JP5643922B2 - Wearable motion support device - Google Patents

Wearable motion support device Download PDF

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JP5643922B2
JP5643922B2 JP2010210144A JP2010210144A JP5643922B2 JP 5643922 B2 JP5643922 B2 JP 5643922B2 JP 2010210144 A JP2010210144 A JP 2010210144A JP 2010210144 A JP2010210144 A JP 2010210144A JP 5643922 B2 JP5643922 B2 JP 5643922B2
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support member
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矢野　賢一
賢一 矢野
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Mie University NUC
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Description

本発明は、屈曲動作する関節を挟む身体部位に装着され、前記関節の屈曲動作を支援する装着型動作支援装置に関するものである。   The present invention relates to a wearable movement support device that is mounted on a body part that sandwiches a bending joint and supports the bending movement of the joint.

身体に障害のある人(使用者)の動作を支援する装置として、身体の障害部位に装着する各種の装着型動作支援装置が提案されている。この装着型動作支援装置は、例えば上肢における肘部を挟んだ上腕部および前腕部に装着して肘関節を中心とした前腕部の動作を支援する装置や、下肢における膝部を挟んだ大腿部および下腿部に装着して膝関節を中心とした下腿部の動作を支援する装置等である。   Various types of wearable motion support devices that are worn on a handicapped part of the body have been proposed as devices that support the motion of a person (user) with a physical disability. This wearable movement support device is, for example, a device that is attached to the upper arm and forearm with the elbow in the upper limb sandwiched, and supports the forearm with the elbow joint as the center, or a thigh with the knee in the lower limb A device that is attached to the pelvis and crus to support the movement of the crus around the knee joint.

前記装着型動作支援装置は、使用者の関節を挟んだ近位身体部位(関節より体幹に近い身体部位)に装着される第１サポート部材と、前記関節の遠位身体部位(関節より体幹から遠い身体部位)に装着される第２サポート部材とを備える。前記第２サポート部材は、前記第１サポート部材に対して前記関節の屈曲動作を許容するよう姿勢変位可能に連結され、第１サポート部材に対して第２サポート部材を回転させるモータ等を含む作動手段を該第１サポート部材に装備している。   The wearable motion support device includes a first support member attached to a proximal body part (a body part closer to the trunk than the joint) across a user's joint, and a distal body part of the joint (a body from the joint). And a second support member mounted on a body part far from the trunk. The second support member is connected to the first support member so as to allow posture displacement so as to allow the bending operation of the joint, and includes an electric motor that rotates the second support member with respect to the first support member. Means are provided on the first support member.

また、上肢用の装着型動作支援装置は、第２サポート部材の手首部や前腕部に対応する部位に、肘関節を中心とした該前腕部の動きを検知して検知信号を出力する検知手段が配設されている。また、下肢用の装着型動作支援装置は、第２サポート部材の足首部や下腿部に対応する部位に、膝関節を中心とした該下腿部の動きを検知して検知信号を出力する検知手段が配設されている。このような装着型動作支援装置は、例えば特許文献１に開示されている。 In addition, the wearable movement support device for the upper limbs is a detection means for detecting a movement of the forearm portion around the elbow joint and outputting a detection signal to a portion corresponding to the wrist portion or the forearm portion of the second support member. Is arranged. In addition, the wearable movement support device for the lower limbs detects a movement of the lower leg around the knee joint and outputs a detection signal to a portion corresponding to the ankle part or the lower leg part of the second support member. Detection means is provided. Such a wearable motion support apparatus is disclosed in, for example, Patent Document 1.

特開２００７-２９１１３号公報JP 2007-29113 A

従来の装着型動作支援装置は、作動手段が設けられている前記第１サポート部材を、面ファスナやベルトを介して使用者の近位身体部位に対して締め付けることで保持している。ここで、上腕部や大腿部である近位身体部位は、骨格が筋肉や脂肪等で覆われていて動作時に筋肉の形状が変化するから、該近位身体部位に対する第１サポート部材の姿勢が安定せず、遠位身体部位を屈曲動作した際等に第１サポート部材および第２サポート部材が上肢または下肢の長手方向や周方向(左・右回り方向)へずれ易い。また、衣服の上から装着型動作支援装置を装着した場合には、該装着型動作支援装置の保持安定性がより一層損なわれるため、前述したずれが生じ易くなる。このように装着型動作支援装置の装着位置が上肢または下肢の長手方向や周方向にずれると、第１サポート部材と第２サポート部材とを連結する回転軸位置が肘関節または膝関節の軸位置に一致しなくなり、遠位身体部位の動作を適切に支援し得なくなる問題を内在していた。   The conventional wearable movement support device holds the first support member provided with the actuating means by tightening it against the proximal body part of the user via a hook-and-loop fastener or a belt. Here, in the proximal body part that is the upper arm part or the thigh part, the skeleton is covered with muscles, fat, and the like, and the shape of the muscle changes during operation. Therefore, the posture of the first support member with respect to the proximal body part However, when the distal body part is bent, the first support member and the second support member are likely to be displaced in the longitudinal direction or the circumferential direction (left / rightward direction) of the upper limb or the lower limb. In addition, when the wearable motion support device is worn over clothing, the holding stability of the wearable motion support device is further impaired, and thus the above-described deviation is likely to occur. Thus, when the mounting position of the wearable motion support device is shifted in the longitudinal direction or the circumferential direction of the upper limb or the lower limb, the rotational axis position connecting the first support member and the second support member is the axial position of the elbow joint or the knee joint. The inherent problem is that the movement of the distal body part cannot be properly supported.

従って本発明では、身体の屈曲動作時に該身体に対するずれ動きを最小限に抑えるようにした装着型動作支援装置を提供することを目的とする。   Accordingly, an object of the present invention is to provide a wearable movement support apparatus that minimizes the movement of the body relative to the bending movement of the body.

前記課題を解決し、所期の目的を達成するため、本発明の請求項１に記載の発明は、
関節を挟む近位身体部位に装着される第１サポート部材と、前記関節の遠位身体部位に装着されると共に前記第１サポート部材に連結され、前記関節の屈曲動作に合わせて姿勢変位可能な第２サポート部材と、前記第１サポート部材に対して前記第２サポート部材を姿勢変位させる作動手段とを備え、前記作動手段が前記第２サポート部材を前記第１サポート部材に対して姿勢変位させることで、前記関節の屈曲動作を補助する装着型動作支援装置であって、
前記第２サポート部材における前記遠位身体部位に装着される装着部は、前記遠位身体部位における前記関節から該関節と反対側の関節骨格部位までを包み込む形状に形成されて、該装着部における前記関節骨格部位側の開口端側を遠位身体部位に保持するよう構成したことを特徴とする。
従って、請求項１に係る発明によれば、装着部が、遠位身体部位における関節から該関節と反対側の関節骨格部位までを包み込む形状に形成され、該関節骨格部位側の開口端側を遠位身体部位に保持するようになっているので、装着部が遠位身体部位に適切に装着される。すなわち、遠位身体部位の前記関節骨格部位は、当該遠位身体部位において骨格を覆う筋肉や脂肪等が少なく最も細い部位であるから、遠位身体部位に対して装着部を適切に装着することができ、これにより該遠位身体部位に対する第２サポート部材のずれが防止され、よって身体に対する装着型動作支援装置のずれを防止できる。従って、第１サポート部材と第２サポート部材とを連結する回転軸位置が関節の軸位置に一致した状態に保持され、遠位身体部位の動作を適切に支援することができる。また、関節の屈曲動作時に装着型動作支援装置の機械的動作と身体の動作との間にずれが生じたとしても、第１サポート部材が筋肉や皮下脂肪のある近位身体部位に対して移動することで当該ずれを吸収することができる。 In order to solve the above-mentioned problem and achieve the intended object, the invention according to claim 1 of the present invention provides:
A first support member attached to a proximal body part sandwiching the joint, and attached to a distal body part of the joint and connected to the first support member, and posture changeable according to the bending operation of the joint A second support member; and an operating means for displacing the second support member with respect to the first support member, wherein the activating means displaces the second support member with respect to the first support member. Thus, a wearable movement support device that assists the bending movement of the joint,
The mounting part to be mounted on the distal body part in the second support member is formed in a shape that wraps from the joint in the distal body part to the joint skeleton part on the opposite side of the joint. The open end side of the joint skeleton part side is held in the distal body part.
Therefore, according to the first aspect of the present invention, the mounting portion is formed in a shape that wraps from the joint in the distal body part to the joint skeleton part opposite to the joint, and the opening end side on the joint skeleton part side is formed. Since the distal part is held at the distal body part, the mounting part is appropriately attached to the distal body part. That is, the joint skeleton part of the distal body part is the thinnest part with little muscle, fat, etc. covering the skeleton in the distal body part. This prevents the displacement of the second support member with respect to the distal body part, thereby preventing the wearable motion support device from being displaced with respect to the body. Therefore, the rotational axis position connecting the first support member and the second support member is held in a state where it matches the axial position of the joint, and the operation of the distal body part can be appropriately supported. In addition, even when a deviation occurs between the mechanical movement of the wearable movement support device and the movement of the body during the bending movement of the joint, the first support member moves relative to the proximal body part having muscles or subcutaneous fat. By doing so, the deviation can be absorbed.

前記装着部は、前記関節側が前記第１サポート部材に連結され、
前記装着部は、柔軟性および形状復元性を有する素材から構成され、前記第１サポート部材に連結されて遠位身体部位の体幹と反対側を覆う支持装着部分と、前記支持装着部分に対して遠位身体部位の上側を通って連続的に設けられて該遠位身体部位の体幹側を覆う保持装着部分とを有し、
前記保持装着部分は、前記関節側から関節骨格部位に向かうにつれて遠位身体部位との接触面積が増大するように形成されたことを要旨とする。
従って、請求項２に係る発明によれば、装着部が、関節側が第１サポート部材に連結され、遠位身体部位を覆う支持装着部分および保持装着部分を有し、かつ保持装着部分が関節側から関節骨格部位に向かうにつれて遠位身体部位との接触面積が増大するように形成され、該装着部は、全体的には関節側から関節骨格部位側に近づくにつれて捻れた形状に形成されている。従って装着部は、遠位身体部位の捻り動作に対応して適切に追従しながら変形する。特に装着部は、関節骨格部位側の変形量が大きくなっているので、遠位身体部位の関節骨格部位の左右への捻り動作に追従した捻れ変形が可能であり、遠位身体部位に対する装着型動作支援装置のずれを防止し得る。しかも、遠位身体部位の捻り動作を止めて遠位身体部位に加えた力を緩めると、捻れるように変形した装着部が元の形状に復帰する復元力により、該遠位身体部位を捻る前の姿勢に戻す動作支援を行ない得る。 Before Symbol mounting portion, the joint side is connected to the first support member,
The mounting portion is made of a material having flexibility and shape restoration, and is connected to the first support member and covers a side opposite to the trunk of the distal body part, and the support mounting portion. A holding attachment part continuously provided through the upper side of the distal body part and covering the trunk side of the distal body part,
The gist of the holding and mounting portion is that the contact area with the distal body part increases from the joint side toward the joint skeleton part.
Therefore, according to the second aspect of the present invention, the mounting portion is connected to the first support member on the joint side, has the support mounting portion and the holding mounting portion that cover the distal body part, and the holding mounting portion is on the joint side. It is formed so that the contact area with the distal body part increases from the joint side toward the joint skeleton part, and the mounting part is formed in a twisted shape as it approaches the joint skeleton part side from the joint side as a whole. . Therefore, the mounting portion deforms while appropriately following the twisting motion of the distal body part. In particular, the mounting part has a large amount of deformation on the side of the joint skeleton, so it can be twisted to follow the torsional motion of the joint skeleton part of the distal body part to the left and right. The shift of the operation support device can be prevented. In addition, when the twisting operation of the distal body part is stopped and the force applied to the distal body part is loosened, the distal body part is twisted by the restoring force that the deformed mounting portion returns to the original shape. Supporting the movement to return to the previous posture can be performed.

請求項２に記載の発明は、
前記装着部は、前記遠位身体部位側に滑り止め手段が設けられていることを要旨とする。
従って、請求項３に係る発明によれば、遠位身体部位の動作時に該遠位身体部位に対して装着部が滑り難いので、遠位身体部位の動作に追従して装着部が変形する。また、装着部が弾性変形した状態で遠位身体部位の動作を止めた場合には、元の形状に復帰する装着部に遠位身体部位が追従するようになり、装着部の復元力を利用した遠位身体部位の動作支援を適切に行ない得る。 The invention described in claim 2
The gist of the mounting portion is that anti-slip means is provided on the distal body part side.
Therefore, according to the third aspect of the present invention, the mounting part is difficult to slip with respect to the distal body part during the operation of the distal body part, so that the mounting part deforms following the operation of the distal body part. Also, if the movement of the distal body part is stopped while the attachment part is elastically deformed, the distal body part will follow the attachment part that returns to its original shape, and the restoring force of the attachment part is used. It is possible to appropriately support the movement of the distal body part.

請求項３に記載の発明は、
前記装着部の遠位身体部位側に、該遠位身体部位に接触するスペーサを備えていることを要旨とする。
従って、請求項４に係る発明によれば、遠位身体部位と装着部との間に隙間が形成されないので、該遠位身体部位に対して該装着部をずれ難くし得る。また、スペーサを設けたことで、第１サポート部材に対する第２サポート部材の回転方向と、関節を中心とした近位身体部位に対する遠位身体部位の屈曲方向との差異を吸収することができる。 The invention according to claim 3
The gist of the invention is that a spacer that contacts the distal body part is provided on the distal body part side of the mounting portion.
Therefore, according to the fourth aspect of the present invention, since no gap is formed between the distal body part and the mounting part, the mounting part can be made difficult to shift with respect to the distal body part. Further, by providing the spacer, it is possible to absorb the difference between the rotation direction of the second support member with respect to the first support member and the bending direction of the distal body part with respect to the proximal body part with the joint as the center.

本発明に係る装着型動作支援装置によれば、身体の屈曲動作時に該身体に対するずれ動きを最小限に抑えることができ、使用者の動作支援を適切に行なうことができる。   According to the wearable motion support apparatus according to the present invention, it is possible to minimize the displacement movement with respect to the body during the bending motion of the body, and to appropriately perform the motion support of the user.

本発明の実施例に係る装着型動作支援装置を、右腕に装着した状態で示す概略斜視図である。It is a schematic perspective view which shows the wearing type movement assistance apparatus which concerns on the Example of this invention in the state with which the right arm was mounted | worn. 図１に示した実施例の装着型動作支援装置の平面図である。It is a top view of the mounting | wearing type | mold movement assistance apparatus of the Example shown in FIG. 図１に示した実施例の装着型動作支援装置の側面図である。It is a side view of the mounting | wearing type | mold movement assistance apparatus of the Example shown in FIG. 実施例の装着型動作支援装置において、第１サポート部材に対して第２サポート部材を動作させる作動機構を示す平断面図である。In the mounting | wearing type | mold movement assistance apparatus of an Example, it is a plane sectional view which shows the action mechanism which operates a 2nd support member with respect to a 1st support member. 実施例の装着型動作支援装置において、第１サポート部材と第２サポート部材とを連結する構成を示す斜視図である。It is a perspective view which shows the structure which connects a 1st support member and a 2nd support member in the mounting | wearing type movement assistance apparatus of an Example. 第２サポート部材に配設されて前腕部に装着される前腕装着部の正面図である。It is a front view of the forearm mounting part arrange | positioned by the 2nd support member and with which a forearm part is mounted | worn.

次に、本発明に係る装着型動作支援装置につき、好適な実施例を挙げて、添付図面を参照しながら以下説明する。実施例では、使用者(被補助者)の右腕Ａにおける肘関節Ａ３を挟む上腕部Ａ１および前腕部Ａ２に装着して、該肘関節Ａ３の屈曲動作による右腕Ａの屈伸動作を補助する装着型動作支援装置を例示して説明する。なお、実施例でいう装着型動作支援装置の各方向については、身体前方へ水平に伸ばして手のひらを使用者から見て左側に向けた右腕Ａに該装着型動作支援装置を装着した状態において、該右腕Ａの長手方向を前後方向(手首側を前側、肩側を後側)とし、右腕Ａの胸部を指向する内側を左側、右腕Ａの胸部と反対を指向する外側を右側、垂直方向を上下方向と指称する。すなわち図１は、実施例の装着型動作支援装置ＳＵを、後方斜め右上方から見たものである。   Next, the wearable motion support apparatus according to the present invention will be described below with reference to the accompanying drawings by way of preferred embodiments. In the embodiment, the wearable type is attached to the upper arm part A1 and the forearm part A2 sandwiching the elbow joint A3 in the right arm A of the user (subject) and assists the bending and extending action of the right arm A by the bending action of the elbow joint A3. The operation support apparatus will be described as an example. In addition, for each direction of the wearable motion support device in the embodiment, in a state where the wearable motion support device is mounted on the right arm A that is horizontally extended forward in the body and the palm is directed to the left side when viewed from the user. The longitudinal direction of the right arm A is the front-rear direction (the wrist side is the front side and the shoulder side is the rear side), the inside facing the chest of the right arm A is the left side, the outside facing the chest of the right arm A is the right side, and the vertical direction is This is referred to as the vertical direction. That is, FIG. 1 is a view of the wearable motion support apparatus SU of the embodiment as viewed from the rear obliquely upper right.

図１は、実施例に係る装着型動作支援装置ＳＵの全体構成を概略的に示す斜視図、図２および図３は、実施例の係る装着型動作支援装置ＳＵの全体構成を概略的に示す平面図および左側面図である。実施例の装着型動作支援装置ＳＵは、右腕Ａにおいて肘関節Ａ３より近位身体部位である上腕部Ａ１に装着される第１サポート部材１０と、該第１サポート部材１０に回転変位可能に連結されて、肘関節Ａ３より遠位身体部位である前腕部Ａ２に装着される第２サポート部材１２と、第１サポート部材１０に対して第２サポート部材１２を回転変位させる作動機構Ｍとを備えている。また第２サポート部材１２は、前腕部Ａ２の動きを検知する検知手段１４を備えている。   FIG. 1 is a perspective view schematically illustrating the overall configuration of the wearable motion support apparatus SU according to the embodiment. FIGS. 2 and 3 schematically illustrate the overall configuration of the wearable motion support apparatus SU according to the embodiment. It is a top view and a left side view. The wearable movement support device SU of the embodiment is connected to the first support member 10 that is mounted on the upper arm A1 that is a body part proximal to the elbow joint A3 in the right arm A, and is rotatably connected to the first support member 10. The second support member 12 is attached to the forearm portion A2 that is a body part distal to the elbow joint A3, and the operation mechanism M that rotates and displaces the second support member 12 relative to the first support member 10. ing. Further, the second support member 12 includes a detection unit 14 that detects the movement of the forearm portion A2.

第１サポート部材１０は、図１〜図３に示すように、作動機構Ｍが配設される本体部２０と、この本体部２０に着脱可能に設けられて上腕部Ａ１に装着される上腕装着部２１とを備えている。本体部２０は、装着型動作支援装置ＳＵを右腕Ａに装着した際に上腕部Ａ１の右部に位置して、該上腕部Ａ１の長手方向(前後方向)に延在する。本体部２０は、上腕部Ａ１に近接するベース部材２２と、このベース部材２２に右側外方から組み付けられたカバー部材２３とを備えている。そして本体部２０は、ベース部材２２とカバー部材２３とを組み付けることで、作動機構Ｍの各構成部材を収容する収容設置部２４が内部に画成される。   As shown in FIGS. 1 to 3, the first support member 10 includes a main body portion 20 in which the operation mechanism M is disposed, and an upper arm attachment that is detachably provided on the main body portion 20 and is attached to the upper arm portion A <b> 1. Part 21. The main body 20 is positioned on the right part of the upper arm A1 when the wearable motion support device SU is attached to the right arm A, and extends in the longitudinal direction (front-rear direction) of the upper arm A1. The main body portion 20 includes a base member 22 that is close to the upper arm portion A1, and a cover member 23 that is assembled to the base member 22 from the right outer side. The main body portion 20 is configured by assembling the base member 22 and the cover member 23, so that an accommodation installation portion 24 that accommodates each component of the operation mechanism M is defined inside.

ベース部材２２の前部には、図２〜図５に示すように、左右方向に離間して前方へ平行に延出する２つの支持部２５,２６が設けられている。右側に位置する第１支持部２５には円形の第１支持孔２７が形成されており、第２サポート部材１２の後述する支持体部４０を第１サポート部材１０に支持する回転支持部材６０が、該第１支持孔２７に回転可能に配設されている。左側に位置する第２支持部２６には、第１支持孔２７と左右方向で同一軸線上に位置する円形の第２支持孔２８が形成されており、第２サポート部材１２の後述する前腕装着部(装着部)４５を第１サポート部材１０に支持する締結支持部材６５が、該第２支持孔２８に回転可能に配設されている。   As shown in FIGS. 2 to 5, two support portions 25, 26 that are spaced apart in the left-right direction and extend forward in parallel are provided at the front portion of the base member 22. A circular first support hole 27 is formed in the first support portion 25 located on the right side, and a rotation support member 60 that supports a support body portion 40 (to be described later) of the second support member 12 on the first support member 10. The first support hole 27 is rotatably arranged. The second support portion 26 located on the left side is formed with a circular second support hole 28 that is located on the same axis line as the first support hole 27 in the left-right direction. A fastening support member 65 that supports the portion (mounting portion) 45 on the first support member 10 is rotatably disposed in the second support hole 28.

上腕装着部２１は、図１〜図３に示すように、前記本体部２０のベース部材２２に左外方から着脱可能に取り付けられ、上腕部Ａ１の体幹と反対側の右部に沿う取付部３１と、取付部３１の前後略中間から後側部分に一体的に設けられ、上腕部Ａ１の右方から上下に抱持した状態で該上腕部Ａ１に着脱可能に装着される上装着部３２および下装着部３３とを有する。上腕装着部２１は、後方から見た端面形状が「逆Ｃ字形」をなし、上装着部３２および下装着部３３は体幹側が上下に分離した湾曲状に形成されている。このような形状の上腕装着部２１は、例えばエチレン−酢酸ビニル(ＥＶＡ)、シリコーンゴムまたはウレタンゴム等を材質として柔軟性および形状復元性を有し、外力が付与されると容易に変形し、外力の付与が解除されると復元力により図３に示す形状に弾性復帰すると共に、外力が付与されない状態では図３に示す形状に保持される。従って上腕装着部２１は、上装着部３２および下装着部３３が上下に近接・離間するよう変形が可能であり、上腕部Ａ１に対する容易な着脱が可能となっている。   As shown in FIGS. 1 to 3, the upper arm mounting portion 21 is detachably attached to the base member 22 of the main body portion 20 from the left outer side, and is attached along the right portion of the upper arm portion A1 opposite to the trunk. Part 31 and an upper mounting part that is integrally provided on the rear side part from substantially the middle of the front and rear of the attachment part 31 and is detachably attached to the upper arm part A1 while being held up and down from the right side of the upper arm part A1. 32 and a lower mounting portion 33. The upper arm mounting portion 21 has an “inverted C shape” as viewed from the rear, and the upper mounting portion 32 and the lower mounting portion 33 are formed in a curved shape with the trunk side separated vertically. The upper arm mounting portion 21 having such a shape has flexibility and shape restoration property using, for example, ethylene-vinyl acetate (EVA), silicone rubber, urethane rubber, or the like, and easily deforms when an external force is applied. When the external force is released, the elastic force returns to the shape shown in FIG. 3 by the restoring force, and the shape shown in FIG. 3 is held when no external force is applied. Therefore, the upper arm mounting portion 21 can be deformed so that the upper mounting portion 32 and the lower mounting portion 33 approach and separate from each other in the vertical direction, and can be easily attached to and detached from the upper arm portion A1.

前記上腕装着部２１の取付部３１は、前記ベース部材２２に螺合されるビスが挿通・係止する取付孔(図示せず)が設けられている。従って上腕装着部２１は、取付孔を介してベース部材２２に締結したビスにより本体部２０に取り付けられ、該ビスを外すことで該本体部２０から取外すことが可能となっている。上腕装着部２１は、前記取付孔の配設位置を共通として、取付部３１および上下の装着部３２,３３のサイズおよび形状が異なる複数のものが準備され、使用者の体格に適合した上腕装着部２１が採用される。なお、上腕装着部２１の上腕部Ａ１側となる内側面は、滑り止め手段として、例えば多数個の小凸部または小凹部を形成したり、網目状や格子状のローレット模様を形成する等の所謂ノンスリップ加工が施されており、衣服の袖に対して滑り難くなっている。従って、右腕Ａの屈曲動作により上腕装着部２１に対して衣服の袖がずれ難く、該袖に突っ張りや弛みが発生することを防止し得る。   The mounting portion 31 of the upper arm mounting portion 21 is provided with a mounting hole (not shown) through which a screw threadedly engaged with the base member 22 is inserted and locked. Therefore, the upper arm mounting portion 21 is attached to the main body portion 20 by screws fastened to the base member 22 through the attachment holes, and can be detached from the main body portion 20 by removing the screws. The upper arm mounting portion 21 is prepared in a plurality of different sizes and shapes of the mounting portion 31 and the upper and lower mounting portions 32 and 33, with the mounting hole being disposed in common, and the upper arm mounting portion is adapted to the user's physique. Part 21 is employed. The inner surface on the upper arm A1 side of the upper arm mounting portion 21 forms, for example, a large number of small convex portions or small concave portions as a non-slip means, or forms a mesh-like or lattice-like knurled pattern. So-called non-slip processing is applied, and it is difficult to slip against the sleeves of clothes. Accordingly, it is possible to prevent the sleeve of the clothes from being displaced with respect to the upper arm mounting portion 21 by the bending operation of the right arm A, and to prevent the sleeve from being stretched or slackened.

上腕装着部２１には、図３に示すように、面ファスナ形態の脱落防止ベルト３４が、下装着部３３に一端を固定した状態に取り付けられていると共に、該脱落防止ベルト３４の他端側が分離可能に掛止される係着部３５が、上装着部３２に取り付けられている。従って上腕装着部２１は、上腕部Ａ１に装着した状態で脱落防止ベルト３４を係着部３５に係着させることで、上装着部３２および下装着部３３が適度に締め付けられた状態で該上腕部Ａ１に脱落不能に装着される。   As shown in FIG. 3, the upper arm mounting portion 21 is attached with a hook-and-loop-shaped dropout prevention belt 34 with one end fixed to the lower mounting portion 33, and the other end side of the dropout prevention belt 34 is attached to the upper arm attachment portion 21. An engaging portion 35 that is separably hooked is attached to the upper mounting portion 32. Therefore, the upper arm mounting portion 21 engages the drop-off preventing belt 34 with the engaging portion 35 in a state of being mounted on the upper arm portion A1, so that the upper arm 32 and the lower mounting portion 33 are appropriately tightened. It is attached to the part A1 so as not to fall off.

また上腕装着部２１には、図３に示すように、上腕部Ａ１側となる内側面に第１スペーサ３６が着脱可能に装着されている。この第１スペーサ３６は、上腕部Ａ１と上腕装着部２１の内側面との間に隙間ができないようにすると共に、前記回転支持部材６０および締結支持部材６５を中心とした第１サポート部材１０に対する第２サポート部材１２の回転方向と、肘関節Ａ３を中心とした上腕部Ａ１に対する前腕部Ａ２の屈曲方向との差異を吸収するためのものである。第１スペーサ３６は、弾性変形し難い硬質発泡ウレタンや発泡ウレタンゴム等を材質とし、使用者の上腕部Ａ１の形状に合わせて外形形状およびサイズが設定されると共に上腕装着部２１に対する装着位置が調整され、上腕部Ａ１側の外面全体が該上腕部Ａ１に均一に当接するようになっている。そして、第１スペーサ３６の上腕部Ａ１に接触する外面は、必要に応じて上腕装着部２１と同様のノンスリップ加工が施されている。また第１スペーサ３６は、前記ビスおよびビス孔を被覆した状態で上腕装着部２１の内側に、ホックや面ファスナ等を利用して装着される。なお、上腕装着部２１の第１スペーサ３６を装着した部分は、該第１スペーサ３６により変形が規制されている。   In addition, as shown in FIG. 3, a first spacer 36 is detachably attached to the upper arm attachment portion 21 on the inner surface on the upper arm portion A1 side. The first spacer 36 prevents a gap from being formed between the upper arm portion A1 and the inner side surface of the upper arm mounting portion 21, and prevents the first support member 10 centering on the rotation support member 60 and the fastening support member 65. This is to absorb the difference between the rotation direction of the second support member 12 and the bending direction of the forearm portion A2 with respect to the upper arm portion A1 with the elbow joint A3 as the center. The first spacer 36 is made of hard foamed urethane, foamed urethane rubber, or the like that is not easily elastically deformed. The outer shape and size of the first spacer 36 are set according to the shape of the upper arm portion A1 of the user, and the mounting position with respect to the upper arm mounting portion 21 is set. The entire outer surface on the upper arm A1 side is adjusted so as to be in uniform contact with the upper arm A1. And the outer surface which contacts the upper arm part A1 of the 1st spacer 36 is given the non-slip process similar to the upper arm mounting part 21 as needed. The first spacer 36 is mounted on the inner side of the upper arm mounting portion 21 in a state where the screw and the screw hole are covered, using a hook, a hook-and-loop fastener or the like. The deformation of the portion of the upper arm mounting portion 21 where the first spacer 36 is mounted is restricted by the first spacer 36.

前記第２サポート部材１２は、図１〜図３に示すように、第１サポート部材１０に対して回転可能に支持された支持体部４０と、該第１サポート部材１０に対して回転可能に支持された前腕装着部(装着部)４５とを備えている。支持体部４０は、第１サポート部材１０の本体部２０の前方に位置する右壁部から、左上方および左下方へ湾曲して左側(体幹側)が開放した形状に形成されている。すなわち支持体部４０は、第２サポート部材１２の回転方向において、前記前腕装着部４５を挟んで対向する第１支持壁部４１および第２支持壁部４２を備え、これら第１支持壁部４１および第２支持壁部４２が、外方から前腕装着部４５に対面するように形成されている。この支持体部４０は、例えば硬質の合成樹脂等を材質とする。そして、支持体部４０の右壁部には、後方へ延出した板状の第１連結部材４３が配設され、この第１連結部材４３は第１サポート部材１０に回転可能に連結されるようになっている。なお、図４および図５に示すように、第１連結部材４３の後端近傍には、矩形穴部４４が形成されている。   As shown in FIGS. 1 to 3, the second support member 12 is rotatably supported with respect to the first support member 10 and a support body portion 40 that is rotatably supported with respect to the first support member 10. And a supported forearm mounting portion (mounting portion) 45. The support body portion 40 is formed in a shape in which the left wall (trunk side) is opened by bending from the right wall portion located in front of the main body portion 20 of the first support member 10 to the upper left and lower left. That is, the support body portion 40 includes a first support wall portion 41 and a second support wall portion 42 that face each other with the forearm mounting portion 45 interposed therebetween in the rotation direction of the second support member 12, and these first support wall portions 41. And the 2nd support wall part 42 is formed so that the forearm mounting | wearing part 45 may face from the outside. The support body 40 is made of, for example, hard synthetic resin. A plate-like first connecting member 43 extending rearward is disposed on the right wall portion of the support body portion 40, and the first connecting member 43 is rotatably connected to the first support member 10. It is like that. As shown in FIGS. 4 and 5, a rectangular hole 44 is formed in the vicinity of the rear end of the first connecting member 43.

前腕装着部４５は、図１〜図３および図６に示すように、体幹側である左側が前後方向に沿って分離し、前腕部Ａ２の略半周部分を包み込む形状に形成されて、該前腕部Ａ２に右方から着脱可能に装着される。そして前腕装着部４５は、第１サポート部材１０の本体部２０前方に位置する右側後部に、後方へ延出した板状の第２連結部材４７を備えている。この第２連結部材４７は、第１サポート部材１０に回転可能に連結されるようになっており、図４および図５に示すように、該第２連結部材４７の後端には円形穴部４８が形成されている。   As shown in FIGS. 1 to 3 and 6, the forearm mounting portion 45 is formed in a shape in which the left side, which is the trunk side, is separated along the front-rear direction and wraps around a substantially half-circumferential portion of the forearm portion A2. The forearm A2 is detachably attached from the right side. And the forearm mounting | wearing part 45 is equipped with the plate-shaped 2nd connection member 47 extended to the back in the right side rear part located in the main body part 20 front of the 1st support member 10. FIG. The second connecting member 47 is rotatably connected to the first support member 10, and as shown in FIGS. 4 and 5, a circular hole is formed at the rear end of the second connecting member 47. 48 is formed.

前腕装着部４５は、前腕部Ａ２における肘関節Ａ３の前側から手首関節Ａ４に至る長さに形成され、肘関節Ａ３から手首関節Ａ４に近づくにつれて、前腕部Ａ２の下側(裏側)から右側(体幹と反対側)を通って左側(体幹側)に至る捻れた形状に形成され、前腕部Ａ２における肘関節Ａ３の前側部位から手首関節Ａ４に隣接する関節骨格部位Ａ７までを包み込むようにして該前腕部Ａ２に装着される。前腕装着部４５の後側(肘関節Ａ３側)は、前腕部Ａ２の下側から右側を通って該前腕部Ａ２の上側までを包み込むようになっており、後方から見た端面形状が「逆Ｃ字形」をなしている。一方、前腕装着部４５の前側(手首関節Ａ４側)は、前腕部Ａ２の右側から上側を通って該前腕部Ａ２の左側までを包み込む形状となっており、前方から見た端面形状が「逆Ｕ字形」をなしている(図６参照)。すなわち前腕装着部４５は、後部の開口端側に対して前部の開口端側が左側へ９０度ほど捻れた形状となっており、前記第２連結部材４７に連結されて、主に前腕部Ａ２の右側(体幹と反対側)を覆う支持装着部分５０と、支持装着部分５０に対して前腕部Ａ２の上側を通って連続的に設けられて、主に該前腕部Ａ２の左側(体幹側)を覆う保持装着部分４９とを有する。そして保持装着部分４９は、肘関節Ａ３側から関節骨格部位Ａ７に向かうにつれて前腕部Ａ２の左側への延出量が徐々に大きくなっており、肘関節Ａ３側から関節骨格部位Ａ７に向かうにつれて該前腕部Ａ２との接触面積が増大するように形成されている(図２、図３参照)。また前腕装着部４５は、前腕部Ａ２の形状に合わせて、肘関節Ａ３に隣接する後部が太く、前方にいくにつれて徐々に細くなり、手首関節Ａ４に隣接する前部が最も細くなっている。   The forearm mounting portion 45 is formed in a length from the front side of the elbow joint A3 to the wrist joint A4 in the forearm portion A2, and as it approaches the wrist joint A4 from the elbow joint A3, the lower side (back side) of the forearm portion A2 to the right side ( It is formed in a twisted shape that extends to the left side (trunk side) through the opposite side of the trunk and wraps from the anterior part of the elbow joint A3 to the joint skeleton part A7 adjacent to the wrist joint A4 in the forearm A2. And is attached to the forearm A2. The rear side (elbow joint A3 side) of the forearm mounting part 45 wraps from the lower side of the forearm part A2 to the upper side of the forearm part A2 through the right side. "C-shaped". On the other hand, the front side (wrist joint A4 side) of the forearm mounting part 45 has a shape that wraps from the right side of the forearm part A2 through the upper side to the left side of the forearm part A2, and the end face shape seen from the front is “reverse” It is “U-shaped” (see FIG. 6). That is, the forearm mounting portion 45 has a shape in which the opening end side of the front portion is twisted about 90 degrees to the left side with respect to the opening end side of the rear portion, and is connected to the second connecting member 47 and mainly the forearm portion A2. A support mounting portion 50 that covers the right side (opposite side of the trunk), and is provided continuously through the upper side of the forearm portion A2 with respect to the support mounting portion 50, and mainly on the left side of the forearm portion A2 (the trunk) And a holding mounting portion 49 covering the side). The holding attachment portion 49 gradually increases in the left arm of the forearm portion A2 from the elbow joint A3 side toward the joint skeleton part A7, and increases toward the joint skeleton part A7 from the elbow joint A3 side. The contact area with the forearm A2 is formed to increase (see FIGS. 2 and 3). Further, the forearm mounting portion 45 has a thick rear portion adjacent to the elbow joint A3 in accordance with the shape of the forearm portion A2, and gradually becomes thinner toward the front, and a front portion adjacent to the wrist joint A4 is thinnest.

前腕装着部４５の手首関節Ａ４に臨む前部の開口端側は、前腕部Ａ２の該手首関節Ａ４に近い関節骨格部位Ａ７の略全周を包み込んで該関節骨格部位Ａ７に保持される保持部５１として機能する部分である。この保持部５１は、後述する固定ベルト５４により関節骨格部位Ａ７に保持され、右腕Ａに対する当該装着型動作支援装置ＳＵの装着時の基準となる「装着基準部位」となっている。ここで前記「関節骨格部位Ａ７」は、図１および図２に示すように、手首関節Ａ４の親指側に接続する橈骨における遠位端の橈骨茎状突起Ａ５および手首関節Ａ４の小指側に接続する尺骨における遠位端の尺骨茎状突起Ａ６の該手首関節Ａ４と反対側で、前腕部Ａ２において骨格を覆う筋肉や脂肪等が少なく最も細い部位である。すなわち関節骨格部位Ａ７は、前記肘関節Ａ３による前腕部Ａ２の屈曲動作時および捻り動作時や、手首関節Ａ４による手先の屈曲動作時に、太さや形状が変化しない部位である。   The opening end side of the front part facing the wrist joint A4 of the forearm mounting part 45 wraps substantially the entire circumference of the joint skeleton part A7 near the wrist joint A4 of the forearm part A2, and is held by the joint skeleton part A7 This is a part that functions as 51. The holding unit 51 is held in the joint skeleton part A7 by a fixing belt 54, which will be described later, and serves as a “mounting reference part” that serves as a reference when the wearable motion support device SU is attached to the right arm A. Here, as shown in FIG. 1 and FIG. 2, the “articular skeletal part A7” is connected to the radial styloid process A5 at the distal end of the radius connected to the thumb side of the wrist joint A4 and the little finger side of the wrist joint A4. This is the thinnest part of the forearm portion A2 with the least amount of muscle, fat, etc. covering the skeleton on the opposite side of the ulnar styloid process A6 at the distal end of the ulna to the wrist joint A4. That is, the joint skeleton part A7 is a part whose thickness and shape do not change during the bending operation and the twisting operation of the forearm portion A2 by the elbow joint A3 or during the bending operation of the hand tip by the wrist joint A4.

前記保持部５１には、手首関節Ａ４に臨む前端部に、前記橈骨茎状突起Ａ５の周囲に沿う湾曲形状に形成された第１凹部５２と、前記尺骨茎状突起Ａ６の周囲に沿う湾曲形状に形成された第２凹部５３とが形成されている。従って前腕装着部４５は、図１および図２に示すように、第１凹部５２を橈骨茎状突起Ａ５に臨ませると共に第２凹部５３を尺骨茎状突起Ａ６に臨ませた状態で前腕部Ａ２に装着して、保持部５１を形成する前記支持装着部分５０と保持装着部分４９とを、後述する固定ベルト５４により前腕部Ａ２の最も細い関節骨格部位Ａ７に密着させることで、該前腕部Ａ２に対してずれが規制された状態で保持されるようになっている。   The holding part 51 has a first recess 52 formed in a curved shape along the circumference of the radial styloid projection A5 and a curved shape along the circumference of the ulnar pedicle projection A6 at the front end facing the wrist joint A4. The second concave portion 53 formed in the first is formed. Accordingly, as shown in FIGS. 1 and 2, the forearm mounting portion 45 has the forearm portion A2 in a state where the first recess 52 faces the radial styloid projection A5 and the second recess 53 faces the ulnar pedicle projection A6. By attaching the support mounting portion 50 and the holding mounting portion 49 forming the holding portion 51 to the thinnest joint skeleton part A7 of the forearm portion A2 by the fixing belt 54 described later, the forearm portion A2 is attached. Is held in a state in which the deviation is restricted.

前述のように捻れた形状に形成された前腕装着部４５は、前記上腕装着部２１と同様に、エチレン−酢酸ビニル(ＥＶＡ)、シリコーンゴムまたはウレタンゴム等を材質として柔軟性および形状復元性を有し、外力が付与されると容易に変形し、外力の付与が解除されると復元力により図３および図６に示す形状に弾性復帰すると共に、外力が付与されない状態では図３および図６に示す形状に保持される。従って装着部４５は、前述したように、前記支持装着部分５０の端縁と保持装着部分４９の端縁とが分離しているので、該支持装着部分５０および保持装着部分４９が互いに近接・離間するよう変形が可能であり、前腕部Ａ２に対して容易に着脱し得る。そして前腕装着部４５は、前述した如く捻れた形状に形成されていることで、図６に示すように、手首関節Ａ４に臨む前部を左方向(図６の実線表示した矢印方向)へ捻ると、保持装着部分４９が内側方向へ巻き込んで保持部５１が縮径的に変形し、捻ることを解除すると復元力により元の形状に弾性復帰する。また前腕装着部４５は、手首関節Ａ４に臨む前部を右方向へ捻っても保持部５１が変形し、捻ることを解除すると復元力により元の形状に弾性復帰する。   As described above, the forearm mounting portion 45 formed in a twisted shape is made of ethylene-vinyl acetate (EVA), silicone rubber, urethane rubber, or the like, as in the upper arm mounting portion 21, and has flexibility and shape resilience. 3 and 6 when the external force is applied, and when the external force is released, the elastic force returns to the shape shown in FIGS. 3 and 6 by the restoring force, and in the state where the external force is not applied. The shape shown in FIG. Accordingly, as described above, since the end of the support mounting portion 50 and the end of the holding mounting portion 49 are separated from each other in the mounting portion 45, the support mounting portion 50 and the holding mounting portion 49 are close to and separated from each other. And can be easily attached to and detached from the forearm A2. The forearm mounting portion 45 is formed in a twisted shape as described above, and as shown in FIG. 6, the front portion facing the wrist joint A4 is twisted leftward (in the direction indicated by the solid line in FIG. 6). Then, the holding mounting portion 49 is wound inwardly, the holding portion 51 is deformed in a reduced diameter, and when it is released from twisting, it is elastically restored to its original shape by a restoring force. Further, the forearm mounting portion 45 is deformed even when the front portion facing the wrist joint A4 is twisted in the right direction, and the holding portion 51 is deformed.

前腕装着部４５は、前記第２連結部材４７に螺合されるビスが挿通・係止する取付孔(図示せず)が設けられている。従って前腕装着部４５は、取付孔を介して第２連結部材４７に締結したビスにより該第２連結部材４７に取り付けられ、該ビスを外すことで第２連結部材４７から取外すことが可能となっている。前腕装着部４５は、前記取付孔の配設位置を共通としてサイズおよび形状が異なる複数のものが準備され、使用者の体格に適合した前腕装着部４５が採用される。なお、前腕装着部４５の前腕部Ａ２側となる内側面は、前記上腕装着部２１と同様に、滑り止め手段として、多数個の小凸部または小凹部を形成したり、網目状や格子状のローレット模様を形成する等の所謂ノンスリップ加工が施されており、衣服に対して滑り難くなっている。従って、右腕Ａの屈曲動作により前腕装着部４５に対して衣服の袖がずれ難く、該袖に突っ張りや弛みが発生することを防止し得る。   The forearm mounting portion 45 is provided with a mounting hole (not shown) through which a screw threadedly engaged with the second connecting member 47 is inserted and locked. Therefore, the forearm mounting portion 45 is attached to the second connecting member 47 by a screw fastened to the second connecting member 47 through the mounting hole, and can be detached from the second connecting member 47 by removing the screw. ing. As the forearm mounting portion 45, a plurality of different sizes and shapes are prepared with the mounting holes arranged in common, and the forearm mounting portion 45 adapted to the user's physique is adopted. In addition, the inner side which becomes the forearm part A2 side of the forearm mounting part 45 forms a large number of small convex parts or small concave parts as a non-slip means, like the upper arm mounting part 21, or has a mesh or lattice shape. So-called non-slip processing such as forming a knurled pattern is applied, and it is difficult to slip on clothes. Therefore, it is possible to prevent the sleeve of the clothes from being displaced with respect to the forearm mounting portion 45 by the bending operation of the right arm A, and to prevent the sleeve from being stretched or slackened.

前腕装着部４５には、図３に示すように、面ファスナ形態の固定ベルト５４が、支持装着部分５０における前部側に一端を固定した状態に取り付けられると共に、該固定ベルト５４の他端側が分離可能に掛止される係着部５５が保持装着部分４９の前部側に取り付けられており、該固定ベルト５４を係着部５５に掛止させることで保持部５１を前記関節骨格部位Ａ７に保持させ得る。また、面ファスナ形態の脱落防止ベルト５６が、支持装着部分５０における後部側に一端を固定した状態に取り付けられると共に、該脱落防止ベルト５６の他端側が分離可能に掛止される係着部５７が保持装着部分４９の後部側に各々取り付けられており、該脱落防止ベルト５６を係着部５７に掛止させることで前腕装着部４５の後側を前腕部Ａ２の最も太い部位に保持させ得る。従って前腕装着部４５は、前腕部Ａ２に装着した状態で、固定ベルト５４を係着部５５に掛止させると共に脱落防止ベルト５６を係着部５７に掛止させることで、支持装着部分５０および保持装着部分４９が前腕部Ａ２の最も細い関節骨格部位Ａ７および最も太い部位の両方を包み込んだ状態で前腕部Ａ２に装着される。特に、固定ベルト５４を係着部５５に掛止させることで、前記保持部５１が関節骨格部位Ａ７の略全周を包み込むようになり、前腕装着部４５は前腕部Ａ２に対して前後方向および周方向(左右回り方向)へのずれが好適に防止される。   As shown in FIG. 3, a hook-and-loop fixing belt 54 is attached to the forearm mounting portion 45 in a state where one end is fixed to the front side of the support mounting portion 50, and the other end side of the fixing belt 54 is An engaging portion 55 that is separably hooked is attached to the front side of the holding mounting portion 49, and the holding belt 51 is hooked on the engaging portion 55 so that the holding portion 51 is attached to the joint skeleton part A7. Can be retained. Further, a hook-and-loop fastener-shaped dropout prevention belt 56 is attached in a state where one end is fixed to the rear side of the support mounting portion 50, and the other end side of the dropout prevention belt 56 is separably hooked. Are attached to the rear side of the holding attachment portion 49, and the fall prevention belt 56 is hooked on the engagement portion 57, whereby the rear side of the forearm attachment portion 45 can be held at the thickest portion of the forearm portion A2. . Accordingly, the forearm mounting portion 45 is configured to hook the fixing belt 54 on the engaging portion 55 and the drop-preventing belt 56 on the engaging portion 57 in a state where the forearm mounting portion 45 is mounted on the forearm portion A2. The holding attachment portion 49 is attached to the forearm portion A2 in a state of wrapping both the thinnest joint skeleton portion A7 and the thickest portion of the forearm portion A2. In particular, when the fixing belt 54 is hooked on the engaging portion 55, the holding portion 51 wraps substantially the entire circumference of the joint skeleton part A7, and the forearm mounting portion 45 extends in the front-rear direction and the forearm portion A2. Deviation in the circumferential direction (left-right direction) is preferably prevented.

更に前腕装着部４５には、図３に示すように、前腕部Ａ２側となる内側面に第２スペーサ５８が着脱可能に設けられている。この第２スペーサ５８は、前腕部Ａ２と前腕装着部４５の内側面との間に隙間ができないようにすると共に、前記回転支持部材６０および締結支持部材６５を中心とした第１サポート部材１０に対する第２サポート部材１２の回転方向と、肘関節Ａ３を中心とした上腕部Ａ１に対する前腕部Ａ２の屈曲方向との差異を吸収するためのものである。第２スペーサ５８は、前記第１スペーサ３６と同様に、弾性変形し難い硬質発泡ウレタンや発泡ウレタンゴム等を材質とし、使用者の前腕部Ａ２の形状に合わせて外形形状およびサイズが設定されると共に前腕装着部４５に対する装着位置が調整され、前腕部Ａ２側の外面全体が該前腕部Ａ２に均一に当接するようになっている。そして、第２スペーサ５８の前腕部Ａ２に接触する外面は、必要に応じて前腕装着部４５と同様にノンスリップ加工が施されている。また第２スペーサ５８は、前記ビスおよびビス孔を被覆した状態で前腕装着部４５の内側に、ホックや面ファスナ等を利用して装着される。なお、前腕装着部４５の第２スペーサ５８を装着した部分は、該第２スペーサ５８により変形が規制されている。   Further, as shown in FIG. 3, the forearm mounting portion 45 is detachably provided with a second spacer 58 on the inner surface on the forearm portion A2 side. The second spacer 58 prevents a gap from being formed between the forearm portion A2 and the inner side surface of the forearm mounting portion 45, and against the first support member 10 centered on the rotation support member 60 and the fastening support member 65. This is to absorb the difference between the rotation direction of the second support member 12 and the bending direction of the forearm portion A2 with respect to the upper arm portion A1 with the elbow joint A3 as the center. As with the first spacer 36, the second spacer 58 is made of hard foamed urethane, foamed urethane rubber, or the like that is difficult to elastically deform, and the outer shape and size are set in accordance with the shape of the user's forearm A2. At the same time, the mounting position with respect to the forearm mounting portion 45 is adjusted so that the entire outer surface on the side of the forearm portion A2 is in uniform contact with the forearm portion A2. And the outer surface which contacts the forearm part A2 of the 2nd spacer 58 is non-slip-processed similarly to the forearm mounting part 45 as needed. The second spacer 58 is mounted on the inner side of the forearm mounting portion 45 in a state where the screw and the screw hole are covered, using a hook, a hook-and-loop fastener or the like. The deformation of the portion of the forearm mounting portion 45 where the second spacer 58 is mounted is restricted by the second spacer 58.

前記前腕装着部４５は、図３に示すように、第２サポート部材１２の回転方向において、前記支持体部４０の第１支持壁部４１との間に、前記検知手段１４を構成する後述の第１検知部８０を配設し得る空間を画成すると共に、該支持体部４０の第２支持壁部４２との間に、該検知手段１４を構成する後述の第２検知部８１を配設し得る空間を画成した状態に配設されている。従って前腕装着部４５は、第２サポート部材１２の回転方向で、第１支持壁部４１と第２支持壁部４２の間において支持体部４０に対して相対移動が可能な可動範囲を確保した状態に配設され、第１支持壁部４１への近接移動および第２支持壁部４２への近接移動が許容されるようになっている。   As shown in FIG. 3, the forearm mounting portion 45, which will be described later, constitutes the detection means 14 with the first support wall portion 41 of the support body portion 40 in the rotation direction of the second support member 12. A space in which the first detection unit 80 can be disposed is defined, and a second detection unit 81 (to be described later) constituting the detection unit 14 is disposed between the support unit 40 and the second support wall 42. It is arranged in a state where a space that can be set is defined. Therefore, the forearm mounting portion 45 has secured a movable range in which the relative movement with respect to the support body portion 40 is possible between the first support wall portion 41 and the second support wall portion 42 in the rotation direction of the second support member 12. The proximity movement to the first support wall portion 41 and the proximity movement to the second support wall portion 42 are allowed.

前記第１サポート部材１０と第２サポート部材１２とは、図４および図５に示すように、該第１サポート部材１０に配設した前記回転支持部材６０および締結支持部材６５を利用して、互いに回転可能な状態で連結される。すなわち、支持体部４０に設けた第１連結部材４３が、第１支持部２５に回転可能に係止した回転支持部材６０に連結されると共に、前腕装着部４５に設けた第２連結部材４７が、第２支持部２６に係止した締結支持部材６５に回転可能に支持される。回転支持部材６０は、後述するように、作動機構Ｍにより正逆回転するようになっており、該作動機構Ｍにより回転支持部材６０が回転することで、第１サポート部材１０に対して第２サポート部材１２が回転変位するようになる。   As shown in FIGS. 4 and 5, the first support member 10 and the second support member 12 use the rotation support member 60 and the fastening support member 65 disposed on the first support member 10. They are connected to each other in a rotatable state. That is, the first connecting member 43 provided on the support body portion 40 is connected to the rotation support member 60 that is rotatably locked to the first support portion 25 and the second connecting member 47 provided on the forearm mounting portion 45. Is rotatably supported by the fastening support member 65 locked to the second support portion 26. As will be described later, the rotation support member 60 is rotated forward and backward by the operation mechanism M. When the rotation support member 60 is rotated by the operation mechanism M, the rotation support member 60 is second with respect to the first support member 10. The support member 12 is rotationally displaced.

回転支持部材６０は、図４および図５に示すように、第１サポート部材１０におけるベース部材２２の第１支持部２５に収容設置部２４側(右側)から当接する円形状のフランジ部６１と、このフランジ部６１より小径で前記第１支持孔２７に嵌合する円形嵌合部６２と、この円形嵌合部６２の端面から矩形状に突出した矩形係止部６３と、この矩形係止部６３の端面に形成されたビス孔６４とを備えている。矩形係止部６３は、前記第１連結部材４３に設けた矩形穴部４４と嵌合するようになっており、第１連結部材４３は、第１サポート部材１０に対して、回転支持部材６０と一体的に回転するようになっている。   As shown in FIGS. 4 and 5, the rotation support member 60 includes a circular flange portion 61 that comes into contact with the first support portion 25 of the base member 22 of the first support member 10 from the accommodation installation portion 24 side (right side). A circular fitting portion 62 having a smaller diameter than the flange portion 61 and fitting into the first support hole 27; a rectangular locking portion 63 protruding in a rectangular shape from the end surface of the circular fitting portion 62; And a screw hole 64 formed in the end surface of the portion 63. The rectangular locking portion 63 is adapted to be fitted into a rectangular hole 44 provided in the first connecting member 43, and the first connecting member 43 is a rotation support member 60 with respect to the first support member 10. And rotate together.

締結支持部材６５は、図４および図５に示すように、第２サポート部材１２における第２連結部材４７に左側から当接する円形状のフランジ部６６と、このフランジ部６６より小径の円形嵌合部６７と、この円形嵌合部６７の端面に右方へ突出するよう設けたビス６８とを備えている。円形嵌合部６７は、第２連結部材４７の厚みおよび第２支持部２６の厚みを合わせた幅に形成されており、該第２連結部材４７に設けた円形穴部４８と、該第２支持部２６に設けた第２支持孔２８とに夫々嵌合する(図４)。またビス６８は、回転支持部材６０に設けた前記ビス孔６４に螺合するようになっている。従って第２連結部材４７は、円形穴部４８と円形嵌合部６７との嵌合により、第１サポート部材１０に対して独立して回転可能に支持される。なお、図４および図５における符号６９は、自己潤滑性樹脂を材質とするリング状のスリーブである。   As shown in FIGS. 4 and 5, the fastening support member 65 includes a circular flange portion 66 that comes into contact with the second connecting member 47 of the second support member 12 from the left side, and a circular fitting having a smaller diameter than the flange portion 66. A portion 67 and a screw 68 provided on the end face of the circular fitting portion 67 so as to protrude rightward are provided. The circular fitting portion 67 is formed to have a width obtained by combining the thickness of the second connecting member 47 and the thickness of the second support portion 26, and the circular hole portion 48 provided in the second connecting member 47 and the second connecting member 47. It fits in the 2nd support hole 28 provided in the support part 26, respectively (FIG. 4). The screw 68 is screwed into the screw hole 64 provided in the rotation support member 60. Therefore, the second connecting member 47 is supported rotatably with respect to the first support member 10 by the fitting of the circular hole 48 and the circular fitting portion 67. 4 and 5, reference numeral 69 is a ring-shaped sleeve made of a self-lubricating resin.

作動機構Ｍは、図２〜図４に示すように、ギアボックス７１を備えた作動手段としてのサーボモータ７０と、該サーボモータ７０の出力軸７２に固定されたベベルギアタイプの第１ギア７３と、前記回転支持部材６０に回転不能に固定されて前記第１ギア７３に噛合するベベルギアタイプの第２ギア７４とを備えている。サーボモータ７０は、図示しない制御手段により作動制御され、ケースが細長で軽量かつコンパクトに構成され、ベース部材２２に設けたモータ固定部(図示省略)に対して出力軸７２が前方へ延出する向きで装着される。そしてサーボモータ７０は、ベース部材２２および該ベース部材２２に組み付けたカバー部材２３に挟持されて、収容設置部２４内にがたつきなく適切に保持され、出力軸７２に固定された第１ギア７３と回転支持部材６０に固定された第２ギア７４とが適切に噛合する。なお、回転支持部材６０の前記円形フランジ部６１に、右側方へ延出するシャフト７５が設けられ、このシャフト７５を介してロータリーエンコーダ７６が連結されている。   As shown in FIGS. 2 to 4, the operation mechanism M includes a servo motor 70 as an operation means including a gear box 71, a bevel gear type first gear 73 fixed to an output shaft 72 of the servo motor 70, and And a bevel gear type second gear 74 that is fixed to the rotation support member 60 so as not to rotate and meshes with the first gear 73. The servo motor 70 is controlled by a control means (not shown), the case is thin and light and compact, and the output shaft 72 extends forward with respect to a motor fixing portion (not shown) provided on the base member 22. Mounted in the direction. The servo motor 70 is sandwiched between the base member 22 and the cover member 23 assembled to the base member 22, and is appropriately held in the housing installation portion 24 without rattling and fixed to the output shaft 72. 73 and the second gear 74 fixed to the rotation support member 60 are properly meshed with each other. A shaft 75 extending rightward is provided on the circular flange portion 61 of the rotation support member 60, and a rotary encoder 76 is connected via the shaft 75.

従って、サーボモータ７０の正逆作動により出力軸７２が正逆回転すると、第１ギア７３および第２ギア７４を介して回転支持部材６０がベース部材２２に対して正逆回転し、これにより第２サポート部材１２が第１サポート部材１０に対して姿勢変位する。そして、回転支持部材６０と第２サポート部材１２の支持体部４０とが一体的に回転するよう構成されているので、該回転支持部材６０の回転角度をロータリーエンコーダ７６で検知することで、第１サポート部材１０に対する第２サポート部材１２の動作状態が適切に把握される。なお、ロータリーエンコーダ７６の検知信号は、図示しない制御手段へ出力される。   Therefore, when the output shaft 72 rotates forward and backward by the forward and reverse operation of the servo motor 70, the rotation support member 60 rotates forward and backward with respect to the base member 22 via the first gear 73 and the second gear 74, thereby 2 The posture of the support member 12 is displaced with respect to the first support member 10. Since the rotation support member 60 and the support portion 40 of the second support member 12 are configured to rotate integrally, the rotation angle of the rotation support member 60 is detected by the rotary encoder 76, so that the first The operation state of the second support member 12 with respect to the one support member 10 is appropriately grasped. The detection signal of the rotary encoder 76 is output to a control means (not shown).

前記検知手段１４は、図１〜図３に示すように、第２サポート部材１２における支持体部４０の前腕装着部４５と対向する面に設けられ、該支持体部４０に対する前腕装着部４５の変位を検知する。この検知手段１４は、支持体部４０の第１支持壁部４１から前腕装着部４５側に突設した台座部４１Ａに、該前腕装着部４５に対向して設けた第１検知部８０と、該支持体部４０の第２支持壁部４２から前腕装着部４５側に突設した台座部４２Ａに、該前腕装着部４５に対向して設けた第２検知部８１とを備えている。第１検知部８０および第２検知部８１は、基本的に同じ構成であり、圧力センサ８２と、該圧力センサ８２および前腕装着部４５の夫々に弾力的に当接して弾性変形が可能な当接支持部材８３とを備えている。第１検知部８０および第２検知部８１の各当接支持部材８３は、細長の薄いバネ鋼から形成された弾性変形が可能な板バネであり、長手方向の略中間部位で折曲げられており、対応の圧力センサ８２を押圧する押圧部８３Ａと、長手方向の他端部に設けられて前腕装着部４５の外面に当接する作動部８３Ｂとを備える。そして、各圧力センサ８２に対応して配設された２つの各当接支持部材１３８は、支持体部４０に対して前腕装着部４５が第２サポート部材１２の回転方向へ相対的に移動するに際して圧力センサ８２を押圧し、該前腕装着部４５の動きを該圧力センサ８２に伝達する。   As shown in FIGS. 1 to 3, the detection means 14 is provided on a surface of the second support member 12 facing the forearm mounting portion 45 of the support body portion 40, and the forearm mounting portion 45 with respect to the support body portion 40. Detect displacement. The detection means 14 includes a first detection unit 80 provided on a pedestal 41A protruding from the first support wall 41 of the support body 40 toward the forearm mounting unit 45 and facing the forearm mounting unit 45; A pedestal portion 42 </ b> A projecting from the second support wall portion 42 of the support body portion 40 toward the forearm mounting portion 45 is provided with a second detection portion 81 provided to face the forearm mounting portion 45. The first detection unit 80 and the second detection unit 81 have basically the same configuration, and are elastically deformed by elastically contacting the pressure sensor 82 and the pressure sensor 82 and the forearm mounting unit 45, respectively. And a contact support member 83. Each contact support member 83 of the first detection unit 80 and the second detection unit 81 is a leaf spring that is formed of an elongated thin spring steel and can be elastically deformed, and is bent at a substantially intermediate portion in the longitudinal direction. And a pressing portion 83A that presses the corresponding pressure sensor 82 and an operating portion 83B that is provided at the other end portion in the longitudinal direction and contacts the outer surface of the forearm mounting portion 45. In each of the two contact support members 138 disposed corresponding to each pressure sensor 82, the forearm mounting portion 45 moves relative to the support body portion 40 in the rotation direction of the second support member 12. At this time, the pressure sensor 82 is pressed, and the movement of the forearm mounting portion 45 is transmitted to the pressure sensor 82.

前述のように構成された実施例の装着型動作支援装置ＳＵは、前腕装着部４５に外力が付与されない場合に、検知手段１４の各当接支持部材８３が均衡を保った状態となる。そして各当接支持部材８３は、均衡を保った状態において、前腕装着部４５と支持体部４０の第１支持壁部４１との間隔と、該前腕装着部４５と該支持体部４０の第２支持壁部４２との間隔とが同一となるように前腕装着部４５を位置させる。そして、実施例の装着型動作支援装置ＳＵは、支持体部４０の第１支持壁部４１への前腕装着部４５の近接移動時または第２支持壁部４２に対する該前腕装着部４５の近接移動時に、近接移動した側の当接支持部材８３が弾性変形して対応する各圧力センサ８２を押圧し、該圧力センサ８２が検知する押圧力に応じて作動機構Ｍのサーボモータ７０を作動制御する。   In the wearing motion support device SU according to the embodiment configured as described above, when the external force is not applied to the forearm wearing portion 45, the contact support members 83 of the detecting unit 14 are in a balanced state. Each abutment support member 83 is in a balanced state, and the distance between the forearm mounting portion 45 and the first support wall portion 41 of the support body portion 40, and the forearm mounting portion 45 and the support body portion 40 2 The forearm mounting portion 45 is positioned so that the distance from the support wall portion 42 is the same. Then, the wearable motion support device SU according to the embodiment is configured so that the forearm mounting portion 45 moves close to the first support wall portion 41 when the forearm mounting portion 45 moves close to the first support wall portion 41. Sometimes, the contact support member 83 on the side moved in proximity moves elastically to press the corresponding pressure sensor 82, and the servo motor 70 of the operating mechanism M is controlled to operate according to the pressing force detected by the pressure sensor 82. .

例えば、支持体部４０に対して前腕装着部４５が上方へ移動すると、第１検知部８０における当接支持部材８３の弾性変形量が大きくなって、該第１検知部８０の圧力センサ８２に対する押圧力が増加する一方、第２検知部８１における当接支持部材８３の弾性変形量が小さくなって、該第２検知部８１の圧力センサ８２に対する押圧力が減少する。すなわち、第１検知部８０の圧力センサ８２に対する押圧力が増加して、第２検知部８１の圧力センサ８２に対する押圧力が減少した場合には、前記サーボモータ７０を作動制御して第２サポート部材１２を上方へ回転変位させて、前腕部Ａ２を上方へ曲げようとする使用者の動作支援を行なうようになっている。なお、実施例の装着型動作支援装置ＳＵは、前腕装着部４５の保持部５１が装着基準部位として前記前腕部Ａ２の関節骨格部位Ａ７に保持されて、前腕部Ａ２に対する第２サポート部材１２のずれ動きが規制されているため、前腕部Ａ２の上方移動時において当該装着型動作支援装置ＳＵの機械的動作と右腕Ａの動作との間にずれが生じたとしても、前記第１サポート部材１０が筋肉や皮下脂肪のある上腕部Ａ１に対して適宜移動することで該ずれを吸収することができる。   For example, when the forearm mounting portion 45 moves upward with respect to the support body portion 40, the amount of elastic deformation of the contact support member 83 in the first detection portion 80 increases, and the pressure sensor 82 of the first detection portion 80 increases. While the pressing force increases, the amount of elastic deformation of the contact support member 83 in the second detection unit 81 decreases, and the pressing force of the second detection unit 81 against the pressure sensor 82 decreases. That is, when the pressing force of the first detection unit 80 against the pressure sensor 82 increases and the pressing force of the second detection unit 81 against the pressure sensor 82 decreases, the servo motor 70 is controlled and the second support is performed. The member 12 is rotated and displaced upward to assist a user who wants to bend the forearm A2 upward. In addition, in the mounting-type motion support device SU of the embodiment, the holding unit 51 of the forearm mounting unit 45 is held in the joint skeleton part A7 of the forearm part A2 as a mounting reference part, and the second support member 12 with respect to the forearm part A2 Since the shift movement is restricted, even if a shift occurs between the mechanical movement of the wearable movement support device SU and the movement of the right arm A when the forearm A2 moves upward, the first support member 10 Can be absorbed by appropriately moving with respect to the upper arm A1 having muscles and subcutaneous fat.

また、支持体部４０に対して前腕装着部４５が下方へ移動すると、第２検知部８１における当接支持部材８３の弾性変形量が大きくなって、該第２検知部８１の圧力センサ８２に対する押圧力が増加する一方、第１検知部８０における当接支持部材８３の弾性変形量が小さくなって、該第１検知部８０の圧力センサ８２に対する押圧力が減少する。すなわち、第２検知部８１の圧力センサ８２に対する押圧力が増加して、第１検知部８０の圧力センサ８２に対する押圧力が減少した場合には、前記サーボモータ７０を作動制御して第２サポート部材１２を下方へ回転変位させて、前腕部Ａ２を下方へ曲げようとする使用者の動作支援を行なうようになっている。なお、実施例の装着型動作支援装置ＳＵは、前述した如く、前腕部Ａ２に対する第２サポート部材１２のずれ動きが規制されているため、前腕部Ａ２の下方移動時において当該装着型動作支援装置ＳＵの機械的動作と右腕Ａの動作との間にずれが生じたとしても、前記第１サポート部材１０が上腕部Ａ１に対して適宜移動することで該ずれを吸収することができる。   In addition, when the forearm mounting portion 45 moves downward with respect to the support body portion 40, the amount of elastic deformation of the contact support member 83 in the second detection portion 81 increases, and the pressure sensor 82 of the second detection portion 81 increases. While the pressing force increases, the amount of elastic deformation of the contact support member 83 in the first detection unit 80 decreases, and the pressing force of the first detection unit 80 against the pressure sensor 82 decreases. That is, when the pressing force of the second detection unit 81 against the pressure sensor 82 increases and the pressing force of the first detection unit 80 against the pressure sensor 82 decreases, the servo motor 70 is controlled and the second support is performed. The member 12 is rotationally displaced downward to assist the user in trying to bend the forearm A2 downward. Note that, as described above, the wearable movement support device SU according to the embodiment restricts the displacement movement of the second support member 12 with respect to the forearm portion A2, so that the wearable movement support device SU2 moves when the forearm portion A2 moves downward. Even if a deviation occurs between the mechanical action of the SU and the action of the right arm A, the deviation can be absorbed by appropriately moving the first support member 10 with respect to the upper arm part A1.

前述のように構成された実施例の装着型動作支援装置ＳＵによれば、次のような作用効果を奏する。
（１）実施例の装着型動作支援装置ＳＵでは、前腕装着部４５の前部の開口端側に、装着基準部位である保持部５１を設け、前腕部Ａ２の最も細い部位である関節骨格部位Ａ７を前記保持部５１で包み込み、固定ベルト５４により該保持部５４を関節骨格部位Ａ７に密着させた状態で保持するようにした。これにより、実施例の装着型動作支援装置ＳＵは、前腕部Ａ２の最も細い部位である関節骨格部位Ａ７に保持される保持部５１を、前腕装着部４５の右腕Ａに対する装着基準部位としたことで、右腕Ａの屈曲動作および捻り動作において第２サポート部材１２が前腕部Ａ２に対して前後方向や周方向(左右回り方向)へずれ難い。すなわち、右腕Ａの屈曲動作および捻り動作において、装着型動作支援装置ＳＵが右腕Ａに対して前方へずれることが規制される。また、固定ベルト５４により、関節骨格部位Ａ７を包み込んだ保持部５１が関節骨格部位Ａ７から離れるように変形しないので、装着型動作支援装置ＳＵが右腕Ａに対して後方へずれることも規制される。更に、右腕Ａの左方向または右方向の捻り動作時にも、保持部５１が前腕骨格部位Ａ７に保持されて前腕装着部４５が前腕部Ａ２にずれることなく装着されるので、装着型動作支援装置ＳＵが右腕Ａに対して周方向へずれることも規制される。
（２）実施例の装着型動作支援装置ＳＵは、前腕部Ａ２に対する第２サポート部材１２のずれを規制しているため、前腕部Ａ２の屈曲動作時や捻り動作時において当該装着型動作支援装置ＳＵの機械的動作と右腕Ａの動作との間にずれが生じたとしても、第１サポート部材１０が筋肉や皮下脂肪が多い上腕部Ａ１に対して適宜移動することで当該ずれを吸収することができる。これにより、右腕Ａの上腕部Ａ１、前腕部Ａ２および肘関節Ａ３に負荷が掛かることを防止し得る。
（３）前腕装着部４５は、第１サポート部材１０に後側が固定されると共に捻れた形状に形成されて、前腕部Ａ２を包み込むように装着されるので、前腕部Ａ２を左方向または右方向の捻る動作に際して前腕装着部４５が捻れるように変形して、装着型動作支援装置ＳＵの該右腕Ａに対する左右方向へのずれを規制し得る。しかも、前腕部Ａ２の捻り動作を止めて右腕Ａに加えた力を緩めると、捻れるように変形した前腕装着部４５が元の形状に復帰しようとする復元力により、該前腕部Ａ２を捻る前の姿勢に戻す動作支援を行ない得る。
（４）上腕装着部２１は、上腕部Ａ１に臨む内側面にノンスリップ加工を施したので右腕Ａの動作時に上腕部Ａ１に対して滑り難い。また前腕装着部４５は、前腕部Ａ２に臨む内側面にノンスリップ加工を施したので、右腕Ａの動作時に前腕部Ａ２に対して滑り難く、前腕部Ａ２の動作に追従して変形する。特に前腕装着部４５は、前腕部Ａ２の左右の捻り動作に際しても該前腕部Ａ２の周方向へ滑り難いので、前腕部Ａ２の捻り動作に追従して捻り変形すると共に、前腕装着部４５が変形した状態で前腕部Ａ２の動作を止めた場合には、元の形状に弾性復帰する該前腕装着部４５に前腕部Ａ２が追従するようになり、前腕装着部４５の復元力を利用した前腕部Ａ２の動作支援を適切に行ない得る。
（５）上腕装着部２１の上腕部Ａ１側となる内側に第１スペーサ３６を設けたので、上腕装着部２１と上腕部Ａ１との間に隙間が形成されず、上腕部Ａ１に対して上腕装着部２１がフィットするから、上腕部Ａ１に対する上腕装着部２１のずれ動きを防止し得る。同様に、前腕装着部４５の前腕部Ａ２側となる内側に第２スペーサ５８を設けたので、前腕装着部４５と前腕部Ａ２との間に隙間が形成されず、前腕部Ａ２に対して前腕装着部４５がフィットするから、前腕部Ａ２に対する前腕装着部４５のずれ動きを防止し得る。また、第１スペーサ３６および第２スペーサ５８を設けたことで、回転支持部材６０および締結支持部材６５を中心とした第１サポート部材１０に対する第２サポート部材１２の回転方向と、肘関節Ａ３を中心とした上腕部Ａ１に対する前腕部Ａ２の屈曲方向との差異を吸収することができる。特に、動作支援を必要とする使用者は、上腕部Ａ１または前腕部Ａ２が局部的に細くなっていることもあるので、このような使用者に対して前記第１スペーサ３６および第２スペーサ５８を装着することにより、上腕部Ａ１に対する上腕装着部２１の調整および前腕部Ａ２に対する前腕装着部４５の調整が容易になる利点がある。
（６）第２サポート部材１２に設けた検知手段１４における第１検知部８０および第２検知部８１が、常に圧力センサ８２および前腕装着部４５に弾力的に当接する当接支持部材８３を夫々備えているので、前腕装着部４５の微小な動きを各圧力センサ８２,８２でダイレクトに検知することができるから、該圧力センサ８２,８２による検知精度が向上する。そして、各圧力センサ８２,８２の検知信号に応じてサーボモータ７０が適切に作動制御されるので、右腕Ａの動作支援を適切に行なうことができる。
（７）第２サポート部材１２を姿勢変位させるサーボモータ７０、第１ギア７３および第２ギア７４からなる作動機構Ｍや、回転支持部材６０およびロータリーエンコーダ７６等が、第１サポート部材１０の本体部２０に設けた収容設置部２４内に配設されるので、装着型動作支援装置ＳＵの小型化および軽量化が図られる。従って、装着感の向上が図られて、子供や老人であっても容易に使用することができる。また、作動機構Ｍ等が第１サポート部材１０および第２サポート部材１２の外側に露出しないので、これらの可動部分に指先や衣服の裾部等が挟み込まれる不都合の発生も好適に防止し得る。
（８）第２サポート部材１２が第１サポート部材１０に対して着脱可能なので、同一形状の第１連結部材４３および第２連結部材４７を備え、支持体部４０および前腕装着部４５の形状・サイズが異なる複数の第２サポート部材１２を準備すれば、第１サポート部材１０に対して形状・サイズが異なる第２サポート部材１２を選択的に装着し得る。従って、使用者の体格変化に対応し得ると共に、肘関節Ａ３を挟む上腕部Ａ１と前腕部Ａ２以外の身体部位に装着して、当該身体部位の動作補助を行なうことも可能である。
（９）第１サポート部材１０は、上腕装着部２１が本体部２０に対して着脱可能なので、本体部２０を共通に使用して、形状・サイズが異なる複数の上腕装着部２１を準備すれば、該上腕装着部２１の形状・サイズが異なる複数の第１サポート部材１０を構成し得る。同様に、第２サポート部材１２は、支持体部４０と前腕装着部４５とが分離していると共に、該前腕装着部４５が第１サポート部材１０に対して着脱可能なので、支持体部４０を共通に使用して、形状・サイズが異なる複数の前腕装着部４５を準備すれば、該前腕装着部４５の形状・サイズが異なる複数の第２サポート部材１２を構成し得る。従って、上腕装着部２１および前腕装着部４５の選択により、使用者の体格の変化に対応し得る。 According to the wearable motion support device SU of the embodiment configured as described above, the following operational effects can be obtained.
(1) In the wearable motion support device SU of the embodiment, the holding part 51 as the attachment reference part is provided on the opening end side of the front part of the forearm attachment part 45, and the joint skeleton part that is the thinnest part of the forearm part A2 A7 is wrapped in the holding part 51, and the holding part 54 is held in a state of being in close contact with the joint skeleton part A7 by the fixing belt 54. Thereby, the mounting-type motion support device SU according to the embodiment uses the holding unit 51 held by the joint skeleton part A7 which is the thinnest part of the forearm part A2 as the mounting reference part for the right arm A of the forearm mounting part 45. Thus, the second support member 12 is unlikely to shift in the front-rear direction or the circumferential direction (left-right direction) with respect to the forearm portion A2 in the bending operation and the twisting operation of the right arm A. That is, in the bending operation and the twisting operation of the right arm A, the wearable movement support device SU is restricted from being displaced forward with respect to the right arm A. Further, since the holding unit 51 that encloses the joint skeleton part A7 is not deformed so as to be separated from the joint skeleton part A7 by the fixing belt 54, the wearable movement support device SU is also restricted from being displaced backward with respect to the right arm A. . Further, even when the right arm A is twisted in the left direction or the right direction, the holding portion 51 is held by the forearm skeleton part A7 and the forearm mounting portion 45 is mounted without shifting to the forearm portion A2. It is also restricted that the SU is displaced in the circumferential direction with respect to the right arm A.
(2) Since the wearable motion support device SU of the embodiment regulates the displacement of the second support member 12 with respect to the forearm portion A2, the wearable motion support device when the forearm portion A2 is bent or twisted. Even if a deviation occurs between the mechanical movement of the SU and the movement of the right arm A, the first support member 10 absorbs the deviation by appropriately moving with respect to the upper arm part A1 having a lot of muscle and subcutaneous fat. Can do. Thereby, it can prevent that load is applied to upper arm part A1, forearm part A2, and elbow joint A3 of right arm A.
(3) Since the forearm mounting portion 45 is fixed to the first support member 10 with its rear side fixed and twisted, it is mounted so as to wrap the forearm portion A2, so that the forearm portion A2 is leftward or rightward. The forearm mounting portion 45 can be deformed so as to be twisted during the twisting operation, and the displacement of the wearable motion support device SU with respect to the right arm A in the left-right direction can be regulated. In addition, when the forearm portion A2 is stopped to twist and the force applied to the right arm A is loosened, the forearm mounting portion 45 deformed so as to be twisted twists the forearm portion A2 by a restoring force to return to the original shape. Supporting the movement to return to the previous posture can be performed.
(4) The upper arm mounting portion 21 is not slippery with respect to the upper arm portion A1 when the right arm A is operated because the inner surface facing the upper arm portion A1 is non-slip processed. Further, the forearm mounting portion 45 is non-slip processed on the inner surface facing the forearm portion A2, so that it is difficult to slip with respect to the forearm portion A2 when the right arm A operates, and deforms following the operation of the forearm portion A2. In particular, the forearm mounting portion 45 is difficult to slip in the circumferential direction of the forearm portion A2 even during the left and right twisting operation of the forearm portion A2, so that the forearm mounting portion 45 is deformed following the twisting operation of the forearm portion A2. When the movement of the forearm portion A2 is stopped in the state where the forearm portion A2 is stopped, the forearm portion A2 follows the forearm mounting portion 45 that elastically returns to its original shape, and the forearm portion using the restoring force of the forearm mounting portion 45 The operation support of A2 can be appropriately performed.
(5) Since the first spacer 36 is provided on the inner side on the upper arm portion A1 side of the upper arm attachment portion 21, no gap is formed between the upper arm attachment portion 21 and the upper arm portion A1, and the upper arm is in the upper arm portion A1. Since the mounting part 21 fits, the movement of the upper arm mounting part 21 with respect to the upper arm part A1 can be prevented. Similarly, since the second spacer 58 is provided on the inner side of the forearm mounting portion 45 on the forearm portion A2 side, a gap is not formed between the forearm mounting portion 45 and the forearm portion A2, and the forearm with respect to the forearm portion A2. Since the mounting part 45 fits, the displacement movement of the forearm mounting part 45 with respect to the forearm part A2 can be prevented. Further, by providing the first spacer 36 and the second spacer 58, the rotation direction of the second support member 12 relative to the first support member 10 with the rotation support member 60 and the fastening support member 65 as the center, and the elbow joint A3 The difference between the bending direction of the forearm portion A2 with respect to the upper arm portion A1 as the center can be absorbed. In particular, the user who needs the operation support may have the upper arm portion A1 or the forearm portion A2 locally narrowed. Therefore, the first spacer 36 and the second spacer 58 for the user. Is advantageous in that the adjustment of the upper arm mounting portion 21 with respect to the upper arm portion A1 and the adjustment of the forearm mounting portion 45 with respect to the forearm portion A2 are facilitated.
(6) The first detection unit 80 and the second detection unit 81 in the detection unit 14 provided on the second support member 12 always have the contact support members 83 that elastically contact the pressure sensor 82 and the forearm mounting unit 45, respectively. Since it is provided, minute movements of the forearm mounting portion 45 can be directly detected by the pressure sensors 82 and 82, so that detection accuracy by the pressure sensors 82 and 82 is improved. Since the servo motor 70 is appropriately controlled in accordance with the detection signals of the pressure sensors 82 and 82, the right arm A can be supported appropriately.
(7) The actuating mechanism M including the servo motor 70, the first gear 73, and the second gear 74 that displaces the second support member 12, the rotation support member 60, the rotary encoder 76, and the like are the main body of the first support member 10. Since it is disposed in the accommodation installation unit 24 provided in the unit 20, the wearable motion support device SU can be reduced in size and weight. Therefore, the feeling of wearing is improved, and even a child or an elderly person can easily use it. In addition, since the operating mechanism M and the like are not exposed to the outside of the first support member 10 and the second support member 12, it is possible to suitably prevent the occurrence of inconvenience that a fingertip, a skirt of clothes, etc. are sandwiched between these movable parts.
(8) Since the second support member 12 is detachable with respect to the first support member 10, the first support member 43 and the second connection member 47 having the same shape are provided, and the shapes of the support body 40 and the forearm mounting part 45 are provided. If a plurality of second support members 12 having different sizes are prepared, the second support members 12 having different shapes and sizes can be selectively attached to the first support member 10. Accordingly, it is possible to cope with a change in the physique of the user, and to attach to body parts other than the upper arm part A1 and the forearm part A2 sandwiching the elbow joint A3 to assist the operation of the body part.
(9) Since the upper arm mounting portion 21 is detachable from the main body portion 20 of the first support member 10, if the main body portion 20 is commonly used and a plurality of upper arm mounting portions 21 having different shapes and sizes are prepared, A plurality of first support members 10 having different shapes and sizes of the upper arm mounting portion 21 can be configured. Similarly, in the second support member 12, the support body portion 40 and the forearm mounting portion 45 are separated from each other, and the forearm mounting portion 45 can be attached to and detached from the first support member 10. If a plurality of forearm mounting portions 45 having different shapes and sizes are prepared in common, a plurality of second support members 12 having different shapes and sizes of the forearm mounting portions 45 can be configured. Accordingly, selection of the upper arm mounting part 21 and the forearm mounting part 45 can cope with a change in the physique of the user.

(変更例)
実施例では、右腕Ａの肘関節Ａ３を挟む上腕部Ａ１および前腕部Ａ２に装着される装着型動作支援装置ＳＵを例示したが、本願の装着型動作支援装置ＳＵは、様々に変更して実施可能である。
（１）実施例では、前腕装着部４５の前部に設けた保持部５１に、橈骨茎状突起Ａ５に沿う第１凹部５２および尺骨茎状突起Ａ６に沿う第２凹部５３を設けたが、第１凹部５２または第２凹部５３の何れか一方だけを設けるようにしてもよい。また、保持部５１の前端部を、橈骨茎状突起Ａ５および尺骨茎状突起Ａ６より手首関節Ａ４側へ延出しない形状とすれば、第１凹部５２および第２凹部５３を形成しなくてもよい。
（２）前腕装着部４５の捻れ方向は、前記実施例と逆方向に捻れた形状であってもよい。すなわち、肘関節Ａ３から前方へ離れるにつれて、前腕部Ａ２の下側(裏側)から左側(体幹側)を通って右側(体幹と反対側)に至るよう捻れた形状として、該前腕部Ａ２を包み込むようにしてもよい。
（３）上腕装着部２１および前腕装着部４５の内側面に設けた滑り防止手段は、実施例で例示したノンスリップ加工に限定されず、例えばウレタンシート、ゴムシート、織布、編布、ネット等の滑り難い素材から形成された別部材であってもよい。
（４）上腕装着部２１に設けた脱落防止ベルト３４、前腕装着部４５に設けた固定ベルト５４および脱落防止ベルト５６は、面ファスナ形態に限定されず、長さ方向へ伸張変形が可能なゴムベルトや、掛止具を備えたベルト等であってもよい。
（５）実施例では、サーボモータ７０と回転支持部材６０の連係機構として、ベベルギアからなる第１ギア７３および第２ギア７４を示したが、この連係機構は、例えばウォームギアおよびホイルギアからなるギア機構や、プーリーおよびタイミングベルトからなるベルト機構等としてもよい。
（６）作動機構Ｍの作動手段は、サーボモータに限定されず、アクチュエーターモータ等を使用することも可能である。
（７）実施例では、検知手段としての圧力センサ８２を支持体部４０に配設した態様を例示したが、該圧力センサ８２は、前腕装着部４５の外面において該支持体部４０に対向する部分に設けてもよい。
（８）第２サポート部材１２を左右方向へ旋回させる第２の作動機構を設けて、第２サポート部材１２を、上下方向のみならず、左右方向や、右上・左下方向および左上・右下方向にも姿勢変位させ得るようにしてもよい。
（９）当接支持部材８３の配設数は、圧力センサ８２の配設数に合わせて３個以上であってもよい。
（１０）実施例では、上肢用として右腕Ａに装着される装着型動作支援装置を例示したが、第１サポート部材１０および第１装着部２１、第２サポート部材１２および第２装着部４５等の形状およびサイズ等を変更することで、左腕用や、下肢の左脚用または右脚用として実施することも可能である。 (Example of change)
In the embodiment, the wearable motion support device SU mounted on the upper arm portion A1 and the forearm portion A2 sandwiching the elbow joint A3 of the right arm A is illustrated, but the wearable motion support device SU of the present application is implemented with various modifications. Is possible.
(1) In the embodiment, the holding portion 51 provided in the front portion of the forearm mounting portion 45 is provided with the first concave portion 52 along the radial styloid projection A5 and the second concave portion 53 along the ulnar styloid projection A6. Only one of the first recess 52 and the second recess 53 may be provided. Further, if the front end portion of the holding portion 51 has a shape that does not extend to the wrist joint A4 side from the radius pedicle projection A5 and the ulnar pedicle projection A6, the first recess 52 and the second recess 53 need not be formed. Good.
(2) The twisted direction of the forearm mounting portion 45 may be a shape twisted in the opposite direction to the above embodiment. In other words, as the elbow joint A3 moves forward, the forearm portion A2 has a shape that is twisted so as to reach the right side (opposite side of the trunk) from the lower side (back side) of the forearm portion A2 to the left side (trunk side). You may make it wrap up.
(3) The slip prevention means provided on the inner side surfaces of the upper arm mounting portion 21 and the forearm mounting portion 45 is not limited to the non-slip processing exemplified in the embodiment, and for example, urethane sheet, rubber sheet, woven fabric, knitted fabric, net, etc. Another member formed from a non-slip material may be used.
(4) The fall-off prevention belt 34 provided on the upper arm attachment portion 21, the fixing belt 54 provided on the forearm attachment portion 45, and the fall-off prevention belt 56 are not limited to the hook-and-loop fastener form, and are rubber belts that can be extended and deformed in the length direction. Alternatively, a belt provided with a hook or the like may be used.
(5) In the embodiment, the first gear 73 and the second gear 74 made of bevel gears are shown as the linkage mechanism of the servo motor 70 and the rotation support member 60. However, this linkage mechanism is a gear mechanism made of, for example, a worm gear and a wheel gear. Alternatively, a belt mechanism including a pulley and a timing belt may be used.
(6) The actuating means of the actuating mechanism M is not limited to a servo motor, and an actuator motor or the like can also be used.
(7) In the embodiment, an example in which the pressure sensor 82 as the detecting means is disposed on the support body portion 40 is illustrated. However, the pressure sensor 82 faces the support body portion 40 on the outer surface of the forearm mounting portion 45. You may provide in a part.
(8) A second operation mechanism for turning the second support member 12 in the left-right direction is provided, and the second support member 12 is moved not only in the up-down direction but also in the left-right direction, upper right / lower left direction, and upper left / lower right direction. Alternatively, the posture may be changed.
(9) The number of the contact support members 83 may be three or more according to the number of the pressure sensors 82.
(10) In the embodiment, the wearable motion support device mounted on the right arm A for the upper limb is illustrated, but the first support member 10 and the first mounting portion 21, the second support member 12 and the second mounting portion 45, etc. By changing the shape, size, etc., it can be implemented for the left arm, the left leg of the lower limb, or the right leg.

１０ 第１サポート部材，１２ 第２サポート部材，４５ 前腕装着部(装着部)
４９ 保持装着部分，５０ 支持装着部分，５８ スペーサ，７０ 作動機構(作動手段)
Ａ１ 上腕部(近位身体部位)，Ａ２ 前腕部(遠位身体部位)，Ａ３ 肘関節(関節)
Ａ７ 関節骨格部位 10 First support member, 12 Second support member, 45 Forearm mounting portion (mounting portion)
49 holding mounting part, 50 support mounting part, 58 spacer, 70 actuating mechanism (actuating means)
A1 Upper arm (proximal body part), A2 Forearm (distal body part), A3 Elbow joint (joint)
A7 Articular skeletal region

Claims (3)

関節(A3)を挟む近位身体部位(A1)に装着される第１サポート部材(10)と、前記関節(A3)の遠位身体部位(A2)に装着されると共に前記第１サポート部材(10)に連結され、前記関節(A3)の屈曲動作に合わせて姿勢変位可能な第２サポート部材(12)と、前記第１サポート部材(10)に対して前記第２サポート部材(12)を姿勢変位させる作動手段(70)とを備え、前記作動手段(70)が前記第２サポート部材(12)を前記第１サポート部材(10)に対して姿勢変位させることで、前記関節(A3)の屈曲動作を補助する装着型動作支援装置であって、
前記第２サポート部材(12)における前記遠位身体部位(A2)に装着される装着部(45)は、前記遠位身体部位(A2)における前記関節(A3)から該関節(A3)と反対側の関節骨格部位(A7)までを包み込む形状に形成されて、該装着部(45)における前記関節骨格部位(A7)側の開口端側を遠位身体部位(A2)に保持するよう構成し、
前記装着部(45)は、前記関節(A3)側が前記第１サポート部材(10)に連結され、
前記装着部(45)は、柔軟性および形状復元性を有する素材から構成され、前記第１サポート部材(10)に連結されて遠位身体部位(A2)の体幹と反対側を覆う支持装着部分(50)と、前記支持装着部分(50)に対して遠位身体部位(A2)の上側を通って連続的に設けられて該遠位身体部位(A2)の体幹側を覆う保持装着部分(49)とを有し、
前記保持装着部分(49)は、前記関節(A3)側から関節骨格部位(A7)に向かうにつれて遠位身体部位(A2)との接触面積が増大するように形成されたことを特徴とする装着型動作支援装置。 A first support member (10) attached to the proximal body part (A1) sandwiching the joint (A3), and a first support member (10) attached to the distal body part (A2) of the joint (A3). 10), a second support member (12) that can be displaced in accordance with the bending motion of the joint (A3), and the second support member (12) with respect to the first support member (10). Operating means (70) for displacing the posture, and the operative means (70) displaces the second support member (12) relative to the first support member (10), whereby the joint (A3) A wearable movement support device that assists the bending movement of
A mounting portion (45) attached to the distal body part (A2) of the second support member (12) is opposite to the joint (A3) from the joint (A3) of the distal body part (A2). And is configured to wrap up to the joint skeleton region (A7) on the side, and is configured to hold the open end side of the joint skeleton region (A7) side in the attachment portion (45) in the distal body region (A2). ,
The mounting portion (45) is connected to the first support member (10) on the joint (A3) side,
The mounting portion (45) is made of a material having flexibility and shape restoration, and is connected to the first support member (10) to cover the opposite side of the distal body part (A2) from the trunk. A holding attachment that is provided continuously over the upper part of the distal body part (A2) with respect to the part (50) and the support attachment part (50) and covers the trunk side of the distal body part (A2) Part (49) and
The holding mounting portion (49) is formed so that a contact area with a distal body part (A2) increases from the joint (A3) side toward the joint skeleton part (A7). Type motion support device . 前記装着部(45)は、前記遠位身体部位(A2)側に滑り止め手段が設けられている請求項１に記載の装着型動作支援装置。 The wearing type movement support device according to claim 1 , wherein the wearing unit (45) is provided with anti-slip means on the distal body part (A2) side. 前記装着部(45)の遠位身体部位(A2)側に、該遠位身体部位(A2)に接触するスペーサ(58)を備えている請求項１また２に記載の装着型動作支援装置。 The wearable motion support device according to claim 1 or 2 , further comprising a spacer (58) in contact with the distal body part (A2) on the distal body part (A2) side of the wearing part (45).
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