the lower frame 140. It is also possible to integrally form the lower frame 140.

  In the present embodiment, the engaged member 48 to which the lower frame side engaging portion 171 engages with the concave and convex portions is fixed to the first lower leg frame 40 (1). It is also possible to configure so that the joint portion 171 directly engages with the first lower leg frame 40 (1).

  In addition to the above configuration, the actuator unit 100A according to the present embodiment includes a rotation center coupling body 180 that engages the actuator side coupling portion 150 coaxially with the first appliance side coupling portion 50 (1). I have.

  By providing the rotation center coupling body 180, the pivot axis Y that becomes the rotation center of the lower frame 140 with respect to the upper frame 120 is set to the first lower leg frame 40 with respect to the first upper leg frame 20 (1). It can be accurately and stably positioned on the same axis with respect to the swing axis X as the rotation center of (1).

  In the present embodiment, the rotation center coupling body 180 uses the female screw member 51 of the first appliance side coupling portion 50 (1) to connect the actuator side coupling portion 150 to the first appliance side coupling. It is comprised so that it may connect with the part 50 (1).

  Specifically, as shown in FIGS. 2, 3, and 8, the rotation center coupling body 180 is coupled to a device-side rotation center coupling member 181 coupled to the long leg orthosis 1 and the actuator unit 100 </ b> A. The actuator side rotation center connecting member 185 is provided.

The appliance-side rotation center connecting member 181 has a male screw that is screwed into the screw hole of the female screw member 51 on one end side 181a, and has one of a convex portion and a concave portion on the other end side.
In the present embodiment, as shown in FIGS. 2 and 8, the other end side 181b of the appliance-side rotation center connecting member 181 has a convex portion.

The actuator side rotation center connecting member 185 is fixed to the upper frame 120 so as to be positioned coaxially with the upper frame side mounting hole 120a, and is one of a convex portion and a recess in the appliance side rotation center connecting member 181. And the other of the convex and concave portions engaged with the concave and convex portions.
In the present embodiment, as shown in FIGS. 3 and 8, the actuator-side rotation center connecting member 185 has a recess.

  Further, in the present embodiment, as shown in FIG. 8, the actuator side rotation center connecting member 185 is engaged with the upper frame side mounting hole 120a on the opposite side to the appliance side rotation center connecting member 181. Thus, the actuator-side rotation center connecting member 185 can be accurately and concentrically positioned with respect to the actuator-side connecting portion 150.

According to the rotation center coupling body 180 having such a configuration, the following effects can be obtained.
As shown in FIG. 6, the male screw member 55 is removed from the female screw member 51, and the appliance-side rotation center connecting member 181 is screwed into the female screw member 51 in place of the male screw member 55. The side rotation center connecting member 181 can be attached to the long leg brace 1 on the swing axis X.

  On the other hand, the actuator side rotation center connecting member 185 is fixed to the inner surface of the upper frame 120 by a fastening member 189 such as a bolt (see FIG. 8) so as to be positioned concentrically with the upper frame side mounting hole 120a. can do.

  Simply moving the actuator unit 100A, to which the actuator-side rotation center connecting member 185 is mounted, inward in the user width direction with respect to the long lower limb orthosis 1, the actuator-side rotation center connecting member 185 is moved to the device-side rotation. The pivot center axis Y, which is the center of rotation of the lower frame 140 with respect to the upper frame 120, can be engaged with the moving center connecting member 181 in an uneven manner, and the first lower leg with respect to the first upper leg frame 20 (1). The frame 40 (1) can be accurately and stably aligned with the swing axis X that is the center of rotation.

  In addition, by simply moving the actuator unit 100A outward in the user width direction with respect to the long lower limb orthosis 1, the concave and convex engagement between the actuator-side rotation center connecting member 185 and the orthosis-side rotation center connecting member 181 is achieved. It can be released.

  In the present embodiment, the long lower limbs having various shapes that are custom-made according to the physique of the user by the outer elastic body 161 (in the preferred embodiment, the outer elastic body 161 and the inner elastic body 162). Although the actuator unit 100A can be mounted on the brace 1, the actuator unit 100B having the following configuration can be mounted on the long leg brace 1 having various shapes instead.

14A to 14C are schematic front views showing a state where the actuator unit 100B according to the modification is attached to the first to third long leg orthoses 1A to 1C, respectively.
In the figure, the same members as those in the present embodiment are denoted by the same reference numerals.

  As shown in FIGS. 14A to 14C, the actuator unit 100B according to the modification includes an outer spacer 261 instead of the outer elastic body 161, as compared with the actuator unit 100A.

  The actuator unit 100B is configured such that the outer spacer 261 is detachably attached to the outer clamping region 121a of the upper frame 120.

  The outer spacer 261 is formed of a rigid body such as metal or resin, and a side surface facing outward in the width direction of the user is in surface contact with the outer pressing region 121a and a side surface facing inward in the width direction of the user is the first side. 1 It is configured so as to be in surface contact with the outer surface of the upper leg frame 20 (1) (see the lower part of FIGS. 14 (a) to (c)).

  In the actuator unit 100B according to the modified example, the exclusive outer spacer 261 is prepared for each long lower limb orthosis 1 having various shapes, and the upper leg frame 20 is inclined only by replacing the outer spacer 261. The actuator unit 100B can be attached to the long leg prosthesis 1 having various shapes with different angles and / or bending shapes.

  Preferably, as shown in FIGS. 14 (a) to 14 (c), a recess 261a is formed on the side surface of the outer spacer 261 facing inward in the user width direction, and the outer surface of the first upper thigh frame 20 (1) is formed. The first upper thigh frame 20 (1) can be engaged with the recess 261a so that the first upper thigh frame 20 (1) comes into surface contact with the bottom surface of the recess 261a.

  According to such a configuration, the outer spacer 261 prevents the upper frame 120 from moving relative to the first upper thigh frame 20 (1) in the front-rear direction of the user, while A state in which the side surfaces are maintained substantially vertical can be revealed, whereby the actuator unit 100B can be stably attached to the long leg brace 1.

  Preferably, the actuator unit 100B according to the modification may include an inner spacer 262 that is detachably attached to the inner clamping / clamping region 166a.

  15 (a) to 15 (c), schematic front views in a state where the actuator unit 100B according to the modified example including the inner spacer 262 is attached to the first to third long leg orthoses 1A to 1C, respectively. The figure is shown.

  The inner spacer 262 is formed of a rigid body such as metal or resin, and a side surface facing inward in the width direction of the user is in surface contact with the inner pressing region 166a and a side surface facing outward in the width direction of the user is the upper side. It is configured to be in surface contact with the inner side surface of the thigh frame 120 (see the lower part of FIGS. 15A to 15C).

  According to such a configuration, it is possible to prepare the dedicated inner spacer 262 for each long lower limb orthosis 1 having various shapes and replace the inner spacer 262 so that the inclination angle of the upper leg frame 20 and / or The actuator unit 100B to the actuator unit 1 can be attached to the long leg brace having various shapes with different bending shapes.

  Preferably, as shown in FIGS. 15 (a) to 15 (c), a concave portion 262a is formed on the side surface of the inner spacer 262 facing outward in the user width direction, and the inner surface of the first upper thigh frame 20 (1). The first upper thigh frame 20 (1) can be engaged with the recess 262a so that the first upper thigh frame 20 (1) comes into surface contact with the bottom surface of the recess 262a.

  According to such a configuration, when the inner coupling body 165 is coupled to the upper frame 120, the inner coupling body 165 moves relative to the upper thigh frame 20 in the user front-rear direction by the inner spacer 262. It is possible to effectively prevent the actuator unit 100B from being attached to the long leg orthosis 1 in a stable manner.

1 Long leg brace 10 Upper leg wearing body 20 Upper leg frame 20 (1) Outer upper leg frame (first upper leg frame)
20a Upper leg frame side mounting hole 30 Lower leg mounting body 40 Lower leg frame 40 (1) Outer lower leg frame (first lower leg frame)
40a Lower leg frame side mounting hole 50 Equipment side connecting part 51 Female screw member 100 Male screw member 100A, 100B Actuator unit 110 Driving body 120 Upper frame 120a Upper frame side mounting hole 121 Inner side surface 121a of outer frame Outer pinching region 140 Lower frame 140a Lower Frame side mounting hole 150 Actuator side connecting portion 151 Rotating connecting shaft 160 Upper connecting body 161 Outer elastic body 162 Inner elastic body 165 Inner connecting member 166 Outer surface 166a of inner connecting member Inner pressure region 170 Lower connecting body 171 Lower frame side Engagement portion 180 Rotation center connecting body 181 Equipment side rotation center linking member 185 Actuator side rotation center linking member 261 Outer spacer 262 Inner spacer X Swing axis Y Pivot axis

Claims (7)

The upper leg frame, the lower leg frame, and the lower leg frame that support the upper leg body, the lower leg attachment body, the upper leg attachment body, and the lower leg attachment body, which are respectively attached to the user's upper leg and lower leg, are the upper leg frame. An actuator unit to be mounted on a long leg brace having a brace-side coupling portion that couples the two frames so as to be rotatable about the swing axis of the user's knee joint,
An upper frame that faces an outer upper thigh frame that is located outside in the width direction of the user among the upper thigh frames; and a lower frame that faces an outer thigh frame that is located outside in the width direction of the user among the lower thigh frames; The lower frame is mounted on an outer side surface of the upper frame, and an actuator side connecting portion that connects the frames so that the lower frame can rotate about the pivot axis with respect to the upper frame, and the lower frame is attached to the pivot axis. A driving body that generates a driving force to rotate around, an upper coupling body that engages the upper frame with the outer upper thigh frame, and a lower coupling body that transmits the movement of the lower frame to the outer lower thigh frame. Prepared,
The upper coupling body includes an outer elastic body that is interposed between an outer clamping surface that faces an outer surface of the outer crus frame and an outer surface of the outer crus frame, of the inner surface of the upper frame, A side surface facing outward in the user width direction has an inner pinching region facing the inner side surface of the outer crus frame, and the outer crus frame and the outer elastic body by the inner pinching region and the outer pinching region. And an inner connecting member that is detachably connected to the upper frame so as to be pinched.   The long lower limb orthosis according to claim 1, wherein the upper coupling body includes an inner elastic body interposed between the inner clamping region and an inner side surface of the outer upper thigh frame. Actuator unit. The upper leg frame, the lower leg frame, and the lower leg frame that support the upper leg body, the lower leg attachment body, the upper leg attachment body, and the lower leg attachment body, which are respectively attached to the user's upper leg and lower leg, are the upper leg frame. An actuator unit to be mounted on a long leg brace having a brace-side coupling portion that couples the two frames so as to be rotatable about the swing axis of the user's knee joint,
An upper frame that faces an outer upper thigh frame that is located outside in the width direction of the user among the upper thigh frames; and a lower frame that faces an outer thigh frame that is located outside in the width direction of the user among the lower thigh frames; The lower frame is mounted on an outer side surface of the upper frame, and an actuator side connecting portion that connects the frames so that the lower frame can rotate about the pivot axis with respect to the upper frame, and the lower frame is attached to the pivot axis. A driving body that generates a driving force to rotate around, an upper coupling body that engages the upper frame with the outer upper thigh frame, and a lower coupling body that transmits the movement of the lower frame to the outer lower thigh frame. Prepared,
The upper coupling body includes an outer spacer that is detachably attached to an outer pinching region that faces an outer surface of the outer upper thigh frame among inner surfaces of the upper frame, and a side surface facing outward in the user width direction. The upper frame has an inner clamping area facing the inner side surface of the outer crus frame, and the outer crus frame and the outer spacer are clamped by the inner clamping area and the outer clamping area. An inner connecting member connected detachably,
The outer spacer is configured such that a side surface facing the outer side in the width direction of the user is in surface contact with the outer pinching region, and a side surface facing the inner side in the width direction of the user is in surface contact with the outer surface of the outer crus frame. An actuator unit for a long leg brace characterized by the above. The upper coupling body has an inner spacer that is detachably attached to the inner clamping region,
The inner spacer is configured such that a side surface facing inward in the width direction of the user is in surface contact with the inner pinching region and a side surface facing outward in the width direction of the user is in surface contact with the inner side surface of the outer crus frame. The actuator unit for a long leg orthosis according to claim 3, wherein the actuator unit is for a long leg orthosis.   The lower coupling body is a lower frame side engaging portion that is concave or convex in the user width direction on the inner side surface of the lower frame, and is engaged with the outer crus frame directly or indirectly. The actuator unit for a long leg prosthesis according to any one of claims 1 to 4, further comprising a lower frame side engaging portion.   The actuator unit for a long leg brace according to any one of claims 1 to 5, further comprising a rotation center coupling body that coaxially engages the actuator side coupling portion with the orthosis side coupling portion. The orthosis side coupling portion has a thigh frame side mounting hole provided in a lower part of the outer crus frame, a crus frame side mounting hole provided in an upper part of the outer crus frame, and a screw hole, A female screw member inserted into the upper thigh frame side mounting hole and the lower thigh frame side mounting hole so that the screw hole opens outward in the width direction of the user, and the outer side by being screwed into the screw hole of the female screw member A male screw member that connects the upper thigh frame and the outer lower thigh frame so as to be relatively rotatable,
The actuator side connecting portion includes an upper frame side mounting hole provided in a lower portion of the upper frame, a lower frame side mounting hole provided in an upper portion of the lower frame, the upper frame side mounting hole, and the lower frame side. A rotation connecting shaft inserted into the mounting hole,
The rotation center coupling body has a male screw threadedly engaged with a screw hole of the female screw member on one end side, and a device side rotation center coupling member having one of a convex portion and a concave portion on the other end side, and the upper frame An actuator-side rotation center connecting member fixed to the upper frame so as to be coaxial with the side mounting hole, wherein the protrusion engages with one of the protrusion and the recess in the appliance-side rotation center connecting member. The actuator unit for a long leg prosthesis according to claim 6, further comprising an actuator-side rotation center connecting member having the other of the part and the recess.

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