JP2019014021A - Power-assist suit - Google Patents

Abstract

To suppress occurrence of unintended and unnatural movement of a wearer.SOLUTION: A suit includes: a waist part 11 mounted on a waist position of a wearer; right and left leg parts 13A (13B) mounted on positions of right and left legs of the wearer; a roll connection part 51A (51B) which connects the waist part 11 and the leg part 13A (13B) so as to relatively rotate around a longitudinal axial line Z0; an attenuation part 53A (53B) which applies resistance on relative rotational movement around the longitudinal axial line Z0 of the waist part 11 and the leg part 13A (13B) based on rotation of the roll connectin part 51A (51B).SELECTED DRAWING: Figure 7

Description

  The present invention relates to a power assist suit.

  For example, Patent Document 1 describes a power assist suit (a wearable movement support device) that assists or substitutes for a wearer's muscle strength. The power assist suit includes a waist frame, a lower limb frame, a back frame, and a rotation mechanism. The waist frame has a base that is long in the left-right direction of the wearer and side portions that protrude forward from the left and right ends of the base, and the base and the side portions behave as one body, and are worn around the waist of the wearer. . A pair of left and right leg frames is connected to the lower part of the waist frame and is attached to the lower leg of the wearer. The back frame has a locking device connected to the upper portion of the waist frame and moored to the wearer's shoulder. The rotation mechanism has a degree of freedom of swinging in parallel with the frontal frame about an axis perpendicular to the frontal frame (surface that cuts the wearer's body back and forth) connecting the back frame and the base of the waist frame.

Japanese Patent No. 5714874

  When the wearer walks, when the wearer assists the muscle strength of the left and right lower limbs, for example, when the wearer's right leg touches the ground and a downward load is applied, the lower leg of the right foot side resists this load. The frame is operated so as to extend upward, whereby the center of gravity moves so that the waist frame and the back frame are tilted to the left side, so that the wearer tilts the upper limb to the left side. Conversely, when the wearer's left foot touches the ground and a downward load is applied, the left foot side lower limb frame extends upward to resist this load, which causes the waist frame to move to the right together with the back frame. Since the center of gravity moves so as to tilt, the wearer tilts the upper limb to the right. That is, during walking, the upper limb of the wearer tilts to the left and right against the wearer's intention.

  The power assist suit described in Patent Document 1 has a degree of freedom of swinging in parallel with the frontal frame about an axis perpendicular to the frontal frame connecting the back frame and the base of the waist frame by the rotation mechanism. Therefore, in the walking of the wearer as described above, it is possible to suppress the upper limb of the wearer from tilting left and right against the intention of the wearer.

  However, if there is a degree of freedom to swing in parallel with the frontal frame about the axis perpendicular to the frontal frame, when a load is applied to the upper limb frame in the left-right direction, the upper limb frame swings left and right without supporting this load. Therefore, the movement of the wearer is unintentionally unnatural, and there is a problem that a physical burden on the wearer is caused when the load is applied to the wearer.

  This invention solves the subject mentioned above, and aims at providing the power assist suit which can suppress generation | occurrence | production of the unnatural movement which a wearer does not intend.

  In order to achieve the above object, a power assist suit according to one aspect of the present invention includes a waist part to be worn at a wearer's waist position, and left and right legs to be worn at a wearer's left and right leg positions. A roll connecting part that connects the part, the waist part and the leg part so as to be relatively rotatable around a longitudinal axis, and the longitudinal axis of the waist part and the leg part based on the rotation of the roll connecting part And a damping portion that provides resistance to relative rotational movement about the.

  Further, in the power assist suit according to one aspect of the present invention, the attenuation unit is configured to rotate relative to the waist part and the leg part around the front-rear axis based on rotation of the roll connecting part by air compression. It is preferable that the air damper is provided with resistance to movement.

  In the power assist suit according to one aspect of the present invention, it is preferable that the power assist suit has an adjustment mechanism for adjusting a pressure value of compression in the air damper.

  Further, in the power assist suit according to one aspect of the present invention, the damping part is a relative rotation around the front-rear axis of the waist part and the leg part based on the rotation of the roll connecting part by compression of a spring. You may be comprised by the spring damper which provides resistance to a movement.

  Further, in the power assist suit according to one aspect of the present invention, the damping portion is a relative rotation around the front-rear axis of the waist part and the leg part based on the rotation of the roll connecting part by oil compression. You may be comprised by the oil damper which provides resistance to a movement.

  Further, in the power assist suit according to one aspect of the present invention, the damping unit is resistant to relative rotational movement of the waist part and the leg part around the front-rear axis based on the rotation of the roll connecting part. You may be comprised by the composite damper which compounded the spring damper and oil damper to provide.

  Further, in the power assist suit according to one aspect of the present invention, the damping unit is resistant to relative rotational movement of the waist part and the leg part around the front-rear axis based on the rotation of the roll connecting part. You may be comprised by the composite damper which compounded the spring damper and air damper to provide.

  Further, in the power assist suit according to one aspect of the present invention, the damping unit is resistant to relative rotational movement of the waist part and the leg part around the front-rear axis based on the rotation of the roll connecting part. You may be comprised with the damper using the actuator which act | operates electrically so that it may provide.

  Further, in the power assist suit according to one aspect of the present invention, the roll coupling portion may include both a yaw coupling portion that couples the waist part and the leg part so as to be relatively rotatable around a vertical axis. preferable.

  According to the present invention, since the damping part gives resistance to the relative rotational movement of the waist part and the leg part around the longitudinal axis based on the rotation of the roll connecting part, the left and right inclinations of the upper limbs of the wearer can be reduced. Can be suppressed. For example, the occurrence of unnatural movement unintended by the wearer is suppressed during walking.

FIG. 1 is a front view of a power assist suit according to an embodiment of the present invention. FIG. 2 is a side view of the power assist suit according to the embodiment of the present invention. FIG. 3 is a plan view of the power assist suit according to the embodiment of the present invention. FIG. 4 is a rear view of the power assist suit according to the embodiment of the present invention. FIG. 5 is a control block diagram of the power assist suit according to the embodiment of the present invention. FIG. 6 is a perspective view of a roll connecting portion in the power assist suit according to the embodiment of the present invention. FIG. 7 is a cross-sectional view of the roll connecting portion in the power assist suit according to the embodiment of the present invention. FIG. 8 is a perspective view showing the operation of the roll connecting portion in the power assist suit according to the embodiment of the present invention. FIG. 9 is a cross-sectional view showing the operation of the roll connecting portion in the power assist suit according to the embodiment of the present invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a front view of a power assist suit according to the present embodiment. FIG. 2 is a side view of the power assist suit according to the present embodiment. FIG. 3 is a plan view of the power assist suit according to the present embodiment. FIG. 4 is a rear view of the power assist suit according to the present embodiment. FIG. 5 is a control block diagram of the power assist suit according to the present embodiment. FIG. 6 is a perspective view of a roll connecting portion in the power assist suit according to the present embodiment. FIG. 7 is a cross-sectional view of the roll connecting portion in the power assist suit according to the present embodiment. FIG. 8 is a perspective view showing the operation of the roll connecting portion in the power assist suit according to the present embodiment. FIG. 9 is a cross-sectional view showing the operation of the roll connecting portion in the power assist suit according to the present embodiment. In the figure, the descriptions of “left side”, “right side”, “front side”, “rear side”, “upper side”, and “lower side” are shown by the dashed line in FIG. 1, FIG. 2 and FIG. That is, it is based on the wearer who wears and uses the power assist suit.

  As shown in FIGS. 1 to 4, the power assist suit 10 of the present embodiment includes a waist part 11 mainly located on the waist of the wearer and leg parts 13A and 13B located on the lower limbs of the wearer.

  The waist part 11 includes a mounting part 21, a battery 24, and a control board part 25.

  The wearing part 21 is worn by the wearer, and has a waist support part 21A, a chest support part 21B, and a back support part 21C. The waist contact portion 21A is a ring-shaped member positioned around the wearer's waist. The chest support portion 21B is arranged to be connected to the upper portion of the waist support portion 21A, is located around the chest of the wearer, and is formed so as to surround the wearer's chest from the rear side to the front side through the side. It is a C-shaped member. The chest contact portion 21B is provided so that it can be opened and closed to the left and right. The backrest portion 21C is a plate-like member that is connected to the upper portion of the chestrest portion 21B, is located along the back of the wearer, and extends from the center of the wearer's back to the left and right shoulder blades. . And the mounting part 21 is mounted | worn with a wearer by letting a wearer's waist pass through the waist support part 21A, and connecting the breast support part 21B with the connection band 21Ba on the front side of the wearer. The connection band 21Ba may have a ratchet type locking device. Although not clearly shown in the drawing, the waist abutment portion 21A is formed in a C shape so as to surround the wearer's waist from the rear side to the front side through the side, and the front side is connected by a connecting band. May be.

  The battery 24 supplies electric power to devices such as the control board unit 25 and each control unit, each drive motor, and each sensor unit included in the power assist suit 10. The battery 24 is fixed to the frames 26 </ b> A and 26 </ b> B in the mounting portion 21 at the positions of the waists of the wearer. Although not explicitly shown in the figure, power may be supplied from a power supply external to the power assist suit 10 instead of the battery 24. In this case, power from an external power source is converted into a voltage suitable for the devices included in the power assist suit 10 and supplied to these. The external power source is, for example, an AC (Alternating Current) power source.

  The control board part 25 accommodates the control board which comprises the control apparatus (lower limb control apparatus 17: refer FIG. 5) with which the power assist suit 10 is provided. The control board part 25 is fixed to the waist contact part 21A of the mounting part 21 at a position on the back side of the waist of the wearer.

  The leg part 13A is located on the left leg of the wearer, and the leg part 13B is located on the right leg of the wearer. The leg part 13A located on the left leg includes a thigh drive mechanism 31A, a thigh control unit 32A, a thigh attachment unit 41A, a crus attachment unit 42A, a foot attachment unit 43A, a crus drive mechanism 44A, and a leg control unit 45A. And a foot sensor unit 46A.

  The thigh drive mechanism 31A is connected to the mounting unit 21 below the mounting unit 21 and is located on the side of the left thigh of the wearer. The mounting portion 21 is provided with a rod-like frame 26A that extends downward from the left end side of the back abutment portion 21C and connects to the lower side of the back abutment portion 21A. The thigh drive mechanism 31A includes a frame 26A. On the other hand, it is connected rotatably around the longitudinal axis Z0 and the vertical axis X0 shown in FIG. The front / rear axis Z0 is an axis extending in the front / rear direction of the wearer, and the vertical axis X0 is an axis extending in the vertical direction of the wearer. Therefore, the thigh drive mechanism 31A can rotate in the left-right direction around the vertical axis X0 with respect to the frame 26A, and can move in the vertical direction around the front-rear axis Z0. The thigh drive mechanism 31A rotates the thigh mounting portion 41A around the predetermined left and right axis Y1 with respect to the mounting portion 21 in the leg part 13A, so that the wearer's left leg thigh moves according to the wearer's left leg thigh movement. It helps muscle strength. The left / right axis Y1 is an axis extending in the left / right direction of the wearer. The thigh drive mechanism 31A includes a drive motor 81A (see FIG. 5). The drive motor 81A may be an actuator.

  Here, on the left side of the wearer, the frame 26A extends from the waist to the front and bends upward to reach the shoulder, bends from the shoulder to the rear and reaches the rear, and from the rear to the bottom. It is formed in an annular shape so as to be bent toward the back side and to be connected to the rear side of the waist contact portion 21A. Therefore, the frame 26A is provided so as to surround the left upper limb of the wearer. The frame 26 </ b> A constitutes an outline of the power assist suit 10 and also has a role of protecting the left upper limb by surrounding the left upper limb of the wearer.

  The thigh control unit 32A is connected to the thigh drive mechanism 31A and controls the thigh drive mechanism 31A. The thigh control unit 32A includes a microprocessor such as a CPU, and outputs a control signal for controlling the thigh drive mechanism 31A.

  The thigh attachment portion 41A is attached to the thigh drive mechanism 31A and is disposed along the thigh of the wearer's left leg. The lower leg attachment portion 42A is disposed along the lower leg of the wearer's left leg. The foot attachment portion 43A is a shoe portion attached to the wearer's left foot portion (a portion below the left ankle). One end of the thigh mounting portion 41A is coupled to the mounting portion 21 of the waist part 11 so as to be rotatable around the left and right axis Y1. One end of the crus mounting part 42A is connected to the other end of the thigh mounting part 41A so as to be rotatable around the left and right axis Y2, and the other end of the crus mounting part 42A is connected to the foot mounting part 43A in the left and right axis Y3. It is connected rotatably around. The left and right axis lines Y2 and Y3 are axes extending in the left and right direction of the wearer.

  The lower leg drive mechanism 44A is attached to the other end of the thigh attachment part 41A. The lower leg drive mechanism 44A assists the wearer's muscle strength in accordance with the movement of the left leg of the wearer by rotating the lower leg wearing part 42A around the predetermined left and right axis Y2 with respect to the thigh wearing part 41A. The lower leg drive mechanism 44A includes a drive motor 85A (see FIG. 5). The drive motor 85A may be an actuator.

  The leg control unit 45A is connected to the crus drive mechanism 44A and controls the operation of the crus drive mechanism 44A. The leg control unit 45A includes a microprocessor such as a CPU, and outputs a control signal for controlling the crus drive mechanism 44A.

  The foot sensor portion 46A is provided on the bottom of the foot mounting portion 43A, that is, the shoe sole. The foot sensor unit 46A detects a load from the floor surface that acts on the shoe sole (the left sole of the wearer) of the foot mounting unit 43A. In the present embodiment, the foot sensor unit 46A is, for example, a uniaxial load cell, but is not limited thereto.

  The leg part 13B located on the right leg includes a thigh drive mechanism 31B, a thigh control part 32B, a thigh attachment part 41B, a crus attachment part 42B, a foot attachment part 43B, and a crus drive mechanism, similarly to the leg part 13A. 44B, a leg control unit 45B, and a foot sensor unit 46B.

  The thigh drive mechanism 31B is connected to the mounting unit 21 below the mounting unit 21 and is positioned on the side of the right thigh of the wearer. The mounting portion 21 is provided with a rod-like frame 26B that extends downward from the right end side of the backrest portion 21C and is connected to the lower side of the backrest portion 21A. The thigh drive mechanism 31B includes a frame 26B. On the other hand, it is connected rotatably around the longitudinal axis Z0 and the vertical axis X0. For this reason, the thigh drive mechanism 31B can rotate in the left-right direction around the vertical axis X0 with respect to the frame 26B, and can move in the vertical direction around the front-rear axis Z0. The thigh drive mechanism 31B rotates and moves the thigh mounting portion 41B around the predetermined left and right axis Y1 with respect to the mounting portion 21 in the leg part 13B, according to the movement of the thigh of the wearer's right leg. It helps muscle strength. The thigh drive mechanism 31B includes a drive motor 81B (see FIG. 5). The drive motor 81B may be an actuator.

  Here, on the right side of the wearer, the frame 26B extends from the waist to the front and bends upward to reach the shoulder, bends from the shoulder to the rear and reaches the rear, and from the rear to the bottom. It is formed in an annular shape so as to be bent toward the back side and to be connected to the rear side of the waist contact portion 21A. Accordingly, the frame 26B is provided so as to surround the right upper limb of the wearer. The frame 26 </ b> B constitutes an outline of the power assist suit 10 and also has a role of protecting the upper right limb by surrounding the upper right limb of the wearer.

  The thigh control unit 32B is connected to the thigh drive mechanism 31B and controls the thigh drive mechanism 31B. The thigh control unit 32B includes a microprocessor such as a CPU, and outputs a control signal for controlling the thigh drive mechanism 31B.

  The thigh attachment portion 41B is attached to the thigh drive mechanism 31B and is disposed along the thigh of the wearer's right leg. The lower leg attachment portion 42B is disposed along the lower leg of the wearer's right leg. The foot attachment portion 43B is a shoe portion attached to the wearer's right foot portion (portion below the right ankle). One end of the thigh mounting portion 41B is coupled to the mounting portion 21 of the waist part 11 so as to be rotatable around the left and right axis Y1. One end of the crus mounting part 42B is connected to the other end of the thigh mounting part 41B so as to be rotatable around the left and right axis Y2, and the other end of the crus mounting part 42B is connected to the foot mounting part 43B in the left and right axis Y3. It is connected rotatably around.

  The lower leg drive mechanism 44B is attached to the other end of the thigh attachment part 41B. The lower leg drive mechanism 44B assists the wearer's muscle strength in accordance with the movement of the wearer's right leg by rotating the lower leg attachment part 42B around the predetermined left and right axis Y2 with respect to the thigh attachment part 41B. The lower leg drive mechanism 44B includes a drive motor 85B (see FIG. 5). The drive motor 85B may be an actuator.

  The leg control unit 45B is connected to the crus drive mechanism 44B and controls the operation of the crus drive mechanism 44B. The leg control unit 45B includes a microprocessor such as a CPU, and outputs a control signal for controlling the crus driving mechanism 44B.

  The foot sensor unit 46B is provided on the bottom of the foot mounting unit 43B, that is, the shoe sole. The foot sensor unit 46B detects a load from the floor surface that acts on the shoe sole (the sole of the right foot of the wearer) of the foot mounting unit 43B. In the present embodiment, the foot sensor unit 46B is, for example, a uniaxial load cell, but is not limited thereto.

  Next, a control system of the power assist suit 10 according to the present embodiment will be described. The power assist suit 10 of this embodiment includes a lower limb control device 17 as shown in FIG.

  The lower limb control device 17 includes a control unit 71 including a microprocessor such as a CPU, a communication interface 74, an external communication interface 75, and a power supply unit 76. The lower limb control device 17 is connected to a gyro sensor 72 and a load detector 73.

  The gyro sensor 72 detects the direction of the power assist suit 10 and outputs a detection signal to the control unit 71.

  The load detector 73 detects the acting load and outputs a detection signal to the control unit 71.

  The communication interface 74 can communicate with the communication interfaces 83 of the thigh control units 32A and 32B and the leg control units 45A and 45B and the communication interface 88 of the foot sensor units 46A and 46B. The external communication interface 75 can communicate with the external control device 77. The power supply unit 76 is connected to the battery 24 and supplies power to the control unit 71 and the like.

  The control unit 71 is supplied with detection signals from the gyro sensor 72 and the load detector 73. Further, the control unit 71 outputs a control signal to the thigh control units 32A and 32B and the leg control units 45A and 45B. The control unit 71 communicates with the external control device 77 to perform maintenance of various devices.

  The thigh control unit 32A includes a control unit 82 including a microprocessor such as a CPU, a communication interface 83, and a power supply unit 84, and controls the drive motor 81A of the thigh drive mechanism 31A. The control unit 82 receives the control signal output from the control unit 71 of the lower limb control device 17 via the communication interface 83, and controls the drive motor 81A. The power supply unit 84 is connected to the battery 24 and supplies power to the control unit 82 and the like. The thigh control unit 32B is configured substantially the same as the thigh control unit 32A, includes a control unit 82, a communication interface 83, and a power supply unit 84, and controls the drive motor 81B of the thigh drive mechanism 31B.

  The leg control unit 45A includes a control unit 82 including a microprocessor such as a CPU, a communication interface 83, and a power supply unit 84, and controls the drive motor 85A of the crus drive mechanism 44A. The control unit 82 receives the control signal output from the control unit 71 of the lower limb control device 17 via the communication interface 83, and controls the drive motor 85A. The power supply unit 84 is connected to the battery 24 and supplies power to the control unit 82 and the like. The leg control unit 45B is configured substantially the same as the leg control unit 45A, has a control unit 82, a communication interface 83, and a power supply unit 84, and controls the drive motor 85B of the crus drive mechanism 44B.

  The foot sensor unit 46A includes various types of sensors including a load sensor that detects a load acting on the foot mounting unit 43A, an angle sensor that detects an angle of the foot mounting unit 43A, an acceleration sensor that detects an acceleration applied to the foot mounting unit 43A, and the like. Sensor 86, a control unit 87 including a microprocessor such as a CPU, a communication interface 88, and a power supply unit 89. The control unit 87 outputs the detection signal of the sensor 86 from the communication interface 88 to the control unit 71 of the lower limb control device 17. The power supply unit 89 is connected to the battery 24 and supplies power to the control unit 87 and the like. The foot sensor unit 46B is configured substantially the same as the foot sensor unit 46A, and includes a sensor 86, a control unit 87, a communication interface 88, and a power supply unit 89, and a detection signal from the sensor 86 is transmitted to the lower limb control device. 17 to the control unit 71.

  Next, an example of how to use the power assist suit 10 will be described.

  In order to wear the waist part 11 and the leg parts 13A and 13B to the wearer, the power assist suit 10 is put on a hanger, and from the toes, the foot mounting parts 43A and 43B, the lower leg mounting parts 42A and 42B, and the thigh mounting part The leg parts 13A and 13B are attached in the order of 41A and 41B, and then the chest part 21B (and the waist part 21A) in the attachment part 21 of the waist part 11 is attached by the connecting band 21Ba. When the power assist suit 10 is undressed, the above procedure is basically reversed.

  The lower limb control device 17 including the control unit 71 controls the thigh control units 32A and 32B and the leg control units 45A and 45B based on the detection signals of the gyro sensor 72, the load detector 73, and the foot sensor units 46A and 46B. Is output. The control unit 71 sets the assist force by the thigh drive mechanisms 31A and 31B and the crus drive mechanisms 44A and 44B based on the detected load, and the drive motors 81A and 81B of the thigh drive mechanisms 31A and 31B and the crus drive mechanism 44A. 44B drive motors 85A and 85B.

  For example, when a wearer wearing the power assist suit 10 performs work, a load acts on the foot attachment portions 43A and 43B. The foot sensor units 46A and 46B having a sensor 86 including a load sensor and an angle sensor detect a load and an angle acting on the foot mounting units 43A and 43B, and output a detection signal to the lower limb control device 17. The lower limb control device 17 sets the assist force to the thigh mounting portions 41A and 41B and the lower thigh mounting portions 42A and 42B based on the detection signals from the foot sensor units 46A and 46B, so that a predetermined assist force is generated. The drive motors 81A and 81B and the drive motors 85A and 85B are operated to drive the thigh drive mechanisms 31A and 31B and the crus drive mechanisms 44A and 44B.

  In the present embodiment, as shown in FIG. 5, the lower limb control device 17 may be provided with an adjustment switch 78 that adjusts the assist force by the thigh drive mechanisms 31A and 31B and the crus drive mechanisms 44A and 44B. When the wearer performs the lifting operation of the transported object, if the weight of the transported object is grasped in advance, the adjustment switch 78 generates an assist force suitable for the weight of the transported object. The assist force of the thigh drive mechanisms 31A and 31B and the crus drive mechanisms 44A and 44B can be adjusted.

  Incidentally, as described above, in the power assist suit 10, the thigh drive mechanism 31A of the leg part 13A is connected to the frame 26A so as to be rotatable around the longitudinal axis Z0 and the vertical axis X0 shown in FIG. Specifically, the power assist suit 10 of the present embodiment includes a roll connecting portion 51A that rotatably connects the waist part 11 and the thigh drive mechanism 31A around the front-rear axis Z0, and the waist part 11 and the thigh drive. There is a yaw coupling portion 52A that couples the mechanism 31A so as to be relatively rotatable about the vertical axis X0. That is, the leg part 13A having the thigh drive mechanism 31A is connected to the waist part 11 by the roll connecting part 51A so as to be relatively rotatable around the longitudinal axis Z0, and the leg part 13A has the vertical axis X0 by the yaw connecting part 52A. It is connected so as to be relatively rotatable around.

  Further, as described above, in the power assist suit 10, the thigh drive mechanism 31B of the leg part 13B is coupled to the frame 26B so as to be rotatable around the front-rear axis Z0 and the vertical axis X0. Specifically, the power assist suit 10 of the present embodiment includes a roll connecting portion 51B that rotatably connects the waist part 11 and the thigh drive mechanism 31B around the front and rear axis Z0, and the waist part 11 and the thigh drive. A yaw coupling portion 52B is coupled to the mechanism 31B so as to be relatively rotatable around the vertical axis X0. That is, the leg part 13B having the thigh drive mechanism 31B is connected to the waist part 11 so as to be relatively rotatable around the front and rear axis Z0 by the roll connecting part 51B, and at the vertical axis X0 by the yaw connecting part 52B. It is connected so as to be relatively rotatable around.

  Hereinafter, the roll connecting portions 51A and 51B and the yaw connecting portions 52A and 52B will be described. In the power assist suit 10 of the present embodiment, the roll connecting portion 51A and the yaw connecting portion 52A are integrally formed, and the roll connecting portion 51B and the yaw connecting portion 52B are integrally formed. The roll connecting portion 51A and the yaw connecting portion 52A, and the roll connecting portion 51B and the yaw connecting portion 52B are symmetrical in configuration only in that the attachment positions are different on the left side and the right side. Therefore, in FIGS. 6 to 9, the roll connecting portion 51A and the yaw connecting portion 52A are shown and described, and the description of the roll connecting portion 51B and the yaw connecting portion 52B is omitted.

  As shown in FIGS. 6 and 7, the roll connecting portion 51 </ b> A and the yaw connecting portion 52 </ b> A are provided on a common support portion 50 </ b> A so as to be integrally formed. The roll connecting portion 51A is provided with an attenuation portion 53A.

  The roll connecting portion 51A has a roll rotation shaft 51Aa provided along the front / rear axis Z0, and the roll rotation member 51Ab is provided so as to be relatively rotatable around the support portion 50A and the front / rear axis Z0 by the roll rotation shaft 51Aa. It has been. The roll rotation member 51Ab is connected to the thigh drive mechanism 31A by a fixing bolt 51Ac. Accordingly, the roll connecting portion 51A is provided with the thigh drive mechanism 31A so as to be relatively rotatable around the support portion 50A and the front-rear axis Z0.

  In the yaw coupling portion 52A, a yaw rotation shaft 52Aa provided along the vertical axis X0 is fixed to the support portion 50A, and the yaw rotation member 52Ab is relatively moved around the support portion 50A and the vertical axis X0 by the yaw rotation shaft 52Aa. It is provided so as to be rotatable. The yaw coupling portion 52A is coupled to the thigh drive mechanism 31A via the support portion 50A and the roll coupling portion 51A. Therefore, the yaw coupling portion 52A is provided with the thigh drive mechanism 31A including the support portion 50A and the roll coupling portion 51A so as to be relatively rotatable around the yaw rotation member 52Ab and the vertical axis X0. The torsion coil spring 52Ac is wound around the yaw rotation shaft 52Aa, and the yaw rotation member 52Ab acts to return the rotation about the vertical axis X0 to the normal position by the elastic force of the torsion coil spring 52Ac. The normal position means a posture in which the wearer of the power assist suit 10 stands upright and faces the front side. As will be described later, the yaw coupling portion 52A is coupled to the frame 26A coupled to the waist part 11 via the attenuation portion 53A.

  The damping part 53A is connected to the fixing part 53Aa fixed to the yaw rotating member 52Ab of the yaw coupling part 52A, the damper part 53Ab fixed to the fixing part 53Aa, and connected to the damper part 53Ab to be relative to the fixing part 53Aa. And a slide portion 53Ac provided so as to be slidable.

  The damper portion 53Ab is configured as an air damper having a cylinder 53Aba having an air chamber and a piston 53Abb slidably provided so as to compress and expand the air chamber of the cylinder 53Aba. The cylinder 53Aba is fixed to the fixing portion 53Aa. The piston 53Abb is provided in the cylinder 53Aba so as to be slidable along the axis V extending in parallel with the vertical axis X0 in the yaw coupling portion 52A.

  The slide portion 53Ac is connected to the piston 53Abb of the damper portion 53Ab so as to be movable along the axis V extending in parallel with the vertical axis X0 together with the piston 53Abb. The sliding portion 53Ac is provided so as to be slidable along the axis V extending in parallel with the vertical axis X0 with respect to the fixed portion 53Aa via the sliding portion 53Aca. The fixing portion 53Aa is provided so as to cover the front side of the yaw rotating member 52Ab of the yaw coupling portion 52A and the rear side of the damper portion 53Ab. The slide portion 53Ac is disposed on the front side and the rear side of the fixed portion 53Aa, and is slidable relative to the fixed portion 53Aa along the axis V extending in parallel to the vertical axis X0 via the slide portion 53Aca. Is provided. The slide portion 53Ac is connected to the frame 26A so as to be interposed in the middle of the frame 26A passing through the left side of the waist part 11 at the front and rear positions.

  With such a configuration, the attenuation portion 53A is provided so as to be slidable relative to the yaw connection portion 52A along the axis V parallel to the vertical axis X0, and is connected to the frame 26A with the yaw connection portion 52A. Therefore, the roll connecting part 51A connected to the yaw connecting part 52A via the support part 50A has the frame 26A (waist part 11) and the thigh drive mechanism 31A (leg part 13A) around the longitudinal axis Z0. Provide relatively rotatable. Further, the yaw coupling portion 52A is provided with the frame 26A (waist part 11) and the thigh drive mechanism 31A (leg part 13A) so as to be relatively rotatable around the vertical axis X0. Further, when the frame 26A (the waist part 11) and the thigh drive mechanism 31A (the leg part 13A) are relatively rotated around the longitudinal axis Z0 in the roll connecting part 51A, the damping part 53A is shown in FIGS. As shown in FIG. 4, the damper portion 53Ab acts as the relative position between the frame 26A (the waist part 11) and the thigh drive mechanism 31A (the leg part 13A) approaches or separates based on the longitudinal axis Z0, and the roll connection A resistance is applied to the relative rotational movement about the front-rear axis Z0 between the frame 26A (the waist part 11) and the thigh drive mechanism 31A (and the leg part 13A) in the portion 51A to attenuate it.

  For example, when the wearer wearing the power assist suit 10 of the present embodiment tilts the upper limb to the left or right, the roll coupling portions 51A and 51B are thigh drive mechanisms 31A and 31B (leg parts 13A) in the frames 26A and 26B that are tilted together. , 13B), by allowing relative rotational movement about the longitudinal axis Z0, the movement of the wearer is followed and the movement is not hindered. The yaw coupling portions 52A and 52B are, for example, the thigh drive mechanisms 31A and 31B in the frames 26A and 26B that rotate together when the wearer wearing the power assist suit 10 of the present embodiment rotates the upper limb to the left and right. By permitting relative rotational movement around the vertical axis X0 with respect to (leg parts 13A, 13B), the movement of the wearer is followed and the movement is not hindered.

  Here, when the wearer walks, the power assist suit 10 operates as follows. For example, when the left foot of the wearer touches the ground and a downward load is applied, the power assist suit 10 and the drive motor 81A and the drive are driven so that a predetermined assist force is generated in the leg part 13A against the load. The motor 85A is operated to drive the thigh drive mechanism 31A and the crus drive mechanism 44A so that the leg part 13A extends upward. At this time, when the assist force acts on the left foot, the wearer tilts the upper limb to the right together with the frames 26A and 26B via the roll connecting portions 51A and 51B. Conversely, when the right foot of the wearer touches the ground and a downward load is applied, the power assist suit 10 causes the drive motor 81B and the drive motor 81B and the leg part 13B to generate a predetermined assist force against the load. The drive motor 85B is operated to drive the thigh drive mechanism 31B and the crus drive mechanism 44B so that the leg part 13B extends upward. At this time, when the assist force acts on the right foot, the wearer tilts the upper limb to the left together with the frames 26A and 26B via the roll connecting portions 51A and 51B. That is, in this operation, the upper limb tilts left and right against the wearer's intention during walking.

  In response to such an event, according to the power assist suit 10 of the present embodiment, the damping units 53A and 53B are provided, and the frame 26A (waist part 11) and the thigh drive mechanism based on the rotation of the roll coupling portions 51A and 51B. 31A (leg part 13A) and the frame 26B (waist part 11) and the thigh drive mechanism 31B (leg part 13B) are given resistance to relative rotation around the longitudinal axis Z0. Suppresses the tilt. In other words, the unintentional movements unintended by the wearer during walking can be suppressed by the attenuation units 53A and 53B. In addition, by suppressing the left and right inclination of the upper limb of the wearer, the load applied to the wearer can be suppressed, and the physical burden on the wearer can be reduced.

  Further, in the power assist suit 10 of the present embodiment, the damping portions 53A and 53B include the damper portions 53Ab and 53Bb and the frame 26A (waist part 11) and the thigh drive based on the rotation of the roll connecting portions 51A and 51B by air compression. The mechanism 31A (leg part 13A) and the frame 26B (waist part 11) and the thigh drive mechanism 31B (leg part 13B) are configured by an air damper that provides resistance to relative rotational movement around the longitudinal axis Z0. Is preferred.

  The air damper can easily adjust the resistance force by increasing or decreasing the air in the air chamber. That is, the dampers 53Ab and 53Bb compress the air damper with an air supply / exhaust mechanism (not shown) that supplies and discharges air to and from the air chamber and an expansion / contraction mechanism (not shown) that expands and contracts the capacity of the air chamber. By providing an adjustment mechanism that adjusts the pressure value, the resistance force can be varied based on the use of the power assist suit 10 and the wearer's muscular strength. In addition, since the air damper is used, it is possible to reduce the weight without requiring complicated electric control and without a motor. The dampers 53Ab and 53Bb are preferably air dampers as described above. However, an oil damper, a spring damper, an air damper and a spring damper, a composite damper that combines an oil damper and a spring damper, Do not refuse to use dampers that use electrically actuated actuators.

  Further, in the power assist suit 10 of the present embodiment, the roll connecting portions 51A and 51B include the yaw connecting portions 52A and 52A that connect the waist part 11 and the leg parts 13A and 13B so as to be relatively rotatable around the vertical axis X0. Preferably both 52B are provided.

  By providing both the roll connecting portions 51A and 51B and the yaw connecting portions 52A and 52B, the configuration of the two-axis rotational movement that connects the waist part 11 and the leg parts 13A and 13B can be provided in one place. In addition, the number of parts can be reduced.

  In the present embodiment, the power assist suit 10 includes the waist part 11 and the leg parts 13A and 13B, but the upper leg part assists the operation of the upper limb with respect to the waist part 11. (Not shown) may be provided. As described above, when the upper limb part is provided, the load of the upper limb part itself and the load when lifting the heavy object by the upper limb part are applied to the waist part 11 and the frames 26A and 26B. When the waist part 11 and the frames 26A, 26B rotate relative to the leg parts 13A, 13B via the front / rear axis Z0 of the roll connecting portions 51A, 51B with this load applied, the upper limbs are inclined to the left and right. There is a possibility that a load is applied to the person. In response to such an event, according to the power assist suit 10 of the present embodiment, the inclination of the upper and lower limbs via the longitudinal axis Z0 of the roll connecting portions 51A and 51B is suppressed by the damping portions 53A and 53B. Thus, it is possible to prevent the load on the upper limb of the wearer and to reduce the physical burden on the wearer.

DESCRIPTION OF SYMBOLS 10 Power assist suit 11 Waist part 13A, 13B Leg part 26A, 26B Frame 50A Support part 51A, 51B Roll connection part 51Aa Roll rotation shaft 51Ab Roll rotation member 51Ac Fixing bolt 52A, 52B Yaw connection part 52Aa Yaw rotation shaft 52Ab Yaw rotation member 52Ac Torsion coil spring 53A, 53B Damping part 53Ab Damper part 53Aba Cylinder 53Abb Piston 53Ac Slide part X0 Vertical axis Z0 Front / rear axis

Claims (9)

Waist parts to be worn at the wearer's waist,
Left and right leg parts to be worn at the left and right leg positions of the wearer,
A roll connecting portion for connecting the waist part and the leg part so as to be relatively rotatable around a longitudinal axis;
A damping unit that provides resistance to relative rotational movement around the front-rear axis of the waist part and the leg part based on rotation of the roll coupling part;
Power assist suit with   The said attenuating part is comprised by the air damper which provides resistance to the relative rotational movement of the said waist part and the said leg part around the said front-back axis based on rotation of the said roll connection part by compression of air. The power assist suit according to 1.   The power assist suit according to claim 2, further comprising an adjustment mechanism that adjusts a pressure value of compression in the air damper.   The said damping part is comprised by the spring damper which gives resistance to the relative rotational movement of the said waist part and the said leg part around the said front-back axis line based on rotation of the said roll connection part by compression of a spring. The power assist suit according to 1.   The said damping part is comprised by the oil damper which gives resistance to the relative rotational movement of the said waist part and the said leg part around the said front-back axis line based on rotation of the said roll connection part by compression of oil. The power assist suit according to 1.   The damping part is composed of a composite damper that combines a spring damper and an oil damper that provide resistance to relative rotational movement of the waist part and the leg part around the front-rear axis based on the rotation of the roll connecting part. The power assist suit according to claim 1.   The damping part is composed of a composite damper that combines a spring damper and an air damper that provide resistance to relative rotational movement of the waist part and the leg part around the longitudinal axis based on the rotation of the roll connecting part. The power assist suit according to claim 1.   The damper is a damper using an actuator that is electrically operated to provide resistance to relative rotational movement of the waist part and the leg part around the front-rear axis based on the rotation of the roll connecting part. The power assist suit according to claim 1, comprising:   The power assist suit according to any one of claims 1 to 8, wherein the roll connecting portion includes both a yaw connecting portion that connects the waist part and the leg part so as to be relatively rotatable about a vertical axis. .

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