JP2023005544A5 - - Google Patents
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- JP2023005544A5 JP2023005544A5 JP2021107538A JP2021107538A JP2023005544A5 JP 2023005544 A5 JP2023005544 A5 JP 2023005544A5 JP 2021107538 A JP2021107538 A JP 2021107538A JP 2021107538 A JP2021107538 A JP 2021107538A JP 2023005544 A5 JP2023005544 A5 JP 2023005544A5
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- Prior art keywords
- elastic body
- rotation shaft
- biasing force
- frame
- base portion
- Prior art date
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Claims (11)
第１フレームと、
前記第１フレームが固定的に連結されるベース部と、
前記ベース部に対し回動可能に設けられた第２フレームと、
前記ベース部に設けられ、前記第２フレームの前記第１フレームに対する動作角度に応じた付勢力を発生する付勢力発生部と、を備え、
前記付勢力発生部は、前記動作角度と前記付勢力との関係において、前記動作角度に対する前記付勢力の変化率が変化するように構成されている、動作補助装置。 A movement assisting device worn by a user,
The first frame,
a base portion to which the first frame is fixedly connected;
a second frame rotatably provided with respect to the base portion;
a biasing force generating unit provided on the base portion and generating a biasing force according to an operating angle of the second frame with respect to the first frame;
The urging force generating section is a movement assisting device configured such that, in the relationship between the operating angle and the urging force, a rate of change of the urging force with respect to the operating angle changes.
前記付勢力発生部は、
第１端部と第２端部とを有し、前記第２端部が前記回動軸に保持された第１弾性体と、
第３端部と第４端部とを有し、前記第４端部が前記回動軸に保持された第２弾性体と、を備え、
前記第２フレームが前記第１フレームに対して前記回動軸と共に回動するときに、前記動作角度が所定の値以下の場合には、前記第１弾性体による付勢力が発生し、前記動作角度が前記所定の値を超えた場合には、前記第２弾性体による付勢力が更に発生するように構成されている、請求項１に記載の動作補助装置。 The second frame is fixed to a rotation shaft provided on the base portion,
The biasing force generating portion is
a first elastic body having a first end and a second end, the second end being held by the rotation shaft;
a second elastic body having a third end and a fourth end, the fourth end being held by the rotation shaft;
When the second frame rotates with the rotation shaft relative to the first frame, if the operating angle is less than or equal to a predetermined value, a biasing force is generated by the first elastic body, and the operation is The movement assisting device according to claim 1, wherein when the angle exceeds the predetermined value, the second elastic body further generates a biasing force.
前記第２弾性体は、ゼンマイばねであり、前記第３端部は前記ゼンマイばねの外側の端部であり、前記第４端部は前記ゼンマイばねの中心部である、請求項２に記載の動作補助装置。 The first elastic body is a spiral spring, the first end is an outer end of the spiral spring, and the second end is a center of the spiral spring,
3. The second elastic body is a spiral spring, the third end is an outer end of the spiral spring, and the fourth end is a center of the spiral spring. Movement aids.
前記第２端部及び前記第４端部は、前記スリット内を前記回動軸の中心軸に直交する方向に沿って延び、
前記付勢力発生部に付勢力が発生している状態において、前記第２端部及び前記第４端部は、前記回動軸の横断面において互いに交差するように前記回動軸に保持される、請求項３に記載の動作補助装置。 The rotation shaft is formed with a slit into which the second end and the fourth end are inserted,
The second end portion and the fourth end portion extend within the slit along a direction perpendicular to the central axis of the rotation shaft,
In a state where a biasing force is generated in the biasing force generating portion, the second end portion and the fourth end portion are held by the rotation shaft so as to intersect with each other in a cross section of the rotation shaft. , The movement assisting device according to claim 3.
前記第１弾性体の前記第１端部は、複数のシャフトの一つのシャフトに支持され、
前記第２弾性体の前記第３端部は、初期位置において複数のシャフトのいずれのシャフトからも離隔した場所に位置し、
前記第１弾性体の前記第２端部及び前記第２弾性体の前記第４端部は、前記回動軸に保持され、
前記第２フレームが前記第１フレームに対して前記回動軸と共に回動するときに、前記回動軸が回動して前記第２端部及び前記第４端部を回動させ、前記第１弾性体に付勢力が発生するとともに前記第２弾性体の前記第３端部が回動して複数のシャフトの一つのシャフトに当接して、前記第２弾性体の付勢力が前記第１弾性体による付勢力よりも遅れて発生する、請求項３に記載の動作補助装置。 The base portion is provided with a plurality of shafts around the first elastic body and the second elastic body,
The first end of the first elastic body is supported by one of the plurality of shafts,
The third end of the second elastic body is located at a location separated from any of the plurality of shafts in an initial position,
The second end of the first elastic body and the fourth end of the second elastic body are held on the rotation shaft,
When the second frame rotates with the rotation shaft relative to the first frame, the rotation shaft rotates to rotate the second end and the fourth end, and the rotation shaft rotates to rotate the second end and the fourth end. A biasing force is generated on the first elastic body, and the third end of the second elastic body rotates and comes into contact with one of the plurality of shafts, so that the biasing force of the second elastic body is applied to the first elastic body. The movement assisting device according to claim 3, which is generated later than the urging force by the elastic body.
回動軸が設けられたベース部と、
複数の端部を有し、それらのうちの一つの端部が前記回動軸に保持された弾性部と、を備え、
前記回動軸が前記ベース部に対して回動するときに、前記複数の端部のうち前記一つの端部以外の残りの端部が前記ベース部に支持され、前記弾性部が変形して付勢力が生じるように構成され、
前記回動軸の前記ベース部に対する回動角度と前記付勢力との関係において、前記回動角度に対する前記付勢力の変化率が変化するように構成されている、付勢力発生装置。 A biasing force generating device used in a movement assisting device,
A base portion provided with a rotation axis;
an elastic part having a plurality of ends, one end of which is held on the rotation shaft,
When the rotation shaft rotates with respect to the base part, the remaining ends other than the one end among the plurality of ends are supported by the base part, and the elastic part is deformed. configured to generate a biasing force,
The urging force generating device is configured such that a rate of change of the urging force with respect to the rotation angle changes in a relationship between the rotation angle of the rotation shaft with respect to the base portion and the urging force.
前記第１弾性体は、ゼンマイばねであり、外側の端部である第１端部と中心部である第２端部とを有し、前記第２端部が前記回動軸に保持されており、
前記第２弾性体は、ゼンマイばねであり、外側の端部である第３端部と中心部である第４端部とを有し、前記第４端部が前記回動軸に保持されており、
前記回動角度が所定の値以下の場合には、前記第１弾性体による付勢力が発生し、前記回動角度が前記所定の値を超えた場合には、前記第２弾性体による付勢力が更に発生するように構成されている、請求項７に記載の付勢力発生装置。 The elastic part includes a first elastic body and a second elastic body,
The first elastic body is a spiral spring, and has a first end that is an outer end and a second end that is a center, and the second end is held by the rotation shaft. Ori,
The second elastic body is a spiral spring, and has a third end that is an outer end and a fourth end that is a center, and the fourth end is held by the rotation shaft. Ori,
When the rotation angle is less than or equal to a predetermined value, a biasing force is generated by the first elastic body, and when the rotation angle exceeds the predetermined value, a biasing force is generated by the second elastic body. The biasing force generating device according to claim 7, wherein the biasing force generating device is configured to further generate.
前記第２端部及び前記第４端部は、前記スリット内を前記回動軸の中心軸に直交する方向に沿って延び、
前記第１弾性体及び前記第２弾性体の両方に付勢力が発生している状態において、前記第２端部及び前記第４端部は、前記回動軸の横断面において互いに交差するように前記回動軸に保持される、請求項８に記載の付勢力発生装置。 The rotation shaft is formed with a slit into which the second end and the fourth end are inserted,
The second end portion and the fourth end portion extend within the slit along a direction perpendicular to the central axis of the rotation shaft,
In a state where a biasing force is generated in both the first elastic body and the second elastic body, the second end portion and the fourth end portion intersect with each other in a cross section of the rotation axis. The urging force generating device according to claim 8, which is held by the rotation shaft.
前記第１弾性体の前記第１端部は、複数のシャフトの一つのシャフトに支持され、
前記第２弾性体の前記第３端部は、初期位置において複数のシャフトのいずれのシャフトからも離隔した場所に位置し、
前記第１弾性体の前記第２端部及び前記第２弾性体の前記第４端部は、前記回動軸に保持され、
前記第２フレームが前記第１フレームに対して前記回動軸と共に回動するときに、前記回動軸が回動して前記第２端部及び前記第４端部を回動させ、前記第１弾性体に付勢力が発生するとともに前記第２弾性体の前記第３端部が回動して複数のシャフトの一つのシャフトに当接して、前記第２弾性体の付勢力が前記第１弾性体による付勢力よりも遅れて発生する、請求項８に記載の付勢力発生装置。 The base portion is provided with a plurality of shafts around the first elastic body and the second elastic body,
The first end of the first elastic body is supported by one of the plurality of shafts,
The third end of the second elastic body is located at a location separated from any of the plurality of shafts in an initial position,
The second end of the first elastic body and the fourth end of the second elastic body are held by the rotation shaft,
When the second frame rotates with the rotation shaft relative to the first frame, the rotation shaft rotates to rotate the second end and the fourth end, and the rotation shaft rotates to rotate the second end and the fourth end. A biasing force is generated on the first elastic body, and the third end of the second elastic body rotates and comes into contact with one of the plurality of shafts, so that the biasing force of the second elastic body is applied to the first elastic body. The biasing force generating device according to claim 8, wherein the biasing force generating device is generated later than the biasing force generated by the elastic body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021107538A JP2023005544A (en) | 2021-06-29 | 2021-06-29 | Biasing force generation device and operation auxiliary device |
| PCT/JP2022/025438 WO2023276912A1 (en) | 2021-06-29 | 2022-06-27 | Biasing force generation device and movement assistance device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2021107538A JP2023005544A (en) | 2021-06-29 | 2021-06-29 | Biasing force generation device and operation auxiliary device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2023005544A JP2023005544A (en) | 2023-01-18 |
| JP2023005544A5 true JP2023005544A5 (en) | 2024-03-12 |
Family
ID=84691379
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2021107538A Pending JP2023005544A (en) | 2021-06-29 | 2021-06-29 | Biasing force generation device and operation auxiliary device |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2023005544A (en) |
| WO (1) | WO2023276912A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023167075A1 (en) * | 2022-03-04 | 2023-09-07 | 住友重機械工業株式会社 | Drive mechanism and robot arm equipped with same |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002306656A (en) * | 2001-04-11 | 2002-10-22 | Kanazawa Chuo Hatsujo Kogyo Kk | Exercise auxiliary tool for golf and ski |
| JP5213682B2 (en) * | 2008-12-17 | 2013-06-19 | 本田技研工業株式会社 | Weight support device |
| JP2015066215A (en) * | 2013-09-30 | 2015-04-13 | 株式会社安川電機 | Motion-assisting device |
| US10500081B2 (en) * | 2015-06-12 | 2019-12-10 | Becker Orthopedic Appliance Company | Triple action orthotic ankle joint and methods |
| JP2017185101A (en) * | 2016-04-07 | 2017-10-12 | 株式会社イノフィス | Upper body support device |
| FR3076237B1 (en) * | 2017-12-28 | 2021-02-19 | Safran Electronics & Defense | EXOSKELETON STRUCTURE |
| JP6883335B2 (en) * | 2018-01-09 | 2021-06-09 | 国立大学法人 宮崎大学 | Stand-up auxiliary attachment |
| JP6565042B1 (en) * | 2018-11-02 | 2019-08-28 | 太陽パーツ株式会社 | Torque adjustment unit and support wear |
| CN110744526B (en) * | 2019-10-30 | 2020-11-24 | 重庆理工大学 | Passive lower limb movement assistance exoskeleton device |
| JP2021074320A (en) * | 2019-11-11 | 2021-05-20 | 株式会社Ａｔｏｕｎ | Motion support device |
-
2021
- 2021-06-29 JP JP2021107538A patent/JP2023005544A/en active Pending
-
2022
- 2022-06-27 WO PCT/JP2022/025438 patent/WO2023276912A1/en unknown
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