JP5793314B2 - Walking assist device - Google Patents

Description

  The present invention relates to a technical field of a walking assistance device that assists a user's walking.

  2. Description of the Related Art Conventionally, a walking assistance device that assists a user's walking has existed (see, for example, Patent Document 1). As an example, this type of walking assist device assists walking by swinging the user's lower leg part around the hip joint and knee joint in the front-rear direction using a hip joint and knee joint actuator, as shown in Patent Document 1.

Japanese Patent No. 4092322

  Such walking assist devices include those that assist walking when carrying heavy loads and those that are used for rehabilitation patients such as elderly people and injured persons with weak muscle strength.

  In particular, the walking assist device using the latter as a use requires the user to perform an appropriate walking motion rather than simply reducing the burden on the user by reinforcing muscle strength or the like.

  In such a walking assistance device, if it is not operated in accordance with the walking form of each user, a sense of incongruity occurs and it is difficult to perform an appropriate walking motion.

  Here, the most important point is that the way in which muscle strength is applied and the form of the skeleton differ depending on the user, and in walking motion, the hip joint is flexed and extended, in addition to adduction and abduction, internal and external rotation. However, since many common walking assistance devices only consider bending and extension, when the walking assistance device is used, the operation becomes unnatural and the user feels uncomfortable.

  Moreover, the general walking assistance apparatus has a problem that it is large and takes a lot of time to attach and detach.

  Then, in order to eliminate an example of such a subject, an object of this invention is to provide the walking assistance apparatus with little discomfort at the time of mounting | wearing easily.

In order to solve the above-described problem, the walking assist device according to claim 1 is rotated via a waist attachment device (11) attached to a user's waist, and the waist attachment device and the ball joint portion (15). A thigh attachment device (12) that is connected to the thigh of the user and is swingably connected to the thigh attachment device in the front-rear direction; A walking assistance device (S) comprising a lower leg attachment device (13) attached along the thigh, wherein the lower attachment device covers at least a pair of left and right sides of the user's waist. A waist attachment body (50a, 50b), a waist plate (21) fixed to the left and right sides of the waist attachment body, extending vertically downward, and connected to the thigh attachment device via the ball joint portion ; The walking assist device has a physique of the user. Flip the waist plate for right and left to each arranged on the side of the hip, comprising a moving means for moving the left and right of the lumbar mounting body in the longitudinal directions (51, 52, 53), said moving means, The length-adjustable belts (51, 52) are characterized in that the belts are respectively provided before and after the left and right waist attachment bodies .

Further, the walking assist device according to claim 2 is the walking assist device according to claim 1, wherein the waist plate extends and contracts in the vertical direction in order to dispose the ball joint portion to the side of the hip joint of the user. It is possible.

According to a third aspect of the present invention, there is provided the walking assist device according to the first or second aspect, wherein the connecting portion between the thigh wearing device and the lower thigh wearing device is connected to the knee joint of the user. The thigh attachment device includes a plate that can be extended and contracted along the thigh.

Also, the walking assist device of claim 4, in the walking assist apparatus according to any one of claims 1 to 3, wherein the left and right waist attachment body is turned around the user's right and left shoulders A stretchable shoulder belt is detachably attached .

  The walking assist device can be easily attached and detached. Moreover, there is little discomfort when walking with the walking assistance device attached.

It is a figure which shows the mounting state of a walking assistance apparatus, Fig.1 (a) is a wearing figure of the walking assistance apparatus in the state where the user stood up, FIG.1 (b) is walking assistance in the state where the user performed bending motion It is a figure which shows the operation state of an apparatus. FIG. 2A is a configuration diagram of the walking assistance device, FIG. 2A is a plan view of the walking assistance device, and FIG. 2B is a cross-sectional view showing the inside of the walking assistance device. It is an external appearance block diagram of a waist | hip | lumbar part mounting tool. It is a block diagram around a ball joint part. FIG. 5A is an enlarged cross-sectional view of a cam lever portion showing a length adjustment mechanism of a thigh plate, FIG. 5A is a configuration diagram showing a state in which the cam lever body is tilted, and FIG. 5B is an upright view of the cam lever body. It is a block diagram which shows a state. It is a block diagram of the rotation angle detection apparatus which detects the rotation angle of a hip joint. It is the external appearance of the housing | casing visually recognized from the outer side. It is a figure for demonstrating the isolation | separation mechanism of a walking assistance apparatus, FIG. 8 (a) is a figure which shows the state which the ball joint part integrated, FIG.8 (b) is a figure which shows the state which the ball joint part isolate | separated. is there. FIGS. 9A and 9B are operation outline diagrams around the ball joint portion during a walking operation, FIG. 9A is an operation overview diagram during a bending operation, and FIG. 9B is an operation overview diagram during an extension operation. It is an operation | movement outline diagram of the ball joint part periphery at the time of another walk operation | movement, Fig.10 (a) is an operation | movement outline diagram at the time of an abduction operation, FIG.10 (b) is an operation | movement outline diagram at the time of an inversion operation. FIG. 11A is an operation outline diagram around the ball joint part during another walking operation, FIG. 11A is an operation outline diagram during an external rotation operation, and FIG. 11B is an operation outline diagram during an internal rotation operation.

  Hereinafter, an embodiment for carrying out the present invention will be described with reference to the accompanying drawings. In the following embodiments, the “bending operation” shown in FIG. 9 refers to the operation of bending the knee joint, and the “extension operation” refers to the operation of extending the knee joint, particularly in FIG. 9 (b). The extending motion shown represents the motion when kicking the ground when walking.

  Further, the “internal / external motion” shown in FIG. 10 refers to a joint motion that goes inward or outward so as to approach or move away from the body axis, and “internal / external motion” shown in FIG. The term “operation” refers to an operation of turning a part of the body inward or outward with the major axis as an axis. That is, the “thigh inversion motion” described later refers to an inward movement so that the thigh approaches the center of the body, and the “thigh abduction motion” refers to the thigh The movement toward the outside of the body away from the center of the body. “Thigh internal rotation” refers to the operation of turning the front of the thigh inward. “Thigh external rotation” refers to the operation of rotating the front of the thigh outward. Say.

  As shown in FIGS. 1 and 2, the walking assist device S of the present embodiment includes a pair of walking assist units 10 that are respectively attached to the left and right feet of the user (only one leg (right foot) is displayed in FIG. 1). . The walking assistance unit 10 is swingably attached via a waist attachment device 11 attached to the user's waist 3 and the waist attachment device 11 and the ball joint portion 15 on both outer sides of the hip joint of the user. The left and right thigh attachment devices 12 are mounted so as to be along the outer side surfaces of the left and right thigh portions 5 of the user, and the lower ends of the left and right thigh attachment devices 12 are pivotably pivotable in the front-rear direction. And left and right lower leg attachment devices 13 that are supported along the outer surfaces of the left and right lower leg parts 7 of the user.

  The walking assist device S swings around the hip joint and the knee joint by swinging the lower leg mounting tool 13 in the front-rear direction with respect to the thigh mounting tool 12 by driving the driving unit M shown in FIG. Furthermore, the extension operation shown in FIG. 1 (a) and the bending operation shown in FIG. 1 (b) are alternately performed with the phases of the left and right walking assist units 10 shifted, so that both feet can be properly applied to the user. Assisting walking while operating.

  As shown in FIGS. 2 and 3, the waist attachment device 11 includes a pair of left and right waist attachment bodies 50 that covers both the left and right sides of the user's waist 3 and has a substantially semicircular cross section, and the waist attachment body 50. , And a lumbar plate 21 that is fixedly attached to the left and right sides of the thigh 5 and fixed along the outer surface of the thigh 5.

  The left and right waist attachment bodies 50a and 50b are respectively attached with front and rear lateral belts 51 and 52. The lateral belts 51a and 52a provided on the front and rear of one waist attachment body 50a are connected to the other waist attachment body 50b. An insertion portion 53 is provided for inserting the lateral belts 51b and 52b provided on the front and rear sides and connecting the belts to each other. Then, by inserting and tightening the lateral belts 51b and 52b provided before and after the other waist attachment body 50b to the insertion portion 53, the waist attachment body 50 can be attached to the waist 3 according to the physique of the user. ing.

  The waist attachment body 50 is attached to the user's waist 3 by adjusting the lengths of the lateral belts 51 and 52 provided at the front and back so that the waist plate 21 is positioned on both the left and right sides of the user. .

  The lateral belts 51 and 52 and the insertion portion 53 function as moving means for moving the left and right waist attachment bodies 50a and 50b in the front-rear direction.

  Further, the waist mounting body 50 is provided with a shoulder belt 55 that is disposed substantially in parallel from the front to the rear of the left and right waist mounting bodies 50a and 50b, and is arranged so as to cross each other on the back of the user. . For example, one end of the shoulder belt 55 is folded back at the front portion and locked by a fastener 56, and the length of the shoulder belt 55 can be adjusted by the fastener 56. is there. With the shoulder belt 55, the waist attachment body 50 can be suspended and attached to the user's waist 3 more accurately and reliably.

  The waist plate 21 is connected to the thigh attachment device 12 via the ball joint portion 15. As shown in FIGS. 2 and 4, the ball joint portion 15 includes a sphere 16 and a columnar receiver 17 that receives the sphere 16 on the surface. A recess 17a (see FIG. 8) formed in the outer edge shape of the sphere 16 is formed on one end face of the receiver 17 so as to be slidable on the surface according to the operation of the sphere 16. ing.

  As shown in FIGS. 2 to 4, the lumbar plate 21 includes a plate-like base frame 23 attached to the left and right sides of the lumbar attachment body 50 along the outside of the thigh 5, and the base frame 23. And a plate-like auxiliary frame 24 that is slidably mounted in the vertical direction with respect to the length of the waist plate 21 can be appropriately adjusted according to the physique of the user (FIG. 2 (b)). The length S1 of the lumbar plate 21 is adjusted according to the user's physique so that the center of the sphere 16 of the ball joint portion 15 is located on the side of the user's hip joint (on the hip joint axis L in FIG. 3). The

  The auxiliary frame 24 has a lower end portion 24a that is bent flat from the side of the user's thigh to the outside, and has a substantially L shape as a whole. The receiver 17 is fixedly attached to the lower end portion 24a formed flat so as to protrude upward with the recessed portion 17a as an upper side.

  On the other hand, as shown in FIGS. 1 and 2, the thigh attachment device 12 includes a thigh plate 31 provided along the outer surface of the thigh 5. 31 is fixed to the left and right sides of the thigh 5 by a belt 9 formed in a substantially annular shape.

  The thigh plate 31 includes a plate-like base frame 33 and a plate-like upper extension frame 34 slidably attached to the inner side of the upper end of the base frame 33. The length S2 of the thigh plate 31 can be adjusted appropriately according to the physique of the person. The length S2 of the thigh plate 31 is determined using a cam lever R as shown in FIGS.

  As shown in FIG. 5, the cam lever R that functions as a length adjustment mechanism for the thigh plate 31 includes a cam lever main body 72 having an eccentric cam 71, and a swing attached to the eccentric cam 71 via a rotating shaft 73. A shaft 74, an inner pressing block 76 fixed to the swing shaft 74, and an outer pressing block 77 arranged to be movable between the inner pressing block 76 and the eccentric cam 71 are provided.

  As shown in FIG. 2A, the swing shaft 74 is disposed so as to pass through a long hole 34 a formed in the upper extension frame 34 and extending in the vertical direction and a hole 33 a formed in the base frame 33. Is done.

  The inner holding block 76 is provided by being fitted into a hole 33 a formed in the base frame 33 and a recess 34 b formed around the elongated hole 34 a of the upper extension frame 34, and the tip of the swing shaft 74 is provided. It is screwed onto the part 74a and attached. The outer pressing block 77 is provided on the outer surface of the upper extension frame 34.

  The cam lever main body 72 has a lever main body portion 72a formed in a plate shape, and a cam portion 72b provided integrally at the tip thereof. The cam portion 72b is an eccentric cam 71 formed in a circular shape at the periphery and shifted from the center thereof, and a hole portion 71a into which the rotating shaft 73 is inserted is formed at the substantially central portion. .

  The swing shaft 74 is attached to both ends of the rotary shaft 73 and swings in the left-right direction as the eccentric cam 71 rotates.

  In the cam lever R configured as described above, when the lever main body 72a is tilted as shown in FIG. 5A, the swing shaft 74 is pulled to the left (outside), and the peripheral edge of the eccentric cam 71 is The outer presser block 77 abuts on the peripheral surface to restrict its movement, and the upper presser frame 77 and the inner presser block 76 sandwich the upper extension frame 34 and the base frame 33. Fixed. On the other hand, when the lever main body 72a is raised as shown in FIG. 5B, the eccentric cam 71 is separated from the outer pressing block 77, and the upper extension frame 34 and the base frame by the outer pressing block 77 and the inner pressing block 76 are separated. The clamping force of 33 becomes weak, the upper extension frame 34 can be slid with respect to the base frame 33 and moved in the vertical direction, and the length S2 of the thigh plate 31 can be adjusted.

  Such a length adjustment mechanism is convenient because the length can be adjusted with one touch by the tilting operation of the lever main body 72a.

  As shown in FIGS. 2, 4, and 6, the upper extension frame 34 has a housing 35 using the upper extension frame 34 as an inner side surface on the upper part thereof. The spherical body 16 of the ball joint portion 15 is attached to a substantially central portion of the housing 35 via a columnar shaft 36 disposed toward the user's thigh. The shaft 36 and the sphere 16 are fixedly attached, and the shaft 16 is rotatably attached to the housing 35.

  Further, inside the housing 35, a rotatable body 37 that is rotatable about the shaft 36 as a rotation axis (the center of the spherical body 16 is the center of the rotation axis), and the rotary body 37 are attached to the rotary body 37. As a power transmission system comprising a columnar protrusion 38 protruding toward the user's thigh, a gear 39a fixedly attached to the rotating body 37, and a driven gear 39b meshing with the gear 39a. There is provided a rotation angle detection device for detecting the rotation angle of the hip joint during a walking motion, comprising a pair of gear trains 39 and a potentiometer 40 attached to the driven gear 39b.

  The pair of gear trains 39 is used to change the gear ratio between the gears 39a and 39b according to the detection range of the potentiometer by the driven gear 39b.

  Further, the power transmission system does not necessarily need to be a pair of gear trains 39 as in the present embodiment, and the number of the power transmission systems can be changed as appropriate depending on the performance of the potentiometer 40 and the like. Moreover, if it is an apparatus which can convert the rotation angle which operate | moves mechanically as an electric quantity, it will not be restricted to the potentiometer 40, A well-known technique is applicable.

  Further, as shown in FIG. 4, an arc-shaped groove 35 a centering on the central portion of the sphere 16 is formed through the upper extension frame 34 configured as one side surface of the housing 35. The groove 35a is formed along a locus in which the protrusion 38 is displaced when the thigh plate 31 is rotated in the front-rear direction with respect to the waist plate 21, and the groove 35a defines the protrusion 38. The rotation range is restricted. Specifically, the user's flexion and extension operations are restricted. For example, this regulation range is that the rotation range around the hip joint by bending is 125 °, and the rotation range around the hip joint by extension is -35 °. is there. This restriction range is an example and can be changed as appropriate.

  Two protrusions 38 are provided at a predetermined interval, and the two protrusions 38 are arranged in the front-rear direction of the receiver 17 with the receiver 17 interposed therebetween.

  And according to the walking aid apparatus S of this embodiment comprised in this way, by the drive of the drive part M, the thigh plate 31 is made with respect to the waist plate 21 for a user's extension and bending operation | movement. When the rotary motion is performed, the rotating body 37 is rotated by the displacement of the projecting body 38 according to the rotation of the thigh plate 31, and the rotational force is input to the potentiometer 40 through the power transmission system. The flexion or extension angle at the hip joint is detected. The potentiometer 40 detects the rotation angle of the shaft 36 that supports the sphere 16, and the shaft 36 is mounted so as to be arranged on the axis of the hip joint. Therefore, the rotation around the hip joint of the user in the bending and extension operations The angle can be measured accurately.

  Moreover, as shown in FIG. 7, the outer surface of the housing 35 is formed with, for example, a groove 60 (a visual recognition means of the present application) penetrating the inside along the movement locus of the protrusion 38, and the protrusion 38 is visible from the outside. The standing posture of each user is different, and the thigh plate 31 with respect to the waist plate 21 is not necessarily linear when the user stands (upright). Therefore, since the reference in the standing state differs depending on the posture of each user, an offset scale 61 is displayed in the groove 60. This display makes it possible to change the reference value of the potentiometer 40. By changing the reference value, the reference value of the standing state that changes depending on the posture of the user can be easily changed, so that the rotation angle around the hip joint can be accurately detected. Is possible.

  In the present embodiment, the groove 60 is formed on the outer surface of the housing 35 so that the protrusion 38 can be seen. However, the groove 60 is not limited to the groove 60, and the range in which the protrusion 38 moves is a transparent member. It does not matter as a form such as comprising.

  Moreover, as shown in FIG. 8, the spherical body 16 and the receiving body 17 which comprise the ball joint part 15 are adsorb | sucked by magnetic force. In this embodiment, the receiving body 17 is formed as a magnet and the spherical body 16 is formed as a plating that can be attracted by a magnetic force. In addition, the sphere 16 is supported from below by the receiver 17, and when the thigh plate 31 moves relative to the waist plate 21, the sphere 16 slides on the receiver 17 and the receiver 17 As a result of the central axis always moving toward the center of the sphere 16, the sphere 16 is supported without dropping from the receiver 17 by the walking motion.

  As described above, the walking assist unit 10 according to the present embodiment includes the waist attachment device 11, the thigh attachment device 12, and the crus attachment device 13 integrated in the ball joint portion 15, Can be separated. Therefore, when the walking assist device S is mounted, the lower waist unit unit can be mounted after the waist mounting tool 11 is mounted on the waist, and therefore it can be smoothly attached and detached. In addition, since the waist attachment device 11 and the lower waist unit portion need only place the ball 16 of the ball joint portion 15 on the receiving body 17, anyone can easily attach and detach the waist attachment device 11 and the lower waist unit portion. Yes.

  In addition, the walking assist device S of the present embodiment is connected to the ball joint portion 15 so as to be swingable at the side portion of the hip joint, thereby extending and bending the knee joint of the user, the adduction of the thigh and the like. The user can swing according to the abduction operation, the internal rotation and the external rotation operation, and the user can wear the walking assist device S without feeling uncomfortable. In particular, since the thigh plate 12 freely swings in all directions according to the movement of the pedestrian around each hip joint, the user can perform walking training using the walking assist device S without a sense of incongruity. It is.

  As shown in FIG. 2, a lower leg attachment tool 13 is disposed below the thigh attachment tool 12. The crus mounting tool 13 includes a crus plate and is rotatably connected to the thigh plate 31 by a connecting part 70.

  Although not particularly described in detail, the connecting portion 70 is connected to the crus plate via the gear group, transmits the power of the driving unit M to the crus plate, On the other hand, any form may be used as long as the crus plate can be swung back and forth. For example, a motor generally referred to as an electric motor is used as the drive unit.

  Further, the crus plate includes a crus frame 43 and a lower extension frame 44 slidably attached to the lower end inside the crus frame 43 so as to be slid up and down. The length S3 of the crus plate can be appropriately adjusted according to the physique.

  The length adjustment mechanism of the crus plate includes the same components as those of the cam lever R that functions as the length adjustment mechanism of the above-described thigh plate 31. The upper extension frame 34 corresponds to the crus frame 43, and the base frame 33 corresponds to the lower extension frame 44.

  Next, a method for attaching the walking assist device S to the user will be described.

  In the walking assistance device S of the present embodiment, the waist joint device 11 and the lower waist unit unit in which the thigh device 12 and the crus device 13 are integrated can be separated by the ball joint unit 15. After the user wears the waist attachment device 11 on the waist 3 of the user, the lower waist unit is attached to the thigh 5 and the lower leg 7 for use.

  First, the waist attachment device 11 has the lengths of the lateral belts 51 and 52 attached to the front and back of the waist attachment body 50 so that the waist plate 21 is disposed along the outer surface of the thigh 5 of the user. Is adjusted, and the waist attachment body 50 is attached to the waist 3.

  Next, the length S1 of the waist plate 21 is adjusted by sliding the auxiliary frame 24 with respect to the base frame 23 so that the position of the sphere 16 of the ball joint portion 15 is arranged to the side of the hip joint.

  Next, the spherical body 16 is arranged on the receiving body 17, the waist attachment device 11 and the lower waist unit part are connected, the thigh plate 31 and the lower leg part plate are fixed by the belt 9 or the like, and the walking assist device. Finish mounting. Note that the lengths of the thigh plate 31 and the crus plate are appropriately adjusted according to the physique of the user.

  Since the walking assist device S configured as described above can attach the lower back unit part after the waist attachment device 11 is attached to the waist, the walking assist device S can be smoothly attached and detached. Further, since the waist attachment device 11 and the lower waist unit portion need only place the ball 16 of the ball joint portion 15 on the receiving body 17, the user can attach and detach the waist attachment device 11 and the lower waist unit portion. Easy to do.

  Next, the operation of the walking assist device of the present embodiment will be described.

  When the drive unit M is operated while the user is wearing the walking assist device S, the left and right lower leg attachment devices 13 alternately swing in the front-rear direction at a predetermined cycle with respect to the left and right thigh attachment devices 12. Then, as the user walks, the thigh attachment device 12 swings in the front-rear direction with respect to the waist attachment device 11 to assist the user in walking.

  Now, in the walking motion of the user, as shown in FIG. 9 (a), a bending motion in which the thigh plate 31 rotates counterclockwise with respect to the lumbar plate 21, or FIG. 9 (b). As described above, when the extension operation in which the thigh plate 31 rotates clockwise with respect to the lumbar plate 21 is performed, the rotation angle of the thigh plate 31 with respect to the lumbar plate 21 is detected by the potentiometer 40. . Since the rotational axis of this rotational angle is located on the side of the hip joint, the walking assist device S of this embodiment can detect the rotational angle of the hip joint linearly. This rotation angle is determined by the rotation of the rotating body 37 due to the displacement of the projecting body 38 arranged so as to sandwich the receiving body 17 with the rotation of the thigh plate 31, and the rotation is potentiometer via the power transmission system. By being transmitted to 40, it is possible to accurately detect the bending and extension angles due to the walking motion of the user.

  Further, the walking assistance device S of the present embodiment is configured such that the sphere 16 slides on the upper end surface of the receiver 17 in the ball joint portion 15, and the sphere 16 is more resistant to the sphere 16 than the conventional ball joint portion 15. The degree of freedom of operation of the receiver 17 is increased.

  In addition, the user's foot varies depending on the skeleton, muscles, and the like. For example, as shown in FIG. 10 (a), the lower end of the thigh plate is used with respect to the lumbar plate during walking. With an abduction movement that displaces to the inside of the person, or as shown in FIG. 10B, an inversion that the lower end of the thigh plate 31 displaces to the outside of the user with respect to the waist plate 21. With movement. Further, for example, in the walking motion, as shown in FIG. 11A, an internal rotation motion in which the front portion of the thigh plate is displaced toward the inside of the user with respect to the waist plate 21, As shown in (b), an external rotation operation is performed in which the front of the thigh plate is displaced to the outside of the user with respect to the lumbar plate.

  In the walking assist device S of the present embodiment, since the thigh plate 31 is swingable in almost all directions with respect to the lumbar plate 21 by the ball joint portion 15, the above-described abduction and adduction operations, The thigh plate 31 moves freely with respect to the lumbar plate 21 corresponding to the external rotation / internal rotation operation. Therefore, the user can perform walking training using the walking assist device S without a sense of incongruity.

  In addition, in the internal rotation, external rotation operation, internal rotation, and external rotation operation, it is necessary to have a space for preventing members from interfering with each other depending on the operation range, and therefore, the shaft 36 that supports the sphere 16 in particular. (The distance between the housing 35 and the sphere 16) is appropriately designed.

  In addition, this embodiment is one form and is not limited to this form. For example, although not particularly described in the above embodiment, for example, a lever using an eccentric cam as shown in the above embodiment is used for the length adjustment mechanism of the thigh plate and the crus plate. However, any mechanism can be used as long as it can fix and release by sliding the two frames.

S Walking assist device 11 Lumbar attachment tool 12 Thigh attachment tool 13 Lower thigh attachment tool 15 Ball joint part 16 Sphere 17 Receiving body 21 Lumbar plate 50 Lumbar attachment body 51, 52 Horizontal belt 53 Insertion part

Claims (4)

A waist attachment device to be attached to the user's waist;
A thigh attachment device that is rotatably connected to the waist attachment device via a ball joint portion and is attached along the thigh of the user;
A thigh attachment device that is connected to the thigh attachment device so as to be swingable in the front-rear direction and is attached along the lower thigh portion of the user,
The waist attachment device is:
A pair of left and right waist attachments covering at least the left and right sides of the user's waist;
A waist plate fixed to the left and right sides of the waist attachment body and extending vertically downward, and connected to the thigh attachment device and the ball joint portion ;
The walking assist device is:
According to the user's physique, in order to arrange the left and right lumbar plates respectively to the side of the hip joint, it comprises moving means for moving the left and right lumbar attachments in the front and rear direction,
The moving means is a belt whose length is adjustable, and the belt is provided on the front and rear of the left and right waist attachment bodies, respectively . The walking assist device according to claim 1, wherein the waist plate is extendable in a vertical direction in order to dispose the ball joint portion on a side of a user's hip joint.   The walking assistance device according to claim 1, wherein the thigh attachment device includes a plate that can extend and contract along the thigh. The walking assistance according to any one of claims 1 to 3, wherein a stretchable shoulder belt that hangs around both left and right shoulders of the user is detachably attached to the left and right waist attachment bodies. apparatus.

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