JP2018079132A - Inferior limb motion support appliance - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inferior limb motion support appliance for reducing consumption of energy of a wearer and which allows a wearer to execute proper walking training.SOLUTION: There is provided an inferior limb motion support appliance 1 which can be worn to an inferior limb of a wearer H, comprising a lumbar part fixing part 10, an inferior limb guide part 20 and an inferior limb movement part 30. The lumbar part fixing part 10 comprises: a lateral support body 17 which is worn to the vicinity of a lumbar part of the wearer H; belt parts 11, 12 for fixing the lateral support body 17 to the vicinity of the lumbar part; and a back surface grip part 15 provided on a back surface side of the lateral support body 17. The inferior limb guide part 20 is connected to the lateral support body 17 through a universal coupling, the inferior limb movement part 30 has a thigh support part 31 and a leg joint dorsiflexion part, in which the thigh support part 31 and the leg joint dorsiflexion part forming the inferior limb movement part 30 are connected to an end part of the inferior limb guide part 20 or the vicinity thereof for linkage with movement of the inferior limb guide part 20.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a lower limb motion support orthosis.

  For those who are unable to properly control the movement of their lower limbs due to paralysis of the lower limbs and various injuries, etc., and have difficulty in walking on their own (hereinafter also referred to as “lower limb movement difficult persons”) Conventionally, various orthoses have been proposed as tools for assisting or supporting the movement of the lower limbs.

  As a brace according to the prior art, for example, a front strut commander-length leg brace disclosed in Patent Document 1 is known. According to this prior art, such a brace has characteristics such that it can be easily worn, and walking training can be performed while firmly supporting the front of the lower limbs.

  A person who has difficulty in movement of the lower limbs performs walking training by wearing a brace that is considered to be suitable for himself from among a variety of proposed braces. This walking training is usually performed in a state where the lower limb movement difficult person is firmly supported by a brace according to the prior art, and the lower limb movement difficult person himself / herself supports his / her weight with a parallel bar or a handrail. Of course, there are also helpers around the person with difficulty in movement of the lower limbs, and there are cases where instructions on training methods and ensuring safety are performed, but in principle, the person who performs the lower limb movements is himself.

JP 2014-054526 A

  As described above, various types of appliances according to the prior art have been proposed. Various devices according to the prior art basically support the lower limbs of persons with lower limb movement difficulty, and the person with difficulty in movement of the lower limbs himself / herself with his / her own weight supported by a parallel bar or handrail. It is provided as a brace for training.

  In other words, walking training using a brace according to the prior art needs to support its own body weight with a parallel bar or the like, and therefore a large load is applied not only to the lower limbs but also to the upper body. As a result, gait training using the brace according to the prior art consumes a great deal of energy for those who have difficulty in movement of the lower limbs (wearers). There was a problem that it was difficult to perform gait training.

  Therefore, the present invention has been made to solve the above-described problems of the prior art, and reduces energy consumption and fear of a person with difficulty in movement of the lower limbs (wearer), and also has a person with difficulty in movement of the lower limbs (wearer). It is an object to provide a lower limb movement support device that can implement appropriate walking training.

  The first aspect of the present invention is made to solve the above-mentioned problem, and can be implemented in the lower limb motion that can support the lower limb motion of the wearer by being worn on at least one of the lower limbs of the wearer. A support device comprising a lumbar part fixing part, a lower limb guiding part, and a lower limb operating part, wherein the lumbar part fixing part is attached in the vicinity of at least one lumbar part of the wearer, and the side part In order to fix the support body in the vicinity of the waist part, it has a belt part provided on the side support body and a back surface grip part provided on the back side of the side support body, and the lower limb guiding part is An ankle joint that is connected to the side support using a universal joint, and wherein the lower limb motion unit supports a dorsiflexion motion of the wearer's ankle joint and a thigh strut portion that supports the wearer's thigh. The thigh strut part having a dorsiflexion part and forming the lower limb motion part Preliminary the ankle back 屈部 is, the order to interlock the movement of the leg guiding portions, and characterized in that it is connected to the end or near the of the lower limb leading portion.

According to the lower limb motion support device according to the first aspect of the present invention, the assistant can always hold the back grip portion to support the weight of the wearer. In addition, the assistant can move the lower limb motion unit by operating the lower limb guiding unit. Therefore, according to this invention, the said wearer who performs walking training can reduce exhaustion of energy, and can reduce the physical load and mental load with respect to performing walking training.
Further, in the lower limb motion support device according to the first aspect of the present invention, the lower limb guiding portion for operating the lower limb motion portion is connected to the side support body forming the waist fixing portion using the universal joint. Yes. In other words, according to the present invention, since the lower limb guidance unit performs the support operation of the lower limb motion unit through the universal joint, the assistant is operating the lower limb guidance unit. However, the wearer can appropriately control external rotation, internal rotation, external rotation, internal rotation, stride, walking speed, and the like of the lower limbs according to his / her will.
From the above, according to the present invention, it is possible to obtain the lower limb movement support device that can reduce energy consumption and fear of the wearer and that allows the wearer to perform appropriate walking training. it can.

  ADVANTAGE OF THE INVENTION According to this invention, while lowering the energy consumption and fear of a person with difficulty in lower limb movement, a person with lower limb movement difficulty can implement appropriate walking training, and a lower limb movement support apparatus can be obtained.

1 is a schematic perspective view of a lower limb movement support device according to an embodiment of the present invention. 1 is a schematic side view of a lower limb movement support device according to an embodiment of the present invention. The rear view of only the waist fixing | fixed part which comprises the leg operation | movement assistance apparatus concerning the embodiment of this invention is shown. FIG. 4A is a schematic view of a lower limb motion support unit forming the lower limb motion support device according to the embodiment of the present invention, and FIG. 4A is a schematic front view of the lower limb motion support device forming the lower limb motion support device, FIG. ) Is a schematic side view of a lower limb motion unit constituting the lower limb motion support device. The schematic side view for demonstrating the method of the walk training using the lower limbs movement assistance device concerning embodiment of this invention is shown, Fig.5 (a) is the stance at the time of training using the lower limb movement assistance device FIG. 5B is a schematic side view showing the state of the swing leg period during training using the lower limb movement assisting device. FIG. 3 is a schematic side view of a lower limb motion support device according to another embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic perspective view of a lower limb movement support device according to an embodiment of the present invention. FIG. 2 is a schematic side view of the lower limb movement support device according to the embodiment of the present invention. FIG. 3 is a rear view of only the lower back fixing part that constitutes the lower limb movement support device according to the embodiment of the present invention. FIG. 4 is a schematic view of a lower limb motion support unit forming the lower limb motion support device according to the embodiment of the present invention, and FIG. 4A is a schematic front view of the lower limb motion support device forming the lower limb motion support device. FIG. 4 and FIG. 4B are schematic side views of a lower limb motion unit constituting the lower limb motion support device. Further, FIG. 5 is a schematic side view for explaining a walking training method using the lower limb motion support device according to the embodiment of the present invention. FIG. 5 (a) shows the lower limb motion support device. FIG. 5B is a schematic side view showing a state in the initial stage of stance during training using the lower limb motion assisting device.

As shown in FIG. 1 and the like, a lower limb movement support device 1 according to an embodiment of the present invention is configured using a lumbar part fixing unit 10, a lower limb guiding unit 20, and a lower limb operation unit 30. Specifically, the lower limb movement support device 1 according to the present embodiment includes a lumbar part fixing unit 10 that is fixed to the lumbar part of the lower limb movement difficult person H, a lower limb guiding part 20 that is attached to the lumbar part fixing unit 10, The lower limb operation unit 30 is configured to operate the lower limb of the lower limb movement difficult person H in conjunction with the movement of the lower limb guiding unit 20.
In the present embodiment, as shown in FIG. 1 and the like, a case will be described in which the lower limb motion support device 1 is worn on the right leg R of the lower limb motion difficult person H for training or the like. It is not limited to the configuration. That is, the lower limb movement support device 1 according to the present embodiment is configured for the right leg R, but the present invention is not limited to this configuration, and each member is appropriately set as necessary. The lower leg movement support for the left leg L, which is manufactured by reversing left and right and combining them, also belongs to the technical scope of the present invention.

  The lumbar part fixing part 10 constituting the lower limb motion support device 1 according to the present embodiment includes a belt part (first belt part 11 and second belt part 12), abdominal pressure pad part 13, back grip part 15, and side support body 17. The first joint portion 19 is used. Here, the 1st joint part 19 comprises the ball joint part which is one of a universal joint with the 2nd joint part 29 mentioned later. That is, the first joint part 19 and the second joint part 29 each function as a ball joint constituent part.

  More specifically, as shown in FIG. 1 and the like, the waist fixing portion 10 according to the present embodiment includes a side support 17 that is mounted in the vicinity of the right waist of the wearer H who is a person with difficulty in movement of the lower limbs. In order to fix the side support 17 to the right waist, the first belt part 11 and the second belt part 12 provided on the side support 17 and the first belt part 11 in contact with the vicinity of the abdomen of the wearer H Constructed using the abdominal pressure pad portion 13 provided in the two belt portion 12, the back surface gripping portion 17 provided on the back side of the side support 17, and the first joint portion 19 as a ball joint constituting portion. Has been.

  The side support body 17 which comprises the waist | hip | lumbar part fixing | fixed part 10 concerning this embodiment is comprised using a thermoplastic resin, carbon, etc. FIG.

  The side support 17 according to the present embodiment is formed in a rectangular or elliptical shape having a predetermined area. This predetermined area is determined in consideration of attachment regions of the belt portions 11 and 12 to be attached, the back grip portion 15 and the lower limb guide portion 20, the fit feeling at the time of wearing, and the like. Furthermore, in order to ensure an appropriate wearing state of the wearer H, a cushioning member such as a sponge is provided on the inner side of the side support 17 according to the present embodiment (the side in contact with the wearer H). Good. Moreover, the side support body 17 concerning this embodiment is comprised so that the whole alignment may be corrected by hold | maintaining the pelvis by the side of paralysis from back as shown in FIG.

  The belt portions 11 and 12 constituting the waist fixing portion 10 according to the present embodiment are configured using a rubber belt, a leather belt, a hook-and-loop fastener, or the like. Moreover, the abdominal pressure pad part 13 concerning this embodiment is comprised using the thermoplastic resin, sponge, etc. FIG.

  The belt portions 11 and 12 according to the present embodiment are fixed to each other at one end (belt fixing portions 11b and 12b) by means such as sewing to a predetermined position on the back side of the side support member 17. Further, the other end portions (belt attaching / detaching portions 11 a and 12 a) of the belt portions 11 and 12 are detachably provided at a predetermined position on the front side of the side support member 17. The belt attaching / detaching portions 11a and 12a are configured to be detachable by, for example, a hook-and-loop fastener, or are configured to be detachable by providing a buckle portion (not shown). Furthermore, in the present embodiment, the second belt portion 12 is provided with an abdominal pressure pad portion 13. The abdominal pressure pad portion 13 can firmly fix the lower lumbar vertebra, and by fixing in this way, alignment of the entire body can be corrected.

  The back surface holding part 15 which comprises the waist | hip | lumbar part fixing | fixed part 10 concerning this embodiment is comprised using the leather etc.

  The back surface gripping portion 15 according to the present embodiment is fixed by being fixed to a predetermined position on the back surface side of the side support 17 with a metal caulking or the like. Specifically, both end portions (fixed portions 15b and 15b) of the back surface gripping portion 15 are sewn and fixed, and a space between the both end portions 15b and 15b is a grip main body portion 15c.

  Next, the lower limb guiding part 20 constituting the lower limb movement assisting device 1 according to the present embodiment is configured to be operable in a state of being attached to the lumbar fixing part 10, and the lower limb guiding part 20 includes a lower limb movement. The unit 30 is connected. In the present embodiment, by operating the lower limb guiding unit 20, the lower limb operating unit 30 mounted on the lower limb of the wearer (lower limb movement difficult person) is operated to effectively train the wearer's lower limb. It is configured to be feasible. Further, in the present embodiment, the wearer can check the knee state by operating the lower limb guiding part 20 (the handle gripping part 25) with the hand on the healthy side. A feeling of fear can be reduced.

  The lower limb guiding part 20 according to the present embodiment is configured using a handle part 21, a thigh connection part 23, a handle gripping part 25, a second joint part 29, and the like. Here, the 2nd joint part 29 comprises the ball joint part which is one of a universal joint with the 1st joint part 19 demonstrated previously. That is, the first joint part 19 and the second joint part 29 each function as a ball joint constituent part.

  The handle portion 21 constituting the lower limb guiding portion 20 according to the present embodiment is configured using an aluminum plate (thickness about 5 mm, width about 25 mm) or the like. Further, the handle grip portion 25 provided above the handle portion 21 is configured using a thermoplastic resin or the like.

  The handle portion 21 according to the present embodiment is configured by using a linear plate-like member or a rod-like member, and one end portion (upper end portion) of the handle portion 21 has a shape that is easy to grip, such as a spherical shape or an oval shape. A handle grip portion 25 is provided. The handle gripping portion 25 may be configured integrally with the handle portion 21 or may be formed as a separate body, and the handle gripping portion 25 and the handle portion 21 may be screwed together.

  The thigh connection portion 23 according to the present embodiment is configured by using a plate-like member or a rod-like member, and the thigh connection portion 23 has a shape curved from the waist of the wearer H along the thigh. doing. One end of the thigh connection portion 23 is connected to the handle portion 21, and the other end portion (the operation portion side end portion 23 a) of the thigh connection portion 23 is connected to a thigh strut portion 31 described later. Yes.

  The lower limb guiding part 20 configured as described above is a universal joint (ball joint) composed of a first joint part 19 and a second joint part 29, and is used as a lumbar part fixing part 10 (a side support body 17 constituting the waist support part 17). It is connected. The lower limb guiding portion 20 is configured such that the handle portion 21 and the thigh connection portion 23 move integrally by operating the handle portion 21 while an assistant or the like holds the handle grip portion 25. In addition, for example, in the lower limb guide unit 20, an assistant or the like may operate the handle unit 21 while the wearer holds the handle grip unit 25.

  Next, the lower limb motion unit 30 that constitutes the lower limb motion support device 1 according to the present embodiment is configured to be mountable on the lower limb of the lower limb motion difficult person H, and operates the above-described lower limb guide unit 20 in the mounted state. Thus, the lower limbs of the wearer H can be trained.

  The lower limb motion unit 30 according to the present embodiment includes a thigh strut portion 31, a thigh pad portion 32, a lower limb swing wire portion 33, a dorsiflexion wire portion 34, a lower limb extension spring portion 35, a knee pad portion 36, and a knee pad fixing belt portion 37. , Knee support portion 38, wire length adjustment portion 39, and the like.

  The thigh support | pillar part 31 which comprises the leg operation | movement part 30 concerning this embodiment is comprised using the aluminum plate (about 5 mm in thickness, about 25 mm in width), leather, etc. Moreover, the thigh pad part 32 provided in the one end part (thigh upper side) of this thigh support | pillar part 31 is comprised using a thermoplastic resin, leather, etc. FIG.

  The thigh strut 31 according to the present embodiment is configured by using a linear plate-like member or a rod-like member. More specifically, as shown in FIG. 4, the first strut 31A and the second strut 31 The part 31B is connected and configured. The support holes 31A and 31B are respectively provided with adjustment holes 31Ah. The positions of the adjustment holes 31Ah are adjusted as appropriate, and the support pillars 31A and 31B are connected via the adjustment holes 31Ah. The length of the thigh support 31 is adjusted by fastening with a bolt (not shown) or the like.

  In addition, a hole (wire through hole 31BH) is drilled at the lower end of the second column 31B constituting the thigh column 31 according to the present embodiment. The lower limb swinging wire portion 33 whose upper end portion is fixed to the wire length adjusting portion 39 and whose lower end portion is connected to the dorsiflexion wire portion 34 and the lower limb extension spring portion 35 is connected to the wire through hole portion 31BH. Each end portion is provided so as to be located above or below in a penetrating state.

The wire length adjustment part 39 provided in the thigh pad part 32 concerning this embodiment is comprised using the adjustment belt part 39A and the adjustment ring part 39B. More specifically, a part of the adjustment ring portion 39B is attached to the thigh pad portion 32, and one end portion of the adjustment belt portion 39A is inserted through the inside of the adjustment ring portion 39B. It is provided as much as possible in a folded state via 39B. A surface fastener (not shown) is provided on at least one surface of the adjustment belt portion 39A (a surface that is in contact with at least two folded portions).
As shown in FIG. 4, the adjustment belt portion 39A provided to be folded in two via the adjustment ring portion 39B includes a second belt end portion 39A2 located on the front side and a first belt end portion 39A1 located on the back side. The upper end portion 33a of the lower limb swing wire portion 34 is fixed to the first belt end portion 39A1.

  Since the wire length adjusting unit 39 constituting the lower limb operating unit 30 according to the present embodiment is configured as described above, the length (adjusting ring) of the first belt end 39A1 drawn from the adjusting ring unit 39B is used. The length from the portion 39B to the first belt end 39A1) is adjustable. Therefore, in this embodiment, the length of the lower limb swing wire portion 33 fixed to the first belt end portion 39A1 can be adjusted.

  In the lower limb motion part 30 according to the present embodiment, a thigh pad part 32 is provided on the lower surface side of one end of the thigh support part 31 (the first support part 31A), and the thigh support part 31 (the first support part 31 (the first support part 31A). An operation portion side end portion 23a of the thigh connection portion 23 is provided on the upper surface side of one end portion of the column portion 31A). That is, in the present embodiment, the lower limb guiding part 20 and the lower limb operating part 30 described above can be interlocked by connecting the thigh connection part 23 and the thigh support part 31 in this way.

  The knee pad part 36 which comprises the leg operation | movement part 30 concerning this embodiment is comprised using thermoplastic resin, leather, sponge, a light alloy, etc. FIG. Further, the knee pad fixing belt part 37 provided for fixing the knee pad part 36 is configured by using a leather belt, a rubber belt, a hook-and-loop fastener or the like.

  In the present embodiment, the knee pad portion 36 and the knee pad fixing belt portion 37 are fixed to the other end portion of the thigh column portion 31 (the second column portion 31B). Here, since the fixed state of the knee pad portion 36 and the knee pad fixing belt portion 37 and the thigh column portion 31 is always maintained, when the wearer H uses the lower limb movement support device 1, the first column portion The position of the knee of the wearer H and the position of the knee pad 36 are appropriately adjusted using the adjustment holes 31Ah provided in 31A and the second support post 31B.

In the lower limb motion unit 30 according to the present embodiment, an ankle joint dorsiflexion unit is configured using the lower limb swing wire unit 33, the dorsiflexion wire unit 34, and the lower limb extension spring unit 35.
One end (lower end) of the lower limb extension spring portion 35 constituting the ankle dorsiflexion portion according to the present embodiment is connected to the dorsiflexion wire portion 34, and the other end portion (upper end portion). It is connected to the lower limb swing wire portion 33. Here, the dorsiflexion wire part 34 concerning this embodiment is comprised by making a wire into a ring shape.
In addition, as described above, the lower limb swinging wire portion 33 that forms the ankle dorsiflexion portion according to the present embodiment has one end portion (lower end portion) connected to the lower limb extension spring portion 35, and the other end. The end portion (upper end portion) is connected to the first belt end portion 39A1 of the adjustment belt portion 39A.
Furthermore, the lower limb swing wire portion 33 according to the present embodiment includes a wire through hole portion 31BH drilled in the second strut portion 31B between the upper surface side of the knee pad portion 36, the knee pad portion 36 and the thigh strut portion 31. The upper end of the thigh support 31 (the first support 31A and the second support 31B) is fixed to the first belt end 39A1.

  In the present embodiment, the lower limb swing wire portion 33, the dorsiflexion wire portion 34, and the lower limb extension spring portion 35 are formed using separate members, and then integrated to form an ankle dorsiflexion portion. Alternatively, each component may be formed using a single member (wire) to form the ankle dorsiflexion.

  Now, the lower limb movement support device 1 according to the present embodiment is configured using the lumbar part fixing unit 10, the lower limb guiding unit 20, and the lower limb movement unit 30 as described above. In the present embodiment, the lower limb movement assisting device 1 is worn by the lower limb movement difficult person H (the assistant makes the lower limb movement difficult person H wear the lower limb movement assisting device 1), and the assistance of the assistant is obtained. Appropriate walking training is conducted. Hereinafter, with reference to FIGS. 1 to 5, a mounting process of the lower limb motion support equipment 1 according to the present embodiment, a walking training method using the lower limb motion support equipment 1, and the like will be described.

  First, a mounting process when the lower limb movement assisting device 1 according to the present embodiment is mounted on the lower limb movement difficult person H will be described. When the lower limb motion support device 1 according to the present embodiment is worn, a belt portion fixing step, a knee pad fixing step, and a dorsiflexion wire portion attaching step are performed.

A belt part fixing process is a process of fixing the side support body 17 which comprises the waist | hip | lumbar part fixing | fixed part 10 to the right waist | hip | lumbar part of the lower limb movement difficulty person H.
In this belt part fixing step, the first belt part 11 is wound and fixed around the vicinity of the upper position of the lumbar vertebra, and the second belt part 12 is wound and fixed around the vicinity of the lower position of the lumbar vertebra. The side support body 17 constituting the portion 10 is fixed to the right waist of the person H who has difficulty in movement of the lower limbs. At this time, the belt portions 11 and 12 may be fixed at a position where an appropriate stimulus is applied to the pelvis.

  Next, when the lower limb movement support device 1 according to the present embodiment is to be worn by the lower limb movement difficult person H, the knee pad fixing process is performed after the belt fixing process.

  In the knee pad fixing step, the length of the thigh column 31 is adjusted so that the knee pad 36 is positioned at the knee of the person with lower leg movement difficulty H (the first column 31A and the second column 31B are adjusted). In the state where the thigh pad part 32 is brought into contact with the thigh or the vicinity thereof, and the knee pad part 36 is brought into contact with the knee of the person who has difficulty in movement of the lower limb H, the knee pad fixing belt part 37 is wound around, The part 36 is fixed. Here, the knee pad fixing belt portion 37 is configured to be fixed using a hook-and-loop fastener or a buckle.

  Next, when the lower limb movement assisting device 1 according to the present embodiment is to be worn by the person with lower limb movement difficulty H, a dorsiflexion wire portion mounting step is performed after the belt portion fixing step and the knee pad fixing step.

  The dorsiflexion wire portion attaching step is performed by passing the dorsiflexion wire portion 34 through the soles of the lower limb movement difficult person H after fixing the side support body 17 and the knee pad portion 36. At this time, although not particularly shown in the drawings, the dorsiflexion wire portion 34 may be provided with some fixing means so as to be fixed at a predetermined position on the sole. Further, for example, the ring-shaped dorsiflexion wire portion 34 may be fixed at a predetermined position on the sole by being configured to be contracted (so that the diameter is contracted) after passing through the sole.

  In the dorsiflexion wire portion attaching step, the dorsiflexion wire 39A is removed from the adjustment ring portion 39B or adjusted to a length having a margin in the adjustment belt portion 39A constituting the wire length adjustment portion 39. The part 34 may be passed through the soles of the person with lower limb movement difficulty H. Then, after passing the dorsiflexion wire portion 34 through the soles of the lower limb movement difficult person H, the length of the adjustment belt portion 39A attached to the adjustment ring portion 39B is adjusted, and the length of the lower limb swing wire portion 33 is the lower limb motion. At the stage where it is appropriate for the difficult person H, the adjustment belt portion 39A is firmly fixed with the hook-and-loop fastener. According to such a structure and process, a dorsiflexion wire part attachment process can be implemented in a comparatively simple and short time. Furthermore, according to such a configuration (configuration of the wire length adjusting unit 39), the length of the lower limb swinging wire unit 33 can be easily adjusted even after the attachment process.

  The mounting process of the lower limb motion support device 1 according to the present embodiment is as described above. Next, walking training using the lower limb motion support device 1 according to the present embodiment will be described. Here, as shown in FIGS. 1 to 5, walking training in the case where the lower limb motion assisting device 1 is attached to the right leg R of the lower limb motion difficult person H will be described.

  When walking training is performed using the lower limb motion support equipment 1 according to this embodiment, the lower limb motion support person H wears the lower limb motion support equipment 1 as shown in FIG. When walking training is performed, as shown in FIG. 5 and the like, an assistant (not shown) is arranged in the vicinity of the lower limb movement difficulty person H wearing the lower limb movement support equipment 1.

  When starting walking training, the assistant stands on the right rear side of the lower limb movement difficult person H, and first holds the back grip 15 of the waist fixing part 10 with the left hand. Next, the assistant holds the handle portion 21 of the lower limb guiding portion 20 with the right hand while maintaining the state in which the back grip portion 15 is held with the left hand (the lower limb movement difficult person H holds the handle holding portion 25). Next, the assistant operates the handle portion 21 while matching the timing with the lower limb movement difficult person H.

  More specifically, the assistant first holds the back grip 15 with the left hand. In principle, during the walking training of the person with lower leg movement difficulty H, the gripping state of the back gripping part 15 by the left hand is always maintained. That is, the assistant always holds the back grip 15 with the left hand.

  Next, the assistant moves the handle portion 21 back and forth around the universal joint (a universal joint composed of the first joint portion 19 and the second joint portion 29) while holding the back grip portion 15 with the left hand. The handle portion 21 is rotated counterclockwise R1 (see FIG. 5A)).

  As described above, when the handle portion 21 is rotated (turned back and forth), the thigh connection portion 23 and the lower limb motion portion 30 provided in connection with the handle portion 21 are counterclockwise R2 (see FIG. 5 (see (a)). Since the lower limb motion unit 30 is attached to the lower limb (right leg R) of the lower limb movement difficult person H, the lower limb of the lower limb movement difficulty person H is shown in FIG. The state changes from 5 (a) to FIG. 5 (b).

  Next, after the right leg R of the lower limb movement difficult person H is in the state of FIG. 5B, the assistant holds the universal joint (the first joint part 19 and the first joint 19 while holding the back grip 15 with the left hand). The handle portion 21 is moved back and forth around a universal joint composed of two joint portions 29 (more specifically, the handle portion 21 is rotated in the clockwise direction R3 (see FIG. 5B)).

  As described above, when the handle portion 21 is rotated (back and forth), the thigh connection portion 23 and the lower limb operation portion 30 provided to be connected to the handle portion 21 are rotated clockwise R4 (FIG. 5) around the universal joint. (Refer to (b)). Since the lower limb motion unit 30 is attached to the lower limb (right leg R) of the lower limb movement difficult person H, the lower limb of the lower limb movement difficulty person H is shown in FIG. The state is changed from 5 (b) to FIG. 5 (a).

  In the present embodiment, the assistant operates the handle 21 with the right hand while holding the back grip 15 with the left hand while timing the person with the leg movement difficult person H. Gait training is possible. That is, according to the present embodiment, the person with lower leg movement difficulty H can effectively perform the walking movement as shown in FIG.

  As shown in FIG. 5, when the person with lower limb movement difficulty H performs walking training, the assistant operates the handle portion 21, so that the lower limb of the person with lower limb movement difficulty H This state (FIG. 5A), the late stance phase, and the free limb phase state (FIG. 5B) are repeated.

  Here, “the initial stage of stance” is the period from when the heel touches the ground during walking until the toes touch the ground, and “the middle stage of stance” refers to the time from when the heel touches the ground until the heel leaves. "Late stance" is the period from when the heel is released during walking until the toes are released. "Swing" is the period when the heel is grounded immediately after the toes are released during walking. It is a period until.

  FIG. 5 shows partial states of the initial stance phase, the middle stance phase, the late stance phase, and the swing phase, but according to the lower limb movement support device 1 according to the present embodiment, the wearer is at his / her own will. By appropriately operating the handle grip portion 25 or the handle portion 21 (at least one of the handle portion 21 and the handle grip portion 25), it is possible to perform an effective walking training that appropriately repeats these four states. .

  Now, the lower limb movement support device 1 according to the present embodiment is configured as described above, and is worn as described above to perform walking training. Therefore, the following effects can be obtained.

  The lower limb motion support device 1 according to the embodiment of the present invention is a lower limb motion support device 1 that can support the lower limb motion of the wearer H by being mounted on at least one lower limb of the wearer H. A side support 17 provided with a waist fixing part 10, a lower limb guiding part 20, and a lower limb operating part 30, and the waist fixing part 10 is mounted in the vicinity of at least one waist of the wearer H; Belt portions (first belt portion 11 and second belt portion 12) provided on the side support 17 and a rear gripping portion provided on the back side of the side support 17 to fix 17 near the waist. 15, the lower limb guiding portion 20 is connected to the side support 17 using a universal joint (a universal joint including the first joint portion 19 and the second joint portion 29), and the lower limb motion portion 30. Thigh support that supports the thigh of the wearer H Part 31 and ankle dorsiflexion part (ankle dorsiflexion part consisting of lower limb swing wire part 33, dorsiflexion wire part 34, lower limb extension spring part 35, etc.) that supports the dorsiflexion motion of the ankle joint of wearer H The thigh strut 31 and the ankle dorsiflexion part (such as the dorsiflexion wire part 34) constituting the lower limb motion part 30 are connected to the end of the lower limb guidance part 20 or linked to the movement of the lower limb guidance part 20 or It is characterized by being connected in the vicinity thereof.

Since the lower limb movement support device 1 according to the present embodiment is configured as described above and is used by wearing as described above, the following various functions and effects can be obtained.
Specifically, since the lower limb motion support device 1 according to the present embodiment fixes the lower lumbar vertebrae and the like by the first belt portion 11 and the second belt portion 12, the upper body alignment is corrected, and the hip joint is Can swing out the lower limbs.
Further, according to the lower limb motion support device 1 according to the present embodiment, the thigh is held by the thigh strut portion 31 forming the lower limb motion portion 30, the knee joint is held by the knee pad portion 36, and the ankle dorsiflexion portion is formed. Since the forefoot portion can be fixed by the dorsiflexion wire portion 34, the foot portion is in the dorsiflexion position during the swing leg period (see FIG. 5B) during walking training. That is, according to this embodiment, since the foot portion is in a dorsiflexion position during the swing leg period, the propulsive force of the foot portion works, and the posture control system works in advance, so that the weight can be moved with peace of mind.
Furthermore, according to the lower limb motion support device 1 according to the present embodiment, the assistant always holds the back grip 15 to support the weight of the wearer H, and the assistant handles the lower limb guiding portion 20 (the handle portion 21 forming the lower limb guiding portion 20). ) To assist the movement of the lower limb motion unit 30. Therefore, according to the present embodiment, the wearer H (lower limb movement difficulty person) who performs walking training can reduce energy consumption, and the physical load and the mental load for performing the walking training can be reduced. Can be small.
Further, in the lower limb motion support device 1 according to the present embodiment, the lower limb guiding portion 20 for operating the lower limb motion portion 30 is connected to the waist fixing portion 10 using a universal joint. That is, according to the present embodiment, since the support operation of the lower limb motion unit 30 by the lower limb guidance unit 20 is performed via the universal joint, even when the handle unit 21 is operated by the assistant. The wearer H can appropriately control external rotation, internal rotation, external rotation, internal rotation, stride, walking speed, and the like of the lower limbs according to his / her will.
Furthermore, according to the lower limb movement support device 1 according to the present embodiment, the knee extension force acts as posture control when the assistant operates the handle portion 21 in the clockwise direction during the standing-up movement. Further, during the sitting operation, the assistant operates the handle portion 21 in the counterclockwise direction, so that the knee extension force works at the time of knee flexion and acts as a brake, so that the sitting operation can be executed with peace of mind. .

  From the above, according to the present embodiment, energy consumption and fear of the lower limb movement difficulty person (wearer) can be reduced, and the lower limb movement difficulty person (wearer) can perform appropriate walking training. The lower limb motion assisting device 1 can be obtained.

<Other embodiments>
It should be noted that the present invention is not limited to the above-described embodiment, and can be implemented with various modifications as necessary within the scope that can meet the spirit of the present invention. It is included in the technical scope of the invention.

  In the lower limb movement support device 1 according to the above embodiment, the case where the handle portion 21 is linear has been described, but the present invention is not limited to this configuration. Therefore, for example, a handle portion 121 having a predetermined angle or a curved handle portion may be used as in the lower limb movement support device 101 according to another embodiment shown in FIG.

  Moreover, in the said embodiment, although the assistance person demonstrated the case where walking training of a leg movement difficult person (wearer) is performed by operating the handle | steering-wheel part 21 in the state which hold | gripped the back surface holding part 15, this book The invention is not limited to this configuration. Therefore, for example, the operation of the handle portion 21 may be performed not by the assistant but by the person who has difficulty in movement of the lower limb (wearer) himself and may carry out walking training.

Various devices have been proposed as conventional devices, and these devices basically support the lower limbs of persons with difficulty in lower limb movements, and the persons with lower limb movements themselves using parallel bars or handrails themselves. It is provided as a brace for performing training for walking on its own with the body weight supported.
In other words, walking training using a brace according to the prior art needs to support its own body weight with a parallel bar or the like, and therefore a large load is applied not only to the lower limbs but also to the upper body. As a result, with the prior art orthosis, people with lower limb movement difficulties consume a great deal of energy, which increases the physical and mental loads, making it difficult to perform appropriate walking training. there were.

Therefore, the present invention has been made to solve the above-described problems of the prior art.
Specifically, the present invention is a lower limb motion support device that can support the lower limb motion of the wearer by attaching it to at least one of the lower limbs of the wearer. And a lower limb operating part, wherein the waist fixing part is a side support mounted near at least one waist of the wearer, and the side support is fixed near the waist. It has a belt part provided on the side support and a back grip part provided on the back side of the side support, and the lower limb guiding part is connected to the side support using a universal joint. The lower limb operating unit includes a thigh support unit that supports the thigh of the wearer and an ankle dorsiflexion unit that supports a dorsiflexion operation of the ankle joint of the wearer, and the lower limb operating unit The thigh strut part and the ankle dorsiflexion part forming the lower limb guiding part In order to interlock the can is characterized in that it is connected to the end or near the of the lower limb leading portion.

According to the present invention configured as described above, it is possible to obtain a lower limb movement assisting device having high industrial applicability.
In other words, according to the present invention, the lower limb movement that reduces the energy consumption and fear of the lower limb movement difficulty person (wearer), and enables the lower limb movement difficulty person (wearer) to perform appropriate walking training. The support equipment 1 can be obtained.

DESCRIPTION OF SYMBOLS 1 ... Lower limbs movement assistance apparatus 10 ... Lumbar part fixing | fixed part 11 ... 1st belt part 11a ... Belt attaching / detaching part 11b ... Belt adhering part 12 ... Second belt part 12a ... Belt attaching / detaching part 12b ... Belt attaching part 13 ... Abdominal pressure pad part 15 ... back gripping part 15b ... adhering part 15c ... gripping body part 17 ... side support 19 ... first joint part (ball joint constituent part)
DESCRIPTION OF SYMBOLS 20 ... Lower limb guidance | induction part 21 ... Handle part 23 ... Thigh connection part 23a ... Operation part side edge part 25 ... Handle grip part 29 ... Second joint part (ball joint structure part)
DESCRIPTION OF SYMBOLS 30 ... Lower limb operation | movement part 31 ... Thigh support | pillar part 31A ... 1st support | pillar part 31Ah ... Adjustment hole part 31B ... 2nd support | pillar part 31BH ... Wire through-hole part 32 ... Thigh pad part 33 ... Lower leg extension wire part 34 ... Dorsiflexion wire part 35 ... Lower extremity extension spring part 36 ... Knee pad part 37 ... Knee pad fixing belt part 38 ... Knee back pad part 39 ... Wire length adjustment part 39A ... Adjustment belt part 39A1 ... First belt end part 39A2 ... Second belt end part 39B ... Adjusting ring part 101 ... Lower limb movement support equipment 121 ... Handle part H ... Lower limb movement difficult person (wearer)
L ... Left leg (lower limb, left lower limb)
R ... Right leg (lower leg, right leg)

Claims (1)

A lower limb motion assisting device capable of supporting the lower limb motion of the wearer by attaching to at least one lower limb of the wearer,
A lumbar fixing part, a lower limb guiding part, and a lower limb action part
The waist support portion is a side support that is mounted in the vicinity of at least one waist of the wearer, and a belt provided on the side support for fixing the side support in the vicinity of the waist. And a back grip portion provided on the back side of the side support,
The lower limb guiding part is connected to the lateral support using a universal joint;
The lower limb motion part has a thigh support part that supports the wearer's thigh, and an ankle joint dorsiflexion part that supports a dorsiflexion action of the wearer's ankle joint,
The thigh strut portion and the ankle dorsiflexion portion constituting the lower limb motion portion are connected to an end portion of the lower limb guide portion or in the vicinity thereof so as to be interlocked with the movement of the lower limb guide portion. Lower limb movement support orthosis.

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