JP3771056B2 - Strength support device for care - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique that a caregiver wears to assist a caregiver in muscle strength when caring for a care recipient such as a bedridden patient.
[0002]
[Prior art]
When a caregiver who is unable to perform basic actions necessary for daily life, such as a bedridden patient, is woken up, hung down, or moved, the physical burden on the caregiver is excessive. In order to reduce the physical burden of such a caregiver, it may be left to a self-supporting robot, but now it is not only dangerous, but also gives the caregiver discomfort and alertness Therefore, care by a person who can gently contact a cared person such as a nurse, a family member, or a caregiver is preferable.
[0003]
[Problems to be solved by the invention]
However, in order to provide care for a patient or the like by a caregiver, as described above, the physical burden on the caregiver becomes excessive, so that the caregiver wears a suit or other clothes and uses the muscle strength assisting device. The physical burden on the caregiver can be reduced if muscle strength such as back strength, arm strength and flexion / stretching force can be assisted only by wearing.
[0004]
In order to obtain such a muscle strength assisting device, that is, a power assist device or a powered suit, a caregiver can hold a person to be cared for, such as a patient, while holding his / her body directly in his / her arm or holding it down. It is necessary to use an assist device or suit that does not impair the sensitivity. In addition, an actuator that can gently apply force to the cared person without impairing the smooth movement of the human body is required, and the operation of the actuator is controlled according to subtle movements of the carer's hands, feet, and waist It is necessary to be able to do that. In order for the caregiver to be able to wear it comfortably, the actuator must be small and light, provide the required output, and be safe for use.
[0005]
An object of the present invention is to enable a nursing strength assisting device to be operated by a lightweight and small pneumatic actuator.
[0006]
[Means for Solving the Problems]
The muscle strength assisting device for care according to the present invention is attached to the caregiver's left and right lower limbs , and can be freely rotated by the knee side joint portion on each of the two lower limb attachment portions to which the foot portion is attached , and each of the crus attachment portions. A leg attachment part having two thigh attachment parts attached to the left and right thighs of the caregiver, and a waist side member rotatably connected to the respective thigh attachment parts by a thigh root joint part rotatably connected to the joint portion Rutotomoni, the caregiver of the body mounting portion mounted on the portion of the cylinder, is connected freely rotated by the cylinder shoulder joint portion through the support member to the mounting portion, care two upper arm mounting portions respectively mounted on the left and right upper arm's and the arm mounting portion having a forearm attachment portion that is pivotally connected by elbow joint portions, each of the upper arm mounting portion, said leg mounting portion A plurality of plate members that are movably connected to each other, and a bag body that is disposed between the plate members and is inflated and contracted by the air supplied to the inside, and the rotational force between the lower leg attachment portion and the thigh attachment portion A pneumatic actuator for assisting leg force, a plurality of plate members swingably connected to the body mounting portion, and a bag body that is disposed between the plate members and expands and contracts by air supplied to the inside; Pneumatic actuators for assisting back muscles and abdominal muscles that assist the rotational force between the leg mounting part and the trunk mounting part, a plurality of plate members that are swingably connected to the arm mounting unit, and between the plate members It has a bag member expands and contracts by the air supplied to the internal arranged, this having a pneumatic actuator for brute force assist for assisting the turning force between each other the forearm mounting portion and the upper arm mounting portion The features. In the present invention, since a structure such as an actuator is not disposed on the front surface of the caregiver's body, the lifting operation for the care receiver can be performed smoothly without causing the care receiver to feel uncomfortable. Further, since the foot is provided in the lower leg mounting portion, the weight of the entire suit-type muscle strength assisting device is supported by the foot portion, and the load of the muscle strength assisting device is not applied to the caregiver.
[0007]
In the muscle strength assisting device for nursing care according to the present invention, the pneumatic actuator for assisting leg strength includes a plurality of plate materials in which adjacent plate materials are swingable with respect to each other at the connection end and are connected in a zigzag shape as a whole. And a plurality of two-fold bag bodies that are disposed between the respective plate members and have bent end portions at portions corresponding to the connecting end portions. The back and abdominal muscle assisting pneumatic actuators are capable of swinging with respect to each other at the connecting end, and are formed of a plurality of plate members that are radially connected to each other. A plurality of double-folded bags having a bent end portion at a portion corresponding to the connecting end portion. Further, the pneumatic actuator for assisting arm force includes a plate material assembly composed of a plurality of plate materials in which adjacent plate materials are swingable with respect to each other at the connection end and are connected in a zigzag shape as a whole. It has a plurality of two-fold bag bodies which are arranged between the plate members and have bent end portions at portions corresponding to the connecting end portions . Moreover, the connection edge part of each board | plate material is connected by the ring member.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0009]
FIG. 1 is a front view showing an apparatus main body of a muscular strength assisting apparatus for nursing care according to an embodiment of the present invention, and FIG. 2 is a side view of FIG.
[0010]
The apparatus main body 9 includes a leg mounting portion 10 that is attached to the left and right legs of the caregiver, a torso mounting portion 20 that is attached to the caregiver's torso and the left and right arms of the caregiver. Corresponding to the arm mounting portion 30 mounted on these. These leg mounting part 10, torso mounting part 20 and arm mounting part 30 are fastened to each part of a caregiver indicated by a two-dot chain line in FIG. 2 by a member such as a band.
[0011]
The leg mounting portion 10 has left and right lower leg mounting portions 11 to be mounted on the lower leg portion of the caregiver's knee, that is, the lower leg portion. It is mounted so that it can rotate freely. A thigh mounting portion 15 is rotatably connected to an upper end portion of the lower thigh mounting portion 11 by a knee side joint portion 14. The thigh mounting portion 15 is a leg portion, that is, a thigh portion above a caregiver's knee. It comes to be attached to.
[0012]
As shown in FIG. 2, a waist side member 16 is rotatably mounted on the leg mounting portion 10 by a thigh root joint portion 17, and the caregiver swings up only in a standing posture. When the thigh is rotated with respect to the waist, the leg mounting portion 10 and the waist side member 16 are relatively rotated around the thigh root joint portion 17.
[0013]
The waist side member 16 is rotatably connected to the waist mounting portion 20 by the waist side joint portion 21, and the waist mounting portion 20 is mounted on a carer's waist portion. The joint portion 21 is a rotation fulcrum only for the waist, that is, a rotation fulcrum when only the upper body, that is, the spine is bent without moving the foot. As described above, the trunk mounting portion 20 is connected to the leg mounting portion 10 by the two joint portions 17 and 21 via the waist side member 16.
[0014]
A support member 22 that protrudes to the left and right is fixed to the upper end portion of the torso mounting portion 20, and an upper arm mounting portion 31 that is mounted on the upper arm of the caregiver can be rotated by the shoulder side joint portion 23. It is attached. A forearm mounting portion 32 to be mounted on the forearm of a caregiver is rotatably connected to the distal end portion of each upper arm mounting portion 31 by an elbow side joint portion 33.
[0015]
When the caregiver stands upright, the assisting device is designed to be self-supporting so that the weight of the assisting device is not burdened on the caregiver. When the caregiver is working, i.e., not standing upright, the weight of the assisting device is borne by the assisting force of the actuator, and is not borne by the caregiver.
[0016]
As shown in FIG. 2, between the lower leg mounting portions 11 and the respective thigh mounting portions 15, there is a leg force assist for assisting the rotational force between the lower leg mounting portion 11 and the thigh mounting portion 15. A pneumatic actuator 41 is provided. The upper end of the thigh mounting portion 15 protrudes to the front side, and as shown in FIG. 2, a thigh root joint portion 17 is provided at the tip portion, and the waist side member 16 is rotatably connected to the thigh root portion 17. Yes.
[0017]
A driving member 25 that is fixed to the waist side member 16 and that extends upward on the rear-side protruding end of the driving member 24 that is rotatable with respect to the body mounting portion 20 by the waist side joint portion 21 rotates. It is connected freely. The distal end of the driving member 25 and the distal end of a connecting member 26 that is rotatably attached to the upper end portion of the trunk mounting portion 20 are connected to each other so as to be rotatable. As shown in FIG. 1, two drive members 24 and 25 and two connecting members 26 are provided. Between the respective drive members 24 and 25, the leg mounting portion 10, the trunk mounting portion 20, and the like. A pneumatic actuator 42 for assisting the back muscles and abdominal muscles is provided.
[0018]
Between each of the upper arm mounting portions 31 and each of the forearm mounting portions 32, there is provided a pneumatic actuator 43 for assisting the arm force for assisting the rotational force therebetween. The basic structures of the pneumatic actuators 41 to 43 are the same, and are formed by actuator elements.
[0019]
FIG. 3 is a perspective view showing the actuator element 44. The actuator element 44 has two quadrilateral plate members 45 each made of a light alloy such as an aluminum alloy, and these plate members 45 are connected to one end side thereof. The end portions are connected to each other by a ring-shaped connecting bracket 46 so that they can swing with respect to each other. Is set.
[0020]
Like the blood pressure measurement cuff, the bag body 47 made of an elastically deformable material such as rubber or plastic is placed between the plate members 45 so that the bent end portion is located at a portion corresponding to the connecting end portion of the plate member 45. The bag body 47 is expanded and contracted by the air supplied to the inside. Thus, since the bag body 47 is folded in two, the free end portions at both ends of the bag body 47 approach and separate from each other about the bent end portion during expansion and contraction. Oscillates around the connecting end.
[0021]
FIG. 4 is an enlarged view showing the leg force assisting pneumatic actuator 41, which is formed by combining a plurality of actuator elements 44 shown in FIG. In this case, ten plate members 45a to 45j are connected in a zigzag manner by the connecting fitting 46 to form a plate member assembly 48a. In other words, except for the plate members 45a and 45j located at both ends of the pneumatic actuator 41, the other plate members are connected to the adjacent plate members so as to be swingable with respect to each other by the connecting metal fittings 46 at both ends.
[0022]
The distance between the connecting end portions of the two adjacent plate members is regulated by an elastically deformable restricting member 49 made of a string material, a wire, or a band material. The regulating member 49 may be attached to the connecting metal fitting 46 or may be attached to the end of the plate material. Further, as shown in FIG. 2, the connecting metal fitting 46 on the swing center side of the pneumatic actuator 41 is fastened to the knee side joint portion 15 by a pulling member 50 made of a wire, a string material, a belt material or the like.
[0023]
In this manner, the bag bodies 47 are arranged between the plate materials 45a to 45j connected in a zigzag shape, and the pneumatic actuator 41 has a total of nine bag bodies 47. . Since the bent end portions of the respective bag bodies 47 are located on the connection end portion side of the plate material, the adjacent bag bodies 47 are opposite to each other. When air is supplied into each bag body 47, the pneumatic actuator 41 is deformed more greatly when the number of the free ends of the bag body 47 becomes five than when the number of the four free ends becomes four. The turning force is applied between the lower leg attachment part 11 and the thigh attachment part 15 with the part 14 as the center.
[0024]
FIG. 5 is an enlarged view showing the back and abdominal muscle assisting pneumatic actuators 42. In this case, the three plate members 45a to 45c are connected to each other by the connecting metal fittings 46 at their respective one ends so that the plate members are radially formed. As a result, a connected plate material assembly 48b is formed. And between each board | plate material, the bag body 47 is arrange | positioned in half, and a rotational force is applied between the leg mounting part 10 and the trunk | drum mounting part 20 centering | focusing on the waist side joint part 21. FIG. It will be. In this case, the regulating member 49 and the pulling member 50 are not provided, but may be provided.
[0025]
FIG. 6 is an enlarged view of the pneumatic actuator 43 for assisting the arm force. In this pneumatic actuator 43, a plate assembly 48c is formed by six plate members 45a to 45f, and the number of plate members and bags is different. Except for this, it is the same as the pneumatic actuator 41, and the plate members are connected in a zigzag shape, and a total of five bag bodies 47 are provided. By this pneumatic actuator 43, rotational force is applied between the upper arm mounting portion 31 and the forearm mounting portion 32.
[0026]
In each of the pneumatic actuators 41 to 43, these numbers can be set to an arbitrary number according to the size of the bag body 47 and the plate material 45, and the structure of the plate material assembly also has a zigzag shape and a radial shape. It is good also as a structure where both were mixed. Also, the leg force assisting pneumatic actuator 41 and the arm force assisting pneumatic actuator 43 are configured to transmit the driving force of the actuator to the both ends thereof via the driving member, similarly to the pneumatic actuator 42 for the back muscles and abdominal muscles. Anyway.
[0027]
Compressed air from a compressor (not shown) is supplied to each bag body 47 via a pressure regulating valve. For example, the leg force assisting pneumatic actuator 41 is designed to assist the caregiver's walking motion while supporting the kneeling movement of the caregiver while lifting or hugging the caregiver. It is provided directly above the muscle that drives the knee joint above the knee. The muscle sensor converts the knee flexion / extension motion into a voltage signal, the muscle that drives the knee joint that the caregiver intends to extend the knee stiffens, the output signal of the muscle sensor rises, and air is supplied to the pneumatic actuator 41. Assist the caregiver's knee extension. On the other hand, when the caregiver removes the force to bend the knee, the muscle becomes soft and the output signal of the muscle sensor decreases, and the air in the pneumatic actuator 41 is discharged and contracts.
[0028]
The back and abdominal muscle assist pneumatic actuators 42 are designed to follow and assist in the flexion and extension of the hips when waking up the care recipient. The operation is controlled based on a signal from a muscle sensor provided directly above. In addition, the pneumatic actuator 43 for assisting the arm force assists the vertical movement of the arm when the care receiver is lifted or lifted, and is directly above the muscle that drives the elbow joint of the upper arm portion of the care worker. The operation is controlled on the basis of a signal from a muscle sensor provided in the.
[0029]
As described above, each of the pneumatic actuators 41 to 43 has a bag body similar to the cuff, and the actuator element 44 formed by folding the bag body between two plates is arranged. By providing a plurality of pairs, the respective pneumatic actuators 41 to 43 are formed, and the weight can be reduced. Moreover, by using a bag body that expands and contracts by air pressure, safety can be ensured for a caregiver and a cared person, and by providing a plurality of bag bodies, each of the bag bodies can be secured. It is possible to obtain a required output while reducing the expansion amount.
[0030]
It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.
[0031]
For example, the structure of the apparatus body has a thigh attachment part and a lower leg attachment part that are rotatable by a joint part corresponding to the caregiver's knee, and the waist part by the joint part corresponding to the caregiver's waist. It has a thigh attachment part and a torso attachment part that can be rotated via a side member, and an upper arm attachment part and a forearm attachment part that can be rotated by a joint part corresponding to the caregiver's arm. If it is a thing, it is not restricted to the structure shown in figure.
[0032]
【The invention's effect】
According to the present invention, since the pneumatic actuator for assisting or assisting the driving force is formed by the plurality of bags and the plate material on the two members that are rotatable with respect to each other by the joint portion, the bag is expanded and contracted. Therefore, a desired output can be obtained with a small size. In addition, since air pressure is used, safety for caregivers and care recipients can be ensured. Furthermore, the caregiver can smoothly perform the care operation by bringing the body into close contact with the care recipient without a structure such as a pneumatic actuator being positioned in front of the caregiver's body.
[Brief description of the drawings]
FIG. 1 is a front view showing a device main body of a nursing strength assisting device according to an embodiment of the present invention.
FIG. 2 is a side view of FIG.
FIG. 3 is a perspective view showing a pair of actuator elements constituting a pneumatic actuator.
FIG. 4 is a sectional view showing a pneumatic actuator for leg force assist.
FIG. 5 is a cross-sectional view showing a pneumatic actuator for assisting back muscles and abdominal muscles.
FIG. 6 is a cross-sectional view showing a pneumatic actuator for assisting arm force.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 9 Apparatus main body 10 Leg mounting part 11 Lower leg mounting part 12 Foot side joint part 13 Foot part 14 Knee side joint part 15 Thigh mounting part 16 Lumbar side member 17 Thigh root joint part 20 Trunk mounting part 21 Lumbar side joint part 22 Support member 23 Shoulder side joint portions 24, 25 Drive member 26 Connecting member 30 Arm mounting portion 31 Upper arm mounting portion 32 Forearm mounting portion 33 Elbow side joint portions 41 to 43 Pneumatic actuator 44 Actuator element 45 Plate material 46 Connection bracket 47 Bag bodies 48a to 48c Plate material set Solid 49 Restricting member 50 Towing member

Claims (5)

Two lower leg attachment parts that are respectively attached to the left and right lower legs of the caregiver and to which the foot part is attached , and each of the lower leg attachment parts is rotatably connected by a knee side joint part to the left and right thighs of the caregiver. A leg attachment part having two thigh attachment parts to be attached;
Rotatably connected to the waist side joint part in each of the femoral attachment part detachably linked waist member rotated by the femoral base joint in Rutotomoni, body mounting portion mounted on the cylinder portion of the caregiver When,
Two upper arm attachment parts that are rotatably connected to the torso attachment part by a shoulder side joint part via a support member and are respectively attached to the left and right upper arms of the caregiver , and an elbow side joint part to each upper arm attachment part An arm mounting portion having a forearm mounting portion rotatably connected by
A plurality of plate members that are swingably connected to the leg attachment unit, and a bag body that is disposed between the plate members and that is inflated and contracted by the air supplied to the inside, and the leg attachment unit and the thigh attachment unit Pneumatic actuators for assisting leg force to assist mutual turning power;
A plurality of plate members that are swingably connected to the body mounting portion, and a bag body that is disposed between the plate materials and is inflated and contracted by air supplied to the inside, and the leg mounting portion and the body mounting portion A pneumatic actuator for assisting back muscles and abdominal muscles, which assists the rotational power between each other;
A plurality of plate members that are swingably connected to the arm mounting unit, and a bag body that is disposed between the plate members and that is inflated and contracted by air supplied to the inside, and the upper arm mounting unit and the forearm mounting unit A muscular strength assisting device for nursing care , comprising: a pneumatic actuator for assisting arm force for assisting mutual turning power . 2. The muscle strength assisting device for nursing care according to claim 1, wherein the pneumatic actuator for assisting leg strength includes a plurality of adjacent plate members that are swingable with respect to each other at a connection end and are connected in a zigzag shape as a whole. A nursing strength comprising: a plate material assembly made of a plate material; and a plurality of bi-fold bag bodies disposed between the plate materials and having bent end portions at portions corresponding to the connection end portions. Auxiliary device . 3. The muscle strength assisting device for nursing care according to claim 1 or 2, wherein the back and abdominal muscle assist pneumatic actuators are swingable with respect to each other at the connecting end and are connected in a generally radial manner. a plate assembly consisting of, disposed between each of the plate mutually nursing power assisting characterized by having a plurality of folded bag member having a connection end bent end in a portion corresponding to Equipment . The muscle strength assisting device for nursing care according to any one of claims 1, 2, and 3, wherein the pneumatic actuator for assisting arm force is configured such that adjacent plate members are swingable at a connecting end portion, and overall. a plate assembly comprising a plurality of plate members connected by a zigzag, are disposed between each of the plate mutually, a plurality of folded bag member having a connection end bent end in a portion corresponding to A muscular strength assisting device for nursing care, comprising: In nursing muscle force assisting device according to any one of claims 2, 3 or 4, nursing power assisting apparatus characterized by connecting the connecting end of each of the plate by a ring-shaped connecting member.

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