JP2019198906A - Motion assist device - Google Patents

Abstract

To provide a motion assist device easily fitted to the body type of any person while suppressed in enlargement.SOLUTION: A motion assist device 100 includes: a left link mechanism 110L; a right link mechanism 110R; and a fastening member 140 fastened to the left link mechanism 110L and the right link mechanism 110R. The left link mechanism 110L includes: a left thigh link 114L worn on a left thigh part; a left upper body link 112L worn on the left side of an upper body; and a left actuator 117L. The right link mechanism 110R includes: a right thigh link 114R worn on a right thigh part; a right upper body link 112R worn on the right side of the upper body: and a right actuator 117R. At least a part of the fastening member 140 is made of flexible raw material, and a relative position between the left link mechanism 110L and the right link mechanism 110R is restricted by at least a part thereof.SELECTED DRAWING: Figure 1A

Description

  The present disclosure relates to a motion support device that supports a human motion using an actuator.

  Conventionally, an operation support device (also referred to as a power assist suit) that is worn by a person and supports the operation of the person has been proposed. The motion support device includes an actuator and a plurality of frames or links connected by joints, and supports a human motion by driving the joints with power generated by the actuator (see, for example, Patent Document 1). For example, the motion support device detects a human motion with a switch or a sensor, and supports the human motion by adjusting the magnitude or timing of the power of the actuator so as to be linked to the motion.

Japanese Patent No. 5526444

  However, the motion support device of Patent Document 1 has a problem that it is not suitable for different body shapes of a plurality of people. Further, in order to adapt the motion support apparatus to the body shape of each person, it is necessary to add a hinge or a joint of the yaw axis. As a result, the entire apparatus may become large and complicated, and the weight may increase.

  Therefore, the present disclosure provides an operation support apparatus that is easily adapted to any human body shape while suppressing an increase in size.

  An operation support apparatus according to an aspect of the present disclosure is an operation support apparatus that supports the movement of a person's waist, and includes a left link mechanism that is mounted on the left side of the person and a right link that is mounted on the right side of the person. And a fastening member that is attached around the waist of the person and fastened to the left link mechanism and the right link mechanism, and the left link mechanism is attached to the left thigh of the person The lower end side of the link is a left thigh link disposed in front of or behind the left thigh, and the link is attached to the left side of the upper body of the person, and the lower end side of the link is the left side of the left thigh. A left upper body link rotatably attached to an upper end side of the thigh link; and a left actuator that rotates one of the left thigh link and the left upper body link with respect to the other, the right link The mechanism is the right thigh of the person A link to be worn, wherein the lower end side of the link is a right thigh link arranged in front of or behind the right thigh, and a link to be worn on the right side of the upper body of the person, the lower end side of the link being An upper right body link rotatably attached to an upper end side of the right thigh link, and a right actuator that rotates one of the right thigh link and the upper right body link with respect to the other, At least a part of the fastening member is made of a flexible material, and the relative position between the left link mechanism and the right link mechanism is restricted by the at least part.

  The operation support device of the present disclosure can be easily adapted to any human body shape while suppressing an increase in size.

FIG. 1A is a front view of an operation support apparatus according to an embodiment. FIG. 1B is a side perspective view of the motion support apparatus according to the embodiment. FIG. 2A is a front view of a person wearing the motion support apparatus according to the embodiment. FIG. 2B is a rear view of the person wearing the motion support apparatus according to the embodiment. FIG. 3 is a diagram illustrating an example of a human motion supported by the motion support device according to the embodiment. FIG. 4 is a diagram schematically illustrating the movement of the left upper body link, the left thigh link, and the left fixing member with respect to the left joint portion in the embodiment. FIG. 5 is a diagram illustrating an example of a state in which the left joint portion in the embodiment is rotating with respect to the left fixing member. FIG. 6 is a diagram illustrating an example of the form of the left thigh link in the embodiment. FIG. 7A is a front view of a person wearing the motion support device according to the first modification of the embodiment. FIG. 7B is a rear view of the person wearing the motion support apparatus according to the first modification of the embodiment. FIG. 8 is a diagram illustrating the left joint part and the left fixing member of the motion support device according to the second modification of the embodiment. FIG. 9 is a diagram for explaining an example of the left regulating mechanism according to the second modification of the embodiment. FIG. 10 is a diagram illustrating an example of a state where the range of rotation is regulated by the left regulating mechanism according to the second modification of the embodiment. FIG. 11 is a diagram for explaining another example of the left restricting mechanism according to the second modification of the embodiment.

  An operation support apparatus according to an aspect of the present disclosure is an operation support apparatus that supports the movement of a person's waist, and includes a left link mechanism that is mounted on the left side of the person and a right link that is mounted on the right side of the person. And a fastening member that is attached around the waist of the person and fastened to the left link mechanism and the right link mechanism, and the left link mechanism is attached to the left thigh of the person The lower end side of the link is a left thigh link disposed in front of or behind the left thigh, and the link is attached to the left side of the upper body of the person, and the lower end side of the link is the left side of the left thigh. A left upper body link rotatably attached to an upper end side of the thigh link; and a left actuator that rotates one of the left thigh link and the left upper body link with respect to the other, the right link The mechanism is the right thigh of the person A link to be worn, wherein the lower end side of the link is a right thigh link arranged in front of or behind the right thigh, and a link to be worn on the right side of the upper body of the person, the lower end side of the link being An upper right body link rotatably attached to an upper end side of the right thigh link, and a right actuator that rotates one of the right thigh link and the upper right body link with respect to the other, At least a part of the fastening member is made of a flexible material, and the relative position between the left link mechanism and the right link mechanism is restricted by the at least part.

  Accordingly, the relative positions of the left link mechanism and the right link mechanism are not restricted only by the rigid member, but are restricted by at least a part of the fastening member and a portion made of a lightweight flexible material. . Therefore, for example, without using a heavy rigid member such as a hinge or a joint of the yaw axis, it is possible to restrain the relative position of the left link mechanism and the right link mechanism while being easily variable. Therefore, it is possible to easily adapt the motion support device to any human body shape while suppressing an increase in size of the motion support device.

  The upper ends of the upper left body link and the upper right body link may be disposed on the front or back of the person. For example, the upper ends of the upper left body link and the upper right body link may be arranged around the person's side.

  Thereby, the power of the left actuator and the right actuator can be effectively transmitted to the upper body of the person via the upper left body link and the upper right body link. As a result, it is possible to appropriately support the action of raising or defeating the upper body of a person.

  Further, the left thigh link and the upper left body link are connected to each other through a left joint portion so as to be rotatable, and the left joint portion is rotated with respect to a left fixing member fixed to the fastening member. The right thigh link and the right upper body link are rotatably connected to each other via a right joint, and the right joint is fixed to the right fixing member fixed to the fastening member. And may be pivotally attached.

  Thereby, the left joint part for connecting the left thigh link and the left upper body link to each other in a freely rotatable manner is further rotatable via a left fixing member to a fastening member to be mounted around a person's waist. It is attached.

  Therefore, the degree of freedom of inclination of the left thigh link and the left upper body link with respect to the fastening member can be increased as compared with the case where the left joint portion is fixed to the fastening member so as not to rotate.

  If the left joint is fixed to the fastening member so as not to rotate, either the left thigh link or the left upper body link is fixed to the fastening member. Therefore, for example, if the waist of the person wearing the fastening member falls forward, the left upper body link also tries to fall forward, but the person bends the back without bending the waist forward In some cases, it is difficult to bring the upper left body link forward by following the movement of the person's spine.

  However, in the motion support device according to the above aspect of the present disclosure, since the left joint portion is rotatably attached to the fastening member, both the left thigh link and the left upper body link are fixed to the fastening member. Can be suppressed. Therefore, for example, even when a person bends his / her back muscles without tilting his / her waist forward, the upper left body link can follow the movement of the person's back muscles and can be tilted forward.

  In the above aspect of the present disclosure, also in the right link mechanism, as in the left link mechanism, the right joint part for connecting the right thigh link and the upper right body link to each other in a rotatable manner is further provided around the human waist. It is rotatably attached to the fastening member to be attached via a right fixing member. Therefore, the degree of freedom of inclination of the right thigh link and the right upper body link with respect to the fastening member can be increased as compared with the case where the right joint portion is fixed to the fastening member so as not to rotate.

  The motion support device further includes a left restricting mechanism for restricting a range of rotation of the upper left body link with respect to the left fixing member, and a right for restricting the range of rotation of the upper right body link with respect to the right fixing member. And a regulating mechanism.

  Thereby, it can suppress that each of a left upper body link and an upper right body link rotates largely with respect to a left fixing member and a right fixing member. Therefore, for example, it can be reduced that it becomes difficult for a person to wear the motion support device due to a large rotation of the upper left body link and the upper right body link.

  The motion support device may further include an upper body harness made of a flexible material that is connected to upper ends of the upper left body link and the upper right body link and is placed on the left shoulder and the right shoulder of the person. .

  Thereby, the shift | offset | difference of the position of the left upper body link and upper right body link with which a human body is mounted | worn, ie, the shift | offset | difference of the position of these links with respect to a human upper body, can be suppressed. Moreover, since an upper body harness consists of a flexible material, the above-mentioned position shift can be suppressed with respect to any human body shape.

  Hereinafter, embodiments will be specifically described with reference to the drawings.

  It should be noted that each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are merely examples, and are not intended to limit the present disclosure. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the highest concept are described as optional constituent elements.

  Each figure is a mimetic diagram and is not necessarily illustrated strictly. Moreover, in each figure, the same code | symbol is attached | subjected about the same structural member. In the following embodiments, expressions such as a substantially T-shape are used. For example, a substantially T-shape not only means that it is completely T-shaped but also means that it is substantially T-shaped, that is, includes an error of, for example, several percent. The same applies to expressions using other “abbreviations”.

(Embodiment)
1A and 1B are external views of an operation support apparatus according to the present embodiment. Specifically, FIG. 1A is a front view of the motion support device, and FIG. 1B is a side perspective view of the motion support device. 2A and 2B are external views of a person wearing the motion support apparatus according to the present embodiment. Specifically, FIG. 2A is a front view of a person wearing the motion support device, and FIG. 2B is a rear view of the person wearing the motion support device.

  In the present disclosure, the vertical direction is the Z-axis direction, the upper side of the vertical direction is the positive side, and the lower side of the vertical direction is the negative side. In addition, the front-rear direction in a plane perpendicular to the vertical direction is defined as the Y-axis direction, and the left-right direction or lateral direction that is perpendicular to the X-axis direction in the perpendicular plane is defined as the X-axis direction. That is, “upper” in the present disclosure is a plus side in the Z-axis direction that is the vertical direction, and “lower” is a minus side in the Z-axis direction that is the vertical direction. In the present disclosure, “rear” is a negative side in the Y-axis direction that is the front-rear direction, and “front” is a positive side in the Y-axis direction that is the front-rear direction. In the present disclosure, “left” is the plus side in the X-axis direction that is the left-right direction, and “right” is the minus side in the X-axis direction that is the left-right direction.

[Overall configuration of the device]
2A and 2B, the motion support apparatus 100 according to the present embodiment is attached to a person P and supports the hip bending action and the like of the person P. That is, the motion support device 100 supports a forward bending operation in which the person P changes from a standing posture to a forward bending posture, a return operation to return from the forward bending posture to the standing posture, and the like. As illustrated in FIGS. 1A and 1B, the operation support apparatus 100 includes a left link mechanism 110L, a right link mechanism 110R, a control unit 120, a body harness 130, and a fastening member 140.

[Fastening member]
The fastening member 140 is a belt or harness worn around the waist of the person P, and is fastened to the left link mechanism 110L and the right link mechanism 110R. For example, the fastening member 140 includes a fastening band made of synthetic fiber or leather, and two buckles fixed to both ends of the fastening band and configured to be detachable from each other. The above-mentioned synthetic fiber is, for example, polyester. The fastening band is made of a flexible material, and the buckle is made of a rigid member such as metal or synthetic resin.

[Left link mechanism]
The left link mechanism 110L is a mechanism that is worn on the left side of the person (ie, the left half of the body), and includes a left pad 111L, a left upper body link 112L, a left joint 113L, a left thigh link 114L, and a left thigh harness 115L. And a left fixing member 116L.

  As shown in FIGS. 2A and 2B, the left thigh link 114L is a link attached to the left thigh of the person P, and the lower end side of the link is arranged behind the left thigh. Specifically, as shown in FIG. 1B and FIG. 2B, the left thigh link 114L includes a long portion along the longitudinal direction of the left thigh and the rear side of the left thigh from the lower end side of the portion. It consists of a part that wraps around. The longitudinal direction of the left thigh described above is the Z-axis direction in FIGS. 1A to 2B. Further, the lower end side of the left thigh link 114L is fixed so as to be embedded in the left thigh harness 115L, for example.

  The left upper body link 112L is a link worn on the left side of the upper body of the person P as shown in FIGS. 2A and 2B. The lower end side of the upper left body link 112L is attached to the upper end side of the left thigh link 114L so as to be rotatable via the left joint portion 113L. Specifically, the upper left body link 112 </ b> L is composed of a rod body that is formed in a long shape so as to extend in the vertical direction of the upper body of the person P. The vertical direction of the upper body of the person P is the Z-axis direction in FIGS. 1A to 2B. Further, the upper end of the upper left body link 112L is disposed in front of the person P. More specifically, the upper end of the upper left body link 112L is disposed around the side of the person P. Further, the upper end of the upper left body link 112L may be disposed around the chest of the person P.

  Each of the upper left body link 112L and the left thigh link 114L is made of a rigid member. Specifically, these links are made of metal such as aluminum, or synthetic resin such as cured resin or carbon fiber.

  The left pad 111L is made of a plate-like member having elasticity and flexibility, and is attached to the upper end portion of the left upper body link 112L. The left pad 111L is sandwiched between the upper end portion of the left upper body link 112L and the upper body of the person P when the motion support device 100 is attached to the person P. The left pad 111L reduces the pressure when the upper end of the left upper body link 112L presses the upper body of the person P, and can relieve the pain given to the person P.

  The left joint 113L is connected to the lower end of the left upper body link 112L and the upper end of the left thigh link 114L. Specifically, the left joint portion 113L connects the upper left body link 112L and the left thigh link 114L in a freely rotatable manner. The left joint portion 113L includes, for example, a synthetic resin casing, a left sensor (not shown) and a left actuator 117L housed in the casing. The left sensor is an assist sensor that detects the movement of the person P via the left thigh link 114L, and is, for example, an encoder. The left actuator 117L rotates either the left thigh link 114L or the left upper body link 112L with respect to the other. Specifically, the left actuator 117L supplies power for supporting the forward bending operation or standing operation of the person P to the left thigh link 114L and the left upper body link 112L according to the operation detected by the left sensor. Give.

  In the present embodiment, the left joint 113L is fixed to the upper left body link 112L. That is, the left actuator 117L rotates the left thigh link 114L with respect to the left joint portion 113L and the left upper body link 112L.

  As shown in FIGS. 1A and 1B, the left fixing member 116L is a plate-like member made of, for example, a synthetic resin. Such a left fixing member 116L is arranged on the left side of the person P. Specifically, the left fixing member 116L is fixed to the left end of the fastening member 140 attached around the waist of the person P.

  Furthermore, the left fixing member 116L is connected to the left joint portion 113L via the shaft member J as shown in FIG. 1A. The shaft member J is a columnar member disposed so that the central axis is along the X-axis direction. That is, the left joint portion 113L rotates with respect to the left fixing member 116L so as to rotate about the shaft member J as a rotation axis, specifically, about the center axis of the shaft member J as a rotation axis. It is attached movably.

  The left thigh harness 115L is a belt-shaped member made of a flexible material such as synthetic fiber or leather, and is wound around the left thigh of the person P.

[Right link mechanism]
The right link mechanism 110R is a mechanism that is worn on the right side (that is, the right half) of a person. In the present embodiment, the right link mechanism 110R includes the same components as the left link mechanism 110L described above, but has a bilaterally symmetric form with the left link mechanism 110L.

  Specifically, the right link mechanism 110R includes a right pad 111R, an upper right body link 112R, a right joint portion 113R, a right thigh link 114R, a right thigh harness 115R, and a right fixing member 116R.

  As shown in FIGS. 2A and 2B, the right thigh link 114R is a link attached to the right thigh of the person P, and the lower end side of the link is arranged behind the right thigh. Specifically, as shown in FIG. 1B and FIG. 2B, the right thigh link 114R includes a long portion along the longitudinal direction of the right thigh and the rear side of the right thigh from the lower end side of the portion. It consists of a part that wraps around. The longitudinal direction of the right thigh described above is the Z-axis direction in FIGS. 1A to 2B. Further, the lower end side of the right thigh link 114R is fixed so as to be embedded in the right thigh harness 115R, for example.

  The upper right body link 112R is a link worn on the upper right side of the person P as shown in FIGS. 2A and 2B. The lower end side of the upper right body link 112R is rotatably attached to the upper end side of the right thigh link 114R via the right joint portion 113R. Specifically, the upper right body link 112 </ b> R is formed of a rod body that is formed in a long shape so as to follow the vertical direction of the upper body of the person P. Further, the upper end of the upper right body link 112R is disposed in front of the person P. More specifically, the upper end of the upper right body link 112R is arranged around the side of the person P. Further, the upper end of the upper right body link 112R may be arranged around the chest of the person P.

  Each of the upper right body link 112R and the right thigh link 114R is made of a rigid member. Specifically, these links are made of metal such as aluminum, or synthetic resin such as cured resin or carbon fiber.

  The right pad 111R is made of a plate-like member having elasticity and flexibility, and is attached to the upper end portion of the upper right body link 112R. The right pad 111R is sandwiched between the upper end of the upper right body link 112R and the upper body of the person P when the motion support device 100 is worn on the person P. The right pad 111R reduces the pressure when the upper end of the upper right body link 112R presses the upper body of the person P, and can relieve the pain given to the person P.

  The right joint 113R is connected to the lower end of the upper right body link 112R and the upper end of the right thigh link 114R. Specifically, the right joint 113R connects the upper right body link 112R and the right thigh link 114R so as to be rotatable. The right joint portion 113R includes, for example, a synthetic resin casing, a right sensor (not shown) and a right actuator 117R housed in the casing. The right sensor is an assist sensor that detects the motion of the person P via the right thigh link 114R, and is an encoder, for example. The right actuator 117R rotates either the right thigh link 114R or the right upper body link 112R with respect to the other. Specifically, the right actuator 117R supplies power for supporting the forward bending operation or standing operation of the person P to the right thigh link 114R and the upper right body link 112R according to the operation detected by the right sensor. Give.

  In the present embodiment, the right joint 113R is fixed with respect to the upper right body link 112R. That is, the right actuator 117R rotates the right thigh link 114R with respect to the right joint portion 113R and the upper right body link 112R.

  As shown in FIGS. 1A and 1B, the right fixing member 116R is a plate-like member made of, for example, a synthetic resin. Such a right fixing member 116R is disposed on the right side of the person P. Specifically, the right fixing member 116R is fixed to the right end of the fastening member 140 attached around the waist of the person P.

  Furthermore, the right fixing member 116R is connected to the right joint portion 113R via the shaft member J as shown in FIG. 1A. The shaft member J is a columnar member disposed so that the central axis is along the X-axis direction. That is, the right joint portion 113R rotates with respect to the right fixing member 116R so as to rotate about the shaft member J as a rotation axis, specifically, about the central axis of the shaft member J as a rotation axis. It is attached movably.

  The right thigh harness 115R is a belt-like member made of a flexible material such as synthetic fiber or leather, and is wound around the right thigh of the person P.

[Upper harness]
The upper body harness 130 is a thin band-shaped member made of a flexible material such as synthetic fiber or leather, and fixes the positions of the left upper body link 112L and the upper right body link 112R with respect to the person P. 2A and 2B, the upper body harness 130 is connected to the upper ends of the left upper body link 112L and the upper right body link 112R and the fastening member 140, and is hung on the left shoulder and the right shoulder of the person P. It is done.

  Specifically, the upper body harness 130 includes a left shoulder harness 133L, a right shoulder harness 133R, and a center harness 132.

  The central harness 132 is disposed along the back of the person P on the back. The lower end of the central harness 132 is connected to the fastening member 140 via the control unit 120.

  The left shoulder harness 133L is put on the left shoulder of the person P. One end of the left shoulder harness 133L is connected to the left pad 111L. Thereby, one end of the left shoulder harness 133L is connected to the upper end of the left upper body link 112L via the left pad 111L. The other end of the left shoulder harness 133L is connected to the upper end of the central harness 132.

  The right shoulder harness 133R is put on the right shoulder of the person P. One end of the right shoulder harness 133R is connected to the right pad 111R. Accordingly, one end of the right shoulder harness 133R is connected to the upper end of the upper right body link 112R via the right pad 111R. The other end of the right shoulder harness 133R is connected to the upper end of the central harness 132.

[Controller unit]
The control unit 120 is attached to the rear side of the fastening member 140. The control unit 120 includes, for example, a casing made of synthetic resin, a control circuit and a battery housed in the casing, and the like. The control circuit performs control to drive the left actuator 117L and the right actuator 117R. That is, the control circuit controls the left actuator 117L and the right actuator 117R according to the output signals from the left sensor and the right sensor. The battery supplies driving power to the left actuator 117L and the right actuator 117R.

[Example of operation]
FIG. 3 is a diagram illustrating an example of the operation of the person P supported by the operation support apparatus 100.

  For example, the person P wearing the motion support device 100 assumes a forward bending posture as shown in FIG. Then, the person P tries to stand up while holding a baggage or the like with both hands. At this time, the left sensor and the right sensor described above detect the standing motion of the person P.

  When the standing motion is detected by the left sensor and the right sensor, the control unit 120 controls the left actuator 117L of the left joint portion 113L and the right actuator 117R of the right joint portion 113R. As a result, the left actuator 117L and the right actuator 117R are controlled by the control unit 120 so that power for supporting the standing motion is supplied to the left upper body link 112L and the upper right body link 112R, the left thigh link 114L, and the right thigh link 114R. And grant to.

  That is, the left actuator 117L drives the left joint portion 113L so that the angle between the upper left body link 112L and the left thigh link 114L is increased. Thereby, the left upper body link 112L pushes the upper body of the person P upward or backward, and the left thigh link 114L pushes the left thigh of the person P downward or backward. Similarly, the right actuator 117R drives the right joint portion 113R so that the angle between the upper right body link 112R and the right thigh link 114R is increased. Thereby, the upper right body link 112R pushes the upper body of the person P upward or backward, and the right thigh link 114R pushes the right thigh of the person P downward or backward.

  As a result, as shown in FIGS. 3B and 3C, the person P wearing the motion support device 100 can easily stand up by the power applied by the left actuator 117L and the right actuator 117R. The motion support apparatus 100 supports the motion of such a person P.

[Flexibility of fastening members]
In the operation support apparatus 100 according to the present embodiment, as described above, the fastening member 140 includes a fastening band made of a flexible material and a buckle made of a rigid member. That is, at least a part of the fastening member 140 is made of a flexible material. Furthermore, in the present embodiment, the relative positions of the left link mechanism 110L and the right link mechanism 110R are constrained by at least part of the flexible material.

  Here, if the left link mechanism 110L and the right link mechanism 110R move independently and freely, it becomes difficult to appropriately support the operation of the person P. Therefore, it is necessary to constrain the relative positions of these mechanisms. However, when a rigid member is used for restraining these mechanisms, it is difficult to adapt to different human body shapes. Also, adding hinges or yaw joints to fit each person's body shape can increase the size and complexity of the device and increase its weight.

  Therefore, in the present embodiment, as described above, at least a part of the fastening member 140 is made of a flexible material, and the relative position between the left link mechanism 110L and the right link mechanism 110R is determined by at least a part thereof. Be bound.

  Thus, for example, the relative position of the left link mechanism 110L and the right link mechanism 110R can be restrained while being easily variable without using a heavy rigid member such as a hinge or a joint of the yaw axis. Therefore, it is possible to easily adapt the motion support apparatus 100 to any human body shape while suppressing an increase in size of the motion support apparatus 100.

  Hereinafter, in the operation support device 100 according to the present embodiment, the left link mechanism 110L and the right link mechanism 110R are configured symmetrically and have substantially the same configuration, so the configuration of the left link mechanism 110L is as follows. This will be described in detail.

[Rotation of left fixing member]
FIG. 4 is a diagram schematically illustrating the movement of the left upper body link 112L, the left thigh link 114L, and the left fixing member 116L with respect to the left joint portion 113L. That is, in FIG. 4, the shapes of the left upper body link 112 </ b> L, the left joint portion 113 </ b> L, the left thigh link 114 </ b> L, and the left fixing member 116 </ b> L are simplified for easy understanding.

  As described above, the left joint portion 113L is rotatably attached to the left fixing member 116L with the central axis of the shaft member J as the rotation axis. In other words, the left fixing member 116L is rotatably attached to the left joint portion 113L.

  The left thigh link 114L is rotatably attached to the left joint portion 113L and the left upper body link 112L. For example, the rotational axis of rotation of the upper left body link 112L coincides with the central axis of the shaft member J described above.

  Therefore, the left fixing member 116L, the left upper body link 112L, and the left thigh link 114L can be rotated about the central axis of the shaft member J as a rotation axis, as shown in FIG.

  Thereby, in the operation | movement assistance apparatus 100 in this Embodiment, it can respond to the more free movement of the person P. FIG.

  FIG. 5 is a diagram illustrating an example of a state in which the left joint portion 113L is rotated with respect to the left fixing member 116L.

  For example, as shown in FIG. 5, when the person P changes from a standing posture to a forward bending posture, the person P may bend the back muscles without extending the back muscles from the waist to the shoulder in a straight line. In such a case, in the motion support device 100 according to the present embodiment, even if the waist of the person P is not tilted forward, if the upper body above the hip is tilted forward, the left joint portion 113L is It rotates forward with respect to the fixing member 116L.

  That is, in the present embodiment, the left thigh link 114L and the upper left body link 112L are connected to each other through the left joint portion 113L so as to be rotatable, and the left joint portion 113L is fixed to the fastening member 140. The fixing member 116L is rotatably attached.

  Therefore, as compared with the case where the left joint portion 113L is fixed to the fastening member 140 so as not to rotate, the degree of freedom of inclination of the left thigh link 114L and the left upper body link 112L with respect to the fastening member 140 can be increased.

  If the left joint portion 113L is fixed to the fastening member 140 so as not to rotate, either the left thigh link 114L or the left upper body link 112L is fixed to the fastening member 140. Therefore, for example, if the waist of the person P wearing the fastening member 140 falls forward, the upper left body link 112L also tends to fall forward. However, as shown in FIG. 5, when the person P bends and leans forward without tilting the waist forward, the upper left body link 112 </ b> L is moved forward by following the movement of the person P's spine. It becomes difficult.

  However, in the motion support device 100 according to the present embodiment, since the left joint portion 113L is rotatably attached to the fastening member 140, both the left thigh link 114L and the left upper body link 112L are fixed to the fastening member 140. Can be suppressed. Therefore, as shown in FIG. 5, even when the person P bends forward by bending the back without tilting the waist forward, the upper left body link 112L is allowed to follow the movement of the person's back without difficulty. Can be defeated.

  In the present embodiment, similarly to the left link mechanism 110L, also in the right link mechanism 110R, the right thigh link 114R and the upper right body link 112R are rotatably connected to each other via the right joint portion 113R. The portion 113R is rotatably attached to the right fixing member 116R fixed to the fastening member 140. Therefore, the degree of freedom of the inclination of the right thigh link 114R and the right upper body link 112R with respect to the fastening member 140 can be increased as compared with the case where the right joint portion 113R is fixed to the fastening member 140 so as not to rotate.

  Therefore, the motion support apparatus 100 according to the present embodiment can cope with a more free movement of the person P.

[Left thigh link configuration]
FIG. 6 is a diagram illustrating an example of the form of the left thigh link 114L.

  The left thigh link 114L is formed in a long plate shape as a whole. Specifically, the left thigh link 114L includes an elongated first portion 114La along the longitudinal direction of the left thigh (that is, the Z-axis direction), and the left thigh from the lower end side of the first portion 114La. A second portion 114Lb that wraps around to the rear side of the portion. Further, the wide surface (front surface or back surface) of each of the first portion 114La and the second portion 114Lb is directed toward the left thigh. Furthermore, the distal end side of the second portion 114Lb is fixed so as to be embedded in the left thigh harness 115L, for example.

  As described above, in the present embodiment, the second portion 114Lb, which is integrally connected to the first portion 114La and arranged behind the left thigh, applies a force in the front-rear direction (that is, the Y-axis direction) to the left. Tell the thigh. If the left thigh link does not have the second part and the left thigh harness is connected directly or indirectly to the lower end of the first part, force in the front-rear direction is applied to the left thigh. Can't communicate efficiently. However, in the present embodiment, the left thigh link 114L has the second portion 114Lb disposed behind the left thigh, so that the power from the left actuator 117L can be efficiently transmitted to the left thigh. it can.

  The right thigh link 114R is configured similarly to the left thigh link 114L. Therefore, the right thigh link 114R can also efficiently transmit the power from the right actuator 117R to the right thigh.

  Further, the left thigh link 114L in the present embodiment is formed in a plate shape as described above, and its wide surface is directed to the left thigh. Accordingly, the thickness in the Y-axis direction of the second portion 114Lb of the left thigh link 114L is thin. If the thickness of the second portion in the Y-axis direction is large, when the person P squats down, the second portion becomes an obstacle. At that time, the second part may be sandwiched between the left leg (thigh and lower leg), and the second part may be pressed against the left leg. However, in the present embodiment, since the thickness in the Y-axis direction of the second portion 114Lb of the left thigh link 114L is thin, the second portion 114Lb does not get in the way even when the person P squats down. Can be suppressed. As a result, it is possible to reduce giving pain to the left leg of the person P.

  The right thigh link 114R is configured similarly to the left thigh link 114L. Therefore, the right thigh link 114R does not interfere with the right leg and can reduce the pain on the right leg of the person P.

  Thus, in the present embodiment, it is possible to appropriately support the movement of the left thigh and the right thigh.

(Summary of embodiment)
As described above, in the motion support device 100 according to the present embodiment, at least a part of the fastening member 140 is made of a flexible material, and the relative position between the left link mechanism 110L and the right link mechanism 110R is determined by at least a part thereof. Be bound. Thus, for example, the relative position of the left link mechanism 110L and the right link mechanism 110R can be restrained while being easily variable without using a heavy rigid member such as a hinge or a joint of the yaw axis. Therefore, it is possible to easily adapt the motion support apparatus 100 to any human body shape while suppressing an increase in size of the motion support apparatus 100. Furthermore, the cost of the operation support apparatus 100 can be reduced. In addition, since the relative positions of the left link mechanism 110L and the right link mechanism 110R can be easily made variable, even if the person P squats down, the person's P swells can be absorbed. it can. That is, the person P can squat without difficulty.

  Further, in the motion support device 100 according to the present embodiment, the upper ends of the left upper body link 112L and the upper right body link 112R are arranged in front of the person P, specifically, around the side of the person P. . Therefore, the power of the left actuator 117L and the right actuator 117R can be effectively transmitted to the upper body of the person P via the left upper body link 112L and the upper right body link 112R. As a result, it is possible to appropriately support the action of raising and defeating the upper body of the person P.

  Further, in the present embodiment, no rigid member such as a link is arranged on the chest of the person P. For example, in a motion support device in which a rigid member such as a link is arranged on the chest, a woman or a large person may feel disgust at wearing the motion support device. Also, a person wearing the operation support device can easily feel the heat. However, in the present embodiment, as described above, no rigid member is arranged on the chest of the person P. Therefore, even if it is a woman or a large person, the operation | movement assistance apparatus 100 can be mounted | worn comfortably. That is, in the motion support device 100 according to the present embodiment, there is no limit to the body, and the degree of freedom of movement of the wearer can be ensured.

  Furthermore, the motion support device 100 according to the present embodiment includes an upper harness 130 made of a flexible material that is connected to the upper ends of the left upper body link 112L and the upper right body link 112R and is placed on the left shoulder and the right shoulder of the person P. Prepare. Accordingly, it is possible to suppress the displacement of the positions of the upper left body link 112L and the upper right body link 112R attached to the upper body of the person P, that is, the displacement of the positions of these links with respect to the upper body of the person P. Moreover, since the upper body harness 130 consists of a flexible material, the above-mentioned position shift can be suppressed for any human body shape.

(Modification 1)
In the above-described embodiment, the upper ends of the left upper body link 112L and the upper right body link 112R are disposed on the front surface of the person P, but the positions where these upper ends are disposed are not limited to the front surface of the person P. In this modification, the upper end of each link is arranged at a position other than the front surface of the person P.

  7A and 7B are external views of the person P wearing the motion support apparatus 100 according to this modification. Specifically, FIG. 7A is a front view of a person P wearing the operation support apparatus 100, and FIG. 7B is a rear view of the person P wearing the operation support apparatus 100.

  In the motion support apparatus 100 according to the present modification, as shown in FIGS. 7A and 7B, the upper ends of the left upper body link 112L and the upper right body link 112R are arranged on the back surface of the person P. More specifically, the upper ends of the upper left body link 112L and the upper right body link 112R are arranged around the side of the person P.

  In this way, the upper ends of the upper left body link 112L and the upper right body link 112R are arranged around the side of the person P even if they are on the back of the person P. Can play. That is, the power of the left actuator 117L and the right actuator 117R can be effectively transmitted to the upper body of the person P via the left upper body link 112L and the upper right body link 112R.

(Modification 2)
In the above embodiment, the left upper body link 112L and the left fixing member 116L are rotatably connected to each other by the left joint portion 113L. Similarly, the upper right body link 112R and the right fixing member 116R are mutually connected by the right joint portion 113R. It is pivotally connected. There is no restriction on the range of these rotations. In this modification, the range of rotation is limited or restricted.

  FIG. 8 is a diagram illustrating the left joint portion 113L and the left fixing member 116L of the motion support device 100 according to this modification. The left joint 113L according to this modification is formed in a columnar shape having a central axis along the X-axis direction. The base end (lower end) of the upper left body link 112L is fixed to the left joint portion 113L. Further, the left fixing member 116L is formed of a plate-like member as in the above embodiment. However, in this modification, the left fixing member 116L is formed in a substantially T shape when viewed from the X-axis direction. A portion on the upper end side of the left fixing member 116L is fixed to the fastening member 140, and two through holes 50 are formed in the portion.

  The left joint portion 113L is rotatably attached to such a left fixing member 116L. Therefore, the left upper body link 112L and the left joint portion 113L are rotatable with respect to the left fixing member 116L, and the left thigh link 114L is rotatable with respect to the left upper body link 112L and the left joint portion 113L.

  FIG. 9 is a view for explaining an example of the left regulating mechanism according to the present modification.

  The motion support apparatus 100 according to this modification further includes a left restricting mechanism that restricts the range of rotation of the left upper body link 112L relative to the left fixing member 116L. The left restricting mechanism includes an elastic string 52 such as a rubber string. The elastic string 52 is inserted into the two through holes 50 of the left fixing member 116L, and is arranged in an annular shape so that the base end side of the left upper body link 112L is sandwiched between the left fixing member 116L. Therefore, the range of rotation of the upper left body link 112 </ b> L is restricted to the inside of the elastic string 52.

  FIG. 10 is a diagram illustrating an example of a state where the range of rotation is regulated by the left regulating mechanism.

  When the left upper body link 112L is largely rotated to the Y axis direction plus side, the elastic string 52 is pulled to the Y axis direction plus side by the left upper body link 112L. As a result, the elastic string 52 applies a force F3 to the left upper body link 112L by an elastic force so that the left upper body link 112L is directed to the Y axis direction minus side. When the force F3 is larger than the turning force of the left upper body link 112L to the Y axis direction plus side, the left upper body link 112L may further turn to the Y axis direction plus side with respect to the left fixing member 116L. Cannot be reversed, it is reversed to the Y axis direction minus side. As a result, for example, the rotation angle of the left upper body link 112L with respect to the left fixing member 116L is limited to φ.

  Thus, the elastic string 52 regulates the range of rotation of the upper left body link 112L.

  Further, the operation support apparatus 100 according to this modification includes a right restriction mechanism having a mechanism similar to the above-described left restriction mechanism. That is, the operation support apparatus 100 according to this modification further includes a right restriction mechanism that restricts the range of rotation of the upper right body link 112R relative to the right fixing member 116R.

  Therefore, in the present modification, it is possible to reduce the difficulty of the person P wearing the motion support device 100 due to the large rotation of the upper left body link 112L and the upper right body link 112R.

  Here, the left restricting mechanism and the right restricting mechanism are not limited to the forms shown in FIGS. 9 and 10 and may be other forms.

  FIG. 11 is a diagram for explaining another example of the left regulating mechanism according to the present modification.

  For example, the left regulating mechanism includes a plate 60 and two protrusions 64, as shown in FIG.

  The plate 60 is a rigid member made of synthetic resin or metal, and is formed in a substantially rectangular plate shape. Further, the plate 60 is attached to the left fixing member 116L or the fastening member 140, for example. In FIG. 11, the left fixing member 116L and the fastening member 140 are omitted. In such a plate 60, two guide holes 62 are formed. Each of these guide holes 62 is formed in an arc shape centering on the above-mentioned shaft member J as viewed from the X axis direction plus side, and is arranged in the Z axis direction.

  The two protrusions 64 are arranged along the longitudinal direction of the left upper body link 112L (Z-axis direction in the example of FIG. 11). The two protrusions 64 are inserted into different guide holes 62 of the plate 60, respectively.

  Accordingly, when the upper left body link 112L rotates, the two protrusions 64 move along the guide holes 62 of the plate 60, respectively. Then, if the upper left body link 112 </ b> L attempts to rotate greatly, each of the two protrusions 64 comes into contact with the inner surface of the guide hole 62 in the plate 60. The inner surface of the guide hole 62 is a surface located at the end of the guide hole 62 along the arc. Thus, the upper left body link 112L can rotate about the central axis of the shaft member J by the angle θ corresponding to the length of the arc of the two guide holes 62. On the other hand, rotation of an angle greater than the angle θ is restricted.

(Other variations)
As described above, the operation support apparatus according to one or more aspects has been described based on the embodiment and the modifications thereof, but the present disclosure is not limited to the embodiment and the modifications. As long as it does not deviate from the gist of the present disclosure, various modifications conceivable by those skilled in the art have been made in the embodiments and modifications, and forms constructed by combining the components in the embodiments and modifications are also within the scope of the present disclosure. May be included.

  For example, in the embodiment and the modification described above, the upper body harness 130 is connected to the upper ends of the left upper body link 112L and the upper right body link 112R and the fastening member 140, but is connected to the fastening member 140. It does not have to be. In this case, for example, the left shoulder harness 133L is wound around the left shoulder of the person P, and both ends of the left shoulder harness 133L are connected to the left pad 111L. Similarly, the right shoulder harness 133R is wound around the right shoulder of the person P, and both ends of the right shoulder harness 133R are connected to the right pad 111R. Alternatively, the left shoulder harness 133L and the right shoulder harness 133R are configured as a single harness and applied to the neck of the person P. In this case, one end of the one harness is connected to the left pad 111L, and the other end is connected to the right pad 111R.

  In the embodiment and the modification described above, the left joint portion 113L is rotatably attached to the left fixing member 116L, and the right joint portion 113R is rotatably attached to the right fixing member 116R. . However, the left joint portion 113L and the right joint portion 113R do not have to be rotatably attached.

  In the embodiment and the modification described above, the lower end side of the left thigh link 114L is disposed behind the left thigh of the person P, and the lower end side of the right thigh link 114R is the right thigh of the person P. Arranged behind. However, the lower end side of the left thigh link 114L may be disposed in front of the left thigh of the person P, and the lower end side of the right thigh link 114R may also be disposed in front of the right thigh of the person P. That is, the second portion 114Lb of the left thigh link 114L shown in FIG. 6 is disposed in front of the left thigh. In such a case, since no link is arranged behind the left thigh and the right thigh, the person P can easily squat down. In addition, since the thickness in the Y-axis direction of the second portion 114Lb is thin, even when the person P squats down, the luggage can be prevented from hitting the left thigh link 114L.

  In the embodiment and the modification described above, the left link mechanism 110L and the right link mechanism 110R are configured to be bilaterally symmetric, but may be configured to be bilaterally asymmetric and have different configurations. Also good.

  The motion support device according to the present disclosure has an effect that it can be easily adapted to any human body shape while suppressing an increase in size, and is applied to, for example, a power assist suit that supports a human motion. Can do.

DESCRIPTION OF SYMBOLS 100 Motion support apparatus 110L Left link mechanism 110R Right link mechanism 111L Left pad 111R Right pad 112L Left upper body link 112R Right upper body link 113L Left joint part 113R Right joint part 114L Left thigh link 114R Right thigh link 115L Left thigh harness 115R Right thigh harness 116L Left fixing member 116R Right fixing member 117L Left actuator 117R Right actuator 120 Control unit 130 Upper body harness 132 Central harness 133R Left shoulder harness 133L Right shoulder harness 140 Fastening member J-axis member

Claims (7)

An operation support device that supports the movement of a person's waist,
A left link mechanism mounted on the left side of the person;
A right link mechanism mounted on the right side of the person,
A fastening member mounted around the person's waist and fastened to the left link mechanism and the right link mechanism;
The left link mechanism is
A link to be attached to the left thigh of the person, the lower thigh link of the link being disposed in front of or behind the left thigh; and
A left upper body link that is attached to the left side of the upper body of the person, and a lower end side of the link is rotatably attached to an upper end side of the left thigh link;
A left actuator that rotates one of the left thigh link and the left upper body link with respect to the other,
The right link mechanism is
A link to be worn on the right thigh of the person, the right thigh link in which the lower end side of the link is arranged before or after the right thigh; and
A link that is worn on the right side of the upper body of the person, and a lower right side link that is rotatably attached to an upper end side of the right thigh link.
A right actuator that rotates either the right thigh link or the right upper body link with respect to the other;
At least a part of the fastening member is made of a flexible material, and the relative position between the left link mechanism and the right link mechanism is restricted by the at least part. The motion support apparatus according to claim 1, wherein upper ends of the upper left body link and the upper right body link are arranged on a front surface or a back surface of the person. The motion support device according to claim 2, wherein upper ends of the upper left body link and the upper right body link are arranged around the person's side. The left thigh link and the left upper body link are:
Connected to each other via the left joint,
The left joint part is rotatably attached to a left fixing member fixed to the fastening member,
The right thigh link and the right upper body link are:
Connected to each other through the right joint,
The operation support apparatus according to claim 1, wherein the right joint portion is rotatably attached to a right fixing member that is fixed to the fastening member. The operation support device further includes:
A left restricting mechanism for restricting a range of rotation of the upper left body link with respect to the left fixing member;
The operation support apparatus according to claim 4, further comprising a right restriction mechanism that regulates a range of rotation of the right upper body link with respect to the right fixing member. The operation support device further includes:
The upper body link which is connected to the respective upper ends of the upper left body link and the upper right body link, and which is hung on the left shoulder and the right shoulder of the person, includes an upper body harness made of a flexible material. Operation support device. The motion support device according to claim 2, wherein upper ends of the upper left body link and the upper right body link are arranged around the chest of the person.

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