JP4987148B1 - Joint motion assist device - Google Patents

Abstract

【Task】
The structure is compact and assists the joint movement appropriately.
[Solution]
When the protruding portion of the piston rod 153 from the cylinder 151 is extended by adjusting the air pressure in the cylinder 151 by the adjusting unit, the second gear member 123 is connected to the second gear member 123 via the piston rod 153 and the first and second arm members 141 and 142. A turning force is applied to turn the elbow joint in a direction substantially parallel to the turning direction from the extended state to the bent state. When the rotational force is applied to the second gear member 123, the meshing position of the second gear member 123 with the first gear member 113 changes, and the second gear member 123 rotates while the first gear. Revolve around the central axis of the member 113. As a result, the forearm exoskeleton member 121 fixed to the second gear member 123 rotates, the angle at which the upper arm exoskeleton member 111 and the forearm exoskeleton member 121 intersect is narrowed, and the elbow joint is bent from the extended state. become.
[Selection] Figure 6

Description

The present invention relates to a joint motion assist device, and more particularly to an exoskeleton joint motion assist device that assists joint motion of a human body .

  Conventionally, various devices have been proposed for use in the care and nursing of care recipients and nurses. Among such devices, there is a muscular strength assist device for care for a caregiver to wake up, hold down, or move a care recipient such as a bedridden elderly person whose physical freedom does not work.

  One of such muscle force assisting devices uses an actuator driven by air pressure (see Patent Document 1: hereinafter referred to as “conventional example”). In this prior art technique, an actuator comprising two plate members that are pivotably connected to each other around one end portion, and a bag body that is disposed between the two plate members and expands by air supplied to the inside. A large pneumatic actuator with stacked elements is attached to a mounting portion that is mounted at a predetermined position on the human body. And the bag body in a pneumatic actuator is expanded, and the movement of an elbow joint, a hip joint, and a knee joint is assisted.

JP 2000-51289 A

  In the conventional technology described above, the joint movement is assisted when air is supplied into the bag body by the pneumatic actuator, but the force for assisting the joint movement is not generated by the suction of air from the bag body. . Since the force is generated only when air is supplied to the bag body in this way, in particular, the hip joint motion assists the expansion of the bag body due to the air supply to the pneumatic actuator by the link mechanism. Is done by converting to As a result, the device itself is large-scale. For this reason, it is not easy to attach the apparatus to a caregiver, and there is a possibility that the physical freedom of the caregiver wearing the apparatus is limited.

  As described above, in the technology of the conventional example, only one of the bending motion and the stretching motion of the joint can be assisted, and the function as the muscle strength assisting device is limited. Further, in the conventional technique, the apparatus is large-scale. For this reason, when assisting joint motion, there is a need for a technique that is easy to mount and can assist the desired joint flexion and extension motions while ensuring the physical freedom of the wearer. .

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a joint motion assist device that is compact in structure and can appropriately assist joint motion.

The present invention is mounted on a human body having a skeleton structure, using the mechanism of the joint that connects the one side portion and the other side portion of the human body, the human body, when the down has a lifting or objects objects An exoskeleton-type joint motion assisting device for assisting a required joint motion, wherein the first exoskeleton member is mounted on the one side portion along a direction in which the one side portion extends from the joint; A second exoskeleton member mounted on the other side part along a direction in which the part extends from the joint; and fixedly connected to an end of the first exoskeleton member on the joint side; When the skeletal member is attached to the one side portion , a tooth portion is formed on at least a part of one of the outer peripheral portion and the inner peripheral portion along the rotational movement direction of the joint. Centered on an axis approximately parallel to the rotational axis of the dynamic motion A first gear member and; the second is connected exoskeleton to an end portion of the joint side of the member fixedly, the first gear member capable of meshing toothing, wherein the second outer frame member the other When mounted on a side part, the central axis is formed on at least a part of the outer peripheral portion along the direction of rotational movement of the joint, and is substantially parallel to the rotational axis of the rotational movement of the joint. A second gear member that rotates ; a cylinder that is pivotally attached to the first exoskeleton member in a direction substantially parallel to the pivot direction of the joint ; and one linear piston that reciprocates in the cylinder. end is connected, through one end of said cylinder, a piston rod to reciprocate with said linear piston; while securing the engagement between the first gear member and said second gear member, the The other end of the piston rod and Serial and second gear members, around the central axis of said first gear member to be substantially parallel to the pivot axis of the pivoting movement of the joint so as to be rotatable, the other end of the piston rod Are attached to the central axis of the second gear member and the central axis of the first gear member, and the second gear member and the other end of the piston rod are substantially parallel to the rotational direction of the joint. A connecting member that is pivotably connected about a central axis of the first gear member in a direction, and the other of the piston rods is restrained by the connecting member by the stroke of the linear motion piston . An end portion rotates around the central axis of the first gear member, and the rotation causes the second gear member to be substantially parallel to the rotation direction of the joint via the piston rod and the connecting member. rotational force which rotates in the direction is applied, the The second gear member revolves around the central axis of the first gear member in the same direction as the rotation, and the meshing position of the tooth portion of the second gear member and the tooth portion of the first gear member changes. Accordingly, the second gear member rotates and the first exoskeleton member fixedly connected to the first gear member and the first gear member fixedly connected to the second gear member . The joint motion assisting device is characterized in that the angle at which the two exoskeleton members intersect changes to assist the motion of the joint.

In this joint motion assist device, when the device is mounted on a human body , the central axis of the first gear member fixedly connected to the first exoskeleton member and the second gear meshing with the first gear member The central axis of the second gear member fixedly connected to the exoskeleton member is substantially parallel to the rotational axis of the rotational motion of the assist target joint. Then, due to the stroke of the linear motion piston in the cylinder, the other end of the piston rod rotates around the central axis of the first gear member under the restraint of the connecting member. A rotational force that rotates in a direction substantially parallel to the rotation direction of the joint is applied to the second gear member via the connecting member. When the rotational force is applied to the second gear member , the second gear member revolves in the same direction as the rotation around the central axis of the first gear member, and the tooth portion of the second gear member and the first gear member engagement position between the teeth of the gear member is changed, the second gear member, rotates. When the second gear member rotates and revolves in this manner, the second exoskeleton member fixedly connected to the second gear member revolves around the central axis of the first gear member, and the second gear member Rotate around the center axis. As a result, according to the number of teeth of the first and second gear members, the first exoskeleton member in which one side portion of the human body is fixed and the second exoskeleton member in which the other side portion is fixed The crossing angle changes, and the movement of the joint connecting the one side part and the other side part is assisted passively.

  Therefore, according to the joint motion assist device of the present invention, the structure is compact and the joint motion can be assisted appropriately by appropriately controlling the stroke of the linear motion piston.

Here, the connecting member is a first connecting member that secures engagement between the first gear member and the second gear member; and the other member of the piston rod is fixedly connected to the first connecting member. And a second connecting member that connects the end portions of the joint members so as to be rotatable in a direction substantially parallel to the rotation direction of the joint.

  As described above, when the connecting member includes the first connecting member and the second connecting member, the second connecting member connected to the other end of the piston rod by the stroke of the linear motion piston. The power is transmitted to the first connecting member. Then, the second gear member rotates around the central axis of the first gear member. In this case, since the connecting member is composed of two members of the first and second connecting members, the first and second connecting members can be individually manufactured. Further, in this case, by changing the length of the second connecting member, it is possible to adjust the rate of change of the rotation angle and the torque when assisting the joint motion.

In the joint motion assist device according to the present invention, the first gear member is substantially parallel to a pivot axis of the joint pivot movement, which is fixedly connected to an end of the first exoskeleton member on the joint side. The second gear member is fixedly connected to the joint-side end of the second exoskeleton member, and is a pivot shaft for pivotal movement of the joint. The tooth portion of the first gear member is formed on the outer periphery of the cylinder, and the tooth portion of the second gear member is formed on the outer periphery of the column. The piston rod is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member by the extension stroke of the protruding portion of the piston rod from the cylinder , The other of the second gear member and the piston rod And the other end of the piston rod under the restraint of the connecting member that is connected to be rotatable about the central axis of the first gear member in a direction substantially parallel to the rotating direction of the joint. The portion rotates in one direction around the central axis of the first gear member, and the rotation in the one direction causes the joint to the second gear member via the piston rod and the connecting member. The second gear member revolves around the central axis of the first gear member in the one direction, and the second gear member revolves around the central axis of the first gear member. When the meshing position of the tooth portion of the gear member and the tooth portion of the first gear member changes, the second gear member rotates in the one direction and is fixedly connected to the first gear member. and said first outer frame member are fixedly against the second gear member Has been with the second outer frame member has the narrow angle crossing, to flexion the joint from extended state, the contraction stroke of the projecting portion, under the constraint of the connecting member and the other of said piston rod Is rotated in another direction different from the one direction around the central axis of the first gear member, and by rotation in the other direction, via the piston rod and the connecting member, The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. Revolving in the direction and changing the meshing position of the second gear member with the first gear member, the second gear member rotates in the other direction and is fixed to the first gear member. Connected to the first The angle at which the exoskeleton member and the second exoskeleton member fixedly connected to the second gear member cross each other is widened so that the joint is changed from the bent state to the extended state.
Here, the one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state. ing.

  As described above, when the first gear member and the second gear member are cylindrical external gears, the center of the two gear members is used during the extension stroke and the contraction stroke of the protruding portion of the piston rod from the cylinder. The distance between the axes is constant. For this reason, when securing the meshing between the first gear member and the second gear member, a connecting member having a simple configuration can be employed. In addition, when employ | adopting the structure provided with a 1st connection member and a 2nd connection member as a connection member, as a 1st connection member, for example, the center axis | shaft of a 1st gear member and a 2nd gear member can be rotated. An arm member to be inserted can be employed.

In the joint motion assisting device of the present invention, the first gear member is fixedly connected to an end of the first exoskeleton member on the joint side, and a pivot shaft for the pivot motion of the joint. The second gear member is fixedly connected to an end of the second exoskeleton member on the joint side, and is configured to rotate the joint. The first gear member is formed on the outer periphery of the elliptical column, and the second gear member is formed on the elliptical column. The other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member are formed by the extension stroke of the protruding portion of the piston rod from the cylinder. And the second gear member and the piston rod The piston rod under the restraint of the connecting member that is connected to the other end of the first gear member so as to be rotatable about a central axis in a direction substantially parallel to the rotation direction of the joint. The other end of the second gear member rotates in one direction around the central axis of the first gear member, and the second gear member is rotated by the rotation in the one direction via the piston rod and the connecting member. And the second gear member revolves in the one direction around the central axis of the first gear member. When the meshing position of the second gear member with the first gear member changes, the second gear member rotates in the one direction and is fixedly connected to the first gear member. said first outer frame member, the solid in the second gear member Manner and the second outer frame member that is connected narrows the angle of intersecting, and the bent state the joint from extended state, the contraction stroke of the projecting portion, under the constraint of the connecting member, said piston The other end of the rod rotates in another direction different from the one direction around the central axis of the first gear member, and the piston rod and the connecting member are rotated by rotation in the other direction. Thus, the second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. The second gear member revolves in the other direction by revolving in the other direction and the meshing position of the second gear member with the first gear member changes, and the first gear member. Fixedly connected to An angle at which the first exoskeleton member and the second exoskeleton member fixedly connected to the second gear member intersect is widened so that the joint is changed from a bent state to an extended state. Can do.
Here, the one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state. ing.

  Thus, when the first gear member and the second gear member are elliptical columnar external gears, the two gear members of the piston rod are extended during the extension stroke and the contraction stroke of the protruding portion from the cylinder. The distance between the central axes changes. For this reason, it is possible to assist the joint motion corresponding to the degree of freedom of the rotational axis of the rotational motion of the joint accompanying the bending motion or the extension motion. When securing the engagement between the first gear member and the second gear member, a connecting member having a configuration that can cope with a change in the distance between the central axes may be employed. Moreover, when employ | adopting the structure with which a connection member is provided with a 1st connection member and a 2nd connection member, as a 1st connection member, for example, the center axis | shaft of a 1st gear member and the center axis | shaft of a 2nd gear member are used. It is possible to employ a configuration that is elastically biased and corresponds to a change in the distance between the central axes.

In the joint motion assisting device of the present invention, the first gear member is fixedly connected to an end of the first exoskeleton member on the joint side, and a pivot shaft for the pivot motion of the joint. The second gear member is fixedly connected to an end of the second exoskeleton member on the joint side, and has a rotational movement of the joint. The first gear member has a cylindrical shape centered on an axis substantially parallel to the dynamic axis, and the tooth portion of the second gear member is an outer peripheral portion of the cylinder. The piston rod is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member by the extension stroke of the protruding portion of the piston rod from the cylinder. In the second gear member and the piston rod The piston rod under the restraint of the connecting member that is connected in a direction substantially parallel to the rotational direction of the joint so as to be rotatable about the central axis of the first gear member. The other end of the second gear member rotates in one direction around the central axis of the first gear member, and rotates in the one direction to the second gear member via the piston rod and the connecting member. , A rotational force is applied to rotate in a direction substantially parallel to the rotation direction of the joint, and the second gear member revolves around the central axis of the first gear member in the one direction, When the meshing position of the second gear member with the first gear member changes, the second gear member rotates in another direction different from the one direction and is fixed to the first gear member. said first outer frame member connected to the second tooth Spread angle between the second outer frame member which is fixedly connected to the members intersect, and in the extended state the joint from the bent state, the contraction stroke of the projecting portion, under the constraint of said connecting member The other end of the piston rod rotates in the other direction around the central axis of the first gear member, and the rotation in the other direction causes the piston rod and the connecting member to pass through. The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. Revolving in the direction and changing the meshing position of the second gear member with the first gear member, the second gear member rotates in the one direction and is fixed to the first gear member. Connected to the first The angle at which the exoskeleton member and the second exoskeleton member fixedly connected to the second gear member intersect is narrowed , and the joint can be changed from the extended state to the bent state .
Here, the one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state. ing.

  Thus, when the first gear member is a cylindrical internal gear and the second gear member is a columnar external gear, during the contraction stroke and extension stroke of the protruding portion of the piston rod from the cylinder. The distance between the central axes of the two gear members is constant. For this reason, similarly to the case where the first gear is a cylindrical external gear, a connecting member having a simple configuration can be employed when securing the engagement between the first gear member and the second gear member. In addition, when employ | adopting the structure provided with a 1st connection member and a 2nd connection member as a connection member, as a 1st connection member, for example, the center axis | shaft of a 1st gear member and a 2nd gear member can be rotated. An arm member to be inserted can be employed.

In the joint motion assist device of the present invention, the joint of the human body is an elbow joint, the first exoskeleton member is attached to the upper arm, and the second exoskeleton member is attached to the forearm. Can be. In this case, the movement of the elbow joint of the human body can be assisted.

In the joint motion assisting device of the present invention, the joint of the human body is a hip joint, the first exoskeleton member is attached to the waist, and the second exoskeleton member is attached to the thigh. can do. In this case, it is possible to assist the exercise of the human hip joint.

  As described above, according to the joint motion assist device of the present invention, the structure is compact and the joint motion can be appropriately assisted.

1 is an external view of a joint motion assist device for an elbow joint according to an embodiment of the present invention. It is a top view for demonstrating the structure of the connection member of FIG. It is a top view for demonstrating the structure of the forearm exoskeleton member of FIG. It is XZ sectional drawing for demonstrating the structure of the actuator of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is a figure for demonstrating the state of the joint motion assistance apparatus of FIG. 1 at the time of contraction and expansion | extension of the protrusion part from the cylinder in a piston rod. It is an external view of the joint movement assist apparatus of the hip joint which is a 1st modification. It is a figure for demonstrating the state of the joint movement assistance apparatus of FIG. 7 at the time of contraction and expansion | extension of the protrusion part from the cylinder in a piston rod. It is a figure for demonstrating a state when the protrusion part of the piston rod from a cylinder shrink | contracts and expands in the joint motion assistance apparatus of the elbow joint which is a 2nd modification. It is a figure for demonstrating the modification (the 1) of a gear member. It is a figure for demonstrating the modification (the 2) of a gear member. It is a figure for demonstrating the structure of the actuator corresponding to FIG.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a joint motion assist device that assists a joint motion performed using a mechanism of an elbow joint of a right arm of a human body as a predetermined object will be described as an example. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 is an external view of a joint motion assist device 100 according to an embodiment. FIG. 1 is an external view (XZ plan view) of a joint motion assist device 100 mounted on a human arm as viewed from the right side of the human body when the elbow joint is in an extended state.

  Here, the coordinate system (X, Y, Z) in FIG. 1 indicates that the front direction of the human body is + X direction and the direction from the right side to the left side of the human body is + Y when the joint motion assist device 100 is attached to the human body. This is a coordinate system in which the direction and the direction in which the upper arm extends from the elbow joint is the + Z direction. For this reason, in the coordinate system (X, Y, Z), the Y-axis direction and the rotation axis direction of the rotation motion of the elbow joint are substantially parallel.

  As shown in FIG. 1, the joint motion assist device 100 includes an upper arm exoskeleton member 111 as a part of the first exoskeleton member, a connection member 112 as a part of the first exoskeleton member, and a first gear. A member 113 and belt members 117 and 118 are provided. In addition, the joint motion assist device 100 includes a forearm exoskeleton member 121 as a second exoskeleton member, a second gear member 123, and belt members 127 and 128. Further, the joint motion assist device 100 includes a first arm member 141 as a first connecting member, a second arm member 142 as a second connecting member, an actuator 150, an adjustment unit 180, and pipes 191 and 192. I have.

  The upper arm exoskeleton member 111 is, for example, a long plate-shaped steel member. The upper arm exoskeleton member 111 is disposed on the right side (−Y direction side) of the upper right arm along the direction in which the upper right arm extends from the elbow joint, and is fixed to the upper right arm by cloth belt members 117 and 118. The

The connecting member 112 is, for example, a steel member, and as shown in FIG. 2, an L-shaped member 112 _L molded into an L shape and a U shape in an XY plan view. It is composed of a processed U-shaped member 112 _U. Then, the connection member 112 is formed by fixing the L-shaped member 112 _L and the U-shaped member 112 _U with screws (not shown) or the like. Here, FIG. 2 shows a state where the cylinder axis of the actuator 150 is parallel to the Z axis.

The L-shaped member 112 _L is fixedly connected to the brachial exoskeleton member 111 on the −X direction side of the brachial exoskeleton member 111. Furthermore, the two flat plate portions perpendicular to the Y direction in the U-shaped member 112 _U, respectively, the actuator 150 (more specifically, the cylinder 151 to be described later) is inserted hole for locking the being molded Yes. The U-shaped member 112 _U surrounds the actuator 150 in a U-shape, and inserts protrusions JTS ₁ and JTS ₂ that are detachably attached to a cylinder 151 (described later) using two insertion holes. The actuator 150 is rotatably locked in a direction substantially parallel to the rotation direction.

  Returning to FIG. 1, the first gear member 113 is a columnar steel member having the shaft member AX1 as a central axis in the present embodiment. The first gear member 113 is fixedly connected to the −Y direction side of the elbow joint side end of the upper arm exoskeleton member 111. Further, a tooth portion having a tooth line parallel to the shaft is formed on the outer peripheral portion of the first gear member 113. Here, the axial direction of the shaft member AX1 is parallel to the Y-axis direction which is substantially parallel to the rotational axis of the rotational motion of the elbow joint.

The forearm exoskeleton member 121 is, for example, a steel member, and as shown comprehensively in FIGS. 3A and 3B, a long plate-like long exoskeleton member 121 ₁ , And a forearm holding member 121 ₂ . Then, the forearm exoskeleton member 121 is formed by fixing the long plate-like exoskeleton member 121 ₁ and the forearm holding member 121 ₂ with screws (not shown) or the like. Here, in the coordinate system (U, Y, W) in FIG. 3, the direction in which the right forearm extends from the elbow joint is the + U direction, the direction from the right side to the left side of the human body is the + Y direction, and the direction toward the inside of the right forearm. This is a coordinate system in which the direction perpendicular to the U axis is the + W direction. 3A shows a U-direction view of the forearm exoskeleton member 121, and FIG. 3B shows a W-direction view of the forearm exoskeleton member 121.

The long plate-like exoskeleton member 121 ₁ is disposed on the right side (−Y direction side) of the right forearm along the direction in which the right forearm extends from the elbow joint. Further, the forearm support member 121 ₂ above, holds the right forearm from the lower side (-W direction). The forearm exoskeleton member 121 is fixed to the right forearm portion by cloth belt members 127 and 128 (see FIG. 1).

  Returning to FIG. 1, in the present embodiment, the second gear member 123 is a columnar steel member having the shaft member AX2 as the central axis, similarly to the first gear member 113 described above. The second gear member 123 is fixedly connected to the −Y direction side of the elbow joint side end of the forearm exoskeleton member 121. And the tooth part which the tooth | gear which meshes with the 1st gear member 113 is parallel to an axis | shaft is formed in the outer peripheral part of the 2nd gear member 123. FIG.

  Here, the axial direction of the shaft member AX2 is parallel to the axial direction of the shaft member AX1. The gear ratio of the first gear member 113 and the second gear member 123 is based on the stroke distance of the reciprocating motion of the piston rod 153, which will be described later, the length of the second arm member 142, and the like. The crossing angle with the forearm exoskeleton member 121 is set to be within a suitable movable range of the elbow joint. Further, the gear ratio of the first gear member 113 and the second gear member 123 is such that when the joint motion is assisted, the joint motion performed as a result of the assist is smooth for the person wearing the joint motion assist device 100. It is also adjusted so that the joint movement can be felt.

  The first arm member 141 is a flat steel member, for example, and is arranged to be perpendicular to the Y axis. The first arm member 141 is formed with two insertion holes for securing the engagement between the first gear member 113 and the second gear member 123. Here, the distance between the two insertion holes is equal to the sum of the pitch circle radius of the first gear member 113 and the pitch circle radius of the second gear member 123. The shaft member AX1 of the first gear member 113 is inserted into one insertion hole of the first arm member 141 so that the first arm member 141 can turn around the shaft member AX1, and the other insertion hole is inserted. The shaft member AX2 of the second gear member 123 is rotatably inserted.

  The second arm member 142 is a flat steel member, for example, and is arranged to be perpendicular to the Y axis. Two insertion holes are formed in the second arm member 142. The shaft member AX1 of the first gear member 113 is inserted into one insertion hole of the second arm member 142 so that the second arm member 142 can rotate around the shaft member AX1. In addition, a projection JTR provided at the lower end of a piston rod 153, which will be described later, constituting the actuator 150, is rotatably inserted into the other insertion hole of the second arm member 142. Here, the length of the second arm member 142 is set so as to have a rotation angle and torque suitable for the elbow joint when assisting the elbow joint motion.

  Here, the first arm member 141 and the second arm member 142 are fixed. For this reason, the second gear member 123 and the lower end portion of the piston rod 153 can rotate around the central axis of the first gear member 113.

  The actuator 150 includes a cylinder 151, a linear motion piston 152, and a piston rod 153 as comprehensively shown in FIGS. 1 and 4. Here, FIG. 4 shows a YZ sectional view of the actuator 150 when the cylinder axis is parallel to the Z axis.

The cylinder 151 is, for example, a cylindrical member. Both ends of the cylinder 151 in the length direction are closed, and the piston rod 153 passes through one end on the −Z direction side. In addition, on the outer cylindrical surface on the −Z direction side of the cylinder 151, the two protrusions JTS ₁ and JTS ₂ are parallel to the Y axis and face the + Y direction side surface and the −Y direction side surface facing the cylindrical center axis. Is attached. The protrusions JTS ₁ and JTS ₂ are inserted into the two insertion holes formed in the connecting member 112 described above, so that the cylinder 151 moves in the direction substantially parallel to the rotation direction of the elbow joint. The connecting member 112 fixedly connected to the exoskeleton member 111 is rotatably attached.

  Further, the cylinder 151 is provided with a first air supply / exhaust port PT1 and a second air supply / exhaust port PT2 for supplying air into the cylinder 151 and sucking air from inside the cylinder 151. Here, the first air supply / exhaust port PT1 is connected to the pipe 191 and the second air supply / exhaust port PT2 is connected to the pipe 192. Further, stoppers ST1 and ST2 for restricting the sliding range of the direct acting piston 152 are attached in the cylinder 151. For this reason, the linear motion piston 152 is slidable between ST1 and ST2.

  The linear motion piston 152 is, for example, a cylindrical member, and the outer diameter of the linear motion piston 152 is substantially equal to the inner diameter of the cylinder 151. An annular elastic seal member is attached to the outer peripheral portion of the linear motion piston 152, and the linear motion piston 152 is fitted in the cylinder 151 so as to be slidable back and forth.

  Thus, the linear piston 152 is fitted in the cylinder 151, whereby the internal space of the cylinder 151 is partitioned into a first cylinder chamber SR1 and a second cylinder chamber SR2. Here, the first cylinder chamber SR1 is provided with the first supply / exhaust port PT1 described above. The second cylinder chamber SR2 is provided with the above-described second supply / exhaust port PT2.

  The piston rod 153 is, for example, a cylindrical member, and the outer diameter of the piston rod 153 is smaller than the outer diameter of the cylinder 151. One end of the piston rod 153 is connected to one end of the linear motion piston 152 in the reciprocating direction, and the piston rod 153 passes through the cylinder 151. In addition, a protrusion JTR to be inserted into the other insertion hole of the second arm member 142 is attached to the −Y direction side of the other end of the piston rod 153.

  The adjusting unit 180 communicates with the first cylinder chamber SR1 in the cylinder 151 through the pipe 191. The adjustment unit 180 is in communication with the second cylinder chamber SR2 through the pipe 192. The adjusting unit 180 supplies air to the first cylinder chamber SR1 through the pipe 191 and sucks air from the first cylinder chamber SR1, and also supplies air to the second cylinder chamber SR2 through the pipe 192. And the suction of the air from the second cylinder chamber SR2 adjust the stroke of the direct acting piston 152 in the cylinder 151.

  As shown in FIG. 5, the adjustment unit 180 having such a function includes a pressurization pump 181, a decompression pump 182, an electro-pneumatic control valve 183, a control unit 184, and pipes 185 and 186. .

  The pressurizing pump 181 is connected to one inlet side of the electro-pneumatic control valve 183 via a pipe 185. The pressurizing pump 181 is used when air is supplied into the cylinder 151. The decompression pump 182 is connected to the other inlet side of the electro-pneumatic control valve 183 through a pipe 186. The decompression pump 182 is used when air is sucked from the cylinder 151.

  The electro-pneumatic control valve 183 includes a flow path switching four-way valve and a pressure control valve (proportional solenoid). One side of the inlet side of the flow path switching four-way valve is connected to the pressurizing pump 181, and the other side of the inlet side is connected to the pressure reducing pump 182.

  The flow path switching four-way valve supplies air to the first cylinder chamber SR1 and controls air suction from the second cylinder chamber SR2 under the control of the control unit 184. A pipe 185 connected to the pressure pump 181 and the pipe 191 are connected to form a flow path, and a pipe 186 connected to the decompression pump 182 and the pipe 192 are connected to form a flow path. To do. In addition, the flow path switching four-way valve sucks air from the first cylinder chamber SR1 and supplies air to the second cylinder chamber SR2 under the control of the control unit 184. A pipe 186 connected to the decompression pump 182 and the pipe 191 are connected to form a flow path, and a pipe 185 connected to the pressure pump 181 and the pipe 192 are connected to form a flow path. To do.

  The pressure control valve controls the air pressure in the pipe 191 and the pipe 192 under the control of the control unit 184, and the air pressure in the first cylinder chamber SR1 and the air in the second cylinder chamber SR2 in the cylinder 151 are controlled. Change the pressure difference from the pressure.

  The control unit 184 performs push-pull control of the direct acting piston 152 by switching the supply / suction of air in the first and second cylinder chambers SR1, SR2 and adjusting the pressure. Such control is performed on the basis of biological information regarding muscle strength that drives a joint taking into account experiments, simulations, experiences, and the like. Here, the biological information related to the muscle force for driving the joint can be obtained by a detection unit (not shown) detecting an electromyogram, muscle hardness, and the like.

[Operation]
The operation of the joint motion assist device 100 configured as described above, that is, the joint motion assist operation using the elbow joint mechanism will be described.

  In the joint motion assist device 100, initially, the adjustment of the air pressure in the cylinder 151 by the adjustment unit 180 is not performed. Initially, as shown in FIGS. 1 and 6A, the elbow joint is assumed to be in the extended state.

  Here, in the joint motion assisting apparatus 100 shown in FIGS. 6A and 6B, the adjustment unit 180, the pipes 191, 192, the belt members 117, 118, 127, 128, the arm parts of the human body, and the like are illustrated. Is omitted.

  In this joint motion assist operation, when the elbow joint is changed from the extended state to the bent state, the control unit 184 supplies air to the first cylinder chamber SR1 and also supplies air from the second cylinder chamber SR2. Control to perform suction.

  When the adjustment unit 180 supplies air to the first cylinder chamber SR1 through the pipe 191 and sucks air from the second cylinder chamber SR2 through the pipe 192, the direct acting piston in the cylinder 151 is provided. 152 slides in the −Z direction (see FIG. 4). As the linear motion piston slides in the −Z direction, the piston rod 153 connected to the linear motion piston 152 moves in the −Z direction, and the projecting portion of the piston rod 153 from the cylinder 151 extends. (Hereinafter, also simply referred to as “the extension stroke of the piston rod”).

  FIG. 6B shows a state of the joint motion assisting device 100 when the protruding portion of the piston rod 153 from the cylinder 151 is extended in the extension stroke of the piston rod 153. As shown in FIGS. 6A and 6B, due to the extension stroke of the piston rod 153, the lower end portion of the piston rod 153 moves around the central axis of the first gear member 113, and the + Y direction is the line-of-sight direction. Rotate counterclockwise (hereinafter also simply referred to as “counterclockwise”) in the XZ plan view.

At this time, the cylinder 151 attached to the connecting member 112 so as to be rotatable in a direction substantially parallel to the rotation direction of the elbow joint rotates counterclockwise around the protrusions JTS ₁ and JTS ₂ . As a result, before and after the extension stroke of the piston rod 153, the angle formed between the cylinder axis SAX and the Z axis is, for example, from the angle θ _C (see FIG. 6A) to the angle θ _E (> θ _C ) (See FIG. 6B).

  When the lower end portion of the piston rod 153 rotates counterclockwise, the second gear member 123 is counteracted to the second gear member 123 via the first and second arm members 141 and 142 in a direction substantially parallel to the rotation direction of the elbow joint. A turning force for rotating clockwise is applied. When the rotational force is applied to the second gear member 123, the meshing position of the second gear member 123 with the first gear member 113 changes, and the second gear member 123 rotates counterclockwise. However, it revolves counterclockwise about the central axis of the first gear member 113. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates counterclockwise. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm part and the forearm exoskeleton member 121 fixed to the forearm part are narrowed, and the elbow joint is changed from the extended state to the bent state.

  When the elbow joint is in the bent state (see FIG. 6B), the control unit 184 sucks air from the first cylinder chamber SR1 when the elbow joint is changed from the bent state to the extended state. And performing control for supplying air to the second cylinder chamber SR2.

  Under such control, when air is sucked from the first cylinder chamber SR1 through the pipe 191 and air is supplied to the second cylinder chamber SR2 through the pipe 192, the air in the cylinder 151 is directly connected. The moving piston 152 slides in the + Z direction (see FIG. 4). As the linear motion piston slides in the + Z direction, the piston rod 153 connected to the linear motion piston 152 moves in the + Z direction, and the projecting portion of the piston rod 153 from the cylinder 151 contracts (see FIG. Hereinafter, it is also simply referred to as “piston rod contraction process”).

FIG. 6A shows a state of the joint motion assisting device 100 when the projecting portion of the piston rod 153 from the cylinder 151 contracts during the contraction stroke of the piston rod 153. As shown in FIGS. 6A and 6B, due to the contraction stroke of the piston rod 153, the lower end portion of the piston rod 153 rotates around the central axis of the first gear member 113, and the + Y direction is the line-of-sight direction. Rotate clockwise in the XZ plan view (hereinafter also simply referred to as “clockwise”). At this time, the cylinder 151 locked to the connecting member 112 rotates clockwise around the protrusions JTS ₁ and JTS ₂ . As a result, before and after the contraction stroke of the piston rod 153, the angle formed between the cylinder axis SAX and the Z axis is, for example, from the angle θ _E (see FIG. 6B) to the angle θ _C (see FIG. A) see).

  When the lower end of the piston rod 153 rotates clockwise, the second gear member 123 is rotated clockwise through the first and second arm members 141 and 142 in a direction substantially parallel to the rotation direction of the elbow joint. Rotation power for rotating is applied. When the rotational force is applied to the second gear member 123, the meshing position of the second gear member 123 with the first gear member 113 changes, and the second gear member 123 rotates in the clockwise direction. The first gear member 113 revolves clockwise around the central axis of the first gear member 113. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates in the clockwise direction. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm part intersects the forearm exoskeleton member 121 fixed to the forearm part widens, and the elbow joint changes from the bent state to the extended state.

  As described above, in the present embodiment, when the adjustment unit 180 supplies air to the first cylinder chamber SR1 and sucks air from the second cylinder chamber SR2, The linear motion piston 152 slides in the −Z direction. As the linear motion piston slides in the −Z direction, the piston rod 153 moves in the −Z direction, which is an extension stroke of the piston rod 153.

  When the lower end of the piston rod 153 rotates counterclockwise around the central axis of the first gear member 113 by the extension stroke of the piston rod 153, the first and second arm members 141 and 142 are used to A counterclockwise turning force is applied to the two gear member 123 in a direction substantially parallel to the rotation direction of the elbow joint. When the rotational force is applied to the second gear member 123, the meshing position of the second gear member 123 with the first gear member 113 changes, and the second gear member 123 rotates counterclockwise. However, it revolves counterclockwise about the central axis of the first gear member 113. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates counterclockwise. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm part and the forearm exoskeleton member 121 fixed to the forearm part are narrowed, and the elbow joint is changed from the extended state to the bent state.

  Further, when air is sucked from the first cylinder chamber SR1 by the adjusting unit 180 and air is supplied to the second cylinder chamber SR2, the linear motion piston 152 in the cylinder 151 moves in the + Z direction. Slide. As the linear piston slides in the + Z direction, the piston rod 153 moves in the + Z direction, resulting in a contraction stroke of the piston rod 153.

  When the lower end of the piston rod 153 rotates clockwise around the central axis of the first gear member 113 due to the contraction stroke of the piston rod 153, the second end is provided via the first and second arm members 141 and 142. A clockwise turning force is applied to the gear member 123 in a direction substantially parallel to the rotation direction of the elbow joint. When the rotational force is applied to the second gear member 123, the meshing position of the second gear member 123 with the first gear member 113 changes, and the second gear member 123 rotates in the clockwise direction. The first gear member 113 revolves clockwise around the central axis of the first gear member 113. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates in the clockwise direction. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm part intersects the forearm exoskeleton member 121 fixed to the forearm part widens, and the elbow joint changes from the bent state to the extended state.

  Therefore, according to the present embodiment, the structure is compact and the joint motion of the elbow joint can be assisted appropriately.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above embodiment, the joint motion assist device that assists the joint motion performed using the mechanism of the elbow joint of the human body is used. However, for example, the device may assist the hip joint motion.

<First Modification>
A joint motion assist device that assists joint motion performed using the hip joint mechanism according to the first modification will be described with reference mainly to FIGS. 7 and 8.

"Constitution"
FIG. 7 shows an external view of the joint motion assisting apparatus 200 according to the first modification. FIG. 7 is an external view (XZ plan view) of the joint motion assisting device 200 attached to the lumbar region and thigh of the human body as viewed from the right side of the human body when the hip joint is in the extended state.

  Here, the coordinate system (X, Y, Z) in FIG. 7 indicates that the front direction of the human body is + X direction and the direction from the right side to the left side of the human body is + Y when the joint motion assist device 200 is attached to the human body. This is a coordinate system in which the direction from the waist to the back is the + Z direction. For this reason, in the coordinate system (X, Y, Z), the Y-axis direction and the rotation axis direction of the rotation movement of the hip joint are substantially parallel.

  As shown in FIG. 7, the joint assist device 200 includes a lumbar exoskeleton member 211 as a part of the first exoskeleton member, a connection member 212 as a part of the first exoskeleton member, and a first gear. A member 213 and a belt member 217 are provided. The joint motion assist device 200 includes a thigh exoskeleton member 221 as a second exoskeleton member, a second gear member 223, and belt members 227 and 228. Further, the joint motion assist device 200 includes a first arm member 241 as a first connecting member, a second arm member 242 as a second connecting member, an actuator 250, an adjustment unit 280, and pipes 291 and 292. I have.

  The lumbar exoskeleton member 211 is a steel member, for example, and is molded into a crank shape in the XZ plan view. The lumbar exoskeleton member 211 is disposed on the right side (−Y direction side) of the waist along the direction in which the waist extends from the hip joint to the back, and is fixed to the right side of the waist by a cloth belt member 217.

  Similarly to the connection member 112 of the above-described embodiment, the connection member 212 includes an L-shaped member formed into an L shape and two insertion holes formed into a U shape in an XY plan view. (See FIG. 2). The connection member 212 is fixedly connected to the lumbar exoskeleton member 211 on the −X direction side of the lumbar exoskeleton member 211, surrounds the actuator 250 in a U shape, and uses two insertion holes, The actuator 250 is rotatably locked in a direction substantially parallel to the rotation direction of the hip joint.

  Said 1st gear member 213 is comprised similarly to the 1st gear member 113 of embodiment mentioned above, and is fixedly connected to the -Y direction side of the hip joint side edge part of the waist exoskeleton member 211. FIG.

  The thigh exoskeleton member 221 is, for example, a long plate-shaped steel member. The thigh exoskeleton member 221 is disposed on the right side (−Y direction side) of the right thigh along the direction in which the right thigh extends from the hip joint, and is attached to the right thigh by cloth belt members 227 and 228. Fixed.

  The second gear member 223 is configured in the same manner as the second gear member 123 of the above-described embodiment, and is fixedly connected to the −Y direction side of the hip joint side end portion of the femoral exoskeleton member 221. Here, the ratio of the number of teeth of the first gear member 213 and the second gear member 223 is based on the stroke distance of the reciprocating motion of the piston rod 253 described later, the length of the second arm member 242, and the like. And the thigh exoskeleton member 221 are set so as to be within a suitable movable range of the hip joint.

  The first arm member 241 is a plate-shaped steel member in which two insertion holes are formed, like the first arm member 141 of the embodiment described above, and is perpendicular to the Y axis. Be placed. The shaft member AX1 of the first gear member 213 is inserted into one insertion hole of the first arm member 241 so that the first arm member 241 can rotate around the shaft member AX1, and the other insertion The shaft member AX2 of the second gear member 223 is rotatably inserted into the hole.

  The second arm member 242 is a flat steel member formed with two insertion holes, like the second arm member 142 of the above-described embodiment, and is perpendicular to the Y axis. Be placed. The shaft member AX1 of the first gear member 213 is inserted into one insertion hole of the second arm member 242 so that the second arm member 242 can rotate around the shaft member AX1. In addition, a protrusion JTR provided at the lower end of the piston rod 253 constituting the actuator 250 is rotatably inserted into the other insertion hole of the second arm member 242. Here, the length of the second arm member 242 is set to have a rotation angle and torque suitable for the hip joint when assisting hip joint movement.

  Here, the first arm member 241 and the second arm member 242 are fixed. Therefore, the second gear member 223 and the lower end portion of the piston rod 253 can rotate around the central axis of the first gear member 213.

The actuator 250 is configured in the same manner as the actuator 150 of the above-described embodiment (see FIGS. 1 and 4). That is, the actuator 250 includes a cylinder 251 configured similarly to the cylinder 151, a linear motion piston 252 configured similar to the linear motion piston 152, and a piston rod 253 configured similar to the piston rod 153. Yes. Note that the two protrusions JTS ₁ and JTS ₂ for rotatably locking the actuator 250 to the connecting member 212 are attached to the outer cylindrical surface on the + Z direction side of the cylinder 251 in the first modification. Yes.

  The adjusting unit 280 is configured in the same manner as the adjusting unit 180 of the above-described embodiment (see FIGS. 1 and 5). In other words, the adjustment unit 280 includes a pressurization pump configured similarly to the pressurization pump 181, a decompression pump configured similar to the decompression pump 182, and an electro-pneumatic control similar to the electro-pneumatic control valve 183. The control part comprised similarly to the valve and the control part 184, and the piping comprised similarly to the piping 185,186 are provided.

  The adjusting unit 280 communicates with the first cylinder chamber SR1 in the cylinder 251 through the pipe 291. In addition, the adjustment unit 280 communicates with the second cylinder chamber SR2 through the pipe 292. The adjustment unit 280 performs linear motion by switching the supply / suction of air in the first and second cylinder chambers SR1 and SR2 and adjusting the pressure, similarly to the adjustment unit 180 of the above-described embodiment. Push-pull control of the piston 252 is executed.

<Operation>
The operation of the joint motion assist apparatus 200 configured as described above, that is, the joint motion assist operation using the hip joint mechanism will be described.

  Initially, it is assumed that the hip joint is in an extended state, as shown in FIGS. 7 and 8A. 8A and 8B, the adjustment unit 280, the pipes 291 and 292, the belt members 217, 227, and 228, and the waist and thighs of the human body are illustrated. Is omitted.

  In the hip joint motion assist operation, when the hip joint is changed from the extended state to the bent state, the adjustment unit 280 supplies air to the first cylinder chamber SR1 and sucks air from the second cylinder chamber SR2. Do. As a result, the direct acting piston 252 in the cylinder 251 slides in the −Z direction (see FIG. 4), and an extension stroke of the piston rod 253 in which the protruding portion of the piston rod 253 from the cylinder 251 extends is obtained.

FIG. 8B shows a state of the joint motion assisting device 200 when the protruding portion of the piston rod 253 from the cylinder 251 is extended in the extension stroke of the piston rod 253. As shown in FIGS. 8A and 8B, due to the extension stroke of the piston rod 253, the lower end of the piston rod 253 moves around the central axis of the first gear member 213, and the + Y direction is the line-of-sight direction. Rotate counterclockwise in the XZ plan view. At this time, the cylinder 251 that is rotatably attached to the connecting member 212 in a direction substantially parallel to the rotational direction of the hip joint rotates counterclockwise around the protrusions JTS ₁ and JTS ₂ . As a result, before and after the extension stroke of the piston rod 253, the direction of the cylinder axis SAX is, for example, in the clockwise direction with respect to the Z axis (see FIG. 8 (A)), to the Z axis. On the other hand, it changes in the counterclockwise direction (see FIG. 8B).

  When the lower end portion of the piston rod 253 rotates counterclockwise, the second gear member 223 is connected to the second gear member 223 via the first and second arm members 241 and 242 in the same manner as the elbow joint movement assist operation in the above-described embodiment. Rotational force for rotating counterclockwise in a direction substantially parallel to the rotation direction of the hip joint is applied. When the rotational force is applied to the second gear member 223, the meshing position of the second gear member 223 with the first gear member 213 changes, and the second gear member 223 rotates counterclockwise. However, it revolves counterclockwise around the central axis of the first gear member 213. When the second gear member 223 rotates and revolves in this way, the thigh exoskeleton member 221 fixedly connected to the second gear member 223 rotates counterclockwise. As a result, the angle at which the lumbar exoskeleton member 211 fixed to the waist and the thigh exoskeleton member 221 cross to each other narrows, and the hip joint changes from the extended state to the bent state.

  When the hip joint is in a bent state (see FIG. 8B), when the hip joint is changed from the bent state to the extended state, the adjustment unit 280 sucks air from the first cylinder chamber SR1. Then, air is supplied to the second cylinder chamber SR2. As a result, the linear motion piston 252 in the cylinder 251 slides in the + Z direction (see FIG. 4), and the contraction stroke of the piston rod 253 in which the projecting portion of the piston rod 253 from the cylinder 251 contracts occurs.

FIG. 8 (A) shows a state of the joint motion assist device 200 when the protruding portion of the piston rod 253 from the cylinder 251 contracts during the contraction stroke of the piston rod 253. As shown in FIGS. 8A and 8B, the lower end portion of the piston rod 253 rotates around the central axis of the first gear member 213 in the clockwise direction by the contraction stroke of the piston rod 253. At this time, the cylinder 251 attached to the connection member 212 so as to be rotatable in a direction substantially parallel to the rotation direction of the hip joint rotates clockwise around the protrusions JTS ₁ and JTS ₂ . As a result, before and after the contraction stroke of the piston rod 253, the direction of the cylinder axis SAX is, for example, in a counterclockwise direction with respect to the Z axis (see FIG. 8B), from the Z axis In the clockwise direction (see FIG. 1A).

  When the lower end portion of the piston rod 253 rotates clockwise in this way, the second gear member 223 is moved to the second gear member 223 via the first and second arm members 241 and 242 in the same manner as the elbow joint movement assist operation in the above-described embodiment. Rotational force for turning clockwise in a direction substantially parallel to the turning direction of the hip joint is applied. When the rotational force is applied to the second gear member 223, the meshing position of the second gear member 223 with the first gear member 213 changes, and the second gear member 223 rotates while rotating clockwise. The first gear member 213 revolves clockwise around the central axis. When the second gear member 223 rotates and revolves in this way, the thigh exoskeleton member 221 fixedly connected to the second gear member 223 rotates clockwise. As a result, the angle at which the lumbar exoskeleton member 211 fixed to the waist and the thigh exoskeleton member 221 cross to the thigh expands, and the hip joint changes from the bent state to the extended state.

  Therefore, according to the first modification that assists the hip joint motion, the structure is compact and the hip joint motion can be appropriately assisted.

<Second Modification>
Next, a joint motion assist device for assisting joint motion performed using the elbow joint mechanism according to the second modification will be described with reference mainly to FIG.

"Constitution"
FIG. 9 shows an external view of a joint motion assist device 100B according to the second modification. Here, FIG. 9A shows a state when the protruding portion of the piston rod 153 from the cylinder 151 is contracted, and FIG. 9B shows a state where the protruding portion is extended. The state of is shown.

  As shown in FIGS. 9A and 9B, the joint motion assist device 100B is compared with the joint motion assist device 100 (see FIGS. 1, 6A, and 6B) of the above-described embodiment. The cylinder 151 is not attached to the connection member 112 so as to be rotatable, but is fixedly attached to the connection member 112, and a second arm member 142B is provided instead of the second arm member 142. The point is different. Hereinafter, the description will be given mainly focusing on these differences.

  In the joint motion assist device 100B shown in FIGS. 9A and 9B, the adjustment unit 180, the pipes 191 and 192, and the belt members 117, 118, and 127 are the same as in FIGS. 6A and 6B. , 128, and the arm parts of the human body are not shown.

In the joint motion assisting device 100B, screw holes are formed and processed on each of the + Y direction side surface and the −Y direction side surface of the cylinder 151 facing the cylindrical center axis of the cylinder 151. The cylinder 151 is surrounded by the connection member 112 in a U shape, and the screw members SRS ₁ and SRS ₂ (not shown for the screw member SRS ₂ ) are screw holes using the two insertion holes of the connection member 112. Inserted into.

  The second arm member 142B is, for example, a flat steel member, and is disposed so as to be perpendicular to the Y axis, similarly to the second arm member 142 of the above-described embodiment. The second arm member 142B is formed with an insertion hole and a long hole LL as a housing portion. The shaft member AX1 of the first gear member 113 is inserted into the insertion hole of the second arm member 142B so that the second arm member 142B can rotate around the shaft member AX1. In addition, a protrusion JTR provided at the lower end of the piston rod 153 is inserted into the elongated hole LL of the second arm member 142 so as to be movable along the elongated hole direction.

<Operation>
Description will be made by paying attention to the operation of the joint motion assisting apparatus 100B configured as described above, that is, the joint motion assist operation using the elbow joint mechanism.

  Initially, it is assumed that the elbow joint is in an extended state as shown in FIG.

  When the elbow joint is changed from the extended state to the bent state, the elbow joint movement assist operation extends the protruding portion of the piston rod 153 from the cylinder 151 by adjusting the air pressure in the cylinder chamber by the adjusting unit 180. FIG. 9B shows a state of the joint motion assisting device 100B when the protruding portion of the piston rod 153 from the cylinder 151 is extended in the extension stroke of the piston rod 153. As shown in FIGS. 9A and 9B, the lower end portion of the piston rod 153 linearly moves in the −Z direction by the extension stroke of the piston rod 153.

  Thus, when the lower end portion of the piston rod 153 linearly moves in the −Z direction, the distance between the lower end portion and the first gear member 113 is changed, and the second arm member 142B is moved to the central axis of the first gear member 113. Rotate counterclockwise in the XZ plan view with the + Y direction as the viewing direction. At this time, the position of the protrusion JTR inserted in the elongated hole of the second arm member 142B in the elongated hole changes, so that the linear movement in the −Z direction of the lower end portion of the piston rod 153, and the second arm member The rotation of 142B is not hindered.

  When the second arm member 142B rotates counterclockwise, the elbow joint rotates to the second gear member 123 via the first arm member 141 in the same manner as the elbow joint motion assist operation in the above-described embodiment. A turning force for rotating counterclockwise in a direction substantially parallel to the direction is applied. When the rotational force is applied to the second gear member 123, the second gear member 123 revolves counterclockwise about the central axis of the first gear member 113 while rotating counterclockwise. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates counterclockwise. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm portion and the forearm exoskeleton member 121 fixed to the forearm portion intersect is narrowed, similar to the assist operation of the elbow joint motion in the embodiment, The elbow joint changes from the extended state to the bent state.

  Further, when the elbow joint is in the bent state (see FIG. 9B), when the elbow joint is changed from the bent state to the extended state, the piston from the cylinder 151 is adjusted by adjusting the air pressure in the cylinder chamber by the adjusting unit 180. The protruding portion of the rod 153 is contracted.

  FIG. 9A shows a state of the joint motion assisting device 100B when the protruding portion of the piston rod 153 from the cylinder 151 contracts during the contraction stroke of the piston rod 153. As shown in FIGS. 9A and 9B, the lower end portion of the piston rod 153 linearly moves in the + Z direction by the contraction stroke of the piston rod 153.

  When the lower end portion of the piston rod 153 moves linearly in the + Z direction in this way, the distance between the lower end portion and the first gear member 113 changes, and the second arm member 142B moves around the central axis of the first gear member 113. Rotate clockwise. At this time, since the position of the lower end portion of the piston rod 153 in the elongated hole of the second arm member 142B changes, linear movement in the + Z direction of the lower end portion of the piston rod 153 and rotation of the second arm member 142B are prevented. There is no.

  When the second arm member 142B rotates clockwise, the rotation direction of the elbow joint is moved to the second gear member 123 via the first arm member 141 in the same manner as the assist operation of the elbow joint motion in the above-described embodiment. Is applied in order to rotate clockwise in a direction substantially parallel to the. When the rotational force is applied to the second gear member 123, the second gear member 123 revolves clockwise around the central axis of the first gear member 113 while rotating clockwise. When the second gear member 123 rotates and revolves in this way, the forearm exoskeleton member 121 fixedly connected to the second gear member 123 rotates in the clockwise direction. As a result, the angle at which the upper arm exoskeleton member 111 fixed to the upper arm portion and the forearm exoskeleton member 121 fixed to the forearm portion intersect, as in the elbow joint movement assist operation in the embodiment, The elbow joint changes from a bent state to an extended state.

  Therefore, according to the second modification for assisting the motion of the elbow joint, the structure is compact and the joint motion of the elbow joint can be appropriately assisted.

  In the above embodiment and the second modification, the joint motion assist device that assists the motion of the right elbow joint of the human body has been described. However, the joint motion assist device that assists the motion of the left elbow joint may be used. Of course. In the first modified example, the joint motion assist device that assists the motion of the right hip joint of the human body has been described. However, it is needless to say that the joint motion assist device may assist the motion of the left hip joint.

  Of course, the modification to the first modification of the embodiment, that is, the adoption to the hip joint exercise assist can be applied to the second modification.

  Of course, the joint motion assist device of the present invention can be applied when assisting motions such as knee joints other than the elbow joint and hip joint.

  In the above-described embodiment, the first and second modified examples, the first gear member and the second gear member are external gears in which teeth are formed on a cylindrical outer peripheral portion. On the other hand, as shown in the Y direction view of FIG. 10A and the X direction view of FIG. 10B, the bottomed cylindrical member having the shaft member AX1 as the central axis is shown. An internal gear having teeth on the inner periphery is defined as the first gear member 113C, and an external gear having teeth formed on the outer periphery of the cylindrical member having the shaft member AX2 as the central axis is defined as the second gear member 123C. You may make it.

  The first gear member 113C has a bottom surface on the + Y direction side, and the shaft member AX1 is attached to the bottom surface. The first gear member 113C is fixedly connected to the −Y direction side of the elbow joint side end of the upper arm exoskeleton member 111. The second gear member 123 </ b> C is fixedly connected to the + Y direction side of the elbow joint side end of the forearm exoskeleton member 121.

  In this case, unlike the case where the first gear member and the second gear member are external gears, the angle at which the two exoskeleton members intersect is narrowed during the contraction stroke of the piston rod 153, and the joint is in the extended state. Will be bent. Further, during the extension stroke of the piston rod 153, the angle at which the two exoskeleton members intersect increases, and the joint changes from the bent state to the extended state.

  Further, as shown in FIGS. 11A and 11B, tooth portions are formed on the outer peripheral portion of the elliptical column-shaped member having the shaft member AX1 as the central axis as the first gear member and the second gear member. The external gear may be the first gear member 113D, and the external gear in which the tooth portion is formed on the outer periphery of the elliptical column member having the shaft member AX2 as the central axis may be the second gear member 123D. Here, FIG. 11A shows a state when the protruding portion of the piston rod 153 from the cylinder is contracted, and FIG. 11B shows a state when the protruding portion is extended. The state is shown.

  In this case, when the second gear member 123D rotates around the first gear member 113D, the distance between the shaft members AX1 and AX2 changes. For this reason, it is possible to employ the first arm member 141D having the spring member SP having the structure shown in FIG. 11 corresponding to the change in the distance. The first arm member 141D is, for example, a flat steel member, and is disposed on the −Y direction side of the first and second gear members 113D and 123D so as to be perpendicular to the Y axis. The first arm member 141D is formed with a shaft insertion hole and a long hole LH. Then, the shaft member AX1 of the first gear member 113D is inserted into the shaft insertion hole so that the first arm member 141D can rotate around the shaft member AX1. Further, the shaft member AX2 of the second gear member 123D is inserted into the elongated hole LH so as to be movable along the elongated hole direction.

  In this modification, a ring is attached to one end of the spring member SP, and the shaft member AX1 is rotatably inserted into the ring. A ring is also attached to the other end of the spring member SP, and the shaft member AX2 is rotatably inserted into the ring. As a result, even when the distance between the shaft members AX1 and AX2 changes, the shaft member AX2 can move in the length direction of the long hole LH, so that the first gear member 113D and the second gear member 123D are engaged. Can be secured.

  Here, in this modification, the first arm member 141D is arranged on the −Y direction side of the first and second gear members 113D and 123D, but is configured in the same manner as the first arm member 141D. The first arm member is also arranged on the + Y direction side of the first and second gear members 113D and 123D, and the shaft member AX1 and the shaft member AX2 penetrating the first and second gear members 113D and 123D are respectively connected to the −Y direction. You may make it insert in each of the shaft insertion hole and long hole LH of two 1st arm members arrange | positioned at the side and + Y direction side. In this case, the second arm member configured in the same manner as the second arm member 142 is also arranged on the + Y direction side of the first gear member 113D, and also protrudes on the + Y direction side of the lower end portion of the piston rod 153. The part JTR ′ is attached (see FIG. 12). Then, the shaft member AX1 penetrating the first gear member 113D is rotatably inserted into each of the one insertion hole of the two second arm members arranged on the −Y direction side and the + Y direction side. Further, the protrusion JTR provided on the −Y direction side of the piston rod 153 and the protrusion JTR ′ provided on the + Y direction side are connected to the two second arm members disposed on the −Y direction side and the + Y direction side. The other insertion hole is rotatably inserted.

  Moreover, the structure which arrange | positions the 1st and 2nd arm member mentioned above in the -Y direction side and + Y direction side of a 1st and 2nd gear member is also applicable to a 2nd modification.

  In order to cope with the change in the distance between the shaft members AX1 and AX2, the first arm member and the second arm member are integrated, and the shaft insertion for inserting the shaft member AX1 into the integrated member is performed. A hole, a long hole LH for inserting the shaft member AX2, and an insertion hole for inserting the protrusion JTR provided in the piston rod 153 are formed and processed. Then, the shaft member AX1 and the shaft member AX2 may be elastically biased by the spring member SP. In addition, in order to elastically bias the shaft member AX1 and the shaft member AX2, other elastic members such as a rubber member may be employed instead of the spring member SP.

  In the above-described embodiment and modification, the tooth portion is formed on the entire outer peripheral portion or the entire inner peripheral portion of the first gear member and the second gear member. You may make it form a tooth | gear part in a part of outer peripheral part of a gear member, or a part of inner peripheral part. Further, the pitch circle radius of the first gear member and the pitch circle radius of the second gear member may be the same or different.

  The shapes of the first gear member and the second gear member are not limited to these, and may be an external gear or an internal gear having a shape other than a columnar shape, a cylindrical shape, or an elliptical column shape. Further, the spurs of the first gear member and the second gear member may be spur gears, for example, helical gears in which the tooth streaks are inclined with respect to the rotation axis. .

  Moreover, in said embodiment and modification, although the 1st and 2nd gear member was made from steel, the material of the said member is lightweight and strong, such as fiber reinforced plastics including glass fiber or carbon fiber, for example. Of course, it may be a material.

  In the above-described embodiment and modification, the first and second arm members, the upper arm exoskeleton member, the forearm exoskeleton member, the lumbar exoskeleton member, the thigh exoskeleton member, and the connection member are made of steel. Of course, the material of the member may be a lightweight and strong material such as fiber reinforced plastic including glass fiber or carbon fiber, or bamboo which is a natural material.

  In the embodiment and the modification described above, the first arm member and the second arm member are provided as the connecting members, but a connecting member in which the first arm member and the second arm member are integrated is adopted. You may make it do.

  Further, in the above-described embodiments and modifications, a cloth belt member is used to attach the joint motion assist device to a human body part. However, joint motion using a metal belt, a plastic belt, or a wire is used. The assist device may be attached to a part of the human body.

  In the above-described embodiment and modification, the adjustment unit includes a pressurization pump, a decompression pump, an electro-pneumatic control valve, a control unit, and the like (see FIG. 4). Good. For example, it can be set as the structure provided with a rotary vane type air pump, a control part, etc. In this case, the air pump supplies air to the cylinder chamber and sucks air from the cylinder chamber under the control of the control unit.

  Moreover, as a structure of an adjustment part, the manual type which can supply the air to a cylinder chamber and can attract | suck the air from a cylinder chamber may be used. The adjusting unit controls the differential pressure between the two cylinder chambers by supplying air to one cylinder chamber partitioned by the direct acting piston and discharging the air in the other cylinder chamber to the outside air. There may be.

  In the above embodiment, the biological information related to the muscle that drives the joint is a biological signal such as an electromyogram or muscle hardness. However, the user's brain wave may be used as the biological information. .

  In the joint motion assist device of the present invention, the working fluid is air, but it may be liquid such as water or oil.

  When used in the field of care and welfare, the joint motion assist device of the present invention is not only worn by a caregiver as a power assist device, but is also used by a care recipient who is weak in power assist or rehabilitation. It can also be used as a device for use. Further, the joint motion assist device of the present invention can also be used as a power assist device for lifting heavy objects outside the fields of care and welfare.

  In the above-described embodiment, the present invention is applied to the joint motion assist device that assists the joint motion of the human body. However, a predetermined target such as an exoskeleton mammal other than the human body having a joint mechanism, an exoskeleton robot, or the like. The present invention can also be applied to a joint motion assist device that assists joint motion of an object.

As described above, the joint motion assist device of the present invention can be applied to a joint motion assist device that assists joint motion of a human body .

100 and 100B, 200 ... articulation assist device, 111 ... (a portion of the first outer frame member) upper arm exoskeleton member, 112 ... connecting member (a portion of the first outer frame member), 112 _L ... L-shaped member , 112 _U ... U-shaped member, 113, 113C, 113D ... first gear member, 117, 118 ... belt member, 121 ... forearm exoskeleton member (second exoskeleton member), 121 ₁ ... long plate-like exoskeleton member 121 ₂ ... forearm holding member, 123, 123C, 123D ... second gear member, 127, 128 ... belt member, 141, 141D ... first arm member (first connecting member), 142, 142B ... second arm member ( (Second connecting member), 150 ... actuator, 151 ... cylinder, 152 ... linear motion piston, 153 ... piston rod, 180 ... adjusting unit, 181 ... pressure pump, 182 ... pressure reduction pump, 183 Electro-pneumatic control valve, 184 ... control unit, 185, 186 ... piping, 191, 192 ... piping, 211 ... waist exoskeleton member (part of first exoskeleton member), 212 ... connecting member (first exoskeleton member) 213 ... first gear member, 217 ... belt member, 221 ... femoral exoskeleton member (second exoskeleton member), 223 ... second gear member, 227,228 ... belt member, 241 ... first arm Member (first connecting member), 242 ... second arm member (second connecting member), 250 ... actuator, 251 ... cylinder, 252 ... direct acting piston, 253 ... piston rod, 280 ... adjusting unit, 291,292 ... piping , AX1, AX2 ... shaft _{member, JTS 1, JTS 2, JTR} , JTR '... protrusion, LH ... elongated hole, LL ... elongated hole (housing portion), PT1 ... first supply and exhaust port, PT2 ... second supply and exhaust Port, S ... spring member, SR1 ... first cylinder chamber, SR2 ... second cylinder chamber, SRS ₁ ... screw member, ST1, ST2 ... stopper.

Claims (7)

A joint mechanism that is attached to a human body having a skeletal structure and uses a joint mechanism that connects one side part and the other side part of the human body to perform joint motion required when the human body lifts or lowers an object. An exoskeleton-type joint motion assist device to assist,
A first exoskeleton member attached to the one side portion along a direction in which the one side portion extends from the joint;
A second exoskeleton member attached to the other side portion along a direction in which the other side portion extends from the joint;
When the first exoskeleton member is fixedly connected to the joint-side end of the first exoskeleton member and the first exoskeleton member is attached to the one side portion , along the rotational movement direction of the joint, A first gear member having a tooth portion formed on at least a part of one of the outer peripheral portion and the inner peripheral portion and having an axis substantially parallel to the rotational axis of the rotational movement of the joint as a central axis ;
When the second exoskeleton member is attached to the other side portion of the second exoskeleton member, the tooth portion that is fixedly connected to the joint-side end portion and can mesh with the first gear member . And a second gear member formed on at least a part of the outer peripheral portion along the rotational movement direction of the joint and having an axis substantially parallel to the rotational axis of the rotational movement of the joint as a central axis ;
A cylinder rotatably attached to the first exoskeleton member in a direction substantially parallel to the rotation direction of the joint ;
A piston rod having one end connected to a linear piston that reciprocates in the cylinder, penetrates one end of the cylinder, and reciprocates linearly with the linear piston;
The meshing between the first gear member and the second gear member is ensured, and the other end portion of the piston rod and the second gear member are substantially parallel to the rotation axis of the rotation movement of the joint. It is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member so as to be rotatable around the central axis of the first gear member. A connecting member that connects the second gear member and the other end of the piston rod so as to be rotatable about a central axis of the first gear member in a direction substantially parallel to a rotating direction of the joint ; Comprising
Due to the stroke of the linear motion piston, the other end of the piston rod rotates around the central axis of the first gear member under the restraint of the connecting member, and the rotation causes the piston rod and The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint via the connecting member, and the second gear member is a central axis of the first gear member. Revolving in the same direction as the rotation around the center, and the meshing position of the tooth portion of the second gear member and the tooth portion of the first gear member changes, whereby the second gear member rotates , The angle at which the first exoskeleton member fixedly connected to the first gear member and the second exoskeleton member fixedly connected to the second gear member intersect, Assisting joint movement,
An articulation assist device characterized by the above. The connecting member is
A first connecting member that secures engagement between the first gear member and the second gear member;
A second connecting member fixedly connected to the first connecting member and connected to the other end of the piston rod so as to be rotatable in a direction substantially parallel to the rotating direction of the joint;
The joint motion assist device according to claim 1 . The first gear member is fixedly connected to the joint-side end portion of the first exoskeleton member, and has a cylindrical shape centering on an axis substantially parallel to a rotation axis of the rotation movement of the joint. And
The second gear member is fixedly connected to the joint-side end of the second exoskeleton member, and has a cylindrical shape centering on an axis substantially parallel to the rotation axis of the rotation of the joint. And
The tooth portion of the first gear member is formed on the outer periphery of the cylinder,
The tooth part of the second gear member is formed on the outer periphery of the cylinder,
The piston rod is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member by the extension stroke of the protruding portion of the piston rod from the cylinder , and the second gear The member and the other end of the piston rod are connected to each other in a direction substantially parallel to the rotation direction of the joint so as to be rotatable around the central axis of the first gear member. Then, the other end of the piston rod rotates in one direction around the central axis of the first gear member, and the rotation in the one direction causes the piston rod and the connecting member to pass through. The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. In the direction And the second gear member rotates in the one direction by changing the meshing position of the tooth portion of the second gear member and the tooth portion of the first gear member. said first outer frame member which is fixedly connected to the member, said fixedly attached to said second outer frame member has the narrow angle intersecting the second gear member, said joint from extended state Bend,
Due to the contraction process of the projecting portion, the other end of the piston rod moves in a different direction from the one direction around the central axis of the first gear member under the restraint of the connecting member. By rotating in the other direction, rotational force is applied to the second gear member via the piston rod and the connecting member to rotate in a direction substantially parallel to the rotation direction of the joint. The second gear member revolves in the other direction around the central axis of the first gear member, and the meshing position of the second gear member with the first gear member changes, The second gear member rotates in the other direction, the first exoskeleton member fixedly connected to the first gear member, and the second gear member fixedly connected to the second gear member the angle and the second outer frame member intersecting Rising, and in the extended state the joint from the bent state,
The one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state.
The joint motion assisting device according to claim 1 , wherein the joint motion assisting device is provided. The first gear member is an elliptical cylinder having a central axis that is fixedly connected to an end of the first exoskeleton member on the joint side and that is substantially parallel to a rotation axis of the rotation of the joint. Is a shape,
The second gear member is an elliptical cylinder centered on an axis substantially parallel to the rotation axis of the rotation movement of the joint, which is fixedly connected to the end of the second exoskeleton member on the joint side. Is a shape,
The tooth portion of the first gear member is formed on the outer peripheral portion of the elliptic cylinder,
The tooth part of the second gear member is formed on the outer peripheral part of the elliptical column,
The piston rod is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member by the extension stroke of the protruding portion of the piston rod from the cylinder , and the second gear The member and the other end of the piston rod are connected to each other in a direction substantially parallel to the rotation direction of the joint so as to be rotatable around the central axis of the first gear member. Then, the other end of the piston rod rotates in one direction around the central axis of the first gear member, and the rotation in the one direction causes the piston rod and the connecting member to pass through. The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. In the direction The second gear member rotates in the one direction and is fixedly connected to the first gear member by changing the meshing position of the second gear member with the first gear member. The angle at which the first exoskeleton member that is being connected to the second exoskeleton member fixedly connected to the second gear member is narrowed, and the joint is changed from an extended state to a bent state,
Due to the contraction process of the projecting portion, the other end of the piston rod moves in a different direction from the one direction around the central axis of the first gear member under the restraint of the connecting member. By rotating in the other direction, rotational force is applied to the second gear member via the piston rod and the connecting member to rotate in a direction substantially parallel to the rotation direction of the joint. The second gear member revolves in the other direction around the central axis of the first gear member, and the meshing position of the second gear member with the first gear member changes, The second gear member rotates in the other direction, the first exoskeleton member fixedly connected to the first gear member, and the second gear member fixedly connected to the second gear member the angle and the second outer frame member intersecting Rising, and in the extended state the joint from the bent state,
The one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state.
The joint motion assisting device according to claim 1 , wherein the joint motion assisting device is provided. The first gear member is a cylinder having a central axis that is fixedly connected to an end of the first exoskeleton member on the joint side and that is substantially parallel to a rotation axis of the rotation movement of the joint. And
The second gear member is fixedly connected to the joint-side end of the second exoskeleton member, and has a cylindrical shape centering on an axis substantially parallel to the rotation axis of the rotation of the joint. And
The tooth portion of the first gear member is formed on the inner peripheral portion of the cylinder,
The tooth part of the second gear member is formed on the outer periphery of the cylinder,
The piston rod is attached to the other end of the piston rod, the central axis of the second gear member, and the central axis of the first gear member by the extension stroke of the protruding portion of the piston rod from the cylinder , and the second gear The member and the other end of the piston rod are connected to each other in a direction substantially parallel to the rotation direction of the joint so as to be rotatable around the central axis of the first gear member. Then, the other end of the piston rod rotates in one direction around the central axis of the first gear member, and the rotation in the one direction causes the piston rod and the connecting member to pass through. The second gear member is provided with a rotational force that rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is centered on the central axis of the first gear member. In the direction And the second gear member rotates in another direction different from the one direction by changing the meshing position of the second gear member with the first gear member, and the first gear The angle at which the first exoskeleton member fixedly connected to the member and the second exoskeleton member fixedly connected to the second gear member intersect is widened , and the joint is bent from the bent state. In the extended state ,
Due to the contraction process of the protruding portion, the other end of the piston rod rotates in the other direction around the central axis of the first gear member under the restraint of the connecting member, Rotational power is applied to the second gear member via the piston rod and the connecting member, so that the second gear member rotates in a direction substantially parallel to the rotation direction of the joint, and the second gear member is rotated. When the member revolves in the other direction around the central axis of the first gear member, and the meshing position of the second gear member with the first gear member changes, the second gear member The first exoskeleton member rotating in the one direction and fixedly connected to the first gear member; and the second exoskeleton member fixedly connected to the second gear member; There narrowed angle crossing, the joint From exhibition state to bend state,
The one direction is a rotation direction of the joint movement from the extended state to the bent state, and the other direction is a rotation direction of the joint movement from the bent state to the extended state.
The joint motion assisting device according to claim 1 , wherein the joint motion assisting device is provided. The joint of the human body is an elbow joint;
The first exoskeleton member is attached to the upper arm, and the second exoskeleton member is attached to the forearm;
The joint motion assist device according to any one of claims 1 to 5 , wherein: The joint of the human body is a hip joint;
The first exoskeleton member is attached to the waist and the second exoskeleton member is attached to the thigh;
The joint motion assist device according to any one of claims 1 to 5 , wherein:

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