JP5048588B2 - Walking assist device - Google Patents

Walking assist device Download PDF

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JP5048588B2
JP5048588B2 JP2008134084A JP2008134084A JP5048588B2 JP 5048588 B2 JP5048588 B2 JP 5048588B2 JP 2008134084 A JP2008134084 A JP 2008134084A JP 2008134084 A JP2008134084 A JP 2008134084A JP 5048588 B2 JP5048588 B2 JP 5048588B2
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seating member
wall
leg link
support member
seating
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JP2009279173A (en
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康 池内
淳 芦原
徹 藤平
要一 西村
工藤　　浩
豊 日木
誠 宍戸
達哉 野田
広志 松田
慶久 松岡
隆造 横山
英治 二宮
健 輿石
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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本発明は、利用者の脚に作用する荷重を軽減して歩行を補助する歩行補助装置に関する。   The present invention relates to a walking assist device that assists walking by reducing a load acting on a user's leg.

従来、この種の歩行補助装置として、利用者が跨ぐようにして着座する着座部材と、着座部材に連結され、中間に関節部を有する脚リンクと、関節部を駆動する駆動源とを備えるものが知られている（例えば、特許文献１参照）。これによれば、駆動源による関節部の駆動で着座部材を押し上げる方向に脚リンクを動作させることにより、利用者の体重の少なくとも一部を着座部材を介して脚リンクで支えられるようになり、利用者の脚に作用する荷重を軽減して歩行を補助できる。
特開２００７−２０９０９号公報 Conventionally, as this kind of walking assistance device, a seating member on which a user sits straddling, a leg link connected to the seating member and having a joint part in the middle, and a drive source for driving the joint part Is known (see, for example, Patent Document 1). According to this, by operating the leg link in the direction of pushing up the seating member by driving the joint portion by the drive source, at least a part of the weight of the user can be supported by the leg link via the seating member, Walking can be assisted by reducing the load acting on the user's leg.
JP 2007-20909 A

ところで、歩行補助装置を利用する利用者は長い時間歩行することが困難なことが多い。この場合、歩行補助装置を椅子代りに利用できれば、歩行補助装置を装着したまま休むことができ、利便性が向上する。然し、上記従来例では、着座部材を自立した状態で支持できず、歩行補助装置を椅子代りに利用することできない。   By the way, it is often difficult for a user who uses the walking assistance device to walk for a long time. In this case, if the walking assistance device can be used instead of the chair, the user can rest with the walking assistance device attached, and convenience is improved. However, in the above conventional example, the seating member cannot be supported in a self-supporting state, and the walking assist device cannot be used instead of the chair.

本発明は、以上の点に鑑み、椅子代りに利用できるようにした歩行補助装置を提供することをその課題としている。   In view of the above points, an object of the present invention is to provide a walking assistance device that can be used instead of a chair.

上記課題を解決するために、本発明は、利用者が跨ぐようにして着座する着座部材と、着座部材に連結され、中間に関節部を有する脚リンクと、関節部を駆動する駆動源とを備え、駆動源による関節部の駆動で着座部材を押し上げる方向に脚リンクを動作させて、利用者の体重の少なくとも一部を着座部材を介して脚リンクで支えるようにした歩行補助装置であって、着座部材に、壁または床面に接触可能な支持部材が取付けられ、支持部材を壁または床面に接触させることで椅子代りになることを特徴とする。   In order to solve the above problems, the present invention provides a seating member on which a user sits so as to straddle, a leg link connected to the seating member and having a joint portion in the middle, and a drive source for driving the joint portion. A walking assist device that operates a leg link in a direction to push up a seating member by driving a joint portion by a drive source and supports at least a part of a user's weight with the leg link through the seating member. The seat member is provided with a support member that can contact the wall or the floor surface, and the chair member can be used by contacting the support member with the wall or floor surface.

本発明によれば、支持部材が壁に接触可能なものである場合、壁と脚リンクとで着座部材が自立可能に支持され、また、支持部材が床面に接触可能なものである場合は、支持部材と脚リンクとで着座部材が自立可能に支持される。従って、何れの場合も歩行補助装置を椅子代りに利用して、歩行補助装置を装着したまま休むことができ、利便性が向上する。   According to the present invention, when the support member can contact the wall, the seat member is supported by the wall and the leg link so as to be able to stand on its own, and when the support member can contact the floor surface. The seat member is supported by the support member and the leg link so as to be able to stand by itself. Therefore, in any case, the walking assistance device can be used instead of the chair, and the user can rest while wearing the walking assistance device, thereby improving convenience.

また、本発明においては、支持部材が壁または床面に接触したときに関節部をロックするロック機構を備える。これによれば、椅子代りに利用するときに、関節部をロックして、着座部材を安定させることができる。 In the present invention, the support member is Ru with a locking mechanism for locking the joint when in contact with the wall or floor. According to this, when using the chair instead, to lock the Takashi Seki, the seating member can be stabilized.

尚、支持部材が壁に接触したときに、先ず、着座部材の下降量に応じて着座部材の押し上げ力が強くなるように駆動源を制御すると共に、着座部材の下降量に対する着座部材の押し上げ力の変化率を経時的に増加する制御を行い、この変化率が所定値に増加したときにロック機構を作動させる。これによれば、利用者の脚の脱力で着座部材が歩行時の高さから下降するのに伴い着座部材の押し上げ力が加速度的に強められて、その後ロック機構が作動することになり、歩行状態から椅子代りの利用状態にスムーズに移行させることができる。 Incidentally, when the supporting support member is in contact with the wall, first, the push-up force of the seat member to control the drive source so that increased in accordance with the amount of downward movement of the seating member, the push-up of the seat member relative to the amount of descent of the seating member performed over time control to increase the rate of change of force, Ru actuates the locking mechanism when the rate of change is increased to a predetermined value. According to this, as the seating member descends from the height during walking due to the weakness of the leg of the user, the pushing-up force of the seating member is accelerated and the lock mechanism is activated thereafter, and the walking It is possible to smoothly shift from the state to the use state instead of the chair.

また、支持部材が壁に接触したときに、先ず、着座部材の下降量に応じて着座部材の押し上げ力が強くなるように駆動源を制御し、着座部材の押し上げ力が所定値に増加したときにロック機構を作動させる。 Also, when the support member comes into contact with the wall, first, the drive source is controlled so that the pushing force of the seating member is increased according to the descending amount of the seating member, and the pushing force of the seating member is increased to a predetermined value. Ru activates the lock mechanism to.

以下、本発明の実施形態の歩行補助装置について説明する。歩行補助装置は、図１及び図２に示す如く、利用者Ｐが跨ぐようにして着座する着座部材１と、着座部材１に連結される左右一対の脚リンク２，２とを備えている。   Hereinafter, a walking assistance device according to an embodiment of the present invention will be described. As shown in FIGS. 1 and 2, the walking assistance device includes a seating member 1 on which a user P sits and a pair of left and right leg links 2 and 2 connected to the seating member 1.

各脚リンク２は、着座部材１に設けた第１関節部３に連結される第１リンク部材４と、第１リンク部材４の下端に回転式の第２関節部５を介して連結される第２リンク部材６とを備える屈伸自在なリンクで構成される。また、第２リンク部材６の下端には、第３関節部７を介して、利用者Ｐの左右の各足平に装着される接地部材８が連結されている。   Each leg link 2 is connected to the first link member 4 connected to the first joint portion 3 provided on the seating member 1 and the lower end of the first link member 4 via the rotary second joint portion 5. The second link member 6 includes a flexible link. In addition, the lower end of the second link member 6 is connected to the grounding member 8 that is attached to the left and right feet of the user P via the third joint portion 7.

各脚リンク２には、更に、第２関節部５用の駆動源９が搭載されている。そして、駆動源９による第２関節部５の回転駆動で各脚リンク２を伸び方向、即ち、着座部材１を押し上げる方向に駆動し、着座部材１の押し上げ力(以下、免荷力という)を発生させるようにしている。各脚リンク２で発生された免荷力は着座部材１を介して利用者Ｐの体幹に伝達される。即ち、免荷力により利用者Ｐの体重の一部が着座部材１を介して脚リンク２，２で支えられ、利用者Ｐの脚に作用する荷重が軽減される。   Each leg link 2 is further equipped with a drive source 9 for the second joint 5. Then, each leg link 2 is driven in the extending direction, that is, the direction in which the seating member 1 is pushed up by the rotational drive of the second joint portion 5 by the drive source 9, and the pushing-up force (hereinafter referred to as unloading force) of the seating member 1 is generated. It is trying to generate. The unloading force generated at each leg link 2 is transmitted to the trunk of the user P via the seating member 1. That is, a part of the weight of the user P is supported by the leg links 2 and 2 via the seating member 1 by the load-carrying force, and the load acting on the leg of the user P is reduced.

着座部材１は、利用者Ｐが着座するサドル状のシート部１ａと、シート部１ａを支持する下面の支持フレーム１ｂとで構成される。   The seating member 1 includes a saddle-shaped seat portion 1a on which a user P is seated, and a lower support frame 1b that supports the seat portion 1a.

また、着座部材１は、各脚リンク２用の第１関節部３を構成する円弧状のガイドレール３ａを備えている。そして、このガイドレール３ａに、各脚リンク２を第１リンク部材４の上端部に固定されるスライダー４ａに軸着した複数のローラ４ｂを介して移動自在に係合させている。かくして、各脚リンク２はガイドレール３ａの曲率中心を中心にして前後方向に揺動することになり、各脚リンク２の前後方向の揺動支点はガイドレール３ａの曲率中心になる。   The seating member 1 includes an arcuate guide rail 3 a that constitutes the first joint portion 3 for each leg link 2. Each leg link 2 is movably engaged with the guide rail 3a via a plurality of rollers 4b pivotally attached to a slider 4a fixed to the upper end portion of the first link member 4. Thus, each leg link 2 swings in the front-rear direction around the center of curvature of the guide rail 3a, and the swing support point in the front-rear direction of each leg link 2 becomes the center of curvature of the guide rail 3a.

また、ガイドレール３ａは、着座部材１の支持フレーム１ｂの後端の立上り部に前後方向の支軸３ｂを介して軸支されている。従って、ガイドレール３ａは、着座部材１に横方向に揺動自在に連結される。これにより、各脚リンク２の横方向への揺動が許容されて、利用者Ｐの脚を外転できるようになる。尚、ガイドレール３ａの曲率中心及び支軸３ｂの軸線はシート部１ａより上方に位置する。そのため、利用者Ｐの体重移動で着座部材１が上下左右に大きく傾動することを防止できる。   Further, the guide rail 3a is pivotally supported on a rising portion at the rear end of the support frame 1b of the seating member 1 via a support shaft 3b in the front-rear direction. Therefore, the guide rail 3a is connected to the seating member 1 so as to be swingable in the lateral direction. Thereby, the rocking | fluctuation to the horizontal direction of each leg link 2 is accept | permitted, and the leg of the user P can be abducted. The center of curvature of the guide rail 3a and the axis of the support shaft 3b are located above the seat portion 1a. Therefore, it is possible to prevent the seating member 1 from tilting greatly in the vertical and horizontal directions due to the weight shift of the user P.

駆動源９は、各脚リンク２の第１リンク部材４の上端部外側面に取付けた減速機９ａ付きの電動モータで構成されている。そして、減速機９ａの出力軸上の駆動クランクアーム９ｂと、第２リンク部材６に第２関節部５の関節軸５ａと同心に固定した従動クランクアーム６ａとを連結リンク９ｃを介して連結している。これによれば、駆動源９から減速機９ａを介して出力される動力が連結リンク９ｃを介して第２リンク部材６に伝達される。そして、第２リンク部材６が第１リンク部材４に対し関節軸５ａを中心にして揺動して、脚リンク２が屈伸される。   The drive source 9 is composed of an electric motor with a speed reducer 9 a attached to the outer surface of the upper end portion of the first link member 4 of each leg link 2. Then, the drive crank arm 9b on the output shaft of the speed reducer 9a and the driven crank arm 6a fixed to the second link member 6 concentrically with the joint shaft 5a of the second joint portion 5 are connected via a connection link 9c. ing. According to this, the motive power output from the drive source 9 via the reduction gear 9a is transmitted to the 2nd link member 6 via the connection link 9c. And the 2nd link member 6 rocks | fluctuates centering on the joint axis 5a with respect to the 1st link member 4, and the leg link 2 is bent and extended.

各接地部材８は、靴８ａと、靴８ａに固定した上方にのびる連結部材８ｂとを備えている。そして、この連結部材８ｂに各脚リンク２の第２リンク部材６が３軸構造の第３関節部７を介して連結されている。また、図１に示すように、靴８ａ内に設けられる中敷８ｃの下面に、利用者Ｐの足平の中趾節関節(ＭＰ関節)部分と踵部分とに作用する荷重を検出する前後一対の圧力センサ１０，１０が取付けられている。更に、第３関節部７には２軸の力センサ１１が組み込まれている。また、着座部材１の支持フレーム１ｂには、制御手段たるコントローラ１２が内蔵され、第１リンク部材４には、バッテリ１３が内蔵されている。   Each grounding member 8 includes a shoe 8a and an upwardly connecting member 8b fixed to the shoe 8a. And the 2nd link member 6 of each leg link 2 is connected with this connection member 8b via the 3rd joint part 7 of a triaxial structure. Further, as shown in FIG. 1, before and after detecting the load acting on the mid-joint joint (MP joint) portion and the heel portion of the foot of the user P on the lower surface of the insole 8c provided in the shoe 8a. A pair of pressure sensors 10, 10 are attached. Further, a biaxial force sensor 11 is incorporated in the third joint portion 7. The support frame 1b of the seating member 1 incorporates a controller 12 as control means, and the first link member 4 incorporates a battery 13.

上記圧力センサ１０と力センサ１１の検出信号はコントローラ１２に入力される。そして、コントローラ１２は、これらセンサ１０，１１からの信号に基づいて駆動源９を制御して第２関節部５を駆動し、上記免荷力を発生させる歩行アシスト制御を実行する。   Detection signals from the pressure sensor 10 and the force sensor 11 are input to the controller 12. Then, the controller 12 controls the driving source 9 based on the signals from these sensors 10 and 11 to drive the second joint portion 5 to execute the walking assist control for generating the above-described load-carrying force.

ここで、免荷力は、横方向から見て、第１関節部３における脚リンク２の前後方向の揺動支点と、第３関節部７における脚リンク２の前後方向の揺動支点とを結ぶ線(以下、基準線という)上に作用する。そこで、歩行アシスト制御では、基準線上に作用する実際の免荷力(正確には免荷力と着座部材１及び各脚リンク２の重量による力との合力)を力センサ１１で検出される２軸方向の力の検出値に基づいて算出する。また、各接地部材８の圧力センサ１０の検出圧力に基づいて、利用者Ｐの両足平に作用する全荷重に対する各足平の作用荷重の割合を算出する。次に、予め設定される免荷力の設定値に各足平の荷重割合を乗算した値を各脚リンク５で発生すべき体重免荷アシスト力の制御目標値として算出する。そして、力センサ１１の検出値に基づいて算出される実際の免荷力が制御目標値になるように駆動源９を制御する。   Here, when viewed from the lateral direction, the load-carrying force is obtained by calculating a swing fulcrum of the leg link 2 in the first joint 3 and a swing fulcrum of the leg link 2 in the third joint 7. It acts on a connecting line (hereinafter referred to as a reference line). Therefore, in the walking assist control, the actual load-carrying force acting on the reference line (more precisely, the resultant force of the load-carrying force and the force due to the weight of the seating member 1 and each leg link 2) is detected by the force sensor 11. Calculation is based on the detected value of the axial force. Further, based on the detected pressure of the pressure sensor 10 of each grounding member 8, the ratio of the applied load of each foot to the total load acting on both feet of the user P is calculated. Next, a value obtained by multiplying the set value of the unloading force set in advance by the load ratio of each foot is calculated as a control target value of the weight unloading assist force to be generated at each leg link 5. Then, the drive source 9 is controlled such that the actual unloading force calculated based on the detection value of the force sensor 11 becomes the control target value.

ところで、歩行補助装置を装着しての歩行中に休みたくなることがある。そこで、本実施形態では、着座部材１の後部、即ち、支持フレーム１ｂの後端の立上り部に、後方を向く板状の支持部材１４を取り付けている。そして、図４に示す如く、支持部材１４を壁Ｗに接触させるにより、壁Ｗと脚リンク２とで着座部材１を自立可能に支持し、歩行補助装置を椅子代りに利用できるようにしている。尚、支持部材１４の後面には、摩擦材を張り付け、壁Ｗに対し滑りにくくしている。   By the way, there is a case where it is desired to take a rest while walking with the walking assistance device. Therefore, in the present embodiment, a plate-like support member 14 facing rearward is attached to the rear portion of the seating member 1, that is, the rising portion of the rear end of the support frame 1b. Then, as shown in FIG. 4, the support member 14 is brought into contact with the wall W, so that the seat member 1 is supported by the wall W and the leg link 2 so as to be able to stand on its own, and the walking assist device can be used instead of the chair. . Note that a friction material is attached to the rear surface of the support member 14 to make it difficult to slide against the wall W.

また、図３に示す如く、第２関節部５をロック可能なロック機構１５を設けている。本実施形態でロック機構１５は、第２リンク６に固定の部材、例えば、従動クランクアーム６ａを挟む、第１リンク部材４に回り止めされた一対のブレーキ板１５ａ，１５ａと、両ブレーキ板１５ａ，１５ａを開閉する直動アクチュエータ１５ｂとで構成されている。尚、ロック機構１５の構造はこれに限定されない。   Further, as shown in FIG. 3, a lock mechanism 15 capable of locking the second joint portion 5 is provided. In the present embodiment, the lock mechanism 15 includes a pair of brake plates 15a and 15a that are fixed to the second link 6 and that are fixed to the first link member 4 with the driven crank arm 6a interposed therebetween, and both brake plates 15a. , 15a and a linear motion actuator 15b that opens and closes. The structure of the lock mechanism 15 is not limited to this.

支持部材１４には、支持部材１４が壁Ｗに接触したときにこれを検出する図示しないマイクロスイッチ等のスイッチが設けられている。コントローラ１２は、図５に示す如く、このスイッチの信号に基づいて支持部材１４が壁１４に接触したか否かを判別し（ＳＴＥＰ２）、壁Ｗに接触するまでは上述した歩行アシスト制御を行う（ＳＴＥＰ１）。   The support member 14 is provided with a switch such as a micro switch (not shown) that detects when the support member 14 contacts the wall W. As shown in FIG. 5, the controller 12 determines whether or not the support member 14 is in contact with the wall 14 based on the signal from this switch (STEP 2), and performs the above-described walking assist control until it contacts the wall W. (STEP 1).

支持部材１４が壁Ｗに接触したときは、先ず、その時点の脚リンク長（ガイドレール３ａの曲率中心から第３関節部７までの距離）を記憶する（ＳＴＥＰ３）。尚、脚リンク長は、駆動源９に設けたエンコーダの信号に基づいて求められる第２関節部５の屈曲角度から幾何学的に算出される。次に、コンプライアンス特性を徐々に硬化させる制御を行う（ＳＴＥＰ４）。具体的には、図６に示す如く、脚リンク長の記憶値Ｌｓと免荷力の設定値Ｆｓとで定まる点を通る、脚リンク長の短縮量（着座部材１の下降量）に応じて免荷力が強くなる線を設定し、この線に沿って免荷力が変化するように駆動源９を制御すると共に、脚リンク長の短縮量に対する免荷力の変化率（硬さ）を経時的に増加する制御を行う。そして、硬さが所定の上限値に達したとき（ＳＴＥＰ５）、ロック機構１５を作動させて、第２関節部５をロックする（ＳＴＥＰ６）。   When the support member 14 contacts the wall W, first, the leg link length at that time (distance from the center of curvature of the guide rail 3a to the third joint portion 7) is stored (STEP 3). The leg link length is geometrically calculated from the bending angle of the second joint portion 5 obtained based on the signal of the encoder provided in the drive source 9. Next, control for gradually curing the compliance characteristics is performed (STEP 4). Specifically, as shown in FIG. 6, according to the shortening amount of the leg link length (the descending amount of the seating member 1) passing through a point determined by the leg link length memory value Ls and the unloading force setting value Fs. A line where the unloading force becomes stronger is set, and the drive source 9 is controlled so that the unloading force changes along this line, and the rate of change (hardness) of the unloading force with respect to the shortening amount of the leg link length is set. Control that increases over time. When the hardness reaches a predetermined upper limit (STEP 5), the lock mechanism 15 is operated to lock the second joint portion 5 (STEP 6).

これによれば、利用者Ｐの脚の脱力で着座部材１が歩行時の高さから下降するのに伴い免荷力が加速度的に強められて、その後ロック機構１５が作動することになる。そのため、歩行状態から椅子代りの利用状態にスムーズに移行させることができる。   According to this, as the seating member 1 is lowered from the height during walking due to the weakness of the legs of the user P, the load-carrying force is accelerated and the lock mechanism 15 is operated thereafter. Therefore, it is possible to smoothly shift from the walking state to the use state instead of the chair.

支持部材１４が壁Ｗから離脱したときは（ＳＴＥＰ７）、コンプライアンス特性を徐々に軟化させる制御を行う（ＳＴＥＰ８）。そして、硬さが所定の下限値になったとき（ＳＴＥＰ９）、通常の歩行アシスト制御に移行する（ＳＴＥＰ１）。   When the support member 14 is detached from the wall W (STEP 7), control for gradually softening the compliance characteristics is performed (STEP 8). When the hardness reaches a predetermined lower limit (STEP 9), the routine proceeds to normal walking assist control (STEP 1).

尚、上記実施形態では、コンプライアンス特性を徐々に硬化させる制御を行い、硬さが所定の上限値に達したところでロック機構１５を作動させるようにしたが、脚リンク長の短縮量に応じて免荷力が強くなるように駆動源９を制御し、免荷力が所定値に増加したところでロック機構１５を作動させるようにしても良い。   In the above-described embodiment, the compliance characteristic is controlled to be gradually cured, and the lock mechanism 15 is activated when the hardness reaches a predetermined upper limit value. The drive source 9 may be controlled so that the load force becomes strong, and the lock mechanism 15 may be operated when the load release force increases to a predetermined value.

次に、図７に示す参考形態について説明する。このものでは、着座部材１の後部、即ち、支持フレーム１ｂの後端の立上り部に、斜め後下方にのびる棒状の支持部材１６を取付けている。そして、着座部材１を下降させたとき、支持部材１６が下端の板部１６ａにおいて床面ＦＬに接触するようにしている。 Next, the reference form shown in FIG. 7 will be described. In this structure, a rod-like support member 16 extending obliquely rearward and downward is attached to the rear portion of the seating member 1, that is, the rising portion of the rear end of the support frame 1b. When the seating member 1 is lowered, the support member 16 is brought into contact with the floor surface FL at the lower plate portion 16a.

このものでも、脚リンク２と支持部材１６とで着座部材１が自立可能に支持され、歩行補助装置を椅子代りに利用できる。尚、板部１６ａに下面には、摩擦材を貼り付けて、床面ＦＬに対し滑りにくくする。   Even in this case, the seating member 1 is supported by the leg link 2 and the support member 16 so as to be capable of self-supporting, and the walking assist device can be used instead of the chair. In addition, a friction material is affixed to the lower surface of the plate portion 16a to make it difficult to slip with respect to the floor surface FL.

また、参考形態でも、第２関節部５をロックするロック機構１５を設ける。そして、板部１６ａに取付けたスイッチ（図示省略）で床面ＦＬへの接触を検出したときに、ロック機構１５を作動させる。 Also in the reference embodiment, a lock mechanism 15 that locks the second joint portion 5 is provided. The lock mechanism 15 is activated when contact with the floor surface FL is detected by a switch (not shown) attached to the plate portion 16a.

以上、本発明の実施形態について図面を参照して説明したが、本発明はこれに限定されない。例えば、上記実施形態では、各脚リンク２が中間に回転式の第２関節部５を有する屈伸自在なリンクで構成されているが、直動式の第２関節部を有する伸縮自在なリンクで脚リンクを構成しても良い。更に、上記実施形態では、第１関節部３を円弧状のガイドレール３ａを有するものに構成して、第１関節部３における各脚リンク２の前後方向の揺動支点を着座部材１のシート部１ａの上方に位置させるようにしているが、第１関節部３の構造はこれに限定されない。例えば、各脚リンク２の上端部を前後方向に揺動自在に軸支する軸を有する単純な構造の関節部で第１関節部３を構成することも可能である。   As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to this. For example, in the above-described embodiment, each leg link 2 is configured by a bendable / extendable link having a rotary second joint portion 5 in the middle. However, the leg link 2 is a telescopic link having a direct acting second joint portion. A leg link may be configured. Furthermore, in the said embodiment, the 1st joint part 3 is comprised in what has an arc-shaped guide rail 3a, and the rocking | fluctuation fulcrum of the front-back direction of each leg link 2 in the 1st joint part 3 is made into the seat | sheet of the seating member 1 Although it is made to position above the part 1a, the structure of the 1st joint part 3 is not limited to this. For example, the first joint portion 3 can be configured by a joint portion having a simple structure having a shaft that pivotally supports the upper end portion of each leg link 2 so as to be swingable in the front-rear direction.

本発明の実施形態の歩行補助装置の側面図。Side view of the walking assist device of implementation of the invention. 実施形態の歩行補助装置の正面図。Front view of a walking assist device implementation forms. 実施形態の歩行補助装置に備えるロック機構を示す斜視図。Perspective view of a locking mechanism provided in the walking assist device implementation forms. 実施形態の歩行補助装置を椅子代りに利用するときの側面図。Side view of utilizing the walking assist device implementation form a chair instead. 実施形態の歩行補助装置のコンロトーラが行う制御内容を示すフロー図。The flowchart which shows the control content which the controller of the walking assistance apparatus of embodiment performs. コンプライアンス特性の硬化と軟化を示すグラフ。Graph showing hardening and softening of compliance characteristics. 参考形態の歩行補助装置を椅子代りに利用するときの側面図。The side view when using the walk auxiliary device of a reference form instead of a chair.

符号の説明Explanation of symbols

１…着座部材、２…脚リンク、５…第２関節部（脚リンクの中間の関節部）、９…駆動源、１４…支持部材、１５…ロック機構、１６…支持部材。   DESCRIPTION OF SYMBOLS 1 ... Seating member, 2 ... Leg link, 5 ... 2nd joint part (intermediate joint part of leg link), 9 ... Drive source, 14 ... Support member, 15 ... Lock mechanism, 16 ... Support member.

Claims (2)

利用者が跨ぐようにして着座する着座部材と、着座部材に連結され、中間に関節部を有する脚リンクと、関節部を駆動する駆動源とを備え、駆動源による関節部の駆動で着座部材を押し上げる方向に脚リンクを動作させて、利用者の体重の少なくとも一部を着座部材を介して脚リンクで支えるようにした歩行補助装置であって、
着座部材に、壁に接触可能な支持部材が取付けられ、支持部材を壁に接触させることで椅子代りになり、
支持部材が壁に接触したときに関節部をロックするロック機構を備え、
支持部材が壁に接触したときに、先ず、着座部材の下降量に応じて着座部材の押し上げ力が強くなるように駆動源を制御すると共に、着座部材の下降量に対する着座部材の押し上げ力の変化率を経時的に増加する制御を行い、この変化率が所定値に増加したときにロック機構を作動させることを特徴とする歩行補助装置。 A seating member that is seated so as to be straddled by a user, a leg link that is connected to the seating member and has a joint part in the middle, and a drive source that drives the joint part. A walking assist device in which the leg link is operated in the direction of pushing up, and at least a part of the weight of the user is supported by the leg link via the seating member,
The seating member, is mounted a support member capable of contacting the wall, Ri Do the chair instead by a support member contacting the wall,
A locking mechanism that locks the joint when the support member contacts the wall;
When the support member comes into contact with the wall, first, the drive source is controlled so that the pushing force of the seating member increases according to the lowering amount of the seating member, and the change in the pushing force of the seating member with respect to the lowering amount of the seating member A walking assist device that performs control to increase a rate with time and activates a lock mechanism when the rate of change increases to a predetermined value . 利用者が跨ぐようにして着座する着座部材と、着座部材に連結され、中間に関節部を有する脚リンクと、関節部を駆動する駆動源とを備え、駆動源による関節部の駆動で着座部材を押し上げる方向に脚リンクを動作させて、利用者の体重の少なくとも一部を着座部材を介して脚リンクで支えるようにした歩行補助装置であって、
着座部材に、壁に接触可能な支持部材が取付けられ、支持部材を壁に接触させることで椅子代りになり、
支持部材が壁に接触したときに関節部をロックするロック機構を備え、
支持部材が壁に接触したときに、先ず、着座部材の下降量に応じて着座部材の押し上げ力が強くなるように駆動源を制御し、着座部材の押し上げ力が所定値に増加したときにロック機構を作動させることを特徴とする歩行補助装置。 A seating member that is seated so as to be straddled by a user, a leg link that is connected to the seating member and has a joint part in the middle, and a drive source that drives the joint part. A walking assist device in which the leg link is operated in the direction of pushing up, and at least a part of the weight of the user is supported by the leg link via the seating member,
A support member that can contact the wall is attached to the seating member, and it becomes a chair substitute by bringing the support member into contact with the wall.
A locking mechanism that locks the joint when the support member contacts the wall;
When the support member comes into contact with the wall, first, the drive source is controlled so as to increase the pushing force of the seating member according to the descending amount of the seating member, and the lock is activated when the pushing force of the seating member increases to a predetermined value. A walking assist device characterized by operating a mechanism .
JP2008134084A 2008-05-22 2008-05-22 Walking assist device Expired - Fee Related JP5048588B2 (en)

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