JP5841787B2 - Wearable motion support device - Google Patents

Description

  The present invention relates to a wearable movement support device that is worn on a lower limb of a user and assists the movement of the user.

  Wearable motion support devices that are attached to the body to assist human movements are not only used for assisting the walking and transfer of elderly and physically disabled people (movement between wheelchairs and beds, etc.), but also for healthy people A wide range of applications, such as assisting in lifting heavy objects, is being considered. The following are disclosed as such a wearable motion support apparatus.

  Patent Document 1 discloses a walking assist device that supports a thigh by wrapping a thigh orthosis (30) around a user's thigh to assist walking. In Patent Document 2, the thigh support (2) and the crus support (3) are firmly fixed to the user's thigh and crus from the front and back to assist walking. A walking assist device is disclosed. Furthermore, Patent Document 3 discloses a walking assistance device that assists walking by firmly fixing a body attaching portion (2), which is a combination of a plurality of harnesses, to a user's waist.

JP 2009-95645 A JP 2006-75198 A JP 2007-20672 A

  Among the devices described above, the device described in Patent Document 1 has a structure in which the thigh is lifted by the thigh orthosis (30), but cannot assist the operation of standing up from the squatting state. For this reason, the apparatus described in Patent Document 1 cannot assist the operation of lifting a heavy object placed on the floor, for example, and has a narrow application range.

  In addition, the device described in Patent Document 2 uses a highly rigid thigh support (2) and crus support (3) to improve the assist effect, respectively. It must be firmly fixed so that it is sandwiched from the front and back. For this reason, it takes time and effort for the wearing operation, and the thigh and lower leg are rubbed and pressed by the respective support devices, so that the user feels uncomfortable and the user feels uncomfortable. Moreover, since the apparatus of patent document 3 fixes the body attaching part (2) which combined several harness to a user's waist | hip | lumbar part firmly, the same problem as the apparatus of patent document 2 is produced. Arise.

  As described above, a device having a relatively simple structure has a narrow application range, while a device having a relatively wide application range has a problem in mounting. The present invention has been made in view of such circumstances, and an object of the present invention is to provide a wearable motion support apparatus that can assist at least the operation of standing up from a squatting state and that is less likely to cause a user to feel discomfort.

  A wearable movement support device according to an aspect of the present invention includes a lower limb attachment unit that is attached to at least one of left and right lower limbs of a user, and the lower limb attachment unit is positioned below the knee of the user. The lower knee frame part, the upper knee frame part positioned above the knee part of the user, and the upper knee frame part rotationally driven with respect to the lower knee frame part around the knee part of the user as an axis The knee drive device is attached to the above-knee frame portion, and in a state where the user is crouched, the knee drive device is rotationally driven in a direction to raise the above-knee frame portion. A buttock support member that pushes up the user's buttock in contact with the boundary between the thigh and buttock, and is attached to the above-knee frame, and passes through the front surface and the crotch near the base of the user's thigh. The buttocks support part Linked to that, having a member hanging hanging the buttocks supporting member.

  According to such a configuration, since the user's buttocks in a squatting state can be pushed up by the buttocks support member, the user's standing up operation can be assisted. The boundary between the buttocks and thighs where the buttocks support member comes into contact is thin in subcutaneous fat, and the change in thickness is small even when squatting down, so the force from the buttocks support member is efficiently transmitted to the user. It is done. Further, since the heel support member is suspended by the suspension member, the structure can be simplified even though a large force is applied to the heel support member. Therefore, the buttocks support member can be easily mounted, and the user's uncomfortable feeling during use can be suppressed.

  Further, in the above-described wearable motion support device, the suspension member is attached to the above-knee frame portion above a position where the heel support member is attached, and the heel support member and the suspension member are You may be comprised so that it may extend spirally as a whole. According to such a configuration, the suspension member can support the buttock support member so as to pull it upward, so that the heel portion of the user can be more firmly supported by the heel support member.

  In the above-described wearable motion support device, the collar support member may be configured to have higher rigidity than the suspension member. According to this configuration, since the heel support member is relatively difficult to deform, the force from the heel support member can be transmitted to the user more effectively.

  In the above-described wearable motion support device, the above-knee frame part may be configured to have a height position adjustment mechanism that can adjust the height position of the heel support member. According to such a configuration, the buttock support member can be disposed at an appropriate position in accordance with the body shape of the user.

  Further, in the above-described wearable motion support device, the suspension member has elasticity, and when the user squats down, the buttock support member is configured to be pulled up by the elastic force of the suspension member. Also good. According to such a configuration, since the heel support member is pulled up by the suspension member, a gap is hardly formed between the heel support member and the vicinity of the user's buttock, and the operation can be assisted immediately when the user stands up. .

  Further, in the above-described wearable motion support device, the buttocks support member connects the buttocks contact portion that contacts a boundary portion between the thigh and the buttocks of the user, and the buttocks contact portion and the above-knee frame portion. A frame connecting portion, the flange contact portion may be flexible, and the frame connecting portion may be configured to have higher rigidity than the flange contact portion. According to this configuration, it is possible to efficiently transmit the force to the user by increasing the rigidity of the frame connecting portion, while the rigidity of the collar contact portion is lower than that of the frame connecting portion so that the shape of the user's body is obtained. It is possible to reduce the user's uncomfortable feeling.

  Further, in the above-described wearable motion support device, the collar contact portion may be configured to be rotatable with the left-right direction as the rotation axis direction. According to such a configuration, the buttock contact portion rotates in contact with the vicinity of the heel portion, whereby the gap between the heel portion and the buttock contact portion can be uniformly reduced.

  Further, in the above-described wearable motion support device, the above-knee frame portion includes a thigh frame positioned on the outer side in the left-right direction of the user's thigh, and a pelvis frame positioned on the outer side in the left-right direction of the user's pelvis. A pelvis drive device that rotates the pelvis frame relative to the thigh frame about the base of the thigh of the user in synchronism with the operation of the knee drive device, and supports the buttocks The member is attached to the thigh frame, the suspension member is attached to the pelvis frame, and the attachment position of the suspension member on the pelvis frame is determined by the rotation of the pelvis frame when a user squats down and the pelvis frame rotates. You may set to the position where a suspension member is pulled.

  According to such a configuration, when the user squats down and the pelvic frame rotates, the suspension member is pulled by the rotation, so that the buttocks contact member is also lifted, and the vicinity of the buttocks of the user and the buttocks contact portion generated when squatting Can be further reduced.

  In the above-described wearable motion support device, the thigh frame has a main body portion and a joint portion located above the main body portion, and the joint portion is twisted with respect to the pelvic frame. And you may be comprised so that rotation to the left-right direction is attained. According to such a configuration, when the user squats down, the lower limb part may naturally open or twist, but the user can perform the operation without a sense of incongruity.

  In the above-described wearable movement support device, the lower limb wearing portion may be provided on the left and right, and the left and right suspension members may be connected near the crotch of the user. According to this structure, it becomes difficult for a suspension member to bite into a thigh, and a user's fit can further be improved.

  As described above, according to the wearable motion support apparatus according to the present invention, it is possible to assist at least the motion of getting up from a squatting state, and to reduce the sense of discomfort experienced during use by the user.

FIG. 1 is a front view of the wearable motion support apparatus according to the first embodiment of the present invention. FIG. 2 is an enlarged view of the wearable motion support apparatus shown in FIG. 1 near the waist. 3 is a left side view of the wearable motion support apparatus shown in FIG. 4 is a rear view of the wearable motion support apparatus shown in FIG. FIG. 5 is a perspective view of the wearable motion support apparatus shown in FIG. FIGS. 6A and 6B are left side views of the wearable motion support apparatus shown in FIG. 1, wherein FIG. 6A shows a state in which the user squats down, and FIG. 6B shows a state in which the user stands up. FIG. 7 is an enlarged left side view of the wearable motion support device according to the third embodiment of the present invention in the vicinity of the waist, and corresponds to FIG. 3. FIG. 8 is a left side view of the wearable motion support device shown in FIG. 7, where (a) shows a state where the user is squatting, and (b) shows a state where the user has stood up.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same or corresponding components are denoted by the same reference symbols throughout the drawings, and redundant description is omitted.

(First embodiment)
First, a first embodiment of the present invention will be described with reference to FIGS. The wearable movement support device 100 according to the present embodiment is a device that is worn on the lower limb of the user H and assists the user's movement. Hereinafter, each component of the wearable motion support apparatus 100 will be described in order from the one closest to the ground. In the following, the terms “front and back”, “left and right”, and “up and down” are based on the time when the user H stands up, and the “front and rear”, “left and right”, and “up and down” of the user H, respectively. Means. Moreover, the wearable motion support apparatus 100 according to the present embodiment is configured to be symmetrical.

  The foot frame 10 is a member positioned on the lowermost side of the wearable movement support device 100. As shown in FIG. 1, the foot frame 10 is formed in a shoe shape, and the lower part from the ankle of the user H is inserted in the same manner as a normal shoe. As shown in FIG. 6, the foot frame 10 includes a front part 11 corresponding to the toe portion of the user H and a rear part 12 corresponding to the arch from the arch. The boundary portion between the front portion 11 and the rear portion 12 is formed with a thin portion corresponding to the shoe sole, and has high flexibility. Therefore, as shown in FIG. 6A, the user H can take a posture in which the rear portion 12 is lifted from the ground and the body is supported by the front portion 11 when squatting.

  The lower leg frame 20 is a member located on the outer side in the left-right direction of the lower leg part. The lower leg frame 20 constitutes the lower knee frame portion 102 together with the above-described leg frame 10. As shown in FIG. 6, the crus frame 20 has a rod-like shape, and is attached to the rear portion 12 of the foot frame 10 so as to be perpendicular to the bottom surface of the rear portion 12. Therefore, as shown in FIG. 6A, when the rear portion 12 is lifted from the ground, the lower leg frame 20 is tilted with respect to the ground. The lower leg frame 20 is not limited to the above-described configuration, and for example, the lower leg frame 20 may be rotatably attached to the foot frame 10 (rear portion 12). In this case, when the user H squats down, the lower leg frame 20 tilts forward according to the position of the knee, without lifting the rear portion 12. The upper end portion of the crus frame 20 is attached to a knee drive device 30 described later.

  The knee drive device 30 is a device for rotationally driving a thigh frame 40 described later. The knee drive device 30 according to the present embodiment uses an electric motor and is located near the knee of the user H as shown in FIG. The knee drive device 30 is configured such that the inner portion 31 and the outer portion 32 rotate relatively. This rotation is performed using an axis extending in the left-right direction through the center of the knee drive device 30 as a rotation axis. The upper end portion of the lower leg frame 20 is connected to the inner portion 31 of the knee driving device 30, and the lower end portion of the thigh frame 40 is connected to the outer portion 32. Thereby, the knee drive device 30 can rotate the thigh frame 40 with respect to the lower leg frame 20 around the vicinity of the knee. The knee drive device 30 is not limited to the above-described configuration, and may be configured to rotationally drive the thigh frame 40 with respect to the crus frame 20 using, for example, a link mechanism.

  The thigh frame 40 is a member located on the outer side in the left-right direction of the thigh. The thigh frame 40 has a joint portion 41 at the upper end portion. More specifically, as shown in FIG. 5, an insertion hole 44 extending in the vertical direction is formed in the first joint member 43 fixed to the main body portion 42 of the thigh frame 40, and the second insertion hole 44 has a second shape. The longitudinal axis member 46 of the joint member 45 is slidably inserted. Further, the second joint member 45 is rotatably connected to the third joint member 48 via a horizontal shaft member 47 extending in the front-rear direction. And this 3rd joint member 48 is attached to the pelvis drive device 60 mentioned later. Thereby, the main-body part 42 of the thigh frame 40 can be rotated with respect to the pelvis drive device 60 (and eventually a pelvis frame 70 described later) with the vertical direction and the front-rear direction as rotational axis directions. In other words, the main body 42 of the thigh frame 40 can rotate in the twisting direction and the left-right direction with respect to the pelvis frame 70. When the user H squats down, the lower limbs may naturally open or twist, but according to the above configuration, the user H can perform the operation without a sense of incongruity.

  Further, the thigh frame 40 has a height position adjusting mechanism 53 that can adjust the height position of a buttocks support member 50 described later. More specifically, as shown in FIG. 5, the first adjustment member 54 is fixed to the second joint member 45, and the upper end portion of the second adjustment member 55 is located at the rear end portion of the first adjustment member 54. Is attached. These attachments are all performed by bolts 56. A plurality of bolt holes 57 are formed in the second adjustment member 55 in the vertical direction, and bolts 56 penetrating the collar support member 50 are fixed to two bolt holes 57 of the plurality of bolt holes 57. ing. That is, the height position of the buttock support member 50 can be adjusted depending on which bolt hole 57 the bolt 56 is attached to. The height position adjusting mechanism 53 is not limited to the above configuration, and may be configured such that, for example, the buttocks support member 50 can slide in the vertical direction with respect to the thigh frame 40. As can be understood from the above description, the buttock support member 50 described later is attached to the second joint member 45 via the second adjustment member 55 and the first adjustment member 54.

  The buttocks support member 50 is a member that supports the vicinity of the buttocks of the user H. As shown in FIG. 5, the flange support member 50 according to the present embodiment has an L-shape, and is mainly configured by a flange contact portion 51 and a frame connecting portion 52. Each configuration is as follows.

  The buttocks contact portion 51 is a portion that contacts the boundary between the thigh and the buttocks. At the boundary between the thigh and the buttocks, the subcutaneous fat is thin, and the force from the buttocks contact portion 51 is easily transmitted to the vicinity of the buttocks. The collar contact portion 51 has both flexibility and rigidity, and can be formed of, for example, a metal thin plate or a resin plate. As shown in FIG. 5, the buttock contact portion 51 extends in the left-right direction. Strictly speaking, the front surface faces obliquely upward, and the whole is curved along the shape of the buttock. Thereby, when the buttock contact part 51 touches said boundary part, a contact pressure disperse | distributes and the user H can obtain a favorable fit. Further, as shown in FIG. 4, the buttock contact portion 51 is formed to such an extent that its inner tip does not reach the user's H crotch. A cushion material such as sponge or urethane may be attached to the front surface of the buttocks contact portion 51.

  The frame connecting portion 52 is a portion that connects the above-described buttocks contact portion 51 and the thigh frame 40. As shown in FIG. 5, the frame connecting portion 52 is formed of a thick metal plate and has higher rigidity than the flange contact portion 51. Moreover, the frame connection part 52 and the collar contact part 51 are connected so as to be orthogonal to each other. A long hole 58 extending in the front-rear direction is formed in the frame connecting portion 52 at two positions, the bolt 56 passing through the long hole 58 is inserted into the bolt hole 57 of the second adjustment member 55 described above. . When the bolt 56 is loosened, the frame connecting portion 52 can slide in the front-rear direction with respect to the thigh frame 40. When the bolt 56 is tightened, the position of the frame connecting portion 52 is fixed. With this configuration, the front-rear direction position of the buttock support member 50 can be adjusted according to the body shape of the user H. Note that the flange contact portion 51 and the frame connecting portion 52 may be integrally formed of a metal material or a resin material.

  The pelvis drive device 60 is a device for rotationally driving a pelvis frame 70 described later. The pelvis drive device 60 according to the present embodiment uses an electric motor, and is located near the base of the user's thigh as shown in FIG. As shown in FIG. 5, the pelvis driving device 60 is configured such that the inner portion 61 and the outer portion 62 are relatively rotated in the same manner as the knee driving device 30. This rotation is performed using an axis extending in the left-right direction through the center of the pelvic drive device 60 as a rotation axis. The upper portion (third joint member 48) of the thigh frame 40 is connected to the inner portion 61 of the pelvis driving device 60, and the pelvis frame 70 is connected to the outer portion 62. Thereby, the pelvis drive device 60 can rotate the pelvis frame 70 around the base of the thigh. The pelvis driving device 60 is not limited to the above-described configuration, and may be configured to rotationally drive the pelvis frame 70 with respect to the thigh frame 40 using, for example, a link mechanism.

  Moreover, the pelvis drive device 60 comprises three degrees of freedom mechanisms in the vicinity of the waist of the user H together with other components. In other words, the pelvis drive mechanism 60 is configured to be capable of rotating the main body 42 of the thigh frame 40 within a plane (an “upper face” in anatomy) that divides the body into left and right with the pelvis frame 70 as a reference. Consists of a degree of freedom mechanism. In addition, the main body portion within the plane (the “frontal plane surface” in anatomy) that cuts the body back and forth with the third joint member 48, the horizontal shaft member 47, and the second joint member 45 as described above with reference to the pelvic frame 70. A second degree-of-freedom mechanism that allows the rotation of 42 is configured. Further, the above-described second joint member 45 and first joint member 43 allow the main body 42 to be rotated within a plane ("horizontal plane" referred to in anatomy) that cuts the body up and down with respect to the pelvic frame 70 as a reference. A third degree of freedom mechanism is configured.

  The pelvic frame 70 is a member located outside the pelvis in the left-right direction. The pelvis frame 70 constitutes the above-knee frame portion 103 together with the above-described thigh frame 40 and pelvis driving device 60. As shown in FIG. 3, the pelvis frame 70 is connected to the pelvis drive device 60 at the front portion, extends obliquely upward rearward from the connection portion, and further extends horizontally rearward. That is, the pelvic frame 70 has a bent shape in a side view. As shown in FIG. 4, the left pelvis frame 70 and the right pelvis frame 70 are connected to each other by a pelvis connecting member 71 located at the back of the waist of the user H. The pelvis connecting member 71 is attached with a locking tool (not shown) such as a belt or a hook for attaching the pelvis connecting member 71 to the waist of the user. Thus, by making the pelvis frame 70 into a bent shape, a step is created between the height position of the rotation axis of the pelvis frame 70 and the height position at which the pelvis connecting member 71 is attached to the user. .

  The suspending member 80 is a member for suspending the heel support member 50. As shown in FIG. 3, the upper end portion of the suspension member 80 is attached to the pelvis frame 70, passes from there to the front surface of the base of the thigh of the user H and the crotch, and the lower end portion of the heel support member 50. Attached to the inner part. Thereby, the outer side of the buttocks support member 50 is attached to the thigh frame 40 and the inner side of the left and right direction is suspended from the suspension member 80 (see FIG. 5). That is, the buttocks support member 50 is in a “both-end” state in which both ends are supported.

  In addition, since the suspension member 80 is attached to the pelvis frame 70 as described above, the suspension member 80 includes the above-knee frame portion 103 (the thigh frame 40, the pelvis driving device 60, and the pelvis frame 70 above the heel support member 50). Part). Thereby, the buttocks support member 50 and the suspending member 80 extend spirally as a whole, and the suspending member 80 is mounted along the boundary (so-called V line) between the waist and thigh from the crotch of the user H. It will be. Therefore, the suspension member 80 can firmly lift the buttocks support member 50 and reduce the friction of the suspension member 80 against the waist and thighs when the user H performs operations such as walking, squatting, and standing up. Can do. As shown in FIG. 3, in this embodiment, the suspension member 80 is attached to the pelvis frame 70 above the pelvis driving device 60.

  Further, the suspension member 80 is formed with lower rigidity than the heel support member 50, and can be formed of, for example, a nylon belt, a leather belt, a string, or the like. Since the suspension member 80 has such low rigidity, in other words, high flexibility, it is possible to reduce the uncomfortable feeling experienced by the user H. Further, as shown in FIG. 5, the suspension member 80 includes an adjustment member 81 that adjusts the overall length in order to improve the fit. Further, as shown in FIG. 2, the left and right suspension members 80 are connected to each other at the crotch. More specifically, the left and right suspension members 80 may be joined together to form the knot 82, or may be connected by passing both the left and right suspension members 80 through a tubular member. If the left and right suspension members 80 are connected in this manner, the suspension members 80 are less likely to bite into the thighs, and the fit is further improved.

  The back frame 90 is a frame located on the back side of the user H. The back frame 90 is fixed to the pelvis connecting member 71 described above. The back frame 90 is a so-called backpack, and has a shape in which a pair of shafts 91 extending upward from the pelvic connection member 71 are bent and connected at the upper end portion as shown in FIG. A backpack (not shown) containing a battery and a controller is attached to the back frame 90. The controller housed in the backpack controls a portion 101 (hereinafter collectively referred to as “lower limb attachment portion”) 101 of the pelvis frame 70 and below. The controller is based on a sensor that detects the position of the center of gravity and a load attached to the lower limb wearing unit 101, a sensor that detects a biological signal attached to the user, or a signal transmitted from both types of sensors. The lower limb mounting unit 101 may be controlled.

  Next, with reference to FIG. 6, the operation of the wearable motion support apparatus 100 according to the present embodiment will be described. Here, the operation of the wearable motion support apparatus 100 until the user stands up from the squatting state will be described. As shown in FIG. 6 (a), when the user H squats down, the lower leg frame 20 is tilted forward and the thigh frame 40 is tilted backward with respect to the ground. The pelvic frame 70 is inclined so that the rear part is slightly higher than the horizontal. When the user H rises from this state, the knee drive device 30 drives the thigh frame 40 to rotate in the direction to rise with respect to the crus frame 20 (counterclockwise in FIG. 6A). Thereby, the buttock support member 50 pushes up the user's buttock (see the black arrow F in the figure), and the user can easily stand up (see FIG. 6B). In synchronism with this operation, the pelvis driving device 60 moves the pelvic frame 70 with respect to the thigh frame 40 in a direction opposite to the rotational direction of the thigh frame 40 (clockwise in FIG. 6A). It is rotated and adjusted so that the pelvis frame 70 (back frame 90) does not largely tilt with respect to the ground.

  As described above, according to the wearable motion support apparatus 100 according to the present embodiment, it is possible to assist at least the motion of rising from the squatting state. Moreover, since the heel support member 50 that pushes up the vicinity of the buttock of the user H has a very simple structure, it can be easily attached to the user H. Moreover, in spite of such a simple structure, the buttocks support member 50 is hung on the suspension member 80 that passes through the crotch from the front side of the base of the user's thigh. Can be firmly supported. Moreover, in this embodiment, since the collar support member 50 and the suspension member 80 are configured to extend spirally as a whole, the suspension member 80 pulls the collar support member 50 firmly when the user H stands up. Can do.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. The wearable motion support apparatus according to the present embodiment is the same as that of the first embodiment in that the suspension member 80 has elasticity and the buttock support member 50 is pulled up by the elastic force of the suspension member 80. This is different from the wearable motion support apparatus 100. Other points are basically the same as those of the wearable motion support apparatus 100 according to the first embodiment. The entire suspension member 80 may be formed of an elastic member such as rubber, or a part of the upper end portion may be formed of a tension spring or the like, or may have a configuration other than this.

  Here, when the user H stands up, the buttocks support member 50 is located on the buttocks side of the boundary between the thigh and the buttocks. However, when the user H changes his / her posture, the buttocks support The position of the member 50 moves relatively to the thigh side. That is, when the user H squats down, the buttocks support member 50 moves relatively from the buttocks side to the thigh side. Since the thigh is less swelled than the buttocks, a gap is formed between the buttocks support member 50 and the boundary portion when the user H squats down (hereinafter, this gap is referred to as a “buttock gap”). ). Furthermore, in the case of the first embodiment described above, when the user H squats down, the pelvic frame 70 rotates, and the pelvic frame 70 pushes the suspension member 80 forward, and the heel gap tends to become larger. is there. If the buttocks gap becomes large in the squatting state, the user cannot be quickly assisted when the user H stands up.

  On the other hand, in this embodiment, since the buttocks support member 50 is pulled up by the suspension member 80 even when the user H squats down, it is possible to suppress an increase in the buttocks gap. Therefore, according to this embodiment, when the user H stands up, the user can be assisted relatively quickly.

(Third embodiment)
Next, a third embodiment will be described with reference to FIGS. The wearable movement support apparatus 300 according to the present embodiment reduces the above-described buttocks clearance by a configuration different from that of the wearable movement support apparatus according to the second embodiment. Specifically, it is as follows.

  In the present embodiment, as shown in FIGS. 7 and 8, the attachment position of the suspension member 380 on the pelvis frame 70 is located obliquely downward and rearward as viewed from the pelvis driving device 60. According to this configuration, when the user squats down and the pelvic frame 70 rotates with respect to the thigh frame 40 (rotates counterclockwise in FIG. 8A), the attachment position of the suspension member 380 moves backward. Therefore, the suspension member 380 is pulled backward. Thereby, the suspending member 380 acts to pull up the buttock support member 350, and the buttock clearance can be reduced. In the present embodiment, the suspension member 380 is attached to the inner surface of the pelvis frame 70. As a result, the suspension member 380 is unlikely to interfere with other configurations, and the heel support member 350 can be pulled up stably.

  In addition, if the attachment position in the pelvis frame 70 of the suspending member 380 exists in the predetermined area | region demonstrated below and it is comprised so that it may move within the area | region, there can exist said effect | action. Here, the “predetermined region” refers to a point (hereinafter referred to as “contact point”) X that is closest to the pelvic frame 70 among the portions where the suspension member 380 contacts the solid (user H in the present embodiment). When an imaginary line L passing through the rotation axis Y of the pelvis frame is drawn, this is an area located below the imaginary line L when viewed from the side. As shown in FIG. 7, the contact point X in the present embodiment is located in front of the user H. For example, if the suspension member 380 is configured to pass through a certain point of the member that is immediately before the pelvis frame 70, the passing point becomes the contact point X, and the “predetermined region” can be changed. .

  It should be noted that depending on the rotation angle of the pelvis frame 70, depending on the rotation angle of the pelvis frame 70, the suspension member 380 may be used even when the attachment position enters or exits the predetermined area while the user H is squatting. May be raised. In some cases, the contact point X itself may move while the user H is squatting. Therefore, if the suspension member 380 is configured to directly connect the vicinity of the crotch of the user H and the pelvis frame as in the present embodiment, the following configuration may be used, for example. That is, in a state where the user H stands up, a line (corresponding to the imaginary line described above) that passes through the rotation axis Y of the pelvic frame 70 and is inclined backward by 30 to 60 degrees with respect to the vertical direction is virtually assumed. The suspending member 380 may be attached to the pelvis frame 70 on the lower side (rear side) than the line in view. According to such a configuration, the above-described action can be substantially achieved. Here, the attachment position of the suspension member 380 has been described while changing the viewpoint. In short, it is only necessary that the suspension member 380 is attached at a position where the suspension member is pulled when the user H is squatting.

  Furthermore, in this embodiment, the collar part contact part 351 is comprised so that rotation is possible. More specifically, as shown in FIG. 7, the frame connecting portion 352 according to the present embodiment includes a fixed portion 352a and a movable portion 352b, and the movable portion 352b has the left-right direction as the rotation axis direction. It is comprised so that it may rotate with respect to the fixing | fixed part 352a. The fixed portion 352a is fixed to the thigh frame 40, and the buttocks contact portion 351 is fixed to the movable portion 352b. Thereby, the collar part contact part 351 can be rotated centering on the rotational axis of the movable part 352b. According to such a configuration, when the suspension member 380 is pulled up, the buttocks contact portion 351 rotates in contact with the vicinity of the buttocks, and the buttocks gap can be uniformly reduced. Note that the position of the pivot shaft of the collar contact portion 351 is not limited to the above case. For example, the frame connecting portion 352 may be configured to be rotatably attached to the thigh frame 40 without being divided into the fixed portion 352a and the movable portion 352b. According to such a configuration, the buttocks contact portion 351 can rotate about the boundary between the frame connecting portion 352 and the thigh frame 40 as a rotation axis.

  As described above, the embodiments of the present invention have been described with reference to the drawings. However, the specific configuration is not limited to these embodiments, and even if there is a design change or the like without departing from the gist of the present invention. It is included in the present invention. For example, the case where the lower limb mounting portion 101 (the portion below the pelvic frame 70) is attached to the left and right lower limb portions of the user H has been described above, but the lower limb mounting portion 101 is mounted only on one lower limb portion. Even if it exists, it is included in this invention. In addition, for example, the collar support member 50 is not formed in a plate shape, and is formed by a relatively flexible member such as a nylon belt, and is included in the present invention. For example, although the case where the collar part supporting member 50 and the suspension member 80 are formed of different materials has been described above, the present invention includes the case where both are formed of the same material.

  In the technical field of the wearable movement support device, the wearable movement support device according to the present invention can assist the operation of getting up from a squatting state and can reduce the user's uncomfortable feeling during use. It is beneficial.

30 knee drive device 40 thigh frame 41 joint portion 42 main body portion 50, 350 buttock support member 51, 351 buttock contact portion 52, 352 frame connection portion 53 height position adjustment mechanism 60 pelvis drive device 70 pelvis frame 80, 380 suspension member 100 , 300 Wearable motion support device 101 Lower limb wearing part 102 Lower knee frame part 103 Upper knee frame part H

Claims (9)

A lower limb mounting portion to be mounted on at least one of the left and right lower limbs of the user
The lower limb wearing part is
A lower knee frame located below the user's knee,
An above-knee frame part positioned above the knee part of the user;
A knee drive device that rotationally drives the above-knee frame portion relative to the below-knee frame portion around the knee portion of the user;
Boundary between the user's thigh and buttocks by being rotationally driven in a direction in which the knee drive device is raised while the knee drive device is attached to the above-knee frame and is crouched by the user A buttocks support member that pushes up the user's buttocks in contact with the part;
The knee frame portion is attached to, coupled to the buttocks supporting member through the front and crotch near the base of the thigh of the user, have a, a hanging member suspending the buttocks supporting member,
The suspension member is attached to the above-knee frame portion above a position where the heel support member is attached, and the heel support member and the suspension member are configured to extend spirally as a whole. Yes,
Wearable motion support device. The wearable movement support device according to claim 1 , wherein the flange support member has higher rigidity than the suspension member. The wearable motion support device according to claim 1 or 2 , wherein the above-knee frame portion includes a height position adjustment mechanism capable of adjusting a height position of the buttocks support member. 4. The suspension member according to claim 1 , wherein the suspension member has elasticity and is configured such that the collar support member is pulled up by the elastic force of the suspension member in a state where the user squats down. The wearable movement support device according to the section. The buttocks support member is
A buttock contact portion that contacts a boundary portion between the thigh of the user and the buttock;
A frame connecting portion that connects the buttocks contact portion and the above-the-knee frame portion;
The buttocks contact portion has flexibility,
The frame connecting portion has higher rigidity than the flange contact portion,
The wearable movement support apparatus according to any one of claims 1 to 4 . The wearable movement support device according to claim 5 , wherein the flange contact portion is configured to be rotatable with the left-right direction as a rotation axis direction. The above-the-knee frame part is
A thigh frame located on the outer side of the user's thigh in the left-right direction;
A pelvic frame located on the outer side of the user's pelvis in the left-right direction;
In synchronism with the operation of the knee drive device, the pelvis drive device that rotationally drives the pelvis frame relative to the thigh frame around the base of the user's thigh,
The buttocks support member is attached to the thigh frame,
The suspension member is attached to the pelvic frame;
The attachment position of the suspension member in the pelvis frame is set to a position where when the user squats and the pelvis frame rotates, the suspension member is pulled by the rotation.
The wearable motion support apparatus according to any one of claims 1 to 6 . The thigh frame has a main body part and a joint part located above the main body part,
The joint portion enables rotation of the main body portion in the twist direction and the left-right direction with respect to the pelvis frame.
The wearable motion support apparatus according to claim 7 . The lower limb mounting part is provided on the left and right,
The wearable movement support apparatus according to any one of claims 1 to 8 , wherein the left and right suspension members are connected in the vicinity of the crotch of a user.

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