JP5804310B2 - Upper arm holding device and upper arm assist device - Google Patents

Description

  The present invention relates to an upper arm holding device that holds a user's upper arm and an upper arm assisting device that assists the operation of the user's upper arm.

  2. Description of the Related Art Wearable joint drive devices that drive a user's shoulder joint while being held on the user's trunk are known (see, for example, Patent Documents 1, 2, and 3). In a conventional wearable joint drive device, a joint portion that rotates corresponding to a shoulder joint is used, but the movement of the forearm portion and the hand portion is not considered.

JP 2006-340854 A WO2004 / 087033A1 JP 2009-273711 A

  In view of the above facts, the present invention provides an upper arm holding device and an upper arm assisting device that can transmit the movements of the user's forearm and hand parts to each other while realizing smooth movement. The purpose is to provide.

The upper arm holding device according to claim 1, wherein the upper arm holding device is supported by a user's trunk, a first rotating member rotatable along the user's body side, and a rotation direction of the first rotating member. A joint portion having a second rotating member rotatable in a direction to rotate and a third rotating member rotatable in a direction intersecting with the first rotating member and the second rotating member, and close to a user's trunk A joint moving part for holding the joint part on the support body so as to be movable between a proximity position on the side and a separation position farther from the user's trunk than the proximity position; An upper arm mounting portion to be mounted on the upper arm portion, an elbow rotating member coupled to the upper arm mounting portion and the first rotating member so as to be rotatable in the same direction as the first rotating member, and the elbow rotating member. and elbow lower arm portion is attached to the elbow under arms, with each other via a tether to the elbow lower arm portion Is, receiving applying a force toward the elbow lower arm is formed between the user's fingers, is attached to the user's hand while maintaining such a distance between the elbow lower arm portion becomes a predetermined length or less A hand-mounted portion.

  Here, the direction along the user's body side refers to a rotation direction with a surface substantially parallel to the user's body side as a rotation surface.

  In the upper arm holding device according to claim 1, the joint portion can be moved by the joint moving portion between a proximity position closer to the user's trunk and a separation position farther from the user's trunk than the proximity position. And is held by the support. Therefore, the joint portion can move between the proximity position and the separation position in accordance with the movement when the user operates the shoulder joint, and the user can smoothly move the upper arm.

In addition, the lower arm part of the elbow is mounted on the user's lower arm , and this lower arm part is connected via the elbow rotation member so as to be rotatable in the same direction as the rotation direction of the first rotation member. The lower arm portion of the elbow can be moved in the same direction as the rotation direction of the first rotating member. In addition, the hand mounting portion in which the receiving portion for applying the force toward the elbow lower arm is applied between the user's fingers is mounted on the user's hand while the distance from the elbow lower arm portion is maintained at a predetermined length. Therefore, the movement of the lower arm part of the elbow , especially the force toward the forearm, can be transmitted to the user's hand.

The upper arm holding device according to claim 2 is characterized in that the hand mounting portion is connected to the lower arm arm portion so as to be relatively movable.

Thus, the user can move the wrist freely by making the hand mounting portion movable relative to the lower elbow arm portion .

The upper arm holding device according to claim 3, wherein an inner connecting portion disposed on a palm side of the user is configured on a side closer to the wrist of the lower arm portion of the elbow , and the hand mounting portion includes the inner connecting portion. It is connected with.

In this way, in the lower arm part of the elbow, by connecting the hand mounting part to the inner connecting part arranged on the palm side of the user, the user can put the wrist on the inner side while wearing the hand mounting part. It can be bent easily.

  An upper arm assisting device according to claim 4 rotates the upper arm holding device according to any one of claims 1 to 3, a first actuator that rotates the first rotating member, and the second rotating member. A second actuator; and an elbow actuator that rotates the elbow rotating member.

In the upper arm auxiliary device according to claim 4, any one of claims 1 to 3 can be obtained by rotating the first rotating member using the first actuator and rotating the second rotating member using the second actuator. The operation of the joint part of the user wearing the upper arm holding device described in the item can be assisted. Further, by rotating the elbow rotating member using the elbow actuator, the operation of the elbow joint of the user wearing the upper arm holding device according to any one of claims 1 to 3 can be assisted. In the present invention, since the distance between the elbow lower arm part and the hand wearing part is maintained to be equal to or less than a predetermined length and the receiving part is formed, the elbow lower arm part is directed to the elbow lower arm . It can be applied between the fingers of the user with force.

  In the upper arm assisting device according to the present invention, the first actuator, the second actuator, and the elbow actuator are arranged at one end side of the first rotating member, the second rotating member, and the elbow rotation. Each of the members can be supported by a member, the other end can be supported by the support, and the pneumatic actuator can be shortened by supplying air therein.

  As described above, according to the upper arm holding device and the upper arm assisting device of the present invention, smooth movement of the user's forearm portion and hand portion can be realized.

It is a perspective view (partially disassembled) figure which shows the upper arm auxiliary | assistance apparatus which concerns on embodiment of this invention. It is a perspective view of the state where the upper arm auxiliary device concerning the embodiment of the present invention is connected with the lower back auxiliary device. It is the figure which looked at the right arm side of the upper arm auxiliary device concerning the embodiment of the present invention from the upper part. (A) is the figure which looked at the right arm side glove of the upper arm auxiliary device concerning the embodiment of the present invention from the palm side, and (B) is the figure seen from the side. It is a figure which shows the outline of the actuator with which the upper arm assistance apparatus which concerns on embodiment of this invention is provided. It is a figure which shows the outline of the air supply / exhaust mechanism of the actuator with which the upper arm auxiliary | assistance apparatus which concerns on embodiment of this invention is provided. It is a partial exploded perspective view of the lower back assistance apparatus concerning this embodiment. It is the figure which looked at the upper arm auxiliary | assistance apparatus which concerns on embodiment of this invention of the state with which the user is mounted | worn with standing from the side. It is explanatory drawing explaining operation | movement at the time of a user lifting a load in a forward bending state. It is explanatory drawing explaining the operation | movement when a user hold | maintains in the state which lifted the load.

  Embodiments of the arm holding device and the upper arm assisting device of the present invention will be described with reference to the drawings. For convenience of explanation, the front side of the user indicated by the arrow FR in the figure is the front side, and the left and right arrow S corresponding to the shoulder width direction of the user is based on the direction when facing the front side. . The trunk direction along the trunk of the user is indicated by an arrow H.

  FIG. 1 shows an upper arm assisting device 10 according to the present embodiment. Further, FIG. 2 shows the upper arm assisting device 10 connected to the lower back assisting device 60.

  The upper arm assisting device 10 includes a shoulder frame 12 arranged along the shoulder width direction of the user. The shoulder frame 12 is arranged and fixed so as to bridge the two back frames 13 on top of the two back frames 13 arranged parallel to each other along the trunk of the user.

  A guide rail 14 is provided on the upper surface of the shoulder frame 12. The guide rails 14 are provided on the left and right sides of the shoulder frame 12, respectively. One guide rail 14 </ b> R is disposed along the direction slightly toward the front right from the center side in the shoulder width direction S of the shoulder frame 12, and the right tip portion protrudes outside the right end portion of the shoulder frame 12. The other guide rail 14 </ b> L is disposed along the direction slightly left frontward from the center side in the shoulder width direction of the shoulder frame 12, and the left end portion protrudes outside the left end portion of the shoulder frame 12.

  A movable plate 16 is engaged with the guide rail 14R. As shown in FIG. 3, the moving plate 16 includes a proximity position P1 closer to the user's trunk along the guide rail 14R and a separation position P2 farther from the user's trunk than the proximity position P1. It is possible to move between. An attachment protrusion 18 is fixed to the front side of the upper surface of the moving plate 16. The mounting protrusion 18 is erected on the movable plate 16, and the mounting protrusion 18 has an attachment surface 18 </ b> F whose upper side is slightly inclined from the trunk direction H along the trunk to the trunk side of the user. It is configured.

  The third rotating member 20 is attached to the attachment surface 18F. The 3rd rotation member 20 is comprised by what is called a hinge (hinge), and has the inner-plate part 20A and the outer-plate part 20B. One plate surface of the inner plate portion 20A is fixed to the mounting surface 18F (see FIG. 1). The inner plate portion 20A and the outer plate portion 20B are rotatable in the third direction D3 with the third rotation shaft 20R along the attachment surface 18F as a rotation axis.

  A second rotating member 22 is attached to the plate surface of the outer plate portion 20B. As shown in FIG. 1, the second rotating member 22 includes a second mounting plate 23, a second shaft portion 24, a second bearing portion 25, and an L-shaped arm portion 26. The second attachment plate 23 has a disc shape, and one surface side is attached to the outer plate portion 20 </ b> B of the third rotating member 20. The second shaft portion 24 has a disc shape and is attached to the other surface side of the second attachment plate 23. The second bearing portion 25 has a disk shape, and a hole 25A in which the second shaft portion 24 can be disposed is formed in the center. The second shaft portion 24 is inserted into the hole 25A. The second bearing portion 25 and the second shaft portion 24 can be relatively rotated by a bearing (not shown) provided on the inner periphery of the second bearing portion 25. An L-shaped arm portion 26 is attached to a side surface opposite to the second mounting plate 23 of the second bearing portion 25.

  The L-shaped arm portion 26 is composed of a long plate bent in a substantially L shape. The L-shaped arm portion 26 is arranged so that the inside of the L-shape faces the front of the user. A second bearing portion 25 is attached to the outer surface side of one end of the L-shaped arm portion 26. As a result, the L-shaped arm portion 26 is rotatable in the second direction D2 intersecting the third direction with the second rotation shaft 22R, which is the normal direction of the outer plate portion 20B, as the rotation axis.

  A first rotating member 32 is attached inside the other end of the L-shaped arm portion 26. The first rotating member 32 includes a first mounting plate 33, a first shaft portion 34, a first bearing portion 35, and an arm portion 36. The first attachment plate 33 has a disk shape, and one surface side is attached to the arm portion 36. Further, one side of the first bearing portion 35 is attached to the inside of the other end of the L-shaped arm portion 26. The shapes of the first mounting plate 33, the first shaft portion 34, and the first bearing portion 35 and the mutual mounting structure are the same as those of the second mounting plate 23, the second shaft portion 24, and the second bearing portion 25. . The first bearing portion 35 and the first shaft portion 34 can be relatively rotated by a bearing (not shown) provided on the inner periphery of the first bearing portion 35. An arm portion 36 is attached to the side surface opposite to the first mounting plate 33 of the first bearing portion 35.

  The arm portion 36 has a long plate shape, and a plate surface on one end side is attached to the first attachment plate 33. The arm portion 36 is rotatable in the first direction D1 with the first rotation shaft 32R substantially orthogonal to the second rotation shaft 22R as a rotation axis.

  An upper arm mounting portion 38 is provided on the distal end side of the middle portion of the arm portion 36 in the longitudinal direction. The upper arm mounting portion 38 has a plate shape curved in an arc shape and is disposed so as to cover the lower arm of the user. The upper arm mounting portion 38 does not need to be fixed to the upper arm portion of the user, but may be arranged so as to cover the upper arm with a loop fastener or the like.

  An elbow rotating member 42 is attached to the tip of the arm portion 36. The elbow rotating member 42 includes an elbow mounting plate 43, an elbow shaft portion 44, an elbow bearing portion 45, and an elbow coupling portion 46. The elbow mounting plate 43 has a disk shape, and one surface side is mounted on the elbow connecting portion 46. Further, one side of the elbow bearing portion 45 is attached to the side opposite to the elbow attachment plate 43 of the elbow coupling portion 46. The shape of the elbow mounting plate 43, the elbow shaft portion 44, and the elbow bearing portion 45 and the mutual mounting structure are the same as those of the second mounting plate 23, the second shaft portion 24, and the second bearing portion 25. The elbow bearing portion 45 and the elbow shaft portion 44 are relatively rotatable by a bearing (not shown) provided on the inner periphery of the elbow bearing portion 45. The elbow coupling portion 46 is coupled so as to be rotatable about the central axis 42R of the elbow shaft portion 44 in the same direction as the first direction D1, which is the rotation direction of the arm portion 36.

  The elbow joint part 46 is integrally coupled to the elbow joint part 40. The elbow lower arm 40 is disposed along the arm lower arm (forearm) so as to receive the lower side of the user's elbow lower arm, and is connected to the elbow joint 46 on the elbow side. The wrist side end portion 40E of the lower armrest 40 is configured with an inner connecting portion 41 that covers the palm side near the user's wrist. The inner connecting portion 41 is bridged from one end side in the arm width direction to the other end side at the wrist side end portion 40E of the armpit heel portion 40. The elbow lower arm 40 is rotatable in the first direction D1 with the elbow shaft 44 as a central axis.

  The inner connecting portion 41 is connected to a globe 90 as a hand mounting portion. The globe 90 is connected to the inner connecting portion 41 via a connecting cord 88, one end of the connecting cord 88 is attached to the inner connecting portion 41, and the other end of the connecting cord 88 is attached to the globe 90. The connecting cord 88 is made of a non-stretchable and deformable material, and the distance between the inner connecting portion 41 and the globe 90 is not longer than the length L1. Further, the globe 90 is movable relative to the inner connecting portion 41 within the range of the length L1 by the deformation of the connecting string 88.

  As shown in FIG. 4, the glove 90 has a so-called glove shape and is configured with a fingertip portion not covered. The globe 90 includes five finger portions 92 through which the user's fingers HF can be inserted, and receiving portions 94 are formed between the adjacent finger portions 92. The receiving part 94 connects the adjacent finger parts 92 to each other, and transmits a force in the direction toward the armpit (arrow F) between the user's fingers (the webbed part) to the user's hand HA. it can.

  In addition, in this embodiment, although the thing with which the fingertip of the globe 90 is open | released is used, you may use the thing with which the fingertip was covered.

  In the present embodiment, the shoulder frame 12, the guide rail 14, the moving plate 16, the mounting projection member 18, the third rotating member 20, the second rotating member 22, the first rotating member 32, and the lower elbow buttocks 40 described above, The upper arm holding device 11 is configured by the elbow rotating member 42 and the globe 90. The third rotating member 20, the second rotating member 22, and the first rotating member 32 constitute a shoulder joint portion.

  In the above description, the movable plate 16, the mounting projection member 18, the third rotating member 20, the second rotating member 22, the first rotating member 32, which are arranged on the guide rail 14R side and hold the user's right arm, and The elbow support 40 has been described. Although omitted in the drawing, the movable plate 16, the mounting projection member 18, the third rotating member 20, the second rotating member 22, and the first rotating member that are arranged on the guide rail 14 </ b> L side and hold the user's left arm. 32, the elbow lower arm 40, and the elbow rotation member 42 are also provided symmetrically with the above.

  A first actuator 50, a first actuator 50U, a second actuator 52, and an elbow actuator 53 are arranged on the upper rear side of the back frame 13.

  The first actuator 50, the second actuator 52, and the elbow actuator 53 are pneumatic actuators (fluid pressure actuators, so-called McKibben artificial muscles). As shown in FIGS. 5A and 5B, the pneumatic actuator AC includes an inner tube IC that is an expansion / contraction body, and a mesh sleeve MS that is a net-like covering body that covers the inner tube IC. The mesh sleeve MS is made of a wire material such as high-strength fiber that does not have stretchability, for example. Further, both end portions in the length (axis) direction of the mesh sleeve MS are fixed to both end portions in the length direction of the inner tube IC.

  As shown in FIG. 5B, the inner tube IC expands when air is supplied to the inside. The expansion of the inner tube IC is converted into a reduction in the overall length of the pneumatic actuator AC by the mesh sleeve MS. That is, when air is supplied, the pneumatic actuator AC is reduced in length while increasing in diameter. By reducing the length, the pneumatic actuator AC generates a force F in the shortening direction.

  As shown in FIG. 6, the first actuator 50, the first actuator 50U, the second actuator 52, and the elbow actuator 53 (the first actuator 50U, the second actuator 52, and the elbow actuator 53 are not shown) have a switch A compressor CP is connected via SW. The switch SW is provided with an air supply switch S1 and an exhaust switch S2 corresponding to each of the first actuator 50, the first actuator 50U, the second actuator 52, and the elbow actuator 53, and the air supply switch S1 is turned on. When the exhaust switch S2 is turned off, the compressed air is supplied from the compressor CP to the first actuator 50, the first actuator 50U, the second actuator 52, and the elbow actuator 53 corresponding to the air supply switch S1. When the exhaust switch S2 is turned on and the air supply switch S1 is turned off, the air in the corresponding first actuator 50, first actuator 50U, first actuator 50U, second actuator 52, elbow actuator 53 Is exhausted.

  As shown in FIG. 2, a wire 50 </ b> R is attached to one end side of the first actuator 50. One end of the wire 50 </ b> R is fixed to the outer peripheral surface of the first bearing portion 35 of the first rotating member 32, and the other end of the wire 50 </ b> R is fixed to one end of the first actuator 50. The wire 50 </ b> R is wound from above the first bearing portion 35 on the rear side (back side of the user) of the first rotation shaft 32 </ b> R of the first bearing portion 35.

  A wire 50UR is attached to one end side of the first actuator 50U. One end portion of the wire 50UR is fixed to the outer peripheral surface of the first bearing portion 35 of the first rotating member 32, and the other end portion of the wire 50UR is fixed to one end portion of the first actuator 50U. The wire 50UR is wound from above the first bearing portion 35 on the front side (front side of the user) of the first rotating shaft 32R of the first bearing portion 35. That is, the wire 50R is wound in the opposite direction.

  A wire 52 </ b> R is also attached to one end side of the second actuator 52. One end portion of the wire 52R is fixed to the outer peripheral surface of the second bearing portion 25 of the second rotating member 22, and the other end portion of the wire 52R is fixed to one end portion of the second actuator 52. The wire 52R is wound from above the second bearing portion 25 on the side farther from the user of the second rotating shaft 22R of the second bearing portion 25.

  A wire 53R is also attached to one end of the elbow actuator 53. One end portion of the wire 53R is fixed to the outer peripheral surface of the first elbow bearing portion 45 of the elbow rotating member 42, and the other end portion of the wire 53R is fixed to one end portion of the elbow actuator 53. The wire 53R is wound from above the elbow bearing portion 45 on the side far from the user of the elbow rotation shaft 52R of the elbow bearing portion 45.

  Next, the waist assistance device 60 will be described. As shown in FIG. 2, the waist assist device 60 includes a waist frame 62 attached to the user's waist, a back frame 13 attached to the user's back, and waist rotation connecting the waist frame 62 and the back frame 13. A portion 66 and a thigh pad 77 are provided. The back frame 13 is shared with the upper arm holding device 11.

  The waist frame 62 has a substantially semicircular shape (U shape) opened forward in a plan view, and waist rotation portions 66 are disposed on both left and right ends of the waist frame 62. A waist frame 62 is connected to the back frame 13 via a waist rotating portion 66.

  As shown in FIG. 7, the waist rotation part 66 includes a waist connection part 67, a flange member 68, a shaft member 69, and a connection plate 70. The waist connecting portion 67 includes a rectangular plate-shaped plate portion 67A and a cylindrical cylindrical portion 67B. The plate portion 67A is disposed such that the plate surface is along the user's body side, and is fixed to the left and right ends of the waist frame 62, respectively. The cylindrical portion 67B protrudes in the normal direction from the plate surface of the plate portion 67A and is disposed in the shoulder width direction.

  The flange member 68 has a bobbin shape in which a wire winding portion is formed between a pair of disks, and a hole 68H is formed through which the cylindrical portion 67B is inserted. As for the flange member 68, one surface of the disk is fixed to the waist connecting portion 67.

  The connection plate 70 includes a substantially L-shaped L-shaped portion 70A and a substantially disc-shaped disc portion 70B. The L-shaped portion 70 </ b> A is arranged at the lower end portion of the back frame 13 so that the L-shape is directed forward, and is fixed to the back frame 13. The disc part 70B is fixed to the inside of the tip part of the L-shaped part 70A. A hole (not shown) is formed in the disc portion 70B at a position corresponding to the cylindrical portion 67B.

  The shaft member 69 includes a disc-shaped flange portion 69A and a shaft portion 69B that is configured integrally with the flange portion 69A and protrudes in the normal direction from the plate surface of the flange portion 69A. In the shaft member 69, the flange portion 69A is fixed to the outer surface of the disc portion 70B in a state where the shaft portion 69B is inserted into the hollow portion of the cylindrical portion 67B. Therefore, the waist connecting portion 67 and the flange member 68, the shaft member 69, and the connection plate 70 can be relatively rotated with the shaft portion 69B as the rotation axis. As a result, the waist frame 62 and the back frame 13 can be rotated relative to each other via the waist rotating portion 66.

  Each thigh pad 77 is configured in a substantially cylindrical shape by a deformable material. On the front side of the thigh pad 77, a dividing line 77A extending in the vertical direction (the axial direction of the thigh pad 77) is formed, and the front side of the thigh pad 77 is laterally separated from the dividing line 77A. It can be opened. The thigh pad 77 is attached to an annular portion 62 </ b> R formed on the rear side of the waist frame 62 by a connecting tube 73.

  Both ends of a rubber tube 74 as a stopper member are connected to the left and right lower ends of the thigh pad 77, and the U-shaped rubber tube 74 is suspended from the thigh pad 77. The length of the rubber tube 74 is set so that it can be hooked on the sole of the foot and there is no play in that state, and with the rubber tube 74 hooked on the sole of the foot, The upward shift is limited.

  On the rear side of the back frame 13, a waist actuator 54 is disposed. Wires 54 </ b> R are attached to one end sides of the waist actuator 54. One end of the wire 54R is fixed to the outer peripheral surface of the flange member 68 via a pulley 71 arranged at a corner of the connection plate 70, and the other end of the wire 54R is fixed to one end of the waist actuator 54. ing. The other end side of the wire 54 </ b> R is wound around from below the flange member 68 on the rear side (back side of the user) of the flange member 68.

  Note that the configuration of the lumbar actuator 54 is the same as that of the first actuator 50, and thus detailed description thereof is omitted.

  As shown in FIG. 2, a belt upper mounting portion 12 </ b> B is formed at two locations on the upper surface central portion of the shoulder frame 12 of the upper arm assisting device 10. Each of the bent portions of the waist frame 62 is formed with a belt lower mounting portion 62B. One end and the other end of the two shoulder belts 80 are respectively attached to the belt upper attachment portion 12B and the belt lower attachment portion 62B. A connecting belt 81 is connected to an intermediate portion of the shoulder belt 80 in the longitudinal direction. The connecting belt 81 extends in the shoulder width direction S from the middle portion of each shoulder belt 80 toward the front of the user, and can be connected to each other by a fastener 81A at the center portion. The shoulder belt 80 is attached to the user so as to reach the back of the waist from the user's back through the front of the shoulder, and the connecting belt 81 connects the two shoulder belts 80 on the front side of the user. .

  As shown in FIG. 8, a front waist belt 82 and a back waist belt 84 are fixed to each of waist connection portions 67 attached to both ends of the waist frame 62. The front waist belt 82 extends from the front end side of each waist connection portion 67, and each front waist belt 82 can be connected by a fastener 82A near the front of the user. The waist waist belt 84 is disposed along the inner side of the waist frame 62 and fixed to the waist frame 62 so as to be bridged from the rear end side of the one waist joint portion 67 to the other waist joint portion 67.

  Next, the operation of this embodiment will be described.

  As shown in FIG. 8, at the time of wearing, the back frame 13 of the upper arm assisting device 10 and the lower back assisting device 60 is disposed along the back of the user, and the L-shaped arm portion 26 of the second rotating member 22 is the user's back. Located on the outside of the shoulder. An upper arm mounting portion 38 is disposed on the front side of the user's upper arm, and an elbow support portion 42 is disposed on the lower side of the user's lower arm portion. In FIG. 6, portions of the upper arm holding device such as the first rotating member 32, the second rotating member 22, the third rotating member 20, and the elbow rotating member 42 corresponding to the left arm are omitted.

  When the shoulder joint of the user is moved, the upper arm of the user rotates in the first direction D1, the second direction D2, and the third direction D3 while changing the rotation center of the shoulder joint. When the user's upper arm rotates in the first direction D1, as shown in FIG. 6, the first rotating member 32 rotates around the first rotating shaft 32R, and when the user rotates in the second direction D2, the second rotating member 22 moves. When rotating around the second rotating shaft 22R and rotating in the third direction D3, the third rotating member 20 rotates around the third rotating shaft 20R. Then, in accordance with the movement of the rotation center of the shoulder joint of the user, the moving plate 16 moves along the guide rail 14 between the proximity position P1 and the separation position P2.

  In the present embodiment, the movement plate 16 can move in accordance with the movement of the rotation center of the shoulder joint, so that a smooth movement of the user's upper arm can be realized.

  In the present embodiment, the guide rail 14 is linearly configured as a linear shape, but the moving plate 16 may be moved in this direction as a curved shape along the shoulder of the user.

  When the user lifts the luggage N, the first actuator 50 is shortened and the elbow actuator 53 is shortened as shown in FIG. When the first actuator 50 and the elbow actuator 53 are shortened, the air supply switch S1 of the switch SW of the first actuator 50 and the elbow actuator 53 is turned on and the exhaust switch S2 is turned off to supply the first actuator 50 and the elbow actuator 53. It is done with care. As a result, the force indicated by the arrow F1R acts on the arm portion 36 around the first rotating member 32. Further, the force indicated by the arrow F <b> 2 acts on the elbow lower collar part 40 around the elbow rotating member 42. Then, an upward force F3 is applied to the globe 90, and this force F3 is received by the receiving portion 94 and transmitted to the user's hand HA, so that the luggage N held by the hand HA can be lifted.

  In the present embodiment, the force F3 is received by the receiving part 64 of the glove 90 and transmitted to the user's hand HA, so that the lower armpit part 40 moves toward the upper arm side of the user as compared with the case where the glove 90 is not worn. Inconveniences such as slippage are unlikely to occur, and force F3 can be transmitted efficiently, and a force in the direction of arrow F4 that lifts the load N smoothly can be applied.

  Further, as shown in FIG. 10, when the load N is held in a lifted state, the first actuator 50U is shortened and the elbow actuator 53 is also shortened. When the first actuator 50U and the elbow actuator 53 are shortened, the air supply switch S1 of the switch SW of the first actuator 50U and the elbow actuator 53 is turned on and the exhaust switch S2 is turned off to supply the first actuator 50U and the elbow actuator 53. It is done with care. As a result, the force indicated by the arrow F1U acts on the arm portion 36 around the first rotating member 32. Further, the force indicated by the arrow F <b> 2 acts on the elbow lower collar part 40 around the elbow rotating member 42. A force F3 toward the user's elbow is applied to the globe 90, and this force F3 is received by the receiving portion 94 and transmitted to the user's hand HA. Therefore, the downward load W due to the luggage N is distributed not only to the wrist side end portion 40E of the lower elbow buttocks 40 but also to the glove 90 side. Thereby, the burden in the boundary part with the wrist side edge part 40E of a user's lower armpit is reduced, and the holding | maintenance state of the luggage | load N can be maintained easily.

  In the present embodiment, an example in which the glove 90 that covers the user's hand is mounted has been described. However, the glove 90 does not necessarily have to cover the hand, and the force toward the lower elbow buttocks 40 side between the user's fingers. It can also be set as the shape which has a receiving part which can act.

  Although the present invention has been described in detail with respect to specific embodiments, the present invention is not limited to such embodiments, and various other embodiments are possible within the scope of the present invention. It is clear to the contractor. For example, in the present embodiment, a pneumatic actuator is used as the actuator. However, a wire wound around the rotating body by the operation of the motor or unwound from the rotating body may be used as the actuator.

DESCRIPTION OF SYMBOLS 10 Upper arm auxiliary | assistance apparatus 11 Upper arm holding | maintenance apparatus 12 Shoulder frame 14 Guide rail 16 Moving plate 18 Attachment protrusion member 20 3rd rotation member 22 2nd rotation member 32 1st rotation member 38 Upper arm mounting part 40 Elbow lower arm part 41 Inner connection part 42 Elbow Rotating Member 50 First Actuator 50U First Actuator 53 Elbow Actuator 88 Connection String 90 Globe 94 Receiving Part

Claims (5)

A support that is supported by the trunk of the user;
A first rotating member rotatable along a user's body side, a second rotating member rotatable in a direction intersecting a rotating direction of the first rotating member, the first rotating member, and the second rotating member; A joint having a third rotating member rotatable in a crossing direction;
A joint moving part that holds the joint part on the support so as to be movable between a proximity position closer to the user's trunk and a separation position farther from the user's trunk than the proximity position;
An upper arm attachment part attached to the joint part and attached to the upper arm part of the user;
An elbow rotation member coupled to be rotatable in the same direction as the rotation direction of the upper arm mounting portion and the first rotation member;
Attached to the elbow rotating member, and elbow lower arm unit which is mounted on the elbow lower arm of the user,
A receiving part is formed that is connected to the lower arm part of the elbow via a connecting string and applies a force toward the lower arm of the elbow between the user's fingers, so that the distance from the lower arm part is not more than a predetermined length. A hand-mounted portion that is mounted on the user's hand while maintaining
Upper arm holding device. The upper arm holding device according to claim 1, wherein the hand mounting portion is connected to the lower arm arm portion so as to be relatively movable. On the side closer to the wrist of the lower arm part of the elbow, an inner connecting part arranged on the palm side of the user is configured,
The upper arm holding device according to claim 2, wherein the hand mounting portion is connected to the inner connecting portion. The upper arm holding device according to any one of claims 1 to 3,
A first actuator for rotating the first rotating member;
A second actuator for rotating the second rotating member;
An elbow actuator that rotates the elbow rotating member;
Upper arm assist device with   One end side of each of the first actuator, the second actuator, and the elbow actuator is supported by the first rotating member, the second rotating member, and the elbow rotating member, and the other end side is supported by the support body so that air is contained therein. The upper arm assisting device according to claim 4, wherein the upper arm assisting device is a pneumatic actuator that is shortened by being supplied.

Images