JP2017099635A - Attachment/detachment support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a person wearing a joint motion assist device to attach and detach a master device by himself or herself.SOLUTION: A loop surface attached to a palm side of a glove 110 is stuck on a hook surface of a sticking member 125 of a support part 120. Then, a palm is directed to a +W direction side, and a left hand is inserted into an internal space of an attachment/detachment member 121 from a -V direction side. The left hand is then inserted into an insertion port of a hand part of the ring-shaped glove 110 from fingertips and is moved by applying a force equal to or less than a first peel force in a direction substantially parallel to the hook surface of the sticking member 125 and in a direction (+V direction) of attaching the glove 110 to the left hand, and the glove 110 is attached to the left hand. Then, a master device wearer applies a force equal to or more than a second peel force which is smaller than the first peel force in a direction (-W direction) substantially perpendicular to the hook surface of the sticking member 125. The master device wearer peels the glove 110 from the hook surface. As a result, the master device is attached to the left hand.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an attachment / detachment support device, and more particularly, a second object of a master device that is used when using an articulation assist system that assists articulation of a first object and constitutes the articulation assist system. The present invention relates to an attachment / detachment support device that supports attachment / detachment to / from an object.

  Conventionally, various devices used for rehabilitation have been proposed. Some of these devices assist therapeutic gymnastics exercises in order to restore the function of the patient's basic motion on behalf of a physical therapist or the like.

  One of the devices that assists the movement of the patient is to assist the joint movement of the finger using the expansion and contraction of the bellows when the finger is paralyzed due to a central nervous disorder such as cerebral infarction. (See Patent Document 1: hereinafter referred to as “Conventional Example 1”). As in Conventional Example 1, a joint motion assist device using a bellows is lighter than a device using a motor and an actuator driven by a wire, and thus has high practicality. Further, since the joint motion assist device using the bellows can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm pump or a vane pump can be used. From these points, it can be said that the joint motion assist device using the extendable bellows is highly practical.

  In the technique of the conventional example 1, an expandable / contractible bellows is arranged at a joint to be assisted. And the one side transmission member connected to the one side edge part of the said bellows is mounted | worn with the one side site | part connected to the joint used as assistance object. Moreover, the other side transmission member connected to the other side edge part of the said bellows is mounted | worn with the other side site | part connected to the joint used as assistance object. When the air is forcibly discharged from the bellows under such a mounting state, the bellows contracts to assist the joint movement that changes from the joint bending state to the joint extension state. Further, when the air is forcibly supplied to the bellows, the bellows expands to assist the joint motion that changes from the joint extension state to the joint bending state.

  As one of the methods for operating the joint motion assist device, a master / slave system in which the joint motion assist device is a slave device and the master device remotely operates the slave device can be considered. When adopting such a master-slave system, a configuration is considered in which the master device is worn on a healthy hand, and the movement of the finger of the hand on which the master device is worn is traced by the joint motion assist device that is the slave device. It is done.

  Here, various techniques have been proposed as techniques for the master apparatus to remotely operate the slave apparatus. One of the proposed techniques is not for assisting joint motion, but there is one in which an operator operates a master device to control the movement of a slave device (see Patent Document 2: hereinafter, “conventional example”). 2 ”). In the technique of Conventional Example 2, the master control unit calculates the position / posture of the tip portion of the master operation input device operated by the operator. Then, the master control unit outputs the calculated position / posture of the tip portion of the master operation input device to the manipulator control unit as a command value for the position / posture of the tip portion of the slave manipulator.

  When the manipulator control unit receives the position / posture command value sent from the master control unit, the manipulator control unit drives each joint of the slave manipulator necessary to match the position / posture of the tip portion of the slave manipulator with the command value. Calculate the amount. Then, the manipulator control unit drives each joint of the slave manipulator according to the calculated drive amount.

  When the technology related to the master / slave system of Conventional Example 2 is applied to the technology of the joint motion assist device of Conventional Example 1, a joint motion assist system in which the master device controls the movement of the joint motion assist device can be employed. . In such a configuration, when the finger on the master device side changes from the joint flexion state to the joint extension state, the joint motion assist device side, which is the slave device, performs control to forcibly discharge air from the bellows. Do. Further, in such a configuration, when the finger on the master device side changes from the joint extension state to the joint bending state, the joint motion assist device side which is the slave device performs control to forcibly supply air to the bellows. A configuration to perform is conceivable.

International Publication No. 2011/043095 JP 2012-110888 A

By the way, when using the master / slave type joint motion assist system, when the joint motion assist device of the conventional example 1 is used as a slave device and attached to the hand portion (for example, the right hand portion) to assist the joint motion, The following (i) or (ii) can be considered as an object to be worn.
(I) The hand (for example, the right hand) of a person different from the wearer of the slave device
(Ii) The other healthy hand of the slave device wearer who is not wearing the slave device (for example, the left hand)

  The situation where (i) is applied is as follows: (a) the fingers of both hands of a person who wears the slave device (hereinafter also referred to as “assist target person”) are contracted; ) This is a case where the finger of one hand of the assisting person is contracted and the finger of the other hand is not contracting. The family member of the physical therapist or the assisting person (hereinafter simply referred to as “family member”) And the case where the joint movement of the finger is assisted with the assistance of others. Here, in the case of (i), before using the joint motion assist system, for example, a physical therapist or a family member assists the assist target person in wearing the slave device. Then, it is assumed that a physical therapist, a family member, and the like wear the master device on their hands.

  In the case of (i) and (b), the person to be assisted wears the slave device on one of his / her hands with the other healthy hand. And it is also assumed that a physical therapist, a family member, etc. assist the mounting | wearing of the master apparatus to the other hand part of an assist object person.

  In the case of (i), after using the joint motion assist system, a person wearing a master device such as a physiotherapist or family member helps the wearer of the slave device to remove the slave device. To do. And it is assumed that the person who wears the master device himself removes the master device from his / her hand. In the case of (i) and (b), the assist target person removes the slave device from his / her one hand with the other healthy hand. And it is also assumed that a physical therapist, a family member, etc. assist removal of the master apparatus from the other hand part of an assist object person. Thus, when the object to which the master device is to be attached is (i), there is always a physical therapist, a family member, etc., so that there will be no trouble in attaching and detaching the master device and the slave device.

  The situation where (ii) is applied is as described above in (b), that is, when only the finger of one hand wearing the slave device is contracted and the finger of the other hand is not contracted. There is a case where the person who wears the master device and the slave device himself / herself assists the joint motion of the fingers without obtaining the assistance of the other person. Here, in the case of (ii), before using the joint motion assist system, the slave device is attached to the other hand which should assist the joint motion with the other healthy hand. However, since the fingers of one hand part to which the slave device is attached are contracted, it is difficult to attach the master device to the other hand part by itself.

  In the case of (ii), after using the joint movement assist system, the slave device attached to one hand is removed with the other healthy hand. However, since the fingers of one hand are contracted, it is difficult to remove the master device from the other hand by itself.

  As described above, when the object on which the master device is to be mounted is (ii), there is no problem in attaching / detaching the slave device, but there is a problem in attaching / detaching the master device. As a result, in the case of (ii), the master device cannot be mounted on its own hand without obtaining the assistance of the other person, and the master device can be attached to itself without obtaining the assistance of the other person. It cannot be removed from the hand.

  In the technique of the conventional example 2 described above, since it is not assumed that the slave device is attached to the hand, the attachment of the master device to the hand and the removal of the master device from the hand are not mentioned. . Therefore, in the joint motion assist system in which the technology related to the master / slave method of the conventional example 2 is applied to the technology of the joint motion assist device of the conventional example 1, in the case of (ii) described above, the joint motion assist for function recovery is performed. It can be done without the assistance of others, but without the assistance of others, the master device cannot be installed by itself. Cannot remove the existing master device. As a result, in the case of (ii) described above, the joint motion assist system may not be used without help from another person.

  Therefore, before using the joint motion assist system, the master device is worn by itself without obtaining the help of the other person, and after using the joint motion assist system, the help of the other person is obtained. In addition, there is a demand for a technique that can remove the attached master device by itself. Meeting this requirement is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and provides a new attachment / detachment support device capable of attaching / detaching a master device by a person who wears the joint motion assist device without requiring assistance from another person. The purpose is to provide.

  The present invention has a slave device attached to a first object and a master device attached to a second object, and uses a joint motion assist system that assists joint motion of the first object. An attachment / detachment support device for supporting attachment / detachment of the master device to / from the second object, wherein the attachment device attaches the master device to the second object; and the master device and the second object. A support unit that supports attachment and detachment, and the support unit includes a sticking member that is fixed at a predetermined position and has a sticking surface part that is detachably attached to the mounting part, and the mounting part includes the sticking member. Even when a first peeling force is applied to the mounting portion mounted on the second object in a direction substantially parallel to the pasting surface portion, the mounting portion is attached to the pasting surface portion The second pair is not peeled from When a second peeling force smaller than the first peeling force is applied to the attachment part attached to an object in a direction substantially perpendicular to the attachment surface part, the attachment part is peeled from the attachment surface part. This is an attachment / detachment support device.

  In this attachment / detachment support device, a support unit including a sticking member is fixed at a predetermined position such as a table top. In order to attach the master device to the second object when starting to use the joint motion assist system in such a state, first, the attachment part is attached to the attaching member of the support part. Next, the master device is attached to the second object by attaching the attachment part to the second object in a state where the attachment part is attached to the sticking member. When the master device is mounted on the second object, a person who wears the master device (hereinafter also referred to as “master device wearer”) is in a direction substantially parallel to the pasting surface portion, and the mounting portion is A force equal to or less than the first peeling force is applied in the direction of mounting on the second object, the second object is moved, and the mounting part is mounted on the second object. Subsequently, the master device wearer peels the mounting portion from the sticking surface portion by applying a force equal to or greater than the second peeling force smaller than the first peeling force in a direction substantially perpendicular to the sticking surface portion. As a result, there are no restrictions from the sticking surface portion, and the joint motion assist device can be used. For this reason, the master device can be mounted on the second object by the master device wearer himself without obtaining the assistance of another person.

  In order to remove the master device from the second object when the use of the joint motion assist system is finished, first, a mounting part for mounting the master device on the second object is pasted on a sticking member of the support part. wear. Next, the master device is removed from the second object by removing the second object from the attachment part in a state where the attachment part is attached to the sticking member. When removing such a master device from the second object, the master device wearer is in a direction substantially parallel to the pasting surface portion and has a first peeling force or less in a direction to remove the attachment portion from the second object. The force is applied to move the second object, and the mounting portion is removed from the second object. As a result, the state where the mounting portion is stuck to the sticking member is maintained, and the master device is removed from the second object. For this reason, the master device can be detached from the second object by the master device wearer himself without obtaining the assistance of others.

  For example, when one hand is healthy, the slave device can be attached to the first object that should assist the joint motion with the healthy hand. Further, for example, when one hand is healthy, the slave device can be removed from the first object by the healthy hand.

  Therefore, according to the attachment / detachment assistance device of the present invention, the person who wears the joint motion assist device, which is a slave device, can wear the master device by himself without obtaining the assistance of the other person.

  In the attachment / detachment support device of the present invention, the sticking member can be a hook-and-loop fastener. In this case, using the surface fastener, it is possible to easily realize that the mounting portion is pasted to the pasting member so that the first stripping force is larger than the second stripping force. For this reason, attachment / detachment of the master apparatus with respect to a 2nd target object can be made easy.

  In the attachment / detachment assistance device of the present invention, the master device is attached to a second object having a structure having any one of congruent symmetry, similarity symmetry, and left-right symmetry with the first object. And so on. When the master device is attached to a second object having congruent symmetry or similar symmetry to the first object, the movement of the second object to which the master device is attached is changed to the first object to which the slave device is attached. Can be traced. In addition, when the master device is mounted on the second object having a left-right symmetry with the first object, the second object mounted with the master device moves symmetrically with the second object mounted with the slave device. One object can be traced.

  In the attachment / detachment support device of the present invention, the first object includes at least one of fingers in one hand of a human body, and the second object includes at least a finger in the other hand of the human body. 1 is included, and the attachment part is a glove fitted to the other hand part, and a palm part of the glove can be affixed to the sticking member.

  In this case, only the finger of one hand part of the person wearing the joint motion assist device is contracted and the finger of the other hand part is not contracted. That is, the slave device is attached to the hand portion that should assist the joint motion of the human body. Then, the master device is attached to the hand portion on which the finger of the human body is not contracted. Further, in this case, when attaching / detaching the master device to / from a hand portion where the finger of the human body is not contracted, a glove provided with the master device attached is used. As a result, the master device can be attached to the hand part by attaching the glove to the hand part. As a result, the master device can be removed from the hand by removing the glove from the hand. Furthermore, in this case, the palm portion of the glove can be attached to the application member in a peelable manner. As a result, it is possible to attach the glove to the sticking member and peel the glove from the sticking member with a simple operation of the hand for the master device wearer.

  For this reason, the person who wears the joint motion assist device himself / herself can easily attach the master device to his / her healthy hand without obtaining the assistance of another person.

In the attachment / detachment assistance device of the present invention, when the master device is attached to or detached from the hand, the first peeling force is a tensile shear strength on condition that the first peeling force is greater than the second peeling force. smaller than a force corresponding to 4N / cm ² or more values, the second peel force is the force corresponding to the following values peel strength 0.4 N / cm or more 1.5 N / cm, so that can do. In this case, even if a normal force for attaching or removing the glove is applied in a direction substantially parallel to the affixing surface part, the glove is not peeled off from the affixing surface part. In this case, the glove that is easily fitted to the hand part can be easily applied by applying a normal force for peeling the glove from the affixing surface part in a direction substantially perpendicular to the affixing surface part. However, it peels from the sticking surface part. For this reason, the detachment of the master device from the hand portion can be performed with a normal force.

  In the attachment / detachment support device of the present invention, when a glove is employed as the attachment portion and the master device is attached to the hand portion, a ring-shaped deformable linear member is provided at the edge of the insertion opening of the hand portion of the glove. Can be built in. In this case, the wrist portion of the glove becomes a ring shape. For this reason, when attaching a master apparatus to the other hand part, a glove can be easily fitted to a hand part.

  Further, in the attachment / detachment support device of the present invention, when a glove is employed as the mounting portion and the linear member is incorporated in the edge of the insertion opening of the glove, the linear member is a resin member. can do. In this case, the wrist portion of the glove can be made excellent in durability, and the glove can be reduced in weight. For this reason, the durability of the attachment / detachment support device can be improved, and the physical burden on the master device wearer can be reduced.

  As described above, according to the attachment / detachment support device of the present invention, there is an effect that the master device can be attached / detached by a person who wears the joint motion assist device himself / herself without obtaining the assistance of another person.

It is a figure for demonstrating the relationship of the structure of the attachment / detachment assistance apparatus which concerns on one Embodiment of this invention, and the structure of a joint exercise assistance system. FIG. 2 is an external view of the joint motion assist device of FIG. 1. It is a figure for demonstrating the structure of the thumb joint movement assistance part of FIG. It is a figure for demonstrating the structure of the finger joint exercise | movement assistance part for fingers of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is an external view of the joint motion master apparatus of FIG. It is a figure for demonstrating the structure of the mounting part of FIG.1 and FIG.6. It is an external view of the assistance part of FIG. It is a figure for demonstrating the structure of the assistance part of FIG. It is a figure for demonstrating the structure of the attachment / detachment assistance apparatus of FIG. It is a figure for demonstrating the mounting method of a master apparatus. It is a figure for demonstrating the removal method of a master apparatus.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a master device for the left hand is used when using a joint motion assist device having a joint motion assist device attached to the right hand of the human body and a master device attached to the left hand of the human body. An example of an attachment / detachment support device that supports attachment / detachment of the device will be described. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 shows the relationship between the configuration of the joint motion assist system 300 and the configuration of the attachment / detachment support device 100 according to an embodiment. As shown in FIG. 1, the joint motion assist system 300 includes a joint motion assist device 400 and a joint motion master device 600 having a master device 610 and a mounting part 110. Here, the joint motion assist device 400 corresponds to a slave device. The attachment / detachment support device 100 includes a mounting unit 110 that is also a part of the joint motion master device 600 and a support unit 120.

<Configuration of Joint Movement Assist System 300>
First, the configuration of the joint motion assist device 400 and the joint motion master device 600 constituting the joint motion assist system 300 will be described.

<< Configuration of Joint Movement Assist Device 400 >>
The configuration of the joint motion assist device 400 will be described.

FIG. 2 shows an external view of the joint motion assist device 400. FIG. 2 is an external view of the joint motion assisting device 400 attached to the “right hand HDR of the human body HB” as the first object when viewed from the back of the hand (back of hand) when the finger joint is in the extended state. . As shown in FIG. 2, the joint motion assist device 400 includes a hand mounting unit 410, a thumb joint motion assist unit 430 _1, and finger joint motion assist units 430 ₂ , 430 ₃ , 430 ₄ , and 430 ₅ . I have. In addition, the joint motion assist device 400 includes an adjustment unit 480.

In the following description, the thumb joint motion assist unit 430 ₁ and the finger joint motion assist units 430 ₂ , 430 ₃ , 430 ₄ , and 430 ₅ are collectively referred to as “finger joint motion assist units 430 _j (j = 1, ..., 5) ". Further, in the following description, the finger joint motion assist units 430 ₂ , 430 ₃ , 430 ₄ , and 430 ₅ other than the thumb joint motion assist unit 430 ₁ are collectively referred to as “finger joint motion assist units 430 _k (k = 2, ..., 5) ".

(Hand part 410)
The hand part mounting part 410 will be described. The hand mounting portion 410 is a cloth member, for example, and is mounted on the back and palm of the right hand HDR. The hand portion mounting portion 410, one side portion of the thumb articulation assist unit 430 ₁ is attached.

In addition, one part of the finger joint motion assist units 430 ₂ , 430 ₃ , 430 ₄ , and 430 ₅ is attached to the hand mounting unit 410. And in the state in which the hand part mounting part 410 is attached to the hand part, the finger joint movement assist part 430 _j (j = 1,..., 5) is arranged on the finger part on the back side of the hand. .

(Configuration of thumb joint motion assist unit 430 ₁ )
The construction of the thumb articulation assist unit 430 ₁ will be described.

The thumb joint motion assist unit 430 ₁ assists the joint motion of the thumb. The thumb joint motion assist unit 430 ₁ is mounted on the thumb finger (terminal segment site, proximal segment site) and the middle hand site with the hand mounting unit 410 mounted on the hand unit.

The thumb joint motion assisting unit 430 ₁ includes bellows 542 ₁ , 543 ₁ , pipes 532 ₁ , 533 _1, and a transmission member 521, as comprehensively shown in FIGS. 2 and 3A and 3B. ₁ , 523 ₁ , 524 ₁ . The thumb joint motion assist unit 430 ₁ includes a thumb mounting part 550 ₁ .

Note that the coordinate system (X ₁ , Y ₁ , Z ₁ ) in FIGS. 3 (A) and 3 (B) is a state in which the fingertip direction is + Y ₁ direction and the finger on the palm side of the finger is in a state where the thumb is extended. abdominal (hereinafter, referred to as "finger pad") of the finger is a hand dorsal side of the finger from the side back (hereinafter, referred to as "finger back") a direction toward the side + Z ₁ direction, the Y ₁ direction and the Z ₁ direction orthogonal and a coordinate system with the + X ₁ direction direction towards the little finger side. Here, FIG. 3A is a diagram of the thumb joint motion assist unit 430 ₁ mounted on the thumb, as viewed from the + Z ₁ direction side. FIG. 3B is a view of the thumb joint motion assist unit 430 ₁ attached to the thumb as viewed from the −X ₁ direction side.

The bellows 542 ₁ is a stretchable resin member having annular grooves that are equally spaced, and is arranged on the finger back side along the joint axis of the first joint of the thumb. One side of the bellows 542 ₁ ends ( "-Y ₁ direction" in FIG. 3), the transfer member 523 ₁ of the other side end portion side connecting portion formed on ( "+ Y ₁ direction" in FIG. 3) The other end portion of the bellows 542 ₁ is connected to a connection portion formed on one end side of the transmission member 521 ₁ . The bellows 542 ₁ thus arranged generates a force that assists the joint movement of the first joint.

The bellows 543 ₁ , like the bellows 542 ₁ , is a stretchable resin member having annular grooves that are equally spaced, and is arranged on the dorsal side along the joint axis of the second joint of the thumb. Be placed. One side end portion of the bellows 543 ₁ is connected to the connection portion formed on the end side of the other side of the transmission member 524 ₁ (bellows 543 ₁ side), the other end of the bellows 543 _1, the transfer The member 523 ₁ is connected to a connecting portion formed on one end side. The bellows 543 ₁ thus arranged generates a force that assists the joint movement of the second joint.

Here, the bellows 542 _1, the flexible piping 532 ₁ made of a resin having mounted the bellows 542 ₁ is communicated with the adjustment unit 480 via a pipe 532 _1. When the air pressure in the bellows 542 ₁ changes, the bellows 542 ₁ expands and contracts. As a result, the bellows 542 ₁ generates a force that assists the joint motion described above.

Further, the bellows 543 _1, the flexible piping 533 ₁ made of a resin having mounted the bellows 543 ₁ is communicated with the adjustment unit 480 via a pipe 533 _1. When the air pressure in the bellows 543 ₁ changes, the bellows 543 ₁ expands and contracts. As a result, the bellows 543 ₁ generates a force that assists the joint motion described above.

The transmission member 521 ₁ is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the end on one side and extends along the direction of the finger back. A transmission member 523 ₁ is connected to _one end of the long plate portion of the transmission member 521 ₁ via a bellows 542 ₁ . The connecting portion at one end of the transmission member 521 ₁ is connected to the other end of the bellows 542 ₁ . Here, when the joint motion assisting device 400 is attached to the right hand, the end on one side of the long plate portion of the transmission member 521 ₁ has the joint axis of the first joint of the thumb as the rotation axis, It is connected to the transmission member 523 ₁ so as to be rotatable. The long plate portion of the transmission member 521 ₁ is attached to the distal node portion of the thumb via the thumb attachment portion 550 ₁ .

The transmission member 523 ₁ is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part. A transmission member 524 ₁ is connected to _one end of the long plate portion of the transmission member 523 ₁ via a bellows 543 ₁ . The connecting portion at one end of the transmission member 523 ₁ is connected to the other end of the bellows 543 ₁ . Here, when the joint motion assist device 400 is attached to the right hand, one end of the long plate portion of the transmission member 523 ₁ has the joint axis of the second joint of the thumb as a rotation axis. It is adapted to be pivotally connected to the transmitting member 524 _1.

Further, the transmission member 521 ₁ is connected to the other end portion of the long plate portion of the transmission member 523 ₁ via a bellows 542 ₁ . The connecting portion on the other end side of the transmission member 523 ₁ is connected to one end portion of the bellows 542 ₁ . The long plate portion of the transmission member 523 ₁ is attached to the proximal portion of the thumb through the thumb mounting portion 550 ₁ .

Transmission member 524 ₁ of the above is, for example, a steel member, and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back. A transmission member 523 ₁ is connected to the other end of the long plate portion of the transmission member 524 ₁ via a bellows 543 ₁ . The connecting portion on the other end of the transmission member 524 ₁ is connected to one end of the bellows 543 ₁ . The long plate portion of the transmission member 524 ₁ is mounted on the middle finger of the thumb through the thumb mounting portion 550 ₁ .

Thumb mounting portion 550 ₁ of the above, the thumb finger (end joint portions, Motobushi site) is attached to and on metacarpal site. The thumb mounting portion 550 ₁ includes a mounting member 551 ₁ , a finger sack 552 _1, and a band member 553 ₁ .

The mounting member 551 ₁ is, for example, an elastic long cloth member, and is disposed on the thumb of the thumb and on the dorsal side of the middle hand along the direction in which the thumb extends. _On the + Z ₁ direction side of the mounting member 551 ₁ , the long plate portions of the transmission members 521 ₁ , 523 ₁ , 524 ₁ are fixed. Further, the hand mounting portion 410 is attached to the side opposite to the portion where the transmission member 524 ₁ is fixed in the mounting member 551 ₁ (−Z ₁ direction side).

The finger sac 552 ₁ is a leather member, for example, and is fixed to the fingertip side of the mounting member 551 ₁ . The finger sac 552 ₁ is fixed to the fingertip of the thumb when the thumb joint motion assist unit 430 ₁ is attached to the thumb. The band member 553 ₁ is, for example, a long cloth member, and fixes the proximal portion and the long plate portion of the transmission member 523 ₁ .

(Configuration of finger joint motion assist unit 430 _k (k = 2,..., 5))
The configuration of the finger joint motion assist unit 430 _k (k = 2,..., 5) will be described.

The finger joint motion assist unit 430 ₂ assists the joint motion of the index finger. In addition, the finger joint motion assist unit 430 ₃ assists the joint motion of the middle finger. The finger joint motion assist unit 430 ₄ assists the joint motion of the ring finger. In addition, the finger joint motion assist unit 430 ₅ assists the joint motion of the little finger. Each of the finger joint movement assist units 430 _k (k = 2,..., 5) is a state in which the hand mounting unit 410 is mounted on the hand, and the fingers (terminal segment, middle segment, (Node part) and the middle hand part.

FIG. 4 (A), (B), as a representative of the finger articulation assisting section 430 _k, and block diagram of a finger articulation assist unit 430 ₂ is shown. Incidentally, FIG. 4 (A), (B) coordinate system in _{(X 2, Y 2, Z} 2) , in a state where the index finger is extended, the fingertip direction + Y ₂ direction, toward the finger pad side to the finger dorsal This is a coordinate system in which the direction is orthogonal to the + Z ₂ direction, the Y ₂ direction, and the Z ₂ direction, and the direction toward the little finger side is the + X ₂ direction.

Here, FIG. 4A is a view of the finger joint motion assist unit 430 ₂ attached to the index finger as viewed from the + Z ₂ direction side. FIG. 4B is a diagram of the finger joint motion assist unit 430 ₂ attached to the index finger as viewed from the −X ₂ direction side. In the present embodiment, the finger joint motion assist units 430 ₃ , 430 ₄ , and 430 ₅ are configured similarly to the finger joint motion assist unit 430 ₂ .

Each of the finger joint motion assisting portions 430 _k (k = 2,..., 5) has bellows 541 _k , 542 _k , 543 _k as comprehensively shown in FIGS. 2 and 4A, 4B. And pipes 531 _k , 532 _k , and 533 _k and transmission members 521 _k , 522 _k , 523 _k , and 524 _k . In addition, each of the finger joint motion assist units 430 _k includes a finger mounting unit 550 _k .

The bellows 541 _k is a stretchable resin member having annular grooves with equal intervals, and is arranged on the finger back side along the joint axis of the first joint. One end (“−Y _k direction side” in FIG. 4) end of the bellows 541 _k is a connection portion formed on the other end side (“+ Y _k direction side” in FIG. 4) of the transmission member 522 _k . And the other end of the bellows 541 _k is connected to a connection formed on one end of the transmission member 521 _k . The bellows 541 _k thus arranged generates a force that assists the joint movement of the first joint.

The bellows 542 _k is an elastic resin member having annular grooves that are equally spaced in the same way as the bellows 541 _k, and is arranged on the dorsal side along the joint axis of the second joint. . One side end portion of the bellows 542 _k is connected to the connection portion formed on the end side of the other side of the transmission member 523 _k, the other end of the bellows 542 _k, one side of the transmission member 522 _k It is connected to the connection part formed in the edge part side. The bellows 542 _k thus arranged generates a force that assists the joint movement of the second joint.

The bellows 543 _k is a stretchable resin member having annular grooves that are equally spaced in the same manner as the bellows 541 _k and 542 _k, and extends around the joint axis of the third joint. It arrange | positions with respect to the direction side substantially orthogonal to. One side end portion of the bellows 543 _k is connected to the connection portion formed on the end side of the other side of the transmission member 524 _k (Bellows 543 _k side), the other end of the bellows 543 _k, the transfer The member 523 _k is connected to a connecting portion formed on one end side. The bellows 543 _k thus arranged generates a force that assists the joint movement of the third joint.

Here, the internal space of the bellows 541 _{k and} the internal space of the bellows 542 _k communicate with each other via a flexible resin pipe 531 _k . Further, the bellows 542 _k, flexible pipe 532 _k made of resin having attached, the bellows 542 _k communicates with the adjustment unit 480 via a pipe 532 _k. When the air pressure in the bellows 541 _k and 542 _k changes, the bellows 541 _k and 542 _k expand and contract. As a result, the bellows 541 _k and 542 _k generate a force for assisting the above-described joint movement.

Further, the bellows 543 _k, flexible pipe 533 _k made of resin having attached, the bellows 543 _k communicates with the adjustment unit 480 via a pipe 533 _k. When the air pressure in the bellows 543 _k changes, the bellows 543 _k expands and contracts. As a result, the bellows 543 _k generates a force that assists the joint motion described above.

The transmission member 521 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the end on one side and extends along the direction of the finger back. A transmission member 522 _k is connected to one end of the long plate portion of the transmission member 521 _k via a bellows 541 _k . The connecting portion of one side of the end portion of the transmission member 521 _k is connected to the other end of the bellows 541 _k. Here, the end of one side of the long plate portion of the transmission member 521 _k can be rotated with the joint axis of the first joint as the rotation axis when the joint motion assist device 400 is attached to the right hand. It is connected to the transmission member 522 _k . The long plate portion of the transmission member 521 _k is attached to the terminal portion of the finger via the finger attachment portion 550 _k .

The transmission member 522 _k is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part. A transmission member 523 _k is connected to one end of the long plate portion of the transmission member 522 _k via a bellows 542 _k . The connecting portion of one side of the end portion of the transmission member 522 _k is connected to the other end of the bellows 542 _k. Here, the end on one side of the long plate portion of the transmission member 522 _k can be rotated with the joint axis of the second joint as a rotation axis when the joint motion assist device 400 is attached to the right hand. It is connected to the transmission member 523 _k .

A transmission member 521 _k is connected to the other end of the long plate portion of the transmission member 522 _k through a bellows 541 _k . The connecting portion on the other end side of the transmission member 522 _k is connected to one end portion of the bellows 541 _k . The long plate portion of the transmission member 522 _k is attached to the middle joint portion of the finger via the finger attachment portion 550 _k .

The transmission member 523 _k is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part. A transmission member 524 _k is connected to one end of the long plate portion of the transmission member 523 _k via a bellows 543 _k . The connecting portion of one side of the end portion of the transmission member 523 _k is connected to the other end of the bellows 543 _k. Here, the end portion on one side of the long plate portion of the transmission member 523 _k can be rotated with the joint axis of the third joint as the rotation axis when the joint motion assist device 400 is attached to the right hand. It is connected to the transmission member 524 _k .

A transmission member 522 _k is connected to the other end of the long plate portion of the transmission member 523 _k via a bellows 542 _k . The connecting portion on the other end side of the transmission member 523 _k is connected to one end portion of the bellows 542 _k . The long plate portion of the transmission member 523 _k is attached to the proximal portion of the finger via the finger attachment portion 550 _k .

The transmission member 524 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back. A transmission member 523 _k is connected to the other end of the long plate portion of the transmission member 524 _k via a bellows 543 _k . The connecting portion of the end of the other side of the transmission member 524 _k is connected to one side end portion of the bellows 543 _k. The long plate portion of the transmission member 524 _k is mounted on the middle finger portion of the finger via the finger mounting portion 550 _k .

The above-described finger mounting portion 550 _k (k = 2,..., 5) is mounted on the fingers (terminal segment, middle segment, base segment) and middle hand. Each of the finger mounting portions 550 _k (k = 2,..., 5) includes a mounting member 551 _k , a finger suck 552 _k , and band members 553 _k and 556 _k .

The mounting member 551 _k is, for example, an elastic long cloth member, and is arranged on the finger side of the finger and the dorsal side of the middle hand along the direction in which the finger extends. The long plate portions of the transmission members 521 _k , 522 _k , 523 _k , and 524 _k are fixed on the + Z _k direction side of the mounting member 551 _k . Further, the hand mounting portion 410 is attached to the opposite side (−Z _k direction side) of the portion of the mounting member 551 _{k where} the transmission member 524 _k is fixed.

The finger sack 552 _k is, for example, a leather member, and is fixed to the fingertip side of the mounting member 551 _k . The finger sack 552 _k is fixed to the fingertip of the finger when the finger joint motion assist unit 430 _k is attached to the finger. The two band members 553 _k and 556 _k are, for example, long cloth members. The band member 553 _k fixes the middle joint portion and the long plate portion of the transmission member 522 _k , and the band member 556 _k fixes the base joint portion and the long plate portion of the transmission member 523 _k .

(Configuration of Adjustment Unit 480)
The configuration of the adjustment unit 480 will be described. The adjustment unit 480 communicates with the bellows 542 _{1 of the} thumb joint motion assist unit 430 ₁ through the pipe 532 ₁ . Further, the adjustment unit 480 communicates with the bellows 543 _{1 of the} thumb joint motion assist unit 430 ₁ via the pipe 533 ₁ . Further, the adjusting unit 480 communicates with the bellows 541 _k and 542 _{k of the} finger joint motion assist unit 430 _k via the pipe 532 _k . Further, the adjustment unit 480 communicates with the bellows 543 _{k of the} finger joint motion assist unit 430 _k via the pipe 533 _k . In the following description, these bellows are collectively referred to simply as “bellows”.

  As shown in FIG. 5, the adjusting unit 480 having such a configuration includes a pressurizing pump 481, a depressurizing pump 482, an electro-pneumatic control valve 483, a slave control unit 484, and pipes 485 and 486. Yes.

  The pressurizing pump 481 is connected to one side of the pump side connection port of the electro-pneumatic control valve 483 via the pipe 485. The pressurizing pump 481 is used when forcibly supplying air to the bellows. The decompression pump 482 is connected to the other side of the pump side connection port of the electro-pneumatic control valve 483 via a pipe 486. The decompression pump 482 is used when forcibly discharging air from the bellows.

  The electro-pneumatic control valve 483 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One side of the inlet side of the flow path switching valve is connected to the pressurizing pump 481, and the other side of the inlet side is connected to the pressure reducing pump 482.

  When the flow switching valve forcibly supplies air to the bellows under the control of the slave control unit 484, the pipe 485 connected to the pressurizing pump 481 and the designated bellows A flow path is formed by connecting the pipes communicating with each other. Further, the flow path switching valve communicates with the designated bellows with the pipe 486 connected to the decompression pump 482 when forcibly discharging the air from the bellows under the control of the slave control unit 484. A flow path is formed by connecting the pipes.

For example, when forcibly supplying air to the bellows 542 _{1 of the} thumb joint motion assist unit 430 ₁ , the flow path switching valve connects the pipe 485 and the pipe 532 ₁ to form a flow path. Further, when forcibly discharging air from the bellows 542 ₁ , the flow path switching valve connects the pipe 486 and the pipe 532 ₁ to form a flow path. Furthermore, when forcibly supplying air to the bellows 543 ₁ , the flow path switching valve connects the pipe 485 and the pipe 533 ₁ to form a flow path. Further, when forcibly discharging air from the bellows 543 ₁ , the flow path switching valve connects the pipe 486 and the pipe 533 ₁ to form a flow path.

Further, when air is forcibly supplied to the bellows 541 _k and 542 _{k of the} finger joint motion assist unit 430 _k , the flow path switching valve connects the pipe 485 and the pipe 532 _k to form a flow path. To do. Further, when forcibly discharging air from the bellows 541 _k and the bellows 542 _k , the flow path switching valve connects the pipe 486 and the pipe 532 _k to form a flow path. Furthermore, when forcibly supplying air to the bellows 543 _k , the flow path switching valve connects the pipe 485 and the pipe 533 _k to form a flow path. Further, when forcibly discharging air from the bellows 543 _k , the flow path switching valve connects the pipe 486 and the pipe 533 _k to form a flow path.

  The slave control unit 484 performs control of forced discharge of air from the bellows and switching of forced supply of air to the bellows. When forcibly supplying air to the bellows during such control, the slave control unit 484 forms a flow path that connects the electro-pneumatic control valve 483 to the pressurizing pump 481 and the bellows for articulation. Control to adjust the air pressure in the bellows. Further, in the case of forcibly discharging air from the bellows, the slave control unit 484 forms a flow path for connecting the decompression pump 482 and the bellows in which the electro-pneumatic control valve 483 performs articulation, Control to adjust the air pressure. Such control is performed according to a supply / discharge control command sent from the master device 610.

<< Configuration of Joint Movement Master Device 600 >>
The configuration of the joint motion master device 600 will be described.

  FIG. 6 shows an external view of the joint motion master device 600. FIG. 6 is an external view of the joint motion master device 600 attached to the “left hand HDL of the human body HB” as the second object when viewed from the back of the hand when the finger joint is in the extended state. As comprehensively shown in FIGS. 1 and 6, the articulation master device 600 includes a mounting unit 110 and a master device 610 that constitute the attachment / detachment support device 100.

(Mounting part 110)
The mounting part 110 will be described. In the present embodiment, the mounting unit 110 is a cloth glove and is mounted on the left hand HDL. A master device 610 is attached to the mounting unit 110. Details of the mounting portion 110 will be described later.

(Configuration of master device 610)
The configuration of the master device 610 will be described.

The master device 610 includes sheet-like joint angle sensors 612 _j and 613 _j (j = 1,..., 5) and a master control unit 650 shown in FIG.

Each of the sheet-shaped joint angle sensors 612 _j and 613 _j is attached to the mounting portion 110. Each of the sheet-like joint angle sensors 612 _j and 613 _j is connected to the master control unit 650 via wiring.

The sheet-like joint angle sensor 612 ₁ is disposed on the first joint of the thumb of the thumb when the mounting portion 110 is fitted to the left hand HDL, and a physical quantity (for example, resistance) corresponding to the bending angle of the first joint. Value; hereinafter also referred to as “angle information”). Further, the sheet-like joint angle sensor 613 ₁ is arranged on the second joint of the thumb of the thumb when the mounting part 110 is fitted to the left hand HDL, and detects angle information of the second joint.

Sheet joint angle sensor 612 _2, when fitted with a mounting portion 110 on the left hand HDL, it is disposed on the second joint of the finger back of the index finger, for detecting the angle information of the second joint. Further, the sheet-like joint angle sensor 613 ₂ is arranged on the third joint of the fingertip of the index finger when the mounting unit 110 is fitted to the left hand HDL, and detects angle information of the third joint. Further, the sheet-like joint angle sensor 612 ₃ is disposed on the second joint of the fingertip of the middle finger when the mounting portion 110 is fitted to the left hand HDL, and detects angle information of the second joint. Further, the sheet-like joint angle sensor 613 ₃ is arranged on the third joint of the fingertip of the middle finger when the mounting unit 110 is fitted to the left hand HDL, and detects angle information of the third joint.

The sheet-like joint angle sensor 612 ₄ is arranged on the second joint on the dorsal part of the ring finger when the mounting part 110 is fitted to the left hand HDL, and detects angle information of the second joint. In addition, the sheet-like joint angle sensor 613 ₄ is arranged on the third joint of the ringback of the ring finger when the mounting portion 110 is fitted to the left hand HDL, and detects angle information of the third joint. Further, the sheet-like joint angle sensor 612 _5, when fitted with a mounting portion 110 on the left hand HDL, is disposed on the second joint of the finger back of the little finger, to detect the angular information of the second joint. The sheet-like joint angle sensor 613 _5, when fitted with a mounting portion 110 on the left hand HDL, is located on the third joint of the finger back of the little finger, to detect the angle information of the third joint.

Then, the detection results by the sheet-like joint angle sensors 612 _j , 613 _j (j = 1,..., 5) are sent to the master control unit 650.

In the present embodiment, the master control unit 650 is attached to the mounting unit 110 and disposed on the back of the hand when the mounting unit 110 is fitted to the left hand HDL. The master control unit 650 is connected to each of the sheet-like joint angle sensors 612 _j and 613 _j (j = 1,..., 5) via wiring. In addition, the master control unit 650 is connected to the adjustment unit 480 of the joint motion assist device 400 via wiring.

The master control unit 650 includes a microprocessor and the like. Master control unit 650 receives the detection results sent from sheet-like joint angle sensors 612 _j , 613 _j (j = 1,..., 5). Next, the master control unit 650 derives the joint angle of the corresponding finger joint based on the detection results sent from the sheet-like joint angle sensors 612 _j and 613 _j .

Then, when the angle derived based on the detection result sent from the sheet-like joint angle sensor 612 _j is equal to or greater than a predetermined value, the master control unit 650 connects the pipe 485 and the pipe 532 _j to connect the flow path. Is generated and sent to the adjustment unit 480. As a result, forcible supply of air to the bellows 542 _j is performed. Further, the master control unit 650 connects the pipe 486 and the pipe 532 _j to connect the flow path when the angle derived based on the detection result sent from the sheet-like joint angle sensor 612 _j is less than a predetermined value. Is generated and sent to the adjustment unit 480. As a result, forced exhaust of air from the bellows 542 _j is performed. When forced supply of air to the bellows 542 _k (k = 2,..., 5) is performed, forcing of air to the bellows 541 _k communicating with the bellows 542 _k through the pipe 531 _k is performed. Supply is also being made. In addition, when forcible discharge of air from the bellows 542 _k (k = 2,..., 5) is performed, forcing of air from the bellows 541 _k communicating with the bellows 542 _k through the pipe 531 _k is performed. Emissions are also being carried out.

Further, when the angle derived based on the detection result sent from the sheet-like joint angle sensor 613 _j is equal to or greater than a predetermined value, the master control unit 650 connects the pipe 485 and the pipe 533 _j to connect the flow path. Is generated and sent to the adjustment unit 480. As a result, forcible supply of air to the bellows 543 _j is performed. The master control unit 650 connects the pipe 486 and the pipe 533 _j to connect the flow path when the angle derived based on the detection result sent from the sheet-like joint angle sensor 613 _j is less than a predetermined value. Is generated and sent to the adjustment unit 480. As a result, air is forcibly discharged from the bellows 543 _j .

<Configuration of Detachment Support Device 100>
Next, the configuration of the above attachment / detachment support apparatus 100 will be described.

  As described above, the attachment / detachment support device 100 includes the mounting unit 110 and the support unit 120 (see FIG. 1).

  As described above, the mounting unit 110 is a cloth glove in the present embodiment, and is mounted on the left hand HDL of the human body HB. In addition, in the state where the mounting unit 110 is mounted on the left hand HDL, the master device 610 is mounted on the back side of the mounting unit 110 (see FIG. 6). In the following description, the mounting portion 110 is also referred to as “glove 110”.

FIG. 7 shows a view of the mounting portion 110 mounted on the left hand HDL as viewed from the palm (palm) side. As shown in FIG. 7, loop surfaces 111 ₀ , 111 ₁ , 111 ₂ , 111 ₃ , 111 ₄ , 111 _{5 of} surface fasteners are attached to the palm side of the mounting portion 110. A string-like member 112 is incorporated in the edge of the insertion opening of the hand portion of the mounting portion 110.

Loop plane 111 ₀ is attached to the palm portion of the glove 110. The loop surface 111 ₁ is attached to the thumb part of the glove 110. The loop surface 111 ₂ is attached to the finger part of the glove 110, and the loop surface 111 ₃ is attached to the middle finger part of the glove 110. Further, the loop surface 111 ₄ is attached to the ring finger portion of the glove 110, and the loop surface 111 ₅ is attached to the little finger portion of the glove 110.

  The string-like member 112 is, for example, a ring-shaped deformable polyester member. The string-like member 112 is incorporated into the edge of the hand insertion opening of the glove 110 so that the wrist part of the glove 110 has a ring-like opening. For this reason, the glove 110 can be easily attached to the hand.

  In the present embodiment, the support unit 120 is fixed to the top plate of the desk DSK as shown in FIG. The support unit 120 includes an attaching / detaching member 121 and a pasting member 125 as comprehensively shown in FIGS. 8 and 9A to 9C. The coordinate system (U, V, W) in FIGS. 8 and 9A to 9C is a coordinate system in which the W-axis direction is a vertically upward direction and the top plate of the desk DSK is a UV plane. It is defined as follows. Here, FIG. 8 is a perspective view showing the support unit 120 in the coordinate system shown in FIG. 9A is a diagram of the support unit 120 viewed from the + W direction side, and FIG. 9B is a diagram of the support unit 120 viewed from the −V direction side. Further, FIG. 9C is a diagram of the support unit 120 viewed from the + U direction side.

  In the present embodiment, the detachable member 121 is a transparent acrylic member, which has a rectangular parallelepiped internal space extending in the V-axis direction, and has openings at both ends in the V-axis direction. The left hand HDL can be inserted into the internal space of the detachable member 121 through the opening. In the following description, the flat plate portion on the + W direction side parallel to the UV plane of the detachable member 121 is referred to as a flat plate portion 121U, and the flat plate portion on the −W direction side parallel to the UV plane is also referred to as a flat plate portion 121L.

9A to 9C, the sticking member 125 is disposed on the surface on the −W direction side in the flat plate portion 121U on the + W direction side parallel to the UV plane of the detachable member 121. ing. Adhering member 125 is provided with a surface hook surface 126 of the fastener _0, 126 _1, 126 _2, 126 _3, 126 _4, 126 ₅ of the sticking surface. Here, the hook surface ₁₂₆₀ is a loop face 111 ₀ attached to glove 110 is adapted to be peelably. The hook surface 126 _j (j = 1,..., 5) is attached to the loop surface 111 _j attached to the glove 110 so as to be peelable.

In the present embodiment, the shape of the hook surface 126 _1, 126 ₅ are made identical. Further, in the present embodiment, the shape of the hook surface _1262, 126 _3, 126 ₄ is in the same. For this reason, the support part 120 of this embodiment can support the attachment or detachment of the master apparatus 610 with respect to a hand part, regardless of which hand part is left or right.

Here, when the glove 110 is affixed to the affixing member 125, a first peeling force is applied to the glove 110 attached to the left hand HDL in a direction (V direction) substantially parallel to the affixing member 125. In addition, the glove 110 is prevented from being peeled off from the sticking surface portion 125. In addition, when the glove 110 is affixed to the affixing member 125, the glove 110 attached to the left hand HDL has a direction substantially perpendicular to the affixing surface part 125 (−W direction) than the first peeling force. When a small second peeling force is applied, the glove 110 is peeled from the pasting surface portion 125. In the present embodiment, the first peeling force is a force corresponding to 5 N / cm ² , and when the glove 110 is affixed to the affixing surface portion 125, a force in the V direction is applied to the glove 110 so that the glove 110 The tensile shear strength when displaced from the affixing surface portion 125 is 5.1 N / cm ² . The second peel force is a peel strength of 0.5 N when the glove 110 is peeled from the sticking surface portion 125 by applying a force in the −W direction to the glove 110 when the glove 110 is stuck to the sticking surface portion 125. The force corresponds to / cm.

  10A and 10B are external views of the attachment / detachment support device 100 when the glove 110 is attached to the support unit 120. FIG. Here, FIG. 10A is a view of the attachment / detachment support apparatus 100 as viewed from the −V direction side, and FIG. 10B is a view of the attachment / detachment support apparatus 100 as viewed from the + U direction side. 10A and 10B, the illustration of the master device 610 attached to the glove 110 is omitted. In addition, illustration of the master apparatus 610 attached to the glove | globe 110 is abbreviate | omitted also about FIG. 11 (A)-(C) mentioned later and FIG. 12 (A)-(C).

[Removal support method]
The attachment / detachment support method for the left hand HDL of the master device 610 performed when the joint motion assist system 300 is used for the attachment / detachment support device 100 configured as described above will be described.

  It is assumed that the right hand HDR wearing the joint motion assist device 400 is contracted. It is assumed that the joint motion assist device 400 is attached to the right hand HDR by a healthy left hand HDL.

<Method for Mounting Master Device 610 to Hand>
First, a method for mounting the master device 610 to the left-hand HDL will be described. The master device 610 is attached to the left hand HDL before using the joint motion assist system 300 described above.

In mounting the master device 610 to the left hand HDL is a loop face 111 ₀ which is attached to the palm of the glove 110, together with the paste to the hook surface ₁₂₆₀ of the adhesive member 125 in the support unit 120, the finger portions of the glove 110 The loop surface 111 _j (j = 1,..., 5) attached to the palm side is pasted on the hook surface 126 _j (j = 1,..., 5) of the pasting member 125 (FIG. 10A, (See (B)). Next, as shown in FIG. 11A, with the palm of the left hand HDL facing the + W direction side, the left hand HDL is brought close to the attachment / detachment support device 100 from the −V direction side, and the internal space of the attachment / detachment member 121 Into the left hand HDL. Next, the left hand HDL is inserted from the fingertip into the insertion opening (see FIG. 10A) of the hand portion of the glove 110 having a ring shape, and the glove 110 is attached to the left hand HDL. FIG. 11B shows a state where the glove 110 is thus attached to the left hand HDL.

When the glove 110 is worn on the left hand HDL, the master device wearer is in a direction substantially parallel to the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5) of the sticking member 125 and the glove 110 A force equal to or less than the first peeling force is applied in a direction (+ V direction) in which 110 is attached to the left hand HDL, the left hand HDL is moved, and the glove 110 is attached to the left hand HDL. In the present embodiment, the first peeling force is a force corresponding to the tensile shear strength 5 N / cm ² of the surface fastener. For this reason, even if a normal force for attaching the glove 110 to the left hand HDL is applied in a direction substantially parallel to the sticking member 125 (+ V direction), the glove 110 is not peeled off from the sticking member 125. Yes.

Subsequently, the master device wearer applies a force greater than or equal to the second peel force smaller than the first peel force in the −W direction substantially perpendicular to the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5). Add. Then, the master device wearer peels off the gloves 110 from the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5). FIG. 11C shows a state where the glove 110 is peeled off from the hook surface. In the present embodiment, the second peeling force is a force corresponding to a peeling strength of 0.5 N / cm. For this reason, when a normal force for peeling the glove 110 from the sticking member 125 is applied in a direction substantially perpendicular to the sticking member 125 (−W direction), the glove 110 is peeled from the sticking member 125.

  As a result, the restriction from the sticking member 125 is eliminated. When the master device 610 is thus attached to the left hand HDL and the glove 110 is peeled off from the sticking member 125, the joint motion system that assists the joint motion of the fingers of the right hand HDR can be used.

<Method for Removing Master Device 610 from Hand>
Next, a method for removing the master device 610 from the left-hand HDL will be described. The master device 610 is removed from the left hand HDL after using the joint motion assist system 300 described above.

When removing the master device 610 from the left hand HDL, first, as shown in FIG. 12 (A), the master device wearer points the palm of the left hand HDL wearing the master device 610 toward the + W direction side, and The left hand HDL is brought closer to the attachment / detachment assistance apparatus 100 from the −V direction side. Then, the master device wearer puts the left hand HDL in the internal space of the detachable member 121. Next, as shown in FIG. 12 (B), the master device wearer, the loop plane 111 ₀ which is attached to the palm portion of the glove 110, together with the paste to the hook surface ₁₂₆₀ of the adhering member 125, gloves 110 The loop surface 111 _j (j = 1,..., 5) attached to the finger portion is attached to the hook surface 126 _j of the attaching member 125.

Next, the wearer of the master device attaches the glove 110 to the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5) of the sticking member 125 and hook surfaces 126 ₀ , 126 _j ( j = 1,..., 5) in a direction substantially parallel to the left hand HDL and applying a force equal to or less than the first peeling force in the direction of removing the glove 110 from the left hand HDL (−V direction). Move and remove glove 110 from left hand HDL. In the present embodiment, as described above, the first peeling force is smaller than the tensile shear strength (5.1 N / cm ² ) of the surface fastener and is a force corresponding to 5 N / cm ² . For this reason, even if a normal force for removing the glove 110 from the left hand HDL is applied in a direction substantially parallel to the affixing member 125 (−V direction), the glove 110 is not peeled off from the affixing member 125. Yes.

  As a result, the state where the glove 110 is stuck to the sticking member 125 of the support unit 120 is maintained, and the master device is removed from the left hand HDL. When the master device 610 is detached from the left hand HDL in this manner, the joint motion assist device 400 is removed by, for example, a healthy left hand HDL.

As described above, in the present embodiment, the support unit 120 configuring the attachment / detachment support device 100 is fixed to the top plate of the desk DSK. Then, when you start using the articulation assist system 300, in mounting the master device 610 to the left hand HDL is a loop face 111 ₀ which is attached to the palm of the glove 110, the hook surface of the adhesive member 125 in the support unit 120 with paste to 126 _0, loop surface 111 attached to the palm side of the finger portion of the glove _{110 j (j = 1, ...} , 5) the hook surface 126 _j of the adhering member 125 (j = 1, ..., 5 ). Next, with the palm of the left hand HDL facing the + W direction side, the left hand HDL is brought close to the attachment / detachment support device 100 from the −V direction side, and the left hand HDL is put into the internal space of the attachment / detachment member 121. Next, the wearer of the master device inserts the left hand HDL from the fingertip into the insertion opening of the hand part of the glove 110 having a ring shape, and hook surfaces 126 ₀ , 126 _j (j = 1,..., 5) of the sticking member 125. ) And the direction in which the glove 110 is attached to the left hand HDL (+ V direction) by applying a force equal to or less than the first peeling force to move the left hand HDL, Attach to HDL.

Subsequently, the master device wearer applies a force greater than or equal to the second peel force smaller than the first peel force in the −W direction substantially perpendicular to the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5). Add. Then, the master device wearer peels off the gloves 110 from the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5). As a result, the master device 610 is attached to the left hand HDL, and the joint motion assist system can be used.

  For this reason, before using the joint motion assist system 300, the master device 610 can be mounted by itself without obtaining the assistance of others.

In order to remove the master device 610 from the left hand HDL when the use of the joint motion assist system 300 is finished, first, the master device wearer points the palm of the left hand HDL wearing the master device 610 to the + W direction side. The left hand HDL is brought closer to the attachment / detachment assistance apparatus 100 from the −V direction side. Then, the master device wearer puts the left hand HDL in the internal space of the detachable member 121. Next, the master device wearer, the loop plane 111 ₀ which is attached to the palm portion of the glove 110, affixed with paste on the hook surface ₁₂₆₀ of the member 125, loop surface 111 attached to the finger portion of the glove 110 _j (J = 1,..., 5) is attached to the hook surface 126 _j of the attaching member 125. Next, the wearer of the master device attaches the glove 110 to the hook surfaces 126 ₀ , 126 _j (j = 1,..., 5) of the sticking member 125 and hook surfaces 126 ₀ , 126 _j ( j = 1,..., 5) in a direction substantially parallel to the left hand HDL and applying a force equal to or less than the first peeling force in the direction of removing the glove 110 from the left hand HDL (−V direction). Move and remove gloves 110 from left hand HDL. As a result, the master device is removed from the left-hand HDL.

  For this reason, after using the joint motion assist system 300, the attached master device can be removed by itself without obtaining the assistance of others.

  Moreover, in this embodiment, when attaching the glove 110 to the sticking member 125 of the support part 120, a hook-and-loop fastener is used. For this reason, the glove 110 can be easily attached to the support unit 120 or the glove 110 can be peeled off from the support unit 120.

  In the present embodiment, a ring-shaped polyester string-like member 112 is incorporated at the edge of the insertion opening of the hand of the glove 110. For this reason, the left hand HDL can be easily inserted from the annular insertion port.

  Moreover, in this embodiment, the sticking member 125 is arrange | positioned in the surface at the side of -W direction in the flat plate part 121U at the side of + W direction parallel to UV plane of the member 121 for attachment or detachment. As a result, when the glove 110 is affixed to the affixing member 125, space is generated in the palm portion and the finger portion in the glove due to the weight of the master device 610. For this reason, it becomes easy to fit the left hand HDL to the gloves 110 and the left hand HDL.

  Therefore, according to the present embodiment, the person who wears the joint motion assist device, which is a slave device, can wear the master device by himself without obtaining the assistance of the other person.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above embodiment, the loop surface of the hook-and-loop fastener is attached to the glove, and the hook surface of the hook-and-loop fastener is attached to the attaching / detaching member of the support unit. On the other hand, the hook surface of the hook-and-loop fastener may be attached to the glove, and the loop surface of the hook-and-loop fastener may be attached to the detachable member. Moreover, while attaching the hook surface of a hook-and-loop fastener to the member for attachment or detachment, you may make it the thing which can affix the raw material of a glove on the said hook surface so that peeling is possible. As such a glove, for example, a thin, knitted cotton glove can be employed.

  Moreover, in said embodiment, the sticking member was provided with six hook surfaces, and was made into palm shape. On the other hand, the shape of the affixing member may be an arbitrary shape with an arbitrary number of one or more as long as gloves can be attached.

Further, as the characteristics of the surface fastener of the above-described embodiment, the first peeling force is a force corresponding to 5 N / cm ² and the second peeling force is a force corresponding to 0.5 N / cm. On the other hand, as long as the force is smaller than the tensile shear strength and corresponds to a value of 4 N / cm ² or more, the value of the first peeling force may be another value. In addition, the value of the second peeling force of the surface fastener may be another value as long as it is a force corresponding to a peeling strength of 0.4 N / cm to 1.5 N / cm.

  Moreover, in said embodiment, although the raw material of the string-like member 112 is made from polyester, it is good also as other resin-made members, and other raw materials, such as a wire, may be sufficient as it.

  Moreover, in said embodiment, the sticking member was attached to the surface by the side of -W direction in the flat plate part 121U of the + W direction side parallel to the UV plane of the member 121 for attachment or detachment. On the other hand, you may make it affix a sticking member on the surface at the side of + W in the flat plate part 121U. Further, the sticking member may be attached to the surface of the flat plate portion 121 </ b> L on the −W direction side of the detachable member 121.

  Alternatively, two sticking members may be prepared, one sticking member may be attached to the surface on the −W direction side of the flat plate portion 121U, and the other sticking member may be attached to the surface on the + W direction side of the flat plate portion 121L. In this case, as in the case of the embodiment, the master device is attached to the hand portion using the sticking member attached to the flat plate portion 121U. On the other hand, when removing the master device from the hand portion, the palm portion of the glove is attached to the attaching member attached to the flat plate portion 121L. Next, a force equal to or less than the first peeling force may be applied in a direction in which the glove is removed from the hand part (−V direction), the hand part may be moved, and the glove may be removed from the hand part. For this reason, the master device can be detached from the hand portion with the palm of the hand portion facing the −W direction.

  When using the joint motion assist system for the next time, when the master device is worn on the hand, for example, if the other hand is healthy, the person wearing the master device can use the other hand, -Gloves stuck to the flat plate portion 121L on the W direction side are peeled off. Next, the person wearing the master device. With the other hand, the glove is affixed to the flat plate portion 121U on the + W direction side. Then, as in the case of the embodiment, the master device may be attached to the hand part using the sticking member of the flat plate part 121U to which the gloves are stuck.

  Further, when the next joint motion assist system is used, for example, when the other hand is healthy, the detachable member is detached from the desk with the other hand. Next, the positional relationship between the flat plate portion 121U and the flat plate portion 121L of the detachable member is reversed so that the flat plate portion 121L is a surface on the + W direction side, and the detachable member is fixed to the desk again. Then, a glove attached to the flat plate portion 121L may be attached to the hand portion.

  Also, in the above embodiment. The detachable member is a transparent acrylic member, but may be a member made of other material that is not transparent. Moreover, in said embodiment, although the member for attachment or detachment was made into the member in which the rectangular parallelepiped internal space was formed, a plate-shaped member may be sufficient, for example. In this case, the plate member is fixed to the top plate of the desk. And what is necessary is just to make it attach a sticking member to the surface at the side of + W direction of a plate-shaped member.

  In the above-described embodiment, the joint motion assist system has been described in which the joint motion assist device is mounted on the right hand and the master device is mounted on the left hand of the human body in order to assist the movement of the right hand finger of the human body. On the other hand, when the left hand is contracted and the right hand is healthy, an articulation assist device is attached to the left hand and the master device is attached to the right hand of the human body in order to assist the movement of the left hand finger. Of course, it may be an attachment / detachment support device used when the joint motion assist system to be attached is used.

  Further, in the above embodiment, assuming that one hand part of the assist target person contracts and the other hand part is healthy, the master device is attached to the other hand part of the assist target person. It was decided. On the other hand, when attaching the master device to the hand of another person such as a physical therapist or a family member, the attachment / detachment support device of the present invention may be used. In this case, the master device is mounted on the other person's hand having a structure that has one of the symmetry, similarity symmetry, and left-right symmetry with the hand of the person to be assisted. Also good.

  In the joint motion assist device employed in the present embodiment, a resin bellows is employed. However, if the material is stretchable and does not impose a burden such as the weight of the device attached to the human body. Other materials may be used.

  In the joint motion assisting device employed in the present embodiment, the working fluid is air, but it may be another gas or a liquid such as water or oil.

  In the above-described embodiment, the finger joint motion assist unit is attached to each of the thumb, the index finger, the middle finger, the ring finger, and the little finger to assist the joint motion of the thumb, the index finger, the middle finger, the ring finger, and the little finger. On the other hand, a joint motion assist unit may be attached to an arbitrary finger to assist the joint motion of the arbitrary finger.

  When the attachment / detachment support device of the present invention is used in the field of care or welfare, not only when using a joint motion assist system for rehabilitation, but also joint motion for power assist used by a person with weak power. It can also be used when using an assist system. The attachment / detachment support device of the present invention can also be used when a joint motion assist system for power assist such as grasping an object is used outside the fields of nursing care and welfare.

  In the above embodiment, the present invention is applied to the attachment / detachment support device used when the joint motion assist system for assisting the joint motion of the human finger is used. For example, the finger joint of the human foot You may make it apply this invention to the attachment / detachment assistance apparatus utilized when using the joint exercise assistance system which assists exercise | movement. In this case, the mounting portion can be a sock that is mounted on the foot.

  Further, in the above embodiment, the present invention is applied to the attachment / detachment support device used when using the joint motion assist system for assisting the joint motion of the human body. The present invention can also be applied to an attachment / detachment support device used when using the joint motion assist system.

  As described above, the attachment / detachment support device of the present invention can be applied to the attachment / detachment support device used when using the joint motion assist system that assists the joint motion of a predetermined object.

100 ... removable support device, 110 ... mounting portion _{(glove), 111 0, 111 j (} j = 1, ..., 5) ... loop plane, 112 ... string member, 120 ... support portion, 121 ... removable member, 121U , 121L ... flat plate part, 125 ... sticking member, 126 ₀ , 126 _j (j = 1, ..., 5) ... hook surface (sticking face part), 300 ... joint motion assist system, 400 ... joint motion assist device (slave device) , 410 ... hand mounting part, 430 ₁ ... thumb joint motion assist part (finger joint motion assist part), 430 ₂ , 430 ₃ , 430 ₄ , 430 ₅ ... finger joint motion assist part, 480 ... adjustment part, 481 ... pressure pump, 482 ... decompression pump, 483 ... electric - pneumatic control valve, 484 ... slave control unit, 485, 486 ... _{pipe, 521 j (j = 1,} ..., 5) ... transfer member, 522 _{k (k} = 2 , ... 5) ... transfer _{member, 523 j, 524 j (j} = 1, ..., 5) ... transfer _{member, 531 k (k = 2,} ..., 5) ... _{pipe, 532 j, 533 j (j} = 1, ..., 5) ... _{piping, 541 k (k = 2,} ..., 5) ... _{bellows, 542 j, 543 j (j} = 1, ..., 5) ... bellows, 550 ₁ ... mother finger mounting portion, 550 _{k (k} = 2 , ..., 5) ... finger mounting _{portion, 551 j (j = 1,} ..., 5) ... mounting _{members, 552 j (j = 1,} ..., 5) ... _{fingerstall, 553 j (j = 1,} ..., 5 ), 556 _k (k = 2,..., 5)... Band member, 600... Articulation master device, 610... Master device, 612 _j , 613 _j (j = 1,..., 5). 650 ... Master control unit, HB ... human body, HDR ... right hand (first object), HDL ... left hand (second object)

Claims (7)

It has a slave device to be attached to the first object and a master device to be attached to the second object, and is used when using a joint motion assist system that assists the joint motion of the first object, An attachment / detachment support device for supporting attachment / detachment of the master device to / from the second object,
A mounting portion for mounting the master device to the second object;
A support unit for supporting attachment / detachment of the master device and the second object;
The support unit
Affixing member having an affixing surface portion fixed in a predetermined position and releasably affixing the mounting portion;
When the mounting portion is affixed to the affixing member,
Even if a first peeling force is applied to the mounting portion mounted on the second object in a direction substantially parallel to the pasting surface portion, the mounting portion is not peeled from the pasting surface portion,
When a second peeling force smaller than the first peeling force is applied to the attachment portion attached to the second object in a direction substantially perpendicular to the attachment surface portion, the attachment portion is removed from the attachment surface portion. Exfoliated,
An attachment / detachment support device characterized by that.   The attachment / detachment support device according to claim 1, wherein the sticking member is a hook-and-loop fastener.   The said master apparatus is mounted | worn with the 2nd target object of a structure which has a symmetry of any one of congruent symmetry, similarity symmetry, and left-right symmetry with the said 1st target object. 2. The attachment / detachment support device according to 2. The first object includes at least one of fingers in one hand part of a human body,
The second object includes at least one of fingers in the other hand part of the human body,
The mounting part is a glove fitted to the other hand part,
The palm part of the glove is affixed to the affixing member,
The attachment / detachment support device according to claim 3. The first peeling force is smaller than the tensile shear strength and corresponds to a value of 4 N / cm ² or more.
The second peel force is a force corresponding to a peel strength of 0.4 N / cm or more and 1.5 N / cm or less.
The attachment / detachment support apparatus according to claim 4.   The attachment / detachment support device according to claim 4 or 5, wherein a ring-shaped deformable linear member is incorporated in an edge portion of the insertion opening of the hand portion of the glove.   The attachment / detachment support device according to claim 6, wherein the linear member is a resin member.

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